main.cpp

00001 /************************************************************************************************
00002 File name:          main.cpp
00003 Description:        项目激光部分客户端代码
00004 Author:             秦智
00005 Date:               June 4, 2018
00006 Others:             本程序编写在mbed平台(https://os.mbed.com/)上
00007 
00008 *************************************************************************************************/
00009 
00010 #include "mbed.h"
00011 #include <math.h>
00012 #include <cstring>
00013 #include <stdlib.h>
00014 #include "SDFileSystem.h"
00015 #include "networking.h"
00016 
00017 
00018 /////调试
00019 Serial pc(PA_9, PA_10);
00020 DigitalOut LED(PB_8);
00021 /////
00022 
00023 //硬件接口
00024 // mosi, miso, sclk, cs, name
00025 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
00026 //步进电机
00027 DigitalOut step[2] = {DigitalOut(PC_5), DigitalOut(PA_5)}; //0--x P9,1--y P17
00028 DigitalOut dir[2] = {DigitalOut(PC_4), DigitalOut(PA_4)}; //0--x,1--y
00029 DigitalOut en[2] = {DigitalOut(PD_2), DigitalOut(PA_2)}; //0--x,1--y
00030 //电子开关,激光开关
00031 DigitalOut switch_GS(PC_15);
00032 //行程开关
00033 // DigitalIn switch_pos1(PB_1);   //P25
00034 // DigitalIn switch_pos2(PA_15);  //P26
00035 // DigitalIn switch_pos3(PA_11);  //P27
00036 
00037 //运行中的全局变量
00038 volatile bool Working, Getawork, Isend, Dataused, Getdata;
00039 FILE *fp_drawing; // 存储图案的文件
00040 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
00041 int now_x, now_y;
00042 int Endoffile = 0;
00043 
00044 // float thedata[50][3];
00045 // char sdata[1024];
00046 int Nofdata;
00047 bool ifreceive;
00048 
00049 //与实际有关参数
00050 float Lenoflattice = 1 ;//mm  取1mm为xy单元  unit_xy/Lenoflattice=100
00051 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
00052 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
00053 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
00054 ///Ticker ticker_step;
00055 float step_halfperiod = 0.002;//0.02;
00056 int max_x, max_y;
00057 int dir_x = 1;///调试时调整
00058 int dir_y = 1;///调试时调整
00059 int dot_max = 10;      //灰度最大值对应多少次激光点击
00060 float dot_last = 0.5;    //每次激光点击持续多久
00061 int H_max = 255;  //灰度值最大值
00062 
00063 
00064 
00065 
00066 
00067 void report()
00068 {
00069     // ser2usb.printf("-1- status: %d \r\n", status);
00070     // ser2usb.printf("-2- now_x: %d now_y: %d \r\n", now_x,now_y);
00071     //ser2usb.printf("-3- switch_GS: %i \r\n", switch_GS.read());
00072     //ser2usb.printf("-4- switch_pos1: %i switch_pos2: %i switch_pos3: %i \r\n", switch_pos1.read(),switch_pos2.read(),switch_pos3.read());
00073     //ser2usb.printf("-5- en[0]: %i en[1]: %i \r\n", en[0].read(),en[1].read());
00074     //ser2usb.printf("-6- dir[0]: %i dir[1]: %i \r\n", dir[0].read(),dir[1].read());
00075     //ser2usb.printf("-7- step[0]: %i step[1]: %i \r\n", step[0].read(),step[1].read());
00076 }
00077 
00078 void init()
00079 {
00080     status = 0;
00081     now_x = 0;
00082     now_y = 0;
00083     step[0] = 0;
00084     step[1] = 0;
00085 }
00086 void rotate(int id, int pix) //id= 0--x,1--y  pix=3200为一圈
00087 {
00088     if (pix >= 0) {
00089         dir[0] = dir_x;
00090         dir[1] = dir_y;
00091     } else {
00092         pix = -pix;
00093         dir[0] = 1 - dir_x;
00094         dir[1] = 1 - dir_y;
00095     }
00096     for (int i = 0; i < pix; i++) {
00097         step[id] = 1;
00098         wait(step_halfperiod);
00099         step[id] = 0;
00100         wait(step_halfperiod);
00101     }
00102 }
00103 
00104 void moveto(float x, float y)
00105 {
00106     rotate(0, (x - now_x)*unit_xy); //电机旋转
00107     rotate(1, (y - now_y)*unit_xy);
00108     now_x = x;
00109     now_y = y;
00110 }
00111 void markdot(float value)
00112 {
00113     //switch_GS=1;
00114     int Ndot = floor(value * dot_max / H_max);
00115     for (int i = 0; i < Ndot; i++) {
00116         switch_GS = 1; // 开激光
00117         wait(dot_last); // 等待
00118         switch_GS = 0; // 关激光
00119     }
00120 }
00121 
00122 void draw()
00123 {
00124     float x, y, v;
00125     fp_drawing = fopen("/sd/write.txt", "r"); // 打开文件
00126     for (int i = 0; fscanf(fp_drawing, "(%f,%f,%f)", &x, &y, &v) == 3; i++) {
00127         pc.printf("(%f,%f,%f)\r\n", x, y, v);
00128         moveto(x, y); // 移动到坐标位置
00129         markdot(v); // 打点
00130     }
00131     fclose(fp_drawing); // 关闭文件
00132 }
00133 void fuwei()
00134 {
00135     moveto(0, 0);
00136     status = 1;
00137 }
00138 
00139 void on_control_cmd(const char* actuator_name, const char* control_value)
00140 {
00141     pc.printf("Received [%s] [%s]\r\n", actuator_name, control_value);
00142     if (strcmp(actuator_name, "dat") == 0) {
00143         //接受到的坐标数据写入存储卡
00144         fprintf(fp_drawing, "%s", control_value);
00145     } else if (strcmp(actuator_name, "cmd") == 0) {
00146         int the_command = atoi(control_value);
00147         if (the_command == 1) {
00148             Getawork = 1;
00149         } else if (the_command == 2) {
00150             Getdata = 1;
00151         }
00152     }
00153 }
00154 
00155 int main()
00156 {
00157     init();     //初始化
00158 
00159     //建立通信
00160     status = 1;
00161 
00162     pc.printf("starting\r\n");
00163 
00164     MQTTSocket sock;
00165     MClient client(sock);
00166 
00167     //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
00168     const char* sensors[][2] = {
00169         "report", "",
00170         NULL, NULL //最后一行以空指针作为结束标记
00171     };
00172 
00173     //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
00174     const char* actuators[][2] = {
00175         "dat", "",
00176         "cmd", "",
00177         NULL, NULL //最后一行以空指针作为结束标记
00178     };
00179     pc.printf("connecting...\r\n");
00180 
00181     networking_init(sock, client, "tdxls-iot.xicp.net", sensors, actuators, on_control_cmd);
00182 
00183     pc.printf("Initialization done.\r\n");
00184 
00185     status = 2;
00186 
00187     publish_value(client, "report", "ready.");
00188     pc.printf("laser printer send ready.\r\n");
00189 
00190     Getawork = 0;
00191     Getdata = 0;
00192 
00193     while (true) {
00194         if (status == 2) {
00195             if (Getawork) { //收到新任务
00196                 Getawork = 0;
00197                 pc.printf("Begin receiving...\r\n");
00198                 // 打开文件，准备接受坐标数据
00199                 fp_drawing = fopen("/sd/write.txt", "w");
00200                 if (fp_drawing) {
00201                     pc.printf("File opened\r\n");
00202                     publish_value(client, "report", "wait data.");
00203                     status = 3;
00204                 }
00205             }
00206         } else if (status == 3) {
00207             if (Getdata) { //数据接收完
00208                 Getdata = 0;
00209                 pc.printf("End receiving...\r\n");
00210                 fclose(fp_drawing);
00211                 publish_value(client, "report", "received.");
00212                 status = 4;
00213             }
00214         } else if (status == 4) {
00215             // pc.printf("debug4 \r\n");
00216             // dealdata();
00217             pc.printf("Drawing.. \r\n");
00218             // usbprintdata();
00219             draw();
00220             pc.printf("Finished\r\n");
00221             publish_value(client, "report", "done.");
00222             status = 2;
00223         }
00224         client.yield(1000);
00225     }
00226 }