w mx
收到xy自动缩放
Dependencies: MQTT SDFileSystem WIZnet_Library mbed
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mainwmx.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 //#include <string> 00017 00018 00019 00020 #define edgex1 125 // 上x(正朝向开关)下y(负朝向开关) 00021 #define edgex2 155 // __ 00022 #define edgey1 70 // || 00023 #define edgey2 100 // 125mm y2 00024 #define widthx 30 // x2 || x1 00025 #define widthy 30 // //=====210mm====//35mm/|开关 00026 #define mm 100//100步1mm // || 00027 // || 00028 // || 00029 // __ y1 00030 // 00031 // -- 开关 15mm 00032 00033 00034 /////调试 00035 Serial pc(PA_9, PA_10); 00036 DigitalOut LED(PB_8); 00037 ///// 00038 00039 //硬件接口 00040 // mosi, miso, sclk, cs, name 00041 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); 00042 //步进电机 00043 DigitalOut step[2] = {DigitalOut(PC_5), DigitalOut(PA_5)}; //0--x P9,1--y P17 00044 DigitalOut dir[2] = {DigitalOut(PC_4), DigitalOut(PA_4)}; //0--x,1--y 00045 DigitalOut en[2] = {DigitalOut(PD_2), DigitalOut(PA_2)}; //0--x,1--y 00046 //电子开关,激光开关 00047 DigitalOut switch_GS(PC_15); 00048 //行程开关 00049 DigitalIn switch_pos1(PC_8); //P25 00050 DigitalIn switch_pos2(PA_6); //P26 00051 DigitalIn switch_pos3(PA_11); //P27 00052 00053 //运行中的全局变量 00054 volatile bool Working, Getawork, Isend, Dataused, Getdata; 00055 FILE *fp_drawing; // 存储图案的文件 00056 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 00057 int now_x, now_y; 00058 int Endoffile = 0; 00059 00060 // float thedata[50][3]; 00061 // char sdata[1024]; 00062 int Nofdata; 00063 bool ifreceive; 00064 00065 //与实际有关参数 00066 float Lenoflattice = 1 ;//mm 取1mm为xy单元 unit_xy/Lenoflattice=100 00067 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 00068 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 00069 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 00070 ///Ticker ticker_step; 00071 float step_halfperiod = 0.0001;//0.0002; 00072 int max_x, max_y; 00073 int dir_x = 1;///调试时调整 00074 int dir_y = 1;///调试时调整 00075 int dot_max = 30; //灰度最大值对应多少次激光点击 00076 float dot_last = 0.005; //每次激光点击持续多久 00077 int H_max = 255; //灰度值最大值 00078 double k = 1.0; //缩放比例 00079 double y=0;//图片y边长 00080 double x=0;//图片x边长 00081 int key=0;//判断变量 00082 int dot=0;//点计数 00083 int flag=0; 00084 int numbers[100][3]; 00085 //char buf[100]; 00086 00087 00088 void rotate(int id ,int pix); 00089 00090 00091 00092 void biginning() 00093 { 00094 pc.printf("x\n"); // 上x(正朝向开关)下y(负朝向开关) 00095 while(!switch_pos1.read()) // __ y2 00096 { // || 00097 rotate(0,5); // 115mm 00098 } // x2 || x1 00099 rotate(0,-mm*edgex2); // //=====200mm====//42mm/|开关 00100 pc.printf("y\n"); // || 00101 while(!switch_pos2.read()) // || 00102 { // || 00103 rotate(1,-5); // __ y1 00104 } // 00105 rotate(1,mm*edgey1); // __ 开关 15mm 00106 //定位 00107 for (int i = 0; i < 500; i++) 00108 { 00109 switch_GS = 1; 00110 wait(0.005); 00111 switch_GS = 0; 00112 wait(0.005); 00113 } 00114 //走轮廓 00115 rotate(0,mm*widthx); 00116 rotate(1,mm*widthy); 00117 rotate(0,mm*-widthx); 00118 rotate(1,mm*-widthy); 00119 } 00120 00121 void report() 00122 { 00123 // ser2usb.printf("-1- status: %d \r\n", status); 00124 // ser2usb.printf("-2- now_x: %d now_y: %d \r\n", now_x,now_y); 00125 //ser2usb.printf("-3- switch_GS: %i \r\n", switch_GS.read()); 00126 //ser2usb.printf("-4- switch_pos1: %i switch_pos2: %i switch_pos3: %i \r\n", switch_pos1.read(),switch_pos2.read(),switch_pos3.read()); 00127 //ser2usb.printf("-5- en[0]: %i en[1]: %i \r\n", en[0].read(),en[1].read()); 00128 //ser2usb.printf("-6- dir[0]: %i dir[1]: %i \r\n", dir[0].read(),dir[1].read()); 00129 //ser2usb.printf("-7- step[0]: %i step[1]: %i \r\n", step[0].read(),step[1].read()); 00130 } 00131 00132 void init() 00133 { 00134 status = 0; 00135 now_x = 0; 00136 now_y = 0; 00137 step[0] = 0; 00138 step[1] = 0; 00139 //memset(buf,0,sizeof(buf)/sizeof(char)); 00140 //上x下y 00141 00142 } 00143 void rotate(int id, int pix) //id= 0--x,1--y pix=3200为一圈 00144 { 00145 if (pix >= 0) { 00146 dir[0] = dir_x; 00147 dir[1] = dir_y; 00148 } else { 00149 pix = -pix; 00150 dir[0] = 1 - dir_x; 00151 dir[1] = 1 - dir_y; 00152 } 00153 for (int i = 0; i < pix; i++) { 00154 step[id] = 1; 00155 wait(step_halfperiod); 00156 step[id] = 0; 00157 wait(step_halfperiod); 00158 } 00159 } 00160 00161 void moveto(float x, float y) 00162 { 00163 rotate(0, (x - now_x)*unit_xy); 00164 rotate(1, (y - now_y)*unit_xy); 00165 now_x = x; 00166 now_y = y; 00167 } 00168 void fuwei() 00169 { 00170 moveto(0, 0); 00171 status = 1; 00172 } 00173 void markdot(float value) 00174 { 00175 //switch_GS=1; 00176 int Ndot = floor(value * dot_max / H_max); 00177 for (int i = 0; i < Ndot; i++) { 00178 switch_GS = 1; 00179 wait(dot_last); 00180 switch_GS = 0; 00181 } 00182 } 00183 /* 00184 void dealdata(){ 00185 ser2usb.printf("getdata: %s \r\n",sdata); 00186 int data_size = 0;//strlen(pch); 00187 char * pch; 00188 pch = strtok (sdata,"\r\n ,.-)("); 00189 while (pch != NULL) 00190 { 00191 thedata[data_size/3][data_size%3]=atof(pch); 00192 pch = strtok (NULL, "\r\n ,.-)("); 00193 data_size++; 00194 } 00195 Nofdata = (data_size)/3; 00196 } 00197 void usbprintdata(){ 00198 ser2usb.printf("dealdata: \r\n <<<<<<<<<<<<<<<<"); 00199 for(int i=0;i<Nofdata;i++){ 00200 ser2usb.printf("<<< i: %i x: %f y: %f v: %f \r\n",i,thedata[i][0],thedata[i][1],thedata[i][2]); 00201 } 00202 ser2usb.printf("dealdata done! \r\n >>>>>>>>>>>>"); 00203 } 00204 */ 00205 00206 void str2numbers(char buf[]) 00207 { 00208 pc.printf("%s\r\n",buf); 00209 char *p = buf; 00210 int index = 0; 00211 int x,y,z; 00212 while(true) 00213 { 00214 p = strchr(p, '('); 00215 if(!p) break; 00216 p++; 00217 sscanf(p, "%d%d%d",&x,&y,&z); 00218 pc.printf("%d %d %d \r\n",x,y,z); 00219 numbers[index][0] = x; 00220 numbers[index][1] = y; 00221 numbers[index][2] = z; 00222 index++; 00223 } 00224 } 00225 00226 void draw() 00227 { 00228 unit_xy=unit_xy*k; 00229 float x, y, v; 00230 fp_drawing = fopen("/sd/write.txt", "r"); 00231 pc.printf("reading\r\n"); 00232 for (int i = 0; fscanf(fp_drawing, "(%f,%f,%f)", &x, &y, &v) == 3; i++) 00233 { 00234 pc.printf("(%f,%f,%f)|%d|%d\r\n", x, y, v,i,dot); 00235 moveto(x, y); 00236 markdot(v); 00237 // moveto(thedata[i][0],thedata[i][1]); 00238 // markd??>ot(thedata[i][2]); 00239 } 00240 fclose(fp_drawing); 00241 } 00242 00243 void on_control_cmd(const char* actuator_name, const char* control_value) 00244 { 00245 //pc.printf("Received [%s] [%s]\r\n", actuator_name, control_value); 00246 if (strcmp(actuator_name, "dat") == 0) { 00247 //接受到的坐标数据写入存储卡 00248 /* 00249 if(dot<10) 00250 { 00251 strcpy(buf,control_value); 00252 dot++; 00253 pc.printf("received %d|%d|%s\r\n",status,dot,buf); 00254 } 00255 else 00256 { 00257 fprintf(fp_drawing, "%s", buf); 00258 memset(buf,0,sizeof(buf)/sizeof(char)); 00259 dot=0; 00260 strcpy(buf,control_value); 00261 dot++; 00262 flag=1; 00263 pc.printf("received. %d|%d|%s\r\n",status,dot,buf); 00264 } 00265 */ 00266 //fprintf(fp_drawing, "%s", control_value); 00267 //str2numbers(control_value); 00268 pc.printf("received %d|%d\r\n",status,dot); 00269 fprintf(fp_drawing, "%s", control_value); 00270 dot++; 00271 flag=1; 00272 pc.printf("received %d|%d\r\n",status,dot); 00273 00274 } 00275 else if (strcmp(actuator_name, "command") == 0) { 00276 int the_command = atoi(control_value); 00277 // 00278 if(key!=0) 00279 { 00280 if (key==1) { 00281 k=the_command*0.1; 00282 pc.printf("Received k %f\n",k); 00283 00284 } 00285 if (key==2) { 00286 x=the_command; 00287 pc.printf("Received x %f\n",x); 00288 00289 } 00290 if (key==3) { 00291 y=the_command; 00292 pc.printf("Received y %f\n",y); 00293 } 00294 00295 key=0; 00296 } 00297 else 00298 { 00299 if (the_command == 1&&status==2&&key==0) { 00300 Getawork = 1; 00301 } 00302 if (the_command == 2&&status==3&&key==0) { 00303 Getdata = 1; 00304 pc.printf("Received Getdata %d\n",Getdata); 00305 } 00306 /*else if (the_command == 3&&status==2&&key==0) {//传k 00307 key=1; 00308 }*/ 00309 else if (the_command == 4&&status==2&&key==0) {//传x 00310 key=2; 00311 } 00312 else if (the_command == 5&&status==2&&key==0) {//传y 00313 key=3; 00314 } 00315 } 00316 // 00317 00318 } 00319 } 00320 00321 int main() 00322 { 00323 init(); //初始化 00324 00325 //建立通信 00326 status = 1; 00327 00328 pc.printf("starting\r\n"); 00329 00330 MQTTSocket sock; 00331 MClient client(sock); 00332 00333 //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 00334 const char* sensors[][2] = { 00335 "report", "", 00336 NULL, NULL //最后一行以空指针作为结束标记 00337 }; 00338 00339 //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 00340 const char* actuators[][2] = { 00341 "dat", "", 00342 "command", "", 00343 NULL, NULL //最后一行以空指针作为结束标记 00344 }; 00345 pc.printf("connecting...\r\n"); 00346 00347 networking_init(sock, client, "192.168.1.100", sensors, actuators, on_control_cmd); 00348 00349 pc.printf("Initialization done.\r\n"); 00350 00351 status = 2; 00352 00353 00354 pc.printf("laser printer send ready.haha\r\n"); 00355 00356 Getawork = 0; 00357 Getdata = 0; 00358 00359 //pc.printf("yes%f|%f|%f\r\n",y,k,y*k); 00360 //pc.printf("ready.\r\n"); 00361 00362 00363 pc.printf("biginning\r\n"); 00364 biginning(); 00365 pc.printf("finish\r\n"); 00366 00367 //draw(); 00368 00369 while (true) 00370 { 00371 if(x==0||y==0&&status==2) 00372 { 00373 while(x==0&&status==2) 00374 { 00375 pc.printf("waiting x\r\n"); 00376 publish_value(client, "report", "input x:"); 00377 client.yield(5000); 00378 } 00379 while(y==0&&status==2) 00380 { 00381 pc.printf("waiting y\r\n"); 00382 publish_value(client, "report", "input y:"); 00383 client.yield(5000); 00384 } 00385 } 00386 while(y*k>widthy&&status==2) 00387 { 00388 k-=0.01; 00389 pc.printf("no%f|%f|%f\r\n",y,k,y*k); 00390 wait(0.001); 00391 } 00392 if (status == 2) 00393 { 00394 00395 if (Getawork) 00396 { //收到新任务 00397 Getawork = 0; 00398 pc.printf("Begin receiving... %d\r\n",status); 00399 // 打开文件，准备接受坐标数据 00400 fp_drawing = fopen("/sd/write.txt", "w"); 00401 if (fp_drawing) 00402 { 00403 pc.printf("File opened\r\n"); 00404 status = 3; 00405 publish_value(client, "report", "wait data."); 00406 pc.printf("wait data.%d\r\n",status); 00407 } 00408 } 00409 else 00410 { 00411 publish_value(client, "report", "ready."); 00412 } 00413 00414 } 00415 00416 00417 if (status == 3) 00418 { 00419 if(flag==1) 00420 { 00421 //wait(15); 00422 00423 publish_value(client, "report", "received."); 00424 pc.printf("received. %d\r\n",status); 00425 flag=0; 00426 } 00427 if (Getdata) 00428 { //数据接收完 00429 Getdata = 0; 00430 /* 00431 fprintf(fp_drawing, "%s", buf); 00432 memset(buf,0,sizeof(buf)/sizeof(char)); 00433 dot=0; 00434 */ 00435 pc.printf("End receiving... %d\r\n",status); 00436 fclose(fp_drawing); 00437 publish_value(client, "report", "starting"); 00438 status = 4; 00439 } 00440 } 00441 if (status == 4) 00442 { 00443 // pc.printf("debug4 \r\n"); 00444 // dealdata(); 00445 pc.printf("Drawing.. %d |%d\r\n",status,dot); 00446 // usbprintdata(); 00447 draw(); 00448 publish_value(client, "report", "done."); 00449 pc.printf("done. %d \r\n",status); 00450 00451 status = 2; 00452 x=0; 00453 y=0; 00454 Getawork = 0; 00455 Getdata = 0; 00456 unit_xy=200; 00457 k=1.0; 00458 flag=0; 00459 dot=0; 00460 //memset(buf,0,sizeof(buf)/sizeof(char)); 00461 } 00462 client.yield(1000); 00463 } 00464 00465 }
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