Diff: mainwmx.cpp

Revision:

5:c5b3ccf99436

Child:

9:a3f9faa9ca1f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mainwmx.cpp	Fri Jul 27 08:28:13 2018 +0000
@@ -0,0 +1,373 @@
+/************************************************************************************************
+File name:          main.cpp
+Description:        项目激光部分客户端代码
+Author:             秦智
+Date:               June 4, 2018
+Others:             本程序编写在mbed平台(https://os.mbed.com/)上
+
+*************************************************************************************************/
+
+#include "mbed.h"
+#include <math.h>
+#include <cstring>
+#include <stdlib.h>
+#include "SDFileSystem.h"
+#include "networking.h"
+
+
+#define edgex1 30         //          上x(正朝向开关)下y(负朝向开关)
+#define edgex2 125        //              __
+#define edgey1 90         //              ||
+#define edgey2 150        //              115mm y2
+#define widthx 95        //         x2   ||         x1
+#define widthy 60        //      //=====190mm====//30mm/|开关
+#define mm 100//100步1mm  //              ||
+                          //              ||
+                          //              ||
+                          //              __       y1
+                          //              
+                          //              -- 开关   15mm
+
+
+/////调试
+Serial pc(PA_9, PA_10);
+DigitalOut LED(PB_8);
+/////
+
+//硬件接口
+// mosi, miso, sclk, cs, name
+SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
+//步进电机
+DigitalOut step[2] = {DigitalOut(PC_5), DigitalOut(PA_5)}; //0--x P9,1--y P17
+DigitalOut dir[2] = {DigitalOut(PC_4), DigitalOut(PA_4)}; //0--x,1--y
+DigitalOut en[2] = {DigitalOut(PD_2), DigitalOut(PA_2)}; //0--x,1--y
+//电子开关,激光开关
+DigitalOut switch_GS(PC_15);
+//行程开关
+ DigitalIn switch_pos1(PC_8);   //P25
+ DigitalIn switch_pos2(PA_6);  //P26
+ DigitalIn switch_pos3(PA_11);  //P27
+
+//运行中的全局变量
+volatile bool Working, Getawork, Isend, Dataused, Getdata;
+FILE *fp_drawing; // 存储图案的文件
+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
+int now_x, now_y;
+int Endoffile = 0;
+
+// float thedata[50][3];
+// char sdata[1024];
+int Nofdata;
+bool ifreceive;
+
+//与实际有关参数
+float Lenoflattice = 1 ;//mm  取1mm为xy单元  unit_xy/Lenoflattice=100
+int unit_xy = 200;  //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
+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
+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
+///Ticker ticker_step;
+float step_halfperiod = 0.0001;//0.0002;
+int max_x, max_y;
+int dir_x = 1;///调试时调整
+int dir_y = 1;///调试时调整
+int dot_max = 30;      //灰度最大值对应多少次激光点击
+float dot_last = 0.005;    //每次激光点击持续多久
+int H_max = 255;  //灰度值最大值
+double k = 1.0; //缩放比例
+double y=0;//图片y边长
+double x=0;//图片x边长
+int key=0;//判断变量
+
+void rotate(int id ,int pix);
+
+
+
+
+void biginning()
+{
+    pc.printf("x\n");           //          上x(正朝向开关)下y(负朝向开关)
+    while(!switch_pos1.read())  //              __      y2
+    {                           //              ||
+    rotate(0,5);                //              115mm
+    }                           //      x2      ||      x1                      
+    rotate(0,-mm*edgex2);      //      //=====200mm====//42mm/|开关
+    pc.printf("y\n");           //              ||
+    while(!switch_pos2.read())  //              ||
+    {                           //              ||
+    rotate(1,-5);               //              __      y1
+    }                           //
+     rotate(1,mm*edgey1);      //              __ 开关   15mm
+     
+     //走轮廓
+     rotate(0,mm*widthx);  
+     rotate(1,mm*widthy);
+     rotate(0,mm*-widthx);
+     rotate(1,mm*-widthy);
+}
+
+void report()
+{
+    // ser2usb.printf("-1- status: %d \r\n", status);
+    // ser2usb.printf("-2- now_x: %d now_y: %d \r\n", now_x,now_y);
+    //ser2usb.printf("-3- switch_GS: %i \r\n", switch_GS.read());
+    //ser2usb.printf("-4- switch_pos1: %i switch_pos2: %i switch_pos3: %i \r\n", switch_pos1.read(),switch_pos2.read(),switch_pos3.read());
+    //ser2usb.printf("-5- en[0]: %i en[1]: %i \r\n", en[0].read(),en[1].read());
+    //ser2usb.printf("-6- dir[0]: %i dir[1]: %i \r\n", dir[0].read(),dir[1].read());
+    //ser2usb.printf("-7- step[0]: %i step[1]: %i \r\n", step[0].read(),step[1].read());
+}
+
+void init()
+{
+    status = 0;
+    now_x = 0;
+    now_y = 0;
+    step[0] = 0;
+    step[1] = 0;
+    //上x下y
+
+}
+void rotate(int id, int pix) //id= 0--x,1--y  pix=3200为一圈
+{
+    if (pix >= 0) {
+        dir[0] = dir_x;
+        dir[1] = dir_y;
+    } else {
+        pix = -pix;
+        dir[0] = 1 - dir_x;
+        dir[1] = 1 - dir_y;
+    }
+    for (int i = 0; i < pix; i++) {
+        step[id] = 1;
+        wait(step_halfperiod);
+        step[id] = 0;
+        wait(step_halfperiod);
+    }
+}
+
+void moveto(float x, float y)
+{
+    rotate(0, (x - now_x)*unit_xy);
+    rotate(1, (y - now_y)*unit_xy);
+    now_x = x;
+    now_y = y;
+}
+void fuwei()
+{
+    moveto(0, 0);
+    status = 1;
+}
+void markdot(float value)
+{
+    //switch_GS=1;
+    int Ndot = floor(value * dot_max / H_max);
+    for (int i = 0; i < Ndot; i++) {
+        switch_GS = 1;
+        wait(dot_last);
+        switch_GS = 0;
+    }
+}
+/*
+void dealdata(){
+    ser2usb.printf("getdata: %s \r\n",sdata);
+    int data_size = 0;//strlen(pch);
+    char * pch;
+    pch = strtok (sdata,"\r\n ,.-)(");
+    while (pch != NULL)
+    {
+        thedata[data_size/3][data_size%3]=atof(pch);
+        pch = strtok (NULL, "\r\n ,.-)(");
+        data_size++;
+    }
+    Nofdata = (data_size)/3;
+}
+void usbprintdata(){
+    ser2usb.printf("dealdata:  \r\n   <<<<<<<<<<<<<<<<");
+    for(int i=0;i<Nofdata;i++){
+        ser2usb.printf("<<< i: %i  x: %f  y: %f  v: %f \r\n",i,thedata[i][0],thedata[i][1],thedata[i][2]);
+    }
+    ser2usb.printf("dealdata done!    \r\n    >>>>>>>>>>>>");
+}
+*/
+
+void draw()
+{
+    unit_xy=unit_xy*k;
+    float x, y, v;
+    fp_drawing = fopen("/sd/write.txt", "r");
+    pc.printf("reading\r\n");
+    for (int i = 0; fscanf(fp_drawing, "(%f,%f,%f)", &x, &y, &v) == 3; i++) 
+    {
+        pc.printf("(%f,%f,%f)\r\n", x, y, v);
+        moveto(x, y);
+        markdot(v);
+        // moveto(thedata[i][0],thedata[i][1]);
+        // markd??>ot(thedata[i][2]);
+    }
+    fclose(fp_drawing);
+}
+
+void on_control_cmd(const char* actuator_name, const char* control_value)
+{
+    //pc.printf("Received [%s] [%s]\r\n", actuator_name, control_value);
+    if (strcmp(actuator_name, "dat") == 0&&status==3) {
+        //接受到的坐标数据写入存储卡
+        //pc.printf("Received yes\n");
+        fprintf(fp_drawing, "%s", control_value);
+    } 
+    else if (strcmp(actuator_name, "cmd") == 0) {
+        int the_command = atoi(control_value);
+        //
+        if(key!=0)
+            {
+                if (key==1) {
+                    k=the_command*0.1;
+                    pc.printf("Received k %f\n",k);
+            
+                }
+                if (key==2) {
+                    x=the_command;
+                    pc.printf("Received x %f\n",y);
+            
+                }
+                if (key==3) {
+                    y=the_command;
+                    pc.printf("Received y %f\n",y);
+                }
+
+                key=0;
+            }
+        else
+        {
+                if (the_command == 1&&status==2&&key==0) {
+                    Getawork = 1;
+                } 
+                if (the_command == 2&&status==3&&key==0) {
+                    Getdata = 1;
+                    pc.printf("Received Getdata %d\n",Getdata);
+                }
+                else if (the_command == 3&&status==2&&key==0) {//传k
+                    key=1;
+                }
+                else if (the_command == 4&&status==2&&key==0) {//传x
+                    key=2;
+                }
+                else if (the_command == 5&&status==2&&key==0) {//传y
+                    key=3;
+                }
+        }
+        //
+        
+    }
+}
+
+int main()
+{
+    init();     //初始化
+
+    //建立通信
+    status = 1;
+
+    pc.printf("starting\r\n");
+
+    MQTTSocket sock;
+    MClient client(sock);
+
+    //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] = {
+        "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] = {
+        "dat", "",
+        "cmd", "",
+        NULL, NULL //最后一行以空指针作为结束标记
+    };
+    pc.printf("connecting...\r\n");
+
+    networking_init(sock, client, "192.168.1.100", sensors, actuators, on_control_cmd);
+
+    pc.printf("Initialization done.\r\n");
+
+    status = 2;
+
+    
+    pc.printf("laser printer send ready.haha\r\n");
+    
+    Getawork = 0;
+    Getdata = 0;
+
+    publish_value(client, "report", "input x:");
+    client.yield(5000);
+    publish_value(client, "report", "input y:");
+    client.yield(5000);
+      
+    pc.printf("input k:\r\n");
+    publish_value(client, "report", "input k:");
+    wait(1);
+    int i=10;
+    while(y*k>widthy||i>0)
+    {
+        pc.printf("no%f|%f|%f|%d\r\n",y,k,y*k,i);
+        client.yield(1000);
+        i--;
+    }
+    pc.printf("yes%f|%f|%f\r\n",y,k,y*k);
+    pc.printf("ready.\r\n");
+    
+    
+    pc.printf("biginning\r\n");
+    biginning();
+    pc.printf("finish\r\n");
+    
+    while (true) 
+    {
+        if (status == 2) 
+        {
+            if (Getawork) 
+            { //收到新任务
+                Getawork = 0;
+                pc.printf("Begin receiving...  %d\r\n",status);
+                // 打开文件，准备接受坐标数据
+                fp_drawing = fopen("/sd/write.txt", "w");
+                if (fp_drawing) 
+                {
+                    pc.printf("File opened\r\n");
+                    status = 3;
+                    publish_value(client, "report", "wait data.");
+                }
+            }
+            else
+            {
+                 wait(0.1);
+                 publish_value(client, "report", "ready.");
+             }
+        }
+
+         
+        else if (status == 3) 
+        {
+            if (Getdata) 
+            { //数据接收完
+                Getdata = 0;
+                pc.printf("End receiving...  %d\r\n",status);
+                fclose(fp_drawing);
+                publish_value(client, "report", "received.");
+                status = 4;
+            }
+        } 
+        else if (status == 4) 
+        {
+            // pc.printf("debug4 \r\n");
+            // dealdata();
+            pc.printf("Drawing..  %d \r\n",status);
+            // usbprintdata();
+            draw();
+            publish_value(client, "report", "done.");
+            status = 2;
+        }
+        client.yield(1000);
+    }
+
+}