forked from SmingHub/SmingRTOS
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application.cpp
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application.cpp
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#include "SerialReadingDelegateDemo.h"
#include <user_config.h>
#include <SmingCore.h>
//#include "contiki-zmtp/zmtp_msg.h"
//#include "zmtp_classes.h"
/*
#include <machinetalk/protobuf/message.pb.h>
#include <machinetalk/protobuf/types.pb.h>
#include <google/protobuf/text_format.h>
*/
//#include "../sming/system/uart.h"
//#define DISABLE_SPIFFS true
HardwareTimer hardwareTimer;
// If you want, you can define WiFi settings globally in Eclipse Environment Variables
#ifndef WIFI_SSID
#define WIFI_SSID "linksys" // Put you SSID and Password here
#define WIFI_PWD "Doitman1"
#endif
// ltc2400 settings
#define PIN_DO 5 /* Master In Slave Out */
#define PIN_DI 4 /* Master Out Slave In */
#define PIN_CK 15 /* Serial Clock */
#define PIN_SS 12 /* Slave Select */
int currWifiIndex = 0;
SPISoft *Ltc2400Spi = NULL;
Vector<String> wifi_sid;
Vector<String> wifi_pass;
Timer reportTimer;
//SoftwareSerial softSerial;
rBootHttpUpdate* airUpdater;
float_t floatAnalog;
float_t floatEncoder;
String analogResult;
long longAnalog;
int cnt = 0; // counter
HttpServer server;
int totalActiveSockets = 0;
long nextPos[4];
long curPos[4];
uint8_t step[4];
uint8_t dir[4];
uint32_t deltat = 2000;
String lastPositionMessage = "";
bool steppersOn = false;
rBootHttpUpdate* otaUpdater = 0;
//#define ROM_0_URL "http://192.168.43.21/firmwareRtos/samples/StepperDM542/out/firmware/rom0.bin"
//#define SPIFFS_URL "http://192.168.43.21/firmwareRtos/samples/StepperDM542/out/firmware/spiff_rom.bin"
#define ROM_0_URL "http://192.168.1.19/firmwareRtos/samples/StepperDM542/out/firmware/rom0.bin"
#define SPIFFS_URL "http://192.168.1.19/firmwareRtos/samples/StepperDM542/out/firmware/spiff_rom.bin"
// UDP server
uint16_t udpServerPort = 1234;
String udpServerIP = "192.168.1.19";
uint8_t x = 0;
uint8_t y = 1;
uint8_t z = 2;
uint8_t e = 3;
int8_t x_dir = 1;
int8_t y_dir = 1;
int8_t z_dir = 1;
int8_t e_dir = 1;
SerialReadingDelegateDemo delegateDemoClass;
int8_t encoder0PinA = 5;
int8_t encoder0PinB = 4;
long encoder0Pos = 0;
Timer procTimer;
bool state = true;
#define LED_PIN 2 // GPIO2
// forward declaration
void STADisconnect(String ssid, uint8_t ssid_len, uint8_t bssid[6], uint8_t reason);
void onReceive(UdpConnection& connection, char *data, int size, IPAddress remoteIP, uint16_t remotePort);
UdpConnection udp(onReceive);
void initPins() {
Serial.println("Init pins");
//---------------------
step[0] = 5; //2
dir[0] = 4; //0
step[1] = 14; //4
dir[1] = 12; //5
//---------------------
step[2] = 03;
dir[2] = 01;
step[3] = 15;
dir[3] = 13;
//---------------------
//system_soft_wdt_feed();
for (int i = 0; i < 4; i++) {
pinMode(step[i], OUTPUT);
pinMode(dir[i], OUTPUT);
digitalWrite(step[i], true);
digitalWrite(dir[i], true);
curPos[i] = 0;
nextPos[i] = 0;
}
pinMode(2, OUTPUT);
}
void enableMotors() {
initPins();
steppersOn = true;
digitalWrite(2, false);
}
char* deblank(char* input) /* deblank accepts a char[] argument and returns a char[] */
{
char *output = input;
for (int i = 0, j = 0; i < strlen(input); i++, j++) /* Evaluate each character in the input */
{
if (input[i] != ' ') /* If the character is not a space */
output[j] = input[i]; /* Copy that character to the output char[] */
else
j--; /* If it is a space then do not increment the output index (j), the next non-space will be entered at the current index */
}
return output; /* Return output char[]. Should have no spaces*/
}
void incrementNextWifiIndex() {
currWifiIndex++;
if (currWifiIndex == (wifi_sid.size()))
currWifiIndex = 0;
}
void readFromLTC2400() {
float volt;
float v_ref = 4.096; // Reference Voltage, 5.0 Volt for LT1021 or 3.0 for LP2950-3, 4.096Vs for REF3040
long int ltw = 0; // ADC Data ling int
BYTE sig; // sign bit flag
BYTE b0; //
char buf1[10];
char buf[60];
digitalWrite(PIN_SS, 0);
delayMicroseconds(1);
if (digitalRead(PIN_DO) == 0) { // ADC Converter ready ?
ltw = 0;
sig = 0;
b0 = Ltc2400Spi->transfer(1); // read 4 bytes adc raw data with SPI
if ((b0 & 0x20) == 0)
sig = 1; // is input negative ?
b0 &= 0x1F; // discard bit 25..31
ltw |= b0;
ltw <<= 8;
b0 = Ltc2400Spi->transfer(1);
ltw |= b0;
ltw <<= 8;
b0 = Ltc2400Spi->transfer(1);
ltw |= b0;
ltw <<= 8;
b0 = Ltc2400Spi->transfer(1);
ltw |= b0;
delayMicroseconds(1);
digitalWrite(PIN_SS, HIGH); // LTC2400 CS HIGH
delay(200);
if (sig)
ltw |= 0xf0000000; // if input negative insert sign bit
ltw = ltw / 16; // scale result down , last 4 bits have no information
volt = ltw * v_ref / 16777216; // max scale
//Serial.printf("%d",cnt++);
//Serial.printf("; ");
dtostrf(volt, 6, 6, buf1);
//Serial.printf("%s",buf1); // print voltage as floating number
//Serial.println(" ");
sprintf(buf, "Analogue: %s", buf1);
String message = String(buf);
if (!message.equals(lastPositionMessage)) {
WebSocketsList &clients = server.getActiveWebSockets();
for (int i = 0; i < clients.count(); i++) {
clients[i].sendString(message);
}
lastPositionMessage = message;
}
}
digitalWrite(PIN_SS, HIGH); // LTC2400 CS hi
delay(5);
reportTimer.startOnce();
}
void reportAnalogue() {
char buf[60];
char buf1[10];
char data[4];
/*
1 ... BROWN ... 12V ... 24V +
2 ... WHITE ... RXD
3 ... BLUE ... GND
4... BLACK ... not used
5... YELOW/GREEN ... TXD
*/
floatAnalog = atof(analogResult.c_str()) / 10.0;
dtostrf(floatAnalog, 7, 4, buf1);
sprintf(buf, "Analogue: %s", deblank(buf1));
String message = String(buf);
if (!message.equals(lastPositionMessage)) {
WebSocketsList &clients = server.getActiveWebSockets();
for (int i = 0; i < clients.count(); i++) {
clients[i].sendString(message);
}
lastPositionMessage = message;
/*
union u
{
float f;
char s[sizeof(float)];
};
union u foo;
foo.f = floatAnalog;
*/
//udp.sendStringTo(IPAddress("192.168.1.19"), (uint16_t)1234, foo.s);
udp.sendStringTo(IPAddress(udpServerIP), udpServerPort, analogResult);
//Serial.printf("Analogue: %f", analogResult.c_str());
}
}
void reportEncoderPosition() {
char buf[60];
char buf1[12];
floatEncoder = encoder0Pos * (2.4 / 160.0);
dtostrf(floatEncoder, 4, 2, buf1);
sprintf(buf, "Encoder: %s", deblank(buf1));
String message1 = String(buf);
if (!message1.equals(lastPositionMessage)) {
WebSocketsList &clients = server.getActiveWebSockets();
for (int i = 0; i < clients.count(); i++) {
clients[i].sendString(message1);
}
}
//printf(" * zmtp_msg: ");
//zmtp_msg_t *msg = zmtp_msg_from_const_data(0, "hello", 6);
//zmtp_msg_destroy(&msg);
//zmtp_msg_test (false);
//zmtp_channel_test (false);
/*
pb::Container container, got;
pb::Pin *pin;
pb::Value *value;
// type-tag the container:
container.set_type(pb::ContainerType::MT_HALUPDATE);
container.set_serial(56789);
container.set_rsvp(pb::ReplyType::NONE);
// add repeated submessage(s)
pin = container.add_pin();
pin->set_type(pb::ValueType::HAL_S32);
pin->set_name("foo.1.bar");
pin->set_hals32(4711);
value = container.add_value();
value->set_type(pb::ValueType::DOUBLE);
value->set_v_double(3.14159);
//std::string json = pb2json(container);
*/
}
void sendToClients(String message) {
WebSocketsList &clients = server.getActiveWebSockets();
for (int i = 0; i < clients.count(); i++) {
clients[i].sendString(message);
}
}
void disableMotors() {
steppersOn = false;
digitalWrite(2, true);
}
void reportStatus() {
char buf[30];
sprintf(buf, "X%d Y%d Z%d E%d M%d", curPos[x], curPos[y], curPos[z], curPos[e], steppersOn);
String message = String(buf);
if (!message.equals(lastPositionMessage)) {
sendToClients(message);
lastPositionMessage = message;
}
}
void IRAM_ATTR AnalogReadTimerInt() {
/*
int maxTimeout = 100;
int sleeping = 0;
int averageLoopMax = 30;
int j = 0;
long analogSum = 0;
int added = 0;
float tempAnalog;
while (j < averageLoopMax) {
while (!hx711.is_ready() && sleeping < 100) {
delayMicroseconds(5);
sleeping = sleeping + 5;
}
if (hx711.is_ready()) {
hardwareTimer.startOnce();
long result = hx711.read();
analogSum = analogSum + result;
added++;
} else {
//Still not ready
//floatAnalog = -1.0;
}
j++;
}
floatAnalog = analogSum / added;
hardwareTimer.initializeUs(deltat, AnalogReadTimerInt);
*/
}
void IRAM_ATTR StepperTimerInt() {
hardwareTimer.initializeUs(deltat, StepperTimerInt);
hardwareTimer.startOnce();
if (steppersOn) {
uint32_t pin_mask_steppers = 0;
//set direction pins
for (int i = 0; i < 4; i++) {
if (curPos[i] != nextPos[i]) {
int8_t sign = -1;
if (nextPos[i] > curPos[i])
sign = 1;
if (sign > 0)
digitalWrite(dir[i], false);
else
digitalWrite(dir[i], true);
curPos[i] = curPos[i] + sign;
pin_mask_steppers = pin_mask_steppers | (1 << step[i]);
}
}
delayMicroseconds(3);
GPIO_REG_WRITE(GPIO_OUT_W1TS_ADDRESS, pin_mask_steppers);
delayMicroseconds(5);
GPIO_REG_WRITE(GPIO_OUT_W1TC_ADDRESS, pin_mask_steppers); // Set pin a and b low
delayMicroseconds(5);
}
}
void OtaUpdate_CallBack(bool result) {
sendToClients("OtaUpdate_CallBack");
Serial.println("In callback...");
if (result == true) {
sendToClients("Ota update SUCCESS!");
// success
uint8 slot;
slot = rboot_get_current_rom();
if (slot == 0)
slot = 1;
else
slot = 0;
// set to boot new rom and then reboot
Serial.printf("Firmware updated, rebooting to rom %d...\r\n", slot);
sendToClients("Firmware updated, rebooting...");
rboot_set_current_rom(slot);
System.restart();
} else {
// fail
sendToClients("Ota update FAIL!");
Serial.println("Firmware update failed!");
}
}
void ShowInfo() {
Serial.printf("\r\nSDK: v%s\r\n", system_get_sdk_version());
Serial.printf("Free Heap: %d\r\n", system_get_free_heap_size());
Serial.printf("CPU Frequency: %d MHz\r\n", system_get_cpu_freq());
Serial.printf("System Chip ID: %x\r\n", system_get_chip_id());
Serial.printf("SPI Flash ID: %x\r\n", spi_flash_get_id());
//Serial.printf("SPI Flash Size: %d\r\n", (1 << ((spi_flash_get_id() >> 16) & 0xff)));
Vector<String> files = fileList();
if (files.count() > 0) {
Serial.println("\n\rSpiff files:");
Serial.println("----------------------------");
{
for (int i = 0; i < files.count(); i++) {
Serial.println(files[i]);
}
}
Serial.println("----------------------------");
} else {
Serial.println("Empty spiffs!");
}
}
void Switch() {
uint8 before, after;
before = rboot_get_current_rom();
if (before == 0)
after = 1;
else
after = 0;
Serial.printf("Swapping from rom %d to rom %d.\r\n", before, after);
rboot_set_current_rom(after);
Serial.println("Restarting...\r\n");
System.restart();
}
void OtaUpdate() {
uint8 slot;
rboot_config bootconf;
Serial.println("Updating...");
hardwareTimer.stop();
reportTimer.stop();
sendToClients("Firmware ota update started...");
// need a clean object, otherwise if run before and failed will not run again
if (otaUpdater)
delete otaUpdater;
otaUpdater = new rBootHttpUpdate();
sendToClients("Firmware ota update started...1");
// select rom slot to flash
bootconf = rboot_get_config();
slot = bootconf.current_rom;
if (slot == 0)
slot = 1;
else
slot = 0;
#ifndef RBOOT_TWO_ROMS
// flash rom to position indicated in the rBoot config rom table
otaUpdater->addItem(bootconf.roms[slot], ROM_0_URL);
#else
// flash appropriate rom
if (slot == 0) {
otaUpdater->addItem(bootconf.roms[slot], ROM_0_URL);
} else {
otaUpdater->addItem(bootconf.roms[slot], ROM_1_URL);
}
#endif
#ifndef DISABLE_SPIFFS
// use user supplied values (defaults for 4mb flash in makefile)
if (slot == 0) {
otaUpdater->addItem(RBOOT_SPIFFS_0, SPIFFS_URL);
} else {
otaUpdater->addItem(RBOOT_SPIFFS_1, SPIFFS_URL);
}
#endif
sendToClients("Firmware ota update started...2");
// request switch and reboot on success
otaUpdater->switchToRom(slot);
// and/or set a callback (called on failure or success without switching requested)
otaUpdater->setCallback(OtaUpdate_CallBack);
// start update
sendToClients("Firmware ota update started...3");
otaUpdater->start();
}
void parseGcode(String commandLine) {
if (commandLine.equals("ota")) {
//server.enableWebSockets(false);
OtaUpdate();
return;
} else if (commandLine.equals("switch")) {
Switch();
return;
} else if (commandLine.equals("restart")) {
System.restart();
return;
} else if (commandLine.equals("pos")) {
reportStatus();
return;
} else if (commandLine.equals("enable")) {
enableMotors();
return;
} else if (commandLine.equals("disable")) {
disableMotors();
return;
} else if (commandLine.equals("stop")) {
for (int i = 0; i < 4; i++) {
nextPos[i] = curPos[i];
}
} else if (commandLine.startsWith("udpServerIP")) {
Vector<String> commandToken;
int numToken = splitString(commandLine, ' ', commandToken);
if (numToken == 2)
udpServerIP = commandToken[1];
if (numToken == 3) {
udpServerIP = commandToken[1];
udpServerPort = atoi(commandToken[2].c_str());
}
char buf[150];
sprintf(buf, "Udp server port %s, port: %d", udpServerIP.c_str(), udpServerPort);
String msgBack = String(buf);
sendToClients(msgBack);
return;
} else if (commandLine.startsWith("reassign")) {
//sendToClients(message)
//reassign x=+3 y=+0 z=-2 e=-1
// - means direction is reverse for relative moves
Vector<String> commandToken;
int numToken = splitString(commandLine, ' ', commandToken);
for (int i = 1; i < numToken; i++) {
Vector<String> axisIndex;
String axisIndexStr = commandToken[i].c_str();
splitString(axisIndexStr, '=', axisIndex);
String axis = axisIndex[0].c_str();
if (axis.equalsIgnoreCase("x")) {
{
x = atoi(axisIndex[1].substring(1,2).c_str());
if (axisIndex[1].substring(0,1).equalsIgnoreCase("+")) {
x_dir = 1;
} else {
x_dir = -1;
}
}
} else if (axis.equalsIgnoreCase("y")) {
{
y = atoi(axisIndex[1].substring(1,2).c_str());
if (axisIndex[1].substring(0,1).equalsIgnoreCase("+")) {
y_dir = 1;
} else {
y_dir = -1;
}
}
} else if (axis.equalsIgnoreCase("z")) {
{
z = atoi(axisIndex[1].substring(1,2).c_str());
if (axisIndex[1].substring(0,1).equalsIgnoreCase("+")) {
z_dir = 1;
} else {
z_dir = -1;
}
}
} else if (axis.equalsIgnoreCase("e")) {
{
e = atoi(axisIndex[1].substring(1,2).c_str());
if (axisIndex[1].substring(0,1).equalsIgnoreCase("+")) {
e_dir = 1;
} else {
e_dir = -1;
}
}
}
}
char buf[150];
sprintf(buf, "Reassign: x=%d %d y=%d %d z=%d %d e=%d %d\r\n", x_dir, x, y_dir, y, z_dir, z, e_dir, e);
String msgBack = String(buf);
sendToClients(msgBack);
return;
}
if (steppersOn) {
Vector<String> commandToken;
int numToken = splitString(commandLine, ' ', commandToken);
for (int i = 0; i < numToken; i++) {
Serial.printf("Command: %s\r\n", commandToken[i].c_str());
String motor = commandToken[i].substring(0, 1);
String sign = commandToken[i].substring(1, 2);
String posStr = "";
if (sign == "+" || sign == "-") {
posStr = commandToken[i].substring(2, commandToken[i].length());
} else {
sign = "";
posStr = commandToken[i].substring(1, commandToken[i].length());
}
int8_t index = -1;
if (motor.equalsIgnoreCase("X")) {
index = x;
if (x_dir == -1)
{
sendToClients("x_dir = -1");
if (sign == "+")
sign = "-";
else
sign = "+";
}
else
{
sendToClients("x_dir = +1");
}
} else if (motor.equalsIgnoreCase("Y")) {
index = y;
if (y_dir == -1)
if (sign == "+")
sign = "-";
else
sign = "+";
} else if (motor.equalsIgnoreCase("Z")) {
index = z;
if (z_dir == -1)
if (sign == "+")
sign = "-";
else
sign = "+";
} else if (motor.equalsIgnoreCase("E")) {
index = e;
if (e_dir == -1)
if (sign == "+")
sign = "-";
else
sign = "+";
} else if (motor.equalsIgnoreCase("T")) {
deltat = atoi(posStr.c_str());
}
if (index > -1) {
if (sign.equalsIgnoreCase("+"))
nextPos[index] = nextPos[index] + atol(posStr.c_str());
else if (sign.equalsIgnoreCase("-"))
nextPos[index] = nextPos[index] - atol(posStr.c_str());
else
nextPos[index] = atol(posStr.c_str());
char buf[150];
sprintf(buf, "Set nextpos[%d] to %d\r\n", index, nextPos[index]);
Serial.printf(buf);
String msgBack = String(buf);
sendToClients(msgBack);
}
}
}
}
void serialCallBack(Stream& stream, char arrivedChar, unsigned short availableCharsCount) {
/*
Serial.print("Class Delegate Demo Time = ");
Serial.print(micros());
Serial.print(" char = 0x");
Serial.print(String(arrivedChar, HEX)); // char hex code
Serial.print(" available = ");
Serial.println(availableCharsCount);
*/
int ia = (int) arrivedChar;
if (arrivedChar == '\n') // Lets show data!
{
char str[availableCharsCount];
Serial.println("<New line received>");
int i = 0;
while (stream.available()) {
char cur = stream.read();
if (((int) cur != 13) && ((int) cur != 10)) {
str[i] = cur;
Serial.print(cur);
} else {
str[i] = '\0';
}
i++;
}
Serial.println();
//}
/*
int ia = (int) arrivedChar;
if (ia == 13) {
char str[availableCharsCount];
for (int i = 0; i < availableCharsCount-1; i++) {
str[i] = stream.read();
Serial.printf("%c",str[i]);
if (str[i] == '\r' || str[i] == '\n') {
str[i] = '\0';
//break;
}
}
*/
Serial.printf("\nCommand: %s, length=%d %d %d\n", str, availableCharsCount, str[availableCharsCount - 2],
str[availableCharsCount - 1]);
if (!strcmp(str, "connect")) {
// connect to wifi
WifiStation.config(wifi_sid.get(currWifiIndex), wifi_pass.get(currWifiIndex));
WifiStation.enable(true);
} else if (!strcmp(str, "ip")) {
Serial.printf("ip: %s mac: %s\r\n", WifiStation.getIP().toString().c_str(), WifiStation.getMAC().c_str());
} else if (!strcmp(str, "ota")) {
OtaUpdate();
} else if (!strcmp(str, "restart")) {
System.restart();
} else if (!strcmp(str, "ls")) {
Vector<String> files = fileList();
Serial.printf("filecount %d\r\n", files.count());
for (unsigned int i = 0; i < files.count(); i++) {
Serial.println(files[i]);
}
} else if (!strcmp(str, "info")) {
ShowInfo();
} else if (!strcmp(str, "switch")) {
Switch();
} else if (!strcmp(str, "cat")) {
Vector<String> files = fileList();
if (files.count() > 0) {
Serial.printf("dumping file %s:\r\n", files[2].c_str());
Serial.println(fileGetContent(files[2]));
} else {
Serial.println("Empty spiffs!");
}
} else if (!strcmp(str, "pos")) {
reportStatus();
} else if (!strcmp(str, "move")) {
Serial.println();
nextPos[0] += 10000;
nextPos[1] += 10000;
nextPos[2] += 10000;
nextPos[3] += 10000;
//procTimer.initializeUs(deltat, blink1).start(true);
} else if (!strcmp(str, "help")) {
Serial.println();
Serial.println("available commands:");
Serial.println(" help - display this message");
Serial.println(" ip - show current ip address");
Serial.println(" connect - connect to wifi");
Serial.println(" restart - restart the esp8266");
Serial.println(" switch - switch to the other rom and reboot");
Serial.println(" ota - perform ota update, switch rom and reboot");
Serial.println(" info - show esp8266 info");
#ifndef DISABLE_SPIFFS
Serial.println(" ls - list files in spiffs");
Serial.println(" cat - show first file in spiffs");
#endif
Serial.println();
} else {
Serial.printf("Trying to parse as gCode: %s\n", str);
parseGcode(str);
}
} else if (ia == 48) {
Serial.println();
stream.read();
nextPos[0] += 100;
nextPos[1] += 100;
nextPos[2] += 100;
nextPos[3] += 100;
//procTimer.initializeUs(deltat, blink1).start(true);
} else if (ia == 49) {
Serial.println();
stream.read();
nextPos[0] -= 100;
nextPos[1] -= 100;
nextPos[2] -= 100;
nextPos[3] -= 100;
//procTimer.initializeUs(deltat, blink1).start(true);
}
}
void onIndex(HttpRequest &request, HttpResponse &response) {
TemplateFileStream *tmpl = new TemplateFileStream("index.html");
auto &vars = tmpl->variables();
//vars["counter"] = String(counter);
response.sendTemplate(tmpl); // this template object will be deleted automatically
}
void onFile(HttpRequest &request, HttpResponse &response) {
String file = request.getPath();
if (file[0] == '/')
file = file.substring(1);
if (file[0] == '.')
response.forbidden();
else {
response.setCache(86400, true); // It's important to use cache for better performance.
response.sendFile(file);
}
}
void wsConnected(WebSocket& socket) {
totalActiveSockets++;
lastPositionMessage = "";
// Notify everybody about new connection
uint8 slotNo = rboot_get_current_rom();
String slotNoStr = String(slotNo);
uint32 heapSize = system_get_free_heap_size();
String heapSizeStr = String(heapSize);
WebSocketsList &clients = server.getActiveWebSockets();
for (int i = 0; i < clients.count(); i++) {
clients[i].sendString(
"Connected to station: " + wifi_sid.get(currWifiIndex) + ", ROM:" + slotNoStr + ", heapSize: "
+ heapSizeStr + ", appVer:1.27, SDK version: " + system_get_sdk_version());
}
}
void wsMessageReceived(WebSocket& socket, const String& message) {
Serial.printf("WebSocket message received: %s\r\n", message.c_str());
char buf[150];
sprintf(buf, "WebSocket message received: %s\r\n", message.c_str());
String msgBack = String(buf);
sendToClients(msgBack);
parseGcode(message.c_str());
}
void wsBinaryReceived(WebSocket& socket, uint8_t* data, size_t size) {
Serial.printf("Websocket binary data receieved, size: %d\r\n", size);
}
void wsDisconnected(WebSocket& socket) {
totalActiveSockets--;
}
void startWebServer() {
Serial.println("Starting web server...Phase1");
server.setTimeOut(2000);
server.listen(80);
server.addPath("/", onIndex);
server.setDefaultHandler(onFile);
// Web Sockets configuration
server.enableWebSockets(true);
server.setWebSocketConnectionHandler(wsConnected);
server.setWebSocketMessageHandler(wsMessageReceived);
server.setWebSocketBinaryHandler(wsBinaryReceived);
server.setWebSocketDisconnectionHandler(wsDisconnected);
Serial.println("\r\n=== WEB SERVER STARTED ===");
Serial.println(WifiStation.getIP().toString());
Serial.println("==============================\r\n");
}
void doEncoderA() {
// look for a low-to-high on channel A
if (digitalRead(encoder0PinA) == HIGH) {
// check channel B to see which way encoder is turning
if (digitalRead(encoder0PinB) == LOW) {
encoder0Pos = encoder0Pos + 1; // CW
} else {
encoder0Pos = encoder0Pos - 1; // CCW
}
} else // must be a high-to-low edge on channel A
{
// check channel B to see which way encoder is turning
if (digitalRead(encoder0PinB) == HIGH) {
encoder0Pos = encoder0Pos + 1; // CW
} else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
}
void doEncoderB() {
// look for a low-to-high on channel B
if (digitalRead(encoder0PinB) == HIGH) {
// check channel A to see which way encoder is turning
if (digitalRead(encoder0PinA) == HIGH) {
encoder0Pos = encoder0Pos + 1; // CW
} else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
// Look for a high-to-low on channel B
else {
// check channel B to see which way encoder is turning
if (digitalRead(encoder0PinA) == LOW) {
encoder0Pos = encoder0Pos + 1; // CW
} else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
}
void connectOk(IPAddress ip, IPAddress mask, IPAddress gateway) {
//void connectOk() {
String ipString = WifiStation.getIP().toString();
Serial.println("I'm CONNECTED to AP_SSID=" + wifi_sid.get(currWifiIndex) + " IP: " + ipString);
//String ipString = ip.toString();
Serial.println("IP: " + ipString);
startWebServer();
if (ipString.equals("192.168.1.115") || ipString.equals("192.168.1.110")) {
// distance sensor
Serial.println("MODE: LEUZE Distance sensor");
udp.listen(udpServerPort);
Serial.begin(57600);
deltat = 100000;
system_uart_swap();
delegateDemoClass.begin();
reportTimer.initializeMs(100, reportAnalogue).start();
} else if (ipString.equals("192.168.1.113") || ipString.equals("192.168.1.112") || ipString.equals("192.168.1.21")
|| ipString.equals("192.168.43.154") || ipString.equals("192.168.43.34")) { //
// 4 axis stepper driver
Serial.setCallback(serialCallBack);
Serial.println("MODE: 4 Axis Stepper driver");
Serial.println("Init ended.");
Serial.println("Type 'help' and press enter for instructions.");
Serial.println();
deltat = 2000;
if (ipString.equals("192.168.1.112"))
parseGcode("reassign x=+0 y=+3 e=+1 z=+2");
else if (ipString.equals("192.168.1.113"))
parseGcode("reassign x=+0 y=+1 e=+3 z=+2");
reportTimer.initializeMs(300, reportStatus).start();
hardwareTimer.initializeUs(deltat, StepperTimerInt);
hardwareTimer.startOnce();
} else if (ipString.equals("192.168.1.116")) {
Serial.println("MODE: Encoder driver");
pinMode(encoder0PinA, INPUT);
digitalWrite(encoder0PinA, HIGH); // turn on pullup resistor
pinMode(encoder0PinB, INPUT);
digitalWrite(encoder0PinB, HIGH); // turn on pullup resistor
attachInterrupt(encoder0PinA, doEncoderA, GPIO_PIN_INTR_ANYEDGE);
attachInterrupt(encoder0PinB, doEncoderB, GPIO_PIN_INTR_ANYEDGE);
reportTimer.initializeMs(100, reportEncoderPosition).start();
} else if (ipString.equals("192.168.1.117")) {
Ltc2400Spi = new SPISoft(PIN_DO, PIN_DI, PIN_CK, PIN_SS);
Ltc2400Spi->begin();
reportTimer.initializeMs(300, readFromLTC2400).startOnce();
} else {
Serial.setCallback(serialCallBack);
}
}
void checkConnection() {
if (!WifiStation.isConnected()) {
Serial.printf("Try connection to: %s\n", wifi_sid.get(currWifiIndex).c_str());
WifiStation.config(wifi_sid.get(currWifiIndex), wifi_pass.get(currWifiIndex), false);
incrementNextWifiIndex();
WifiStation.connect();
//WifiStation.restartWaitConnection(connectOk, 10, connectNotOk);
//WifiStation.waitConnection(connectOk, 10, connectNotOk);
}
}
void STADisconnect(String ssid, uint8_t ssid_len, uint8_t bssid[6], uint8_t reason) {
checkConnection();
}
void blink() {
Serial.printf("blink: %i\n", (int) state);
digitalWrite(LED_PIN, state);
state = !state;
}
void init() {