w mx / Mbed 2 deprecated wmx_arm_communication

示教机械臂

Dependencies:   MQTT SDFileSystem WIZnet_Library mbed

Fork of wmx_laser_copy by w mx

mainwmx.cpp@9:a3f9faa9ca1f, 2018-07-31 (annotated)

Committer:
xmwmx
Date:
Tue Jul 31 03:56:05 2018 +0000
Revision:
9:a3f9faa9ca1f
Parent:
8:e76bebe9c45f
Child:
10:acc53f50c9df
??x?y??????????????0?0?1????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xmwmx 8:e76bebe9c45f 1 /************************************************************************************************
xmwmx 8:e76bebe9c45f 2 File name: main.cpp
xmwmx 8:e76bebe9c45f 3 Description: 项目激光部分客户端代码
xmwmx 8:e76bebe9c45f 4 Author: 秦智
xmwmx 8:e76bebe9c45f 5 Date: June 4, 2018
xmwmx 8:e76bebe9c45f 6 Others: 本程序编写在mbed平台(https://os.mbed.com/)上
xmwmx 8:e76bebe9c45f 7
xmwmx 8:e76bebe9c45f 8 *************************************************************************************************/
xmwmx 8:e76bebe9c45f 9
xmwmx 8:e76bebe9c45f 10 #include "mbed.h"
xmwmx 8:e76bebe9c45f 11 #include <math.h>
xmwmx 8:e76bebe9c45f 12 #include <cstring>
xmwmx 8:e76bebe9c45f 13 #include <stdlib.h>
xmwmx 8:e76bebe9c45f 14 #include "SDFileSystem.h"
xmwmx 8:e76bebe9c45f 15 #include "networking.h"
xmwmx 9:a3f9faa9ca1f 16 //#include <string>
xmwmx 9:a3f9faa9ca1f 17
xmwmx 8:e76bebe9c45f 18
xmwmx 8:e76bebe9c45f 19
xmwmx 9:a3f9faa9ca1f 20 #define edgex1 125 // 上x(正朝向开关)下y(负朝向开关)
xmwmx 9:a3f9faa9ca1f 21 #define edgex2 155 // __
xmwmx 9:a3f9faa9ca1f 22 #define edgey1 70 // ||
xmwmx 9:a3f9faa9ca1f 23 #define edgey2 100 // 125mm y2
xmwmx 9:a3f9faa9ca1f 24 #define widthx 30 // x2 || x1
xmwmx 9:a3f9faa9ca1f 25 #define widthy 30 // //=====210mm====//35mm/|开关
xmwmx 8:e76bebe9c45f 26 #define mm 100//100步1mm // ||
xmwmx 8:e76bebe9c45f 27 // ||
xmwmx 8:e76bebe9c45f 28 // ||
xmwmx 8:e76bebe9c45f 29 // __ y1
xmwmx 8:e76bebe9c45f 30 //
xmwmx 8:e76bebe9c45f 31 // -- 开关 15mm
xmwmx 8:e76bebe9c45f 32
xmwmx 8:e76bebe9c45f 33
xmwmx 8:e76bebe9c45f 34 /////调试
xmwmx 8:e76bebe9c45f 35 Serial pc(PA_9, PA_10);
xmwmx 8:e76bebe9c45f 36 DigitalOut LED(PB_8);
xmwmx 8:e76bebe9c45f 37 /////
xmwmx 8:e76bebe9c45f 38
xmwmx 8:e76bebe9c45f 39 //硬件接口
xmwmx 8:e76bebe9c45f 40 // mosi, miso, sclk, cs, name
xmwmx 8:e76bebe9c45f 41 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
xmwmx 8:e76bebe9c45f 42 //步进电机
xmwmx 8:e76bebe9c45f 43 DigitalOut step[2] = {DigitalOut(PC_5), DigitalOut(PA_5)}; //0--x P9,1--y P17
xmwmx 8:e76bebe9c45f 44 DigitalOut dir[2] = {DigitalOut(PC_4), DigitalOut(PA_4)}; //0--x,1--y
xmwmx 8:e76bebe9c45f 45 DigitalOut en[2] = {DigitalOut(PD_2), DigitalOut(PA_2)}; //0--x,1--y
xmwmx 8:e76bebe9c45f 46 //电子开关,激光开关
xmwmx 8:e76bebe9c45f 47 DigitalOut switch_GS(PC_15);
xmwmx 8:e76bebe9c45f 48 //行程开关
xmwmx 8:e76bebe9c45f 49 DigitalIn switch_pos1(PC_8); //P25
xmwmx 8:e76bebe9c45f 50 DigitalIn switch_pos2(PA_6); //P26
xmwmx 8:e76bebe9c45f 51 DigitalIn switch_pos3(PA_11); //P27
xmwmx 8:e76bebe9c45f 52
xmwmx 8:e76bebe9c45f 53 //运行中的全局变量
xmwmx 8:e76bebe9c45f 54 volatile bool Working, Getawork, Isend, Dataused, Getdata;
xmwmx 8:e76bebe9c45f 55 FILE *fp_drawing; // 存储图案的文件
xmwmx 8:e76bebe9c45f 56 int status = 0; //0: 初始化; 1:建立通信; 2:等候任务; 3:等待数据 4:正在执行一个任务
xmwmx 8:e76bebe9c45f 57 int now_x, now_y;
xmwmx 8:e76bebe9c45f 58 int Endoffile = 0;
xmwmx 8:e76bebe9c45f 59
xmwmx 8:e76bebe9c45f 60 // float thedata[50][3];
xmwmx 8:e76bebe9c45f 61 // char sdata[1024];
xmwmx 8:e76bebe9c45f 62 int Nofdata;
xmwmx 8:e76bebe9c45f 63 bool ifreceive;
xmwmx 8:e76bebe9c45f 64
xmwmx 8:e76bebe9c45f 65 //与实际有关参数
xmwmx 8:e76bebe9c45f 66 float Lenoflattice = 1 ;//mm 取1mm为xy单元 unit_xy/Lenoflattice=100
xmwmx 9:a3f9faa9ca1f 67 int unit_xy = 100; //单位长度(xy移动一格)对应unit_xy转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
xmwmx 8:e76bebe9c45f 68 int unit_x = 103; //单位长度(xy移动一格)对应unit_x转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
xmwmx 8:e76bebe9c45f 69 int unit_y = 103; //单位长度(xy移动一格)对应unit_y转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
xmwmx 8:e76bebe9c45f 70 ///Ticker ticker_step;
xmwmx 8:e76bebe9c45f 71 float step_halfperiod = 0.0001;//0.0002;
xmwmx 8:e76bebe9c45f 72 int max_x, max_y;
xmwmx 8:e76bebe9c45f 73 int dir_x = 1;///调试时调整
xmwmx 8:e76bebe9c45f 74 int dir_y = 1;///调试时调整
xmwmx 8:e76bebe9c45f 75 int dot_max = 30; //灰度最大值对应多少次激光点击
xmwmx 8:e76bebe9c45f 76 float dot_last = 0.005; //每次激光点击持续多久
xmwmx 8:e76bebe9c45f 77 int H_max = 255; //灰度值最大值
xmwmx 8:e76bebe9c45f 78 double k = 1.0; //缩放比例
xmwmx 8:e76bebe9c45f 79 double y=0;//图片y边长
xmwmx 8:e76bebe9c45f 80 double x=0;//图片x边长
xmwmx 8:e76bebe9c45f 81 int key=0;//判断变量
xmwmx 9:a3f9faa9ca1f 82 int dot=0;//点计数
xmwmx 9:a3f9faa9ca1f 83 int flag=0;
xmwmx 9:a3f9faa9ca1f 84 //char w[4294967295];
xmwmx 8:e76bebe9c45f 85
xmwmx 8:e76bebe9c45f 86 void rotate(int id ,int pix);
xmwmx 8:e76bebe9c45f 87
xmwmx 8:e76bebe9c45f 88
xmwmx 8:e76bebe9c45f 89
xmwmx 8:e76bebe9c45f 90 void biginning()
xmwmx 8:e76bebe9c45f 91 {
xmwmx 8:e76bebe9c45f 92 pc.printf("x\n"); // 上x(正朝向开关)下y(负朝向开关)
xmwmx 8:e76bebe9c45f 93 while(!switch_pos1.read()) // __ y2
xmwmx 8:e76bebe9c45f 94 { // ||
xmwmx 8:e76bebe9c45f 95 rotate(0,5); // 115mm
xmwmx 8:e76bebe9c45f 96 } // x2 || x1
xmwmx 8:e76bebe9c45f 97 rotate(0,-mm*edgex2); // //=====200mm====//42mm/|开关
xmwmx 8:e76bebe9c45f 98 pc.printf("y\n"); // ||
xmwmx 8:e76bebe9c45f 99 while(!switch_pos2.read()) // ||
xmwmx 8:e76bebe9c45f 100 { // ||
xmwmx 8:e76bebe9c45f 101 rotate(1,-5); // __ y1
xmwmx 8:e76bebe9c45f 102 } //
xmwmx 8:e76bebe9c45f 103 rotate(1,mm*edgey1); // __ 开关 15mm
xmwmx 9:a3f9faa9ca1f 104 //定位
xmwmx 9:a3f9faa9ca1f 105 for (int i = 0; i < 500; i++)
xmwmx 9:a3f9faa9ca1f 106 {
xmwmx 9:a3f9faa9ca1f 107 switch_GS = 1;
xmwmx 9:a3f9faa9ca1f 108 wait(0.005);
xmwmx 9:a3f9faa9ca1f 109 switch_GS = 0;
xmwmx 9:a3f9faa9ca1f 110 wait(0.005);
xmwmx 9:a3f9faa9ca1f 111 }
xmwmx 8:e76bebe9c45f 112 //走轮廓
xmwmx 8:e76bebe9c45f 113 rotate(0,mm*widthx);
xmwmx 8:e76bebe9c45f 114 rotate(1,mm*widthy);
xmwmx 8:e76bebe9c45f 115 rotate(0,mm*-widthx);
xmwmx 8:e76bebe9c45f 116 rotate(1,mm*-widthy);
xmwmx 8:e76bebe9c45f 117 }
xmwmx 8:e76bebe9c45f 118
xmwmx 8:e76bebe9c45f 119 void report()
xmwmx 8:e76bebe9c45f 120 {
xmwmx 8:e76bebe9c45f 121 // ser2usb.printf("-1- status: %d \r\n", status);
xmwmx 8:e76bebe9c45f 122 // ser2usb.printf("-2- now_x: %d now_y: %d \r\n", now_x,now_y);
xmwmx 8:e76bebe9c45f 123 //ser2usb.printf("-3- switch_GS: %i \r\n", switch_GS.read());
xmwmx 8:e76bebe9c45f 124 //ser2usb.printf("-4- switch_pos1: %i switch_pos2: %i switch_pos3: %i \r\n", switch_pos1.read(),switch_pos2.read(),switch_pos3.read());
xmwmx 8:e76bebe9c45f 125 //ser2usb.printf("-5- en[0]: %i en[1]: %i \r\n", en[0].read(),en[1].read());
xmwmx 8:e76bebe9c45f 126 //ser2usb.printf("-6- dir[0]: %i dir[1]: %i \r\n", dir[0].read(),dir[1].read());
xmwmx 8:e76bebe9c45f 127 //ser2usb.printf("-7- step[0]: %i step[1]: %i \r\n", step[0].read(),step[1].read());
xmwmx 8:e76bebe9c45f 128 }
xmwmx 8:e76bebe9c45f 129
xmwmx 8:e76bebe9c45f 130 void init()
xmwmx 8:e76bebe9c45f 131 {
xmwmx 8:e76bebe9c45f 132 status = 0;
xmwmx 8:e76bebe9c45f 133 now_x = 0;
xmwmx 8:e76bebe9c45f 134 now_y = 0;
xmwmx 8:e76bebe9c45f 135 step[0] = 0;
xmwmx 8:e76bebe9c45f 136 step[1] = 0;
xmwmx 8:e76bebe9c45f 137 //上x下y
xmwmx 8:e76bebe9c45f 138
xmwmx 8:e76bebe9c45f 139 }
xmwmx 8:e76bebe9c45f 140 void rotate(int id, int pix) //id= 0--x,1--y pix=3200为一圈
xmwmx 8:e76bebe9c45f 141 {
xmwmx 8:e76bebe9c45f 142 if (pix >= 0) {
xmwmx 8:e76bebe9c45f 143 dir[0] = dir_x;
xmwmx 8:e76bebe9c45f 144 dir[1] = dir_y;
xmwmx 8:e76bebe9c45f 145 } else {
xmwmx 8:e76bebe9c45f 146 pix = -pix;
xmwmx 8:e76bebe9c45f 147 dir[0] = 1 - dir_x;
xmwmx 8:e76bebe9c45f 148 dir[1] = 1 - dir_y;
xmwmx 8:e76bebe9c45f 149 }
xmwmx 8:e76bebe9c45f 150 for (int i = 0; i < pix; i++) {
xmwmx 8:e76bebe9c45f 151 step[id] = 1;
xmwmx 8:e76bebe9c45f 152 wait(step_halfperiod);
xmwmx 8:e76bebe9c45f 153 step[id] = 0;
xmwmx 8:e76bebe9c45f 154 wait(step_halfperiod);
xmwmx 8:e76bebe9c45f 155 }
xmwmx 8:e76bebe9c45f 156 }
xmwmx 8:e76bebe9c45f 157
xmwmx 8:e76bebe9c45f 158 void moveto(float x, float y)
xmwmx 8:e76bebe9c45f 159 {
xmwmx 8:e76bebe9c45f 160 rotate(0, (x - now_x)*unit_xy);
xmwmx 8:e76bebe9c45f 161 rotate(1, (y - now_y)*unit_xy);
xmwmx 8:e76bebe9c45f 162 now_x = x;
xmwmx 8:e76bebe9c45f 163 now_y = y;
xmwmx 8:e76bebe9c45f 164 }
xmwmx 8:e76bebe9c45f 165 void fuwei()
xmwmx 8:e76bebe9c45f 166 {
xmwmx 8:e76bebe9c45f 167 moveto(0, 0);
xmwmx 8:e76bebe9c45f 168 status = 1;
xmwmx 8:e76bebe9c45f 169 }
xmwmx 8:e76bebe9c45f 170 void markdot(float value)
xmwmx 8:e76bebe9c45f 171 {
xmwmx 8:e76bebe9c45f 172 //switch_GS=1;
xmwmx 8:e76bebe9c45f 173 int Ndot = floor(value * dot_max / H_max);
xmwmx 8:e76bebe9c45f 174 for (int i = 0; i < Ndot; i++) {
xmwmx 8:e76bebe9c45f 175 switch_GS = 1;
xmwmx 8:e76bebe9c45f 176 wait(dot_last);
xmwmx 8:e76bebe9c45f 177 switch_GS = 0;
xmwmx 8:e76bebe9c45f 178 }
xmwmx 8:e76bebe9c45f 179 }
xmwmx 8:e76bebe9c45f 180 /*
xmwmx 8:e76bebe9c45f 181 void dealdata(){
xmwmx 8:e76bebe9c45f 182 ser2usb.printf("getdata: %s \r\n",sdata);
xmwmx 8:e76bebe9c45f 183 int data_size = 0;//strlen(pch);
xmwmx 8:e76bebe9c45f 184 char * pch;
xmwmx 8:e76bebe9c45f 185 pch = strtok (sdata,"\r\n ,.-)(");
xmwmx 8:e76bebe9c45f 186 while (pch != NULL)
xmwmx 8:e76bebe9c45f 187 {
xmwmx 8:e76bebe9c45f 188 thedata[data_size/3][data_size%3]=atof(pch);
xmwmx 8:e76bebe9c45f 189 pch = strtok (NULL, "\r\n ,.-)(");
xmwmx 8:e76bebe9c45f 190 data_size++;
xmwmx 8:e76bebe9c45f 191 }
xmwmx 8:e76bebe9c45f 192 Nofdata = (data_size)/3;
xmwmx 8:e76bebe9c45f 193 }
xmwmx 8:e76bebe9c45f 194 void usbprintdata(){
xmwmx 8:e76bebe9c45f 195 ser2usb.printf("dealdata: \r\n <<<<<<<<<<<<<<<<");
xmwmx 8:e76bebe9c45f 196 for(int i=0;i<Nofdata;i++){
xmwmx 8:e76bebe9c45f 197 ser2usb.printf("<<< i: %i x: %f y: %f v: %f \r\n",i,thedata[i][0],thedata[i][1],thedata[i][2]);
xmwmx 8:e76bebe9c45f 198 }
xmwmx 8:e76bebe9c45f 199 ser2usb.printf("dealdata done! \r\n >>>>>>>>>>>>");
xmwmx 8:e76bebe9c45f 200 }
xmwmx 8:e76bebe9c45f 201 */
xmwmx 8:e76bebe9c45f 202
xmwmx 8:e76bebe9c45f 203 void draw()
xmwmx 8:e76bebe9c45f 204 {
xmwmx 8:e76bebe9c45f 205 unit_xy=unit_xy*k;
xmwmx 8:e76bebe9c45f 206 float x, y, v;
xmwmx 8:e76bebe9c45f 207 fp_drawing = fopen("/sd/write.txt", "r");
xmwmx 8:e76bebe9c45f 208 pc.printf("reading\r\n");
xmwmx 8:e76bebe9c45f 209 for (int i = 0; fscanf(fp_drawing, "(%f,%f,%f)", &x, &y, &v) == 3; i++)
xmwmx 8:e76bebe9c45f 210 {
xmwmx 9:a3f9faa9ca1f 211 pc.printf("(%f,%f,%f)|%d|%d\r\n", x, y, v,i,dot);
xmwmx 8:e76bebe9c45f 212 moveto(x, y);
xmwmx 8:e76bebe9c45f 213 markdot(v);
xmwmx 8:e76bebe9c45f 214 // moveto(thedata[i][0],thedata[i][1]);
xmwmx 8:e76bebe9c45f 215 // markd??>ot(thedata[i][2]);
xmwmx 8:e76bebe9c45f 216 }
xmwmx 8:e76bebe9c45f 217 fclose(fp_drawing);
xmwmx 8:e76bebe9c45f 218 }
xmwmx 8:e76bebe9c45f 219
xmwmx 8:e76bebe9c45f 220 void on_control_cmd(const char* actuator_name, const char* control_value)
xmwmx 8:e76bebe9c45f 221 {
xmwmx 8:e76bebe9c45f 222 //pc.printf("Received [%s] [%s]\r\n", actuator_name, control_value);
xmwmx 9:a3f9faa9ca1f 223 if (strcmp(actuator_name, "dat") == 0) {
xmwmx 8:e76bebe9c45f 224 //接受到的坐标数据写入存储卡
xmwmx 9:a3f9faa9ca1f 225 //fprintf(fp_drawing, "%s", control_value);
xmwmx 8:e76bebe9c45f 226 fprintf(fp_drawing, "%s", control_value);
xmwmx 9:a3f9faa9ca1f 227 dot++;
xmwmx 9:a3f9faa9ca1f 228 if(strcmp(control_value, "(0,0,1)") == 0)
xmwmx 9:a3f9faa9ca1f 229 {
xmwmx 9:a3f9faa9ca1f 230 flag=1;
xmwmx 9:a3f9faa9ca1f 231 pc.printf("received (0,0,1) %d|%d\r\n",status,dot);
xmwmx 9:a3f9faa9ca1f 232 }
xmwmx 8:e76bebe9c45f 233 }
xmwmx 8:e76bebe9c45f 234 else if (strcmp(actuator_name, "cmd") == 0) {
xmwmx 8:e76bebe9c45f 235 int the_command = atoi(control_value);
xmwmx 8:e76bebe9c45f 236 //
xmwmx 8:e76bebe9c45f 237 if(key!=0)
xmwmx 8:e76bebe9c45f 238 {
xmwmx 8:e76bebe9c45f 239 if (key==1) {
xmwmx 8:e76bebe9c45f 240 k=the_command*0.1;
xmwmx 8:e76bebe9c45f 241 pc.printf("Received k %f\n",k);
xmwmx 8:e76bebe9c45f 242
xmwmx 8:e76bebe9c45f 243 }
xmwmx 8:e76bebe9c45f 244 if (key==2) {
xmwmx 8:e76bebe9c45f 245 x=the_command;
xmwmx 9:a3f9faa9ca1f 246 pc.printf("Received x %f\n",x);
xmwmx 8:e76bebe9c45f 247
xmwmx 8:e76bebe9c45f 248 }
xmwmx 8:e76bebe9c45f 249 if (key==3) {
xmwmx 8:e76bebe9c45f 250 y=the_command;
xmwmx 8:e76bebe9c45f 251 pc.printf("Received y %f\n",y);
xmwmx 8:e76bebe9c45f 252 }
xmwmx 8:e76bebe9c45f 253
xmwmx 8:e76bebe9c45f 254 key=0;
xmwmx 8:e76bebe9c45f 255 }
xmwmx 8:e76bebe9c45f 256 else
xmwmx 8:e76bebe9c45f 257 {
xmwmx 8:e76bebe9c45f 258 if (the_command == 1&&status==2&&key==0) {
xmwmx 8:e76bebe9c45f 259 Getawork = 1;
xmwmx 8:e76bebe9c45f 260 }
xmwmx 8:e76bebe9c45f 261 if (the_command == 2&&status==3&&key==0) {
xmwmx 8:e76bebe9c45f 262 Getdata = 1;
xmwmx 8:e76bebe9c45f 263 pc.printf("Received Getdata %d\n",Getdata);
xmwmx 8:e76bebe9c45f 264 }
xmwmx 9:a3f9faa9ca1f 265 /*else if (the_command == 3&&status==2&&key==0) {//传k
xmwmx 8:e76bebe9c45f 266 key=1;
xmwmx 9:a3f9faa9ca1f 267 }*/
xmwmx 8:e76bebe9c45f 268 else if (the_command == 4&&status==2&&key==0) {//传x
xmwmx 8:e76bebe9c45f 269 key=2;
xmwmx 8:e76bebe9c45f 270 }
xmwmx 8:e76bebe9c45f 271 else if (the_command == 5&&status==2&&key==0) {//传y
xmwmx 8:e76bebe9c45f 272 key=3;
xmwmx 8:e76bebe9c45f 273 }
xmwmx 8:e76bebe9c45f 274 }
xmwmx 8:e76bebe9c45f 275 //
xmwmx 8:e76bebe9c45f 276
xmwmx 8:e76bebe9c45f 277 }
xmwmx 8:e76bebe9c45f 278 }
xmwmx 8:e76bebe9c45f 279
xmwmx 8:e76bebe9c45f 280 int main()
xmwmx 8:e76bebe9c45f 281 {
xmwmx 8:e76bebe9c45f 282 init(); //初始化
xmwmx 8:e76bebe9c45f 283
xmwmx 8:e76bebe9c45f 284 //建立通信
xmwmx 8:e76bebe9c45f 285 status = 1;
xmwmx 8:e76bebe9c45f 286
xmwmx 8:e76bebe9c45f 287 pc.printf("starting\r\n");
xmwmx 8:e76bebe9c45f 288
xmwmx 8:e76bebe9c45f 289 MQTTSocket sock;
xmwmx 8:e76bebe9c45f 290 MClient client(sock);
xmwmx 8:e76bebe9c45f 291
xmwmx 8:e76bebe9c45f 292 //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
xmwmx 8:e76bebe9c45f 293 const char* sensors[][2] = {
xmwmx 8:e76bebe9c45f 294 "report", "",
xmwmx 8:e76bebe9c45f 295 NULL, NULL //最后一行以空指针作为结束标记
xmwmx 8:e76bebe9c45f 296 };
xmwmx 8:e76bebe9c45f 297
xmwmx 8:e76bebe9c45f 298 //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
xmwmx 8:e76bebe9c45f 299 const char* actuators[][2] = {
xmwmx 8:e76bebe9c45f 300 "dat", "",
xmwmx 8:e76bebe9c45f 301 "cmd", "",
xmwmx 8:e76bebe9c45f 302 NULL, NULL //最后一行以空指针作为结束标记
xmwmx 8:e76bebe9c45f 303 };
xmwmx 8:e76bebe9c45f 304 pc.printf("connecting...\r\n");
xmwmx 8:e76bebe9c45f 305
xmwmx 8:e76bebe9c45f 306 networking_init(sock, client, "192.168.1.100", sensors, actuators, on_control_cmd);
xmwmx 8:e76bebe9c45f 307
xmwmx 8:e76bebe9c45f 308 pc.printf("Initialization done.\r\n");
xmwmx 8:e76bebe9c45f 309
xmwmx 8:e76bebe9c45f 310 status = 2;
xmwmx 8:e76bebe9c45f 311
xmwmx 8:e76bebe9c45f 312
xmwmx 8:e76bebe9c45f 313 pc.printf("laser printer send ready.haha\r\n");
xmwmx 8:e76bebe9c45f 314
xmwmx 8:e76bebe9c45f 315 Getawork = 0;
xmwmx 8:e76bebe9c45f 316 Getdata = 0;
xmwmx 8:e76bebe9c45f 317
xmwmx 9:a3f9faa9ca1f 318 //pc.printf("yes%f|%f|%f\r\n",y,k,y*k);
xmwmx 9:a3f9faa9ca1f 319 //pc.printf("ready.\r\n");
xmwmx 8:e76bebe9c45f 320
xmwmx 8:e76bebe9c45f 321
xmwmx 8:e76bebe9c45f 322 pc.printf("biginning\r\n");
xmwmx 8:e76bebe9c45f 323 biginning();
xmwmx 8:e76bebe9c45f 324 pc.printf("finish\r\n");
xmwmx 8:e76bebe9c45f 325
xmwmx 9:a3f9faa9ca1f 326 //draw();
xmwmx 9:a3f9faa9ca1f 327
xmwmx 8:e76bebe9c45f 328 while (true)
xmwmx 8:e76bebe9c45f 329 {
xmwmx 9:a3f9faa9ca1f 330 if(x==0||y==0&&status==2)
xmwmx 9:a3f9faa9ca1f 331 {
xmwmx 9:a3f9faa9ca1f 332 while(x==0&&status==2)
xmwmx 9:a3f9faa9ca1f 333 {
xmwmx 9:a3f9faa9ca1f 334 pc.printf("waiting x\r\n");
xmwmx 9:a3f9faa9ca1f 335 publish_value(client, "report", "input x:");
xmwmx 9:a3f9faa9ca1f 336 client.yield(5000);
xmwmx 9:a3f9faa9ca1f 337 }
xmwmx 9:a3f9faa9ca1f 338 while(y==0&&status==2)
xmwmx 9:a3f9faa9ca1f 339 {
xmwmx 9:a3f9faa9ca1f 340 pc.printf("waiting y\r\n");
xmwmx 9:a3f9faa9ca1f 341 publish_value(client, "report", "input y:");
xmwmx 9:a3f9faa9ca1f 342 client.yield(5000);
xmwmx 9:a3f9faa9ca1f 343 }
xmwmx 9:a3f9faa9ca1f 344 publish_value(client, "report", "ready.");
xmwmx 9:a3f9faa9ca1f 345 }
xmwmx 9:a3f9faa9ca1f 346 while(y*k>widthy&&status==2)
xmwmx 9:a3f9faa9ca1f 347 {
xmwmx 9:a3f9faa9ca1f 348 k-=0.01;
xmwmx 9:a3f9faa9ca1f 349 pc.printf("no%f|%f|%f\r\n",y,k,y*k);
xmwmx 9:a3f9faa9ca1f 350 wait(0.001);
xmwmx 9:a3f9faa9ca1f 351 }
xmwmx 8:e76bebe9c45f 352 if (status == 2)
xmwmx 8:e76bebe9c45f 353 {
xmwmx 9:a3f9faa9ca1f 354
xmwmx 8:e76bebe9c45f 355 if (Getawork)
xmwmx 8:e76bebe9c45f 356 { //收到新任务
xmwmx 8:e76bebe9c45f 357 Getawork = 0;
xmwmx 8:e76bebe9c45f 358 pc.printf("Begin receiving... %d\r\n",status);
xmwmx 8:e76bebe9c45f 359 // 打开文件，准备接受坐标数据
xmwmx 8:e76bebe9c45f 360 fp_drawing = fopen("/sd/write.txt", "w");
xmwmx 8:e76bebe9c45f 361 if (fp_drawing)
xmwmx 8:e76bebe9c45f 362 {
xmwmx 8:e76bebe9c45f 363 pc.printf("File opened\r\n");
xmwmx 8:e76bebe9c45f 364 status = 3;
xmwmx 8:e76bebe9c45f 365 publish_value(client, "report", "wait data.");
xmwmx 9:a3f9faa9ca1f 366 pc.printf("wait data.%d\r\n",status);
xmwmx 8:e76bebe9c45f 367 }
xmwmx 8:e76bebe9c45f 368 }
xmwmx 9:a3f9faa9ca1f 369
xmwmx 8:e76bebe9c45f 370 }
xmwmx 8:e76bebe9c45f 371
xmwmx 8:e76bebe9c45f 372
xmwmx 9:a3f9faa9ca1f 373 if (status == 3)
xmwmx 8:e76bebe9c45f 374 {
xmwmx 9:a3f9faa9ca1f 375 if(flag==1)
xmwmx 9:a3f9faa9ca1f 376 {
xmwmx 9:a3f9faa9ca1f 377 //wait(15);
xmwmx 9:a3f9faa9ca1f 378
xmwmx 9:a3f9faa9ca1f 379 publish_value(client, "report", "all wrote.");
xmwmx 9:a3f9faa9ca1f 380 pc.printf("wrote finish %d\r\n",status);
xmwmx 9:a3f9faa9ca1f 381 }
xmwmx 8:e76bebe9c45f 382 if (Getdata)
xmwmx 8:e76bebe9c45f 383 { //数据接收完
xmwmx 8:e76bebe9c45f 384 Getdata = 0;
xmwmx 8:e76bebe9c45f 385 pc.printf("End receiving... %d\r\n",status);
xmwmx 8:e76bebe9c45f 386 fclose(fp_drawing);
xmwmx 8:e76bebe9c45f 387 publish_value(client, "report", "received.");
xmwmx 8:e76bebe9c45f 388 status = 4;
xmwmx 8:e76bebe9c45f 389 }
xmwmx 8:e76bebe9c45f 390 }
xmwmx 9:a3f9faa9ca1f 391 if (status == 4)
xmwmx 8:e76bebe9c45f 392 {
xmwmx 8:e76bebe9c45f 393 // pc.printf("debug4 \r\n");
xmwmx 8:e76bebe9c45f 394 // dealdata();
xmwmx 9:a3f9faa9ca1f 395 pc.printf("Drawing.. %d |%d\r\n",status,dot);
xmwmx 8:e76bebe9c45f 396 // usbprintdata();
xmwmx 8:e76bebe9c45f 397 draw();
xmwmx 8:e76bebe9c45f 398 publish_value(client, "report", "done.");
xmwmx 9:a3f9faa9ca1f 399 pc.printf("done. %d \r\n",status);
xmwmx 8:e76bebe9c45f 400 status = 2;
xmwmx 9:a3f9faa9ca1f 401 x=0;
xmwmx 9:a3f9faa9ca1f 402 y=0;
xmwmx 9:a3f9faa9ca1f 403 Getawork = 0;
xmwmx 9:a3f9faa9ca1f 404 Getdata = 0;
xmwmx 9:a3f9faa9ca1f 405 unit_xy=200;
xmwmx 9:a3f9faa9ca1f 406 k=1.0;
xmwmx 9:a3f9faa9ca1f 407 flag=0;
xmwmx 9:a3f9faa9ca1f 408 dot=0;
xmwmx 9:a3f9faa9ca1f 409 //strcpy(w,"");
xmwmx 8:e76bebe9c45f 410 }
xmwmx 8:e76bebe9c45f 411 client.yield(1000);
xmwmx 8:e76bebe9c45f 412 }
xmwmx 9:a3f9faa9ca1f 413
xmwmx 8:e76bebe9c45f 414 }