Revision 2:4a9ba34cd90a, committed 2018-08-04

Comitter:

xmwmx

Date:

Sat Aug 04 04:17:02 2018 +0000

Parent:

1:d89a943c462e

Commit message:

?????

Changed in this revision

--- a/esp8266.cpp	Fri Jul 20 07:08:51 2018 +0000
+++ b/esp8266.cpp	Sat Aug 04 04:17:02 2018 +0000
@@ -219,7 +219,7 @@
     
 bool Esp8266::publish_value(const char *topic, const char *data) {                      //定义类的函数
     //if (mqtt_start) {
-        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%s\",0,1)", topic, data);
+        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%s\",0,0)", topic, data);
         wait(0.1);
     //}
     return true;

--- a/mainwmx.cpp	Fri Jul 20 07:08:51 2018 +0000
+++ b/mainwmx.cpp	Sat Aug 04 04:17:02 2018 +0000
@@ -21,13 +21,18 @@
 //PwmOut ENB(PB_0);
 //InterruptIn switch1(PB_6);
 int state = 0;
-int actionok = 0;
+int x[256];
+int y=0;
+bool ready,received,start,done;
+
 void run_forwoard();
 void run_backwoard();
+void turn_left();
+void turn_right();
 void stop();
 void init();
 void after_irq();
-int switch_trigger;
+
 int main(void) {
     for(int i =0;i<4;i++)
     {
@@ -53,13 +58,14 @@
 
     //声明所有的传感器，每行一个，每个由名字、单位两部分组成，最后一行必须为空指针作为结尾
     const char* sensors[][2] = {
-        "actionok", "",
+        "report", "",
         NULL, NULL //最后一行以空指针作为结束标记
     };
 
     //声明所有的执行器，每行一个，每个由名字、参数类型两部分组成，最后一行必须为空指针作为结尾
     const char* actuators[][2] = {
-        "sudo", "int",
+        "command", "int",
+        "dat", "int",
         NULL, NULL //最后一行以空指针作为结束标记
     };
     ser2usb.printf("connecting...\r\n");
@@ -71,10 +77,121 @@
     char actuator_name[32], control_value[32];
     Timer t;// 定时器用于计量发送传感器数据的时间
     t.start();
-		client.publish_value("sudo", "carinit");
-    while(1) {
+		//client.publish_value("sudo", "carinit");
+    while(1) 
+    {
         //检查有没有收到新的执行器控制指令
-        if(client.get_control_cmd(actuator_name, control_value)){
+        if(client.get_control_cmd(actuator_name, control_value))
+        {
+            ser2usb.printf("Received %s %s\r\n", actuator_name, control_value);
+            if (strcmp(actuator_name, "command") == 0) 
+            {
+                ser2usb.printf("Received CMD %s %s\r\n", actuator_name, control_value);
+                int the_command = atoi(control_value);
+                //
+                if(the_command==1)
+                {
+                    ready=1;
+                    ser2usb.printf("get ready\r\n");
+                }
+                else if(the_command==2)
+                {
+                    start=1;
+                    ser2usb.printf("get start\r\n");
+                }
+                else if(the_command==3)
+                {
+                    done=1;
+                    ser2usb.printf("get done\r\n");
+                }
+                //
+        
+            }
+            else if (strcmp(actuator_name, "dat") == 0)
+            {
+                int the_command = atoi(control_value);
+                received=1;
+                ser2usb.printf("received \r\n");
+                x[y]=the_command;
+                y++;
+                ser2usb.printf("get %s|%d\r\n",control_value,y);
+                client.publish_value("report", "received.");
+                client.publish_value("report", " ");
+                /*
+                else
+                {
+                    //received=1;
+                    //client.publish_value("report", "received.");
+                    x[y]=the_command;
+                    y++;
+                    ser2usb.printf("get %s|%d\r\n",control_value,y);
+                }
+                */
+            }
+        }
+        if(!ready)
+        {
+            client.publish_value( "report", "ready.");
+            //ser2usb.printf("send ready.%d\r\n",flagw);
+            ser2usb.printf("ready?\r\n");
+            
+        }
+        if(!start&&ready&&!received)
+        {
+            ser2usb.printf("send start.\r\n");
+            client.publish_value("report", "wait data.");
+        }
+        if(start)
+        {
+            ser2usb.printf("starting\r\n");
+            for(int i=0;x[i];i++)
+            {
+                state = x[i];
+                //state = y;
+                ser2usb.printf("starting %d\r\n",state);
+                switch(state)
+                {
+                	case 1:  // white to black
+                    	run_forwoard();
+                    	wait(1);
+                    	stop();
+						//client.publish_value("sudo", "carfinish");
+                    	break;
+                    
+                	case 2:
+                		run_backwoard();
+                		wait(1);
+                    	stop();
+						//client.publish_value("sudo", "carfinish");
+                    	break;
+                    	
+                    case 3:
+                		turn_left();
+                		wait(1);
+                    	stop();
+						//client.publish_value("sudo", "carfinish");
+                    	break;
+                    	
+                    case 4:
+                		turn_right();
+                		wait(1);
+                    	stop();
+						//client.publish_value("sudo", "carfinish");
+                    	break;
+                    
+                	default:
+                    	break;
+               }
+            }
+            client.publish_value("report", "done.");
+            memset(x,0,sizeof(x));
+            y=0;
+            ready=0;
+            received=0;
+            start=0;
+            done=0;
+        }
+            /*
             ser2usb.printf("Received CMD %s %s\r\n", actuator_name, control_value);
             //判断哪个执行器收到命令
             state = atoi(control_value);
@@ -98,7 +215,9 @@
                     break;
                 
             }
-        }
+            */
+        wait(0.1);    
+        
     }
 }
 
@@ -118,6 +237,21 @@
     IN4 = 1;
 }
 
+void turn_left()
+{
+    IN1 = 0;
+    IN2 = 1;
+    IN3 = 1;
+    IN4 = 0;
+}
+void turn_right()
+{
+    IN1 = 1;
+    IN2 = 0;
+    IN3 = 0;
+    IN4 = 1;
+}
+
 void stop()
 {
     IN1 = 0;