Diff: main.cpp

Revision:

1:88a24339327f

Parent:

0:87d959d6a3f3

--- a/main.cpp	Tue Jul 14 06:55:18 2015 +0000
+++ b/main.cpp	Wed Sep 09 09:19:34 2015 +0000
@@ -18,9 +18,14 @@
  */
 
 #include <stdio.h>
+#include <stdlib.h>
+
+#include "Servo.h"
+
 #include "mbed.h"
 #include "WizFi250Interface.h"
 
+#define ECHO_SERVER_PORT    7777
 
 #define SECURE WizFi250::SEC_WPA2_MIXED
 #define SSID "WizFi250_AP_Test"
@@ -31,21 +36,241 @@
     Serial pc(USBTX, USBRX);
 #endif
 
+DigitalOut red(LED1);
+DigitalOut green(LED2);
 
-/**
- *  \brief Hello World
- *  \param none
- *  \return int
- */
+void TCPServer();
+void UDPServer();
+
+char speed_str[6];
+char direction_str[10];
+volatile float speed_values;
+volatile float direction_values;
+volatile int speed_temp=0;
+
+
+
+Servo myservo(D6); //서보모터 
+PwmOut mypwm(D5); //브러쉬드DC모터
+
 int main()
 {
     pc.baud(115200);
+    
+    speed_values=0.0650; //중립value 0.0650
+    direction_values=0.5; //중립value 0.5
+    
+    red=1; //led off
+    green=1; //led off
  
     printf("WizFi250 Hello World demo. \r\n");
     wizfi250.init();
-    wizfi250.setAddress("192.168.100.1","255.255.255.0","192.168.100.1");
+    wizfi250.setAddress("192.168.101.10","255.255.255.0","192.168.101.1");
     if ( wizfi250.connect(SECURE, SSID, PASS, WizFi250::WM_AP))      return -1;
     printf("IP Address is %s\r\n", wizfi250.getIPAddress());
     
+    mypwm=speed_values;
+    myservo=direction_values;
+    wait(2);
+    
+    //TCPServer();
+    UDPServer();
+    
     wizfi250.disconnect();
-}
\ No newline at end of file
+
+}
+
+void TCPServer(){
+    char buffer[1024];
+    int n = 0;
+
+    
+    TCPSocketServer server;
+    server.bind(ECHO_SERVER_PORT);
+    server.listen();
+
+    printf("\nWait for new connection...\r\n");
+    green=0;
+    wait(0.5f);
+    green=1;
+    wait(0.5f);
+    green=0;
+    wait(0.5f);
+    green=1;
+    
+    TCPSocketConnection client;
+    server.accept(client);
+    client.set_blocking(false, 1500);
+
+    printf("Connection from: %s\r\n", client.get_address());
+    
+    
+    while (true)
+    {
+        if( client.is_connected() == false )
+        {
+            //client.close();
+            //printf("Client Close\r\n");
+            server.accept(client);
+            client.set_blocking(false, 1500);
+            //break;
+        }
+
+        n = client.receive(buffer, sizeof(buffer));
+        if( n > 0 )
+        {
+            buffer[n] = '\0';
+            /*
+            if(buffer[0] == 'H'){
+                myled=0;
+                printf("\n[LED On]\r\n");
+            }else if(buffer[0] == 'L'){
+                myled=1;
+                printf("\n[LED Off]\r\n");
+            }else{
+                printf("length : %d\r\n", n);
+                client.send_all(buffer, n);  
+            }*/
+            
+            if(buffer[0] == 'D'){
+                direction_str[0]=buffer[1];
+                direction_str[1]=buffer[2];
+                direction_values = atoi(direction_str);
+                
+                direction_values = direction_values * 0.01;
+                
+                if(direction_values > 0.90)
+                    direction_values = 0.9;
+                else if(direction_values < 0.10)
+                    direction_values = 0.1;
+                printf("Direction value : %f\r\n", direction_values);    
+                
+                speed_str[0]=buffer[3];
+                speed_str[1]=buffer[4];
+                speed_str[2]=buffer[5];
+                speed_str[3]=buffer[6];
+                
+                speed_values = atoi(speed_str);
+                speed_temp=speed_values;
+                speed_values = speed_values * 0.00001;
+                printf("Speed value : %f, %d\r\n", speed_values, speed_temp);
+                
+                mypwm = (double) speed_values;
+                myservo = (double) direction_values;  
+            }else{
+                //printf("not if\r\n");
+                printf("%s\r\n", buffer);
+            }
+            //printf("length : %d\r\n", n);
+            //client.send_all(buffer, n);  
+            
+        }        
+    }
+}
+
+void UDPServer(){
+    UDPSocket server;
+    printf("Socket create\r\n");
+    server.set_blocking(false);
+    printf("Blocking\r\n");
+    server.bind(ECHO_SERVER_PORT);
+    printf("Bind\r\n");
+
+    Endpoint client;
+    printf("Client create\r\n");
+    green=0;
+    wait(0.3f);
+    green=1;
+    wait(0.3f);
+    green=0;
+    wait(0.3f);
+    green=1;
+    
+    //char buffer[256];
+    char buffer[7] = {0};
+    volatile int n=0;
+    
+    while(true){
+        //printf("Receive\r\n");
+        n = server.receiveFrom(client, buffer, sizeof(buffer));
+        
+        //printf("Receive\r\n");
+        
+        if(n > 0){            
+            if(buffer[0] == 'D'){
+                green=0; //On
+                
+                direction_str[0]=buffer[1];
+                direction_str[1]=buffer[2];
+                direction_values = atoi(direction_str);
+                
+                direction_values = direction_values * 0.01;
+                
+                /*
+                if(direction_values > 0.90)
+                    direction_values = 0.9;
+                else if(direction_values < 0.10)
+                    direction_values = 0.1;
+                */
+                printf("Direction value : %f\r\n", direction_values);    
+                
+                
+                printf("[%c%c%c]", buffer[0], buffer[1], buffer[2]);
+                
+                speed_str[0]=buffer[3];
+                speed_str[1]=buffer[4];
+                speed_str[2]=buffer[5];
+                speed_str[3]=buffer[6];
+                
+                speed_values = atoi(speed_str);
+                speed_temp=speed_values;
+                speed_values = speed_values * 0.00001;
+                printf("Speed value : %f, %d\r\n", speed_values, speed_temp);
+                
+                mypwm = (double) speed_values;
+                myservo = (double) direction_values;  
+            }else{
+                red=0;
+                if(buffer[1]=='D'){
+                    green=0;
+                    green=1;
+                    green=0;
+                    green=1;
+                    direction_str[0]=buffer[2];
+                    direction_str[1]=buffer[3];
+                    direction_values = atoi(direction_str);
+                    
+                    direction_values = direction_values * 0.01;
+                    
+                    if(direction_values > 0.90)
+                        direction_values = 0.9;
+                    else if(direction_values < 0.10)
+                        direction_values = 0.1;
+                    printf("Direction value : %f\r\n", direction_values);    
+                    
+                    
+                    printf("[%c%c%c]", buffer[0], buffer[1], buffer[2]);
+                    
+                    speed_str[0]=buffer[4];
+                    speed_str[1]=buffer[5];
+                    speed_str[2]=buffer[6];
+                    speed_str[3]=0;
+                    
+                    speed_values = atoi(speed_str);
+                    speed_temp=speed_values;
+                    speed_values = speed_values * 0.00001;
+                    printf("Speed value : %f, %d\r\n", speed_values, speed_temp);
+                    
+                    mypwm = (double) speed_values;
+                    myservo = (double) direction_values;  
+                }
+                printf("%s\r\n", buffer);
+                memset(buffer, 0, sizeof(buffer));
+                
+            }
+            green=1;
+            red=1;
+            memset(buffer, 0, sizeof(buffer));
+        }
+    }
+}