Diff: main.cpp

Revision:

0:fd56ae0fc8ea

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 27 23:28:15 2011 +0000
@@ -0,0 +1,258 @@
+/* //---------------------------------------------------------------------------------------------
+// RPC ServoCmd
+http://192.168.1.100/rpc/servocmd1/run 0
+http://192.168.1.100/rpc/servocmd1/run 50
+http://192.168.1.100/rpc/servocmd1/run 100
+
+http://192.168.1.100/rpc/servocmd2/run 0
+http://192.168.1.100/rpc/servocmd2/run 50
+http://192.168.1.100/rpc/servocmd2/run 100
+
+// HTML5 demo (use chrome or html5 compatible browser)
+-> copy servo.htm.cpp file to MBED internal flash memory (where the binary code is uploaded)
+-> open file with an TextEditor and remove comments indicator chars "/*" and "*\/"
+-> rename servo.htm.cpp to servo.htm
+-> open browser http://192.168.1.100/servo.htm
+
+// Hardware
+-> Connect Servo1 Signal pin to P21 and Servo2 Signal pin to P22
+
+//---------------------------------------------------------------------------------------------
+// resources
+//---------------------------------------------------------------------------------------------
+http://mbed.org/handbook/C-Data-Types
+http://mbed.org/cookbook/RPC-Interface-Library
+http://mbed.org/cookbook/HTTP-Server
+http://mbed.org/cookbook/Ethernet
+http://mbed.org/handbook/Ticker
+//--------------------------------------------------------------------------------------------- */
+#include "mbed.h"
+#include "EthernetNetIf.h"
+#include "HTTPServer.h"
+#include "RPCFunction.h"
+#include "Servo.h"
+//---------------------------------------------------------------------------------------------
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX); // tx, rx
+//---------------------------------------------------------------------------------------------
+//#define internaldebug // send debug messages to USB Serial port (9600,1,N)
+//#define dhcpenable    // auto-setup IP Address from DHCP router
+//---------------------------------------------------------------------------------------------
+// Timer Interrupt - NetPool
+//---------------------------------------------------------------------------------------------
+Ticker netpool;
+//---------------------------------------------------------------------------------------------
+// Ethernet Object Setup
+//---------------------------------------------------------------------------------------------
+#ifdef dhcpenable
+  EthernetNetIf eth;  
+#else
+  EthernetNetIf eth(
+    IpAddr(192,168,1,100), //IP Address
+    IpAddr(255,255,255,0), //Network Mask
+    IpAddr(192,168,1,254), //Gateway
+    IpAddr(192,168,1,254)  //DNS
+  );
+#endif
+//---------------------------------------------------------------------------------------------
+// HTTP Server
+//---------------------------------------------------------------------------------------------
+HTTPServer httpserver;
+LocalFileSystem fs("webfs");
+
+Servo servo1(p21);
+Servo servo2(p22);
+
+int8_t servo_flag;
+float servo_cursor1;
+float servo_cursor2;
+
+int8_t pool_flag;
+//---------------------------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------------------------
+// ISR -> Pool Ethernet - will be triggered by netpool ticker
+//---------------------------------------------------------------------------------------------
+void netpoolupdate()
+{
+  if(pool_flag !=0)
+    return;
+
+  pool_flag = 1; // start processing ...
+  Net::poll();
+  pool_flag = 0; // end processing ...
+}
+//---------------------------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------------------------
+// Generic ServoCmd function
+//---------------------------------------------------------------------------------------------
+void servocmd(char *input, char *output, int8_t servonbr)
+{
+  if(servo_flag != 0) // busy ...
+  {
+    #ifdef internaldebug
+      printf("ServoCmd%d is busy. Return from function!\r\n",servonbr);
+    #endif
+   
+    return;  
+  }
+  servo_flag = 1; // REST request
+  
+  int iarg1 = 0;
+  sscanf(input, "%i", &iarg1);
+    
+  #ifdef internaldebug
+    printf("Calling RCP Function ServoCmd%d.\r\n",servonbr);
+    //printf("INPUT: %s.\r\n", input);
+    //printf("OUTPUT: %s.\r\n", output);
+    printf("ARG1: %d\r\n", iarg1);
+  #endif 
+  
+  if(servonbr == 1)
+  {
+    servo_cursor1 = (float)iarg1/(float)100.0;
+    #ifdef internaldebug
+      sprintf(output, "<html><body>RCP ServoCmd1 Completed!<br>PARAM=%d<br>Cursor=%f</body></html>", iarg1, servo_cursor1);
+    #else
+      sprintf(output, "<html><body>OK</body></html>");
+    #endif
+      
+  }
+  else if(servonbr == 2)
+  {
+    servo_cursor2 = (float)iarg1/(float)100.0;
+    #ifdef internaldebug
+      sprintf(output, "<html><body>RCP ServoCmd2 Completed!<br>PARAM=%d<br>Cursor=%f</body></html>", iarg1, servo_cursor2);
+    #else
+      sprintf(output, "<html><body>OK</body></html>");
+    #endif      
+  }
+  else
+  {
+    #ifdef internaldebug    
+      sprintf(output, "<html><body>RCP ServoCmd%d Error<br>PARAM=%d</body></html>", servonbr, iarg1);  
+    #else
+      sprintf(output, "<html><body>ERROR</body></html>");
+    #endif      
+  }
+  
+  servo_flag = 2; // can now update servos
+}
+//---------------------------------------------------------------------------------------------
+// RPC TList Commands (Task/Job List)
+//---------------------------------------------------------------------------------------------
+/*
+void rpc_dummy(char *input, char *output)
+{
+// dummy!!!
+}
+//--------------------------------------------------------------------------------------------- */
+
+void rpc_servocmd1(char *input, char *output)
+{
+  servocmd(input, output, 1);
+}
+//---------------------------------------------------------------------------------------------
+
+void rpc_servocmd2(char *input, char *output)
+{
+  servocmd(input, output, 2);
+}
+//---------------------------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------------------------
+// MAIN
+//---------------------------------------------------------------------------------------------
+int main() 
+{
+  // Set Serial Port Transfer Rate
+  pc.baud(115200);  
+  
+  //--------------------------------------------------------  
+  servo_flag = 0; // 0-NOP; 1-REST request; 2-update servos;
+  servo_cursor1 = 0.5;
+  servo_cursor2 = 0.5; 
+  servo1 = 0.5;
+  servo2 = 0.5;
+  
+  pool_flag = 0;
+  //--------------------------------------------------------
+  // Setting Ethernet
+  //--------------------------------------------------------    
+  #ifdef internaldebug
+    printf("\r\nSetting up Ethernet interface!\r\n");
+  #endif
+  // Create return object for error check
+  EthernetErr ethErr = eth.setup(); 
+  if(ethErr)
+  {
+    #ifdef internaldebug
+      printf("\r\nError %d in Ethernet setup.\r\n", ethErr);
+    #endif
+    return -1;
+  }
+  #ifdef internaldebug
+    printf("\r\nEthernet setup completed with success!\r\n");
+  #endif  
+  //--------------------------------------------------------    
+
+  //--------------------------------------------------------
+  // adding RPC functions
+  //--------------------------------------------------------
+  //RPCFunction RPCdummy(&rpc_dummy, "dummy");      
+  RPCFunction RPCservocmd1(&rpc_servocmd1, "servocmd1");    
+  RPCFunction RPCservocmd2(&rpc_servocmd2, "servocmd2");    
+  //--------------------------------------------------------
+
+  //--------------------------------------------------------
+  // adding Handlers 
+  //--------------------------------------------------------  
+  FSHandler::mount("/webfs", "/"); //Mount /webfs path on web root path
+ 
+  httpserver.addHandler<RPCHandler>("/rpc");
+  httpserver.addHandler<FSHandler>("/"); //Default handler  
+  //--------------------------------------------------------
+  
+  //--------------------------------------------------------
+  // bind http server to port 80 (Listen)
+  //--------------------------------------------------------       
+  httpserver.bind(80);  
+  #ifdef internaldebug
+    printf("Listening on port 80!\r\n");
+  #endif
+  //--------------------------------------------------------         
+    
+  //--------------------------------------------------------
+  // ISR -> attach timer interrupt to update Net::Pool();
+  //--------------------------------------------------------
+  //netpool.attach(&netpoolupdate, 0.1);
+  //--------------------------------------------------------
+
+  //--------------------------------------------------------    
+  // main loop
+  //--------------------------------------------------------    
+  while(1) 
+  { 
+    /*   
+    myled = 1;
+    wait(0.5);
+    myled = 0;
+    wait(0.5);     
+    */
+    
+    if(servo_flag == 2) // update servos
+    {   
+      #ifdef internaldebug
+        printf("Updating Servos!\r\n");
+      #endif
+    
+      servo1.write(servo_cursor1);
+      servo2.write(servo_cursor2);
+      servo_flag = 0; // NOP      
+    }
+    wait(0.1);
+    netpoolupdate();
+  }
+}
+//---------------------------------------------------------------------------------------------
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