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Commit 642e19c6 authored by Lucia Thais De Oliveira Gude's avatar Lucia Thais De Oliveira Gude
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bluetooth functionality

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source/ble_net.lua
+ 1
− 0
View file @ 642e19c6
......@@ -27,6 +27,7 @@ M.getline = function()
local pos = string.find(code, "/n")
if pos then
local firstMessage = string.sub(code, 1, pos-1)
code = string.sub(code, pos, #code)
return firstMessage
else
return ""
......
source/interprete_vpl.lua
+ 16
− 10
View file @ 642e19c6
......@@ -6,7 +6,8 @@ local velocidad
local ledRing
local laser
local device
local udp = nil
--local udp = nil
local ble = nil
local next = next
--Variables del estado de la ejecución
......@@ -149,12 +150,15 @@ init_interprete = function()
--Inicio dispositivos
if(ipCliente ~= 1) then
local socket = require("__socket")
udp = assert(socket.udp())
udp:setoption('broadcast', true)
assert(udp:setsockname("192.168.4.1", 2016))
end
--if(ipCliente ~= 1) then
--local socket = require("__socket")
--udp = assert(socket.udp())
--udp:setoption('broadcast', true)
--assert(udp:setsockname("192.168.4.1", 2016))
--end
ble = require("ble_net")
ledRing = require('led_ring')
omni = require('omni')
if(requires_odometry == '1') then
......@@ -388,9 +392,11 @@ end
SWITCH_ESTADO = function(estado)
estado_actual = estado
if(ipCliente ~= 1) then
udp:sendto('ESTADO*' .. estado, ipCliente, 2016)
end
--if(ipCliente ~= 1) then
--udp:sendto('ESTADO*' .. estado, ipCliente, 2016)
--end
ble.send('ESTADO*' .. estado)
end
IS_ESTADO = function(estado)
......
source/recibe_comandos.lua
+ 41
− 27
View file @ 642e19c6
......@@ -5,9 +5,14 @@ if(patas_arriba) then
end
--Inicio wifi
local wifi = require('wifi_net')
wifi.init()
ipCliente = 1
--local wifi = require('wifi_net')
--wifi.init()
--Start bluetooth
local ble = require('ble_net')
ble.init()
--ipCliente = 1
local colorSensor = require('color')
local loop_interval = nvs.read("vpl","loop_interval", 150)
......@@ -20,11 +25,12 @@ local get_code = function (clientGetCode)
io.output(file)
while true do
local data, err, partial = clientGetCode:receive('*l')
--local data, err, partial = clientGetCode:receive('*l')
local data = ble.getline()
if(err == 'closed') then
break
end
--if(err == 'closed') then
--break
--end
if(data == 'CMD_END_CODE') then
io.close(file)
......@@ -96,45 +102,53 @@ local function split(s, delimiter)
end
--Servidor receptor de comandos:
local sock = require ('socket')
local servidor = sock.tcp()
servidor:bind('192.168.4.1', 2018)
servidor:listen(1)
--local sock = require ('socket')
--local servidor = sock.tcp()
--servidor:bind('192.168.4.1', 2018)
--servidor:listen(1)
local cmdExecuted = 'CMD_EXECUTED\n'
if(patas_arriba) then
while true do
local client = servidor:accept()
local dat, er, part = client:receive('*l')
print('data: ', dat)
--local client = servidor:accept()
--local dat, er, part = client:receive('*l')
--print('data: ', dat)
local dat = ble.getline()
local dataSplit = split(dat, '*')
--Me quedo la ip del primer client
if(ipCliente == 1) then
ipCliente = split(client:getpeername(), ' ')[1]
end
--if(ipCliente == 1) then
--ipCliente = split(client:getpeername(), ' ')[1]
--end
--Escucho comandos solamente del primer client
if(ipCliente == split(client:getpeername(), ' ')[1]) then
--if(ipCliente == split(client:getpeername(), ' ')[1]) then
if(dataSplit[1] == 'CMD_RUN_PROGRAM') then
init_interprete()
client:send(cmdExecuted)
--client:send(cmdExecuted)
--Send by bluetooth cmdExecuted
ble.send(cmdExecuted)
run_vpl_program()
elseif (dataSplit[1] == 'CMD_GET_CODE') then
get_code(client)
client:send(cmdExecuted)
--client:send(cmdExecuted)
--Send by bluetooth cmdExecuted
ble.send(cmdExecuted)
elseif (dataSplit[1] == 'CMD_CALIBRATE_COLOR') then
ledRing.clear()
calibrateColor(dataSplit[2])
client:send(cmdExecuted)
--client:send(cmdExecuted)
--Send by bluetooth cmdExecuted
ble.send(cmdExecuted)
ledRing.set_all(255,255,255,true)
elseif (dataSplit[1] == 'CMD_WRITE_NVS') then
nvs.write(dataSplit[2], dataSplit[3], dataSplit[4])
client:send(cmdExecuted)
end
else
client:send('ERR_MULTIPLE_CLIENTS\n')
--client:send(cmdExecuted)
--Send by bluetooth cmdExecuted
ble.send(cmdExecuted)
end
--else
--client:send('ERR_MULTIPLE_CLIENTS\n')
--end
end
else
......
source/robot.lua
+ 7
− 5
View file @ 642e19c6
......@@ -46,8 +46,10 @@ M.laser_ring = require('laser_ring')
M.led_ring = require'led_ring'
--- WiFi UDP network susbsystem. This points to @{wifi_net}
M.wifi_net = require('wifi_net')
M.wifi_net.init()
--M.wifi_net = require('wifi_net')
--M.wifi_net.init()
M.ble_net = require('ble_net')
M.ble_net.init()
local filter = nvs.read("laser", "filter", nil) or nil
......@@ -63,9 +65,9 @@ local laser_ring_publisher = function (d1,d2,d3,d4,d5,d6)
measure_cb(d1,d2,d3,d4,d5,d6)
local sens_str = nil
if (filter == nil) then
sens_str = LASER_CMD .. DELIMITER .. implode(DELIMITER, M.laser_ring.raw_d)
sens_str = LASER_CMD .. DELIMITER .. table.concat(M.laser_ring.raw_d, DELIMITER)
else
sens_str = LASER_CMD .. DELIMITER .. implode(DELIMITER, M.laser_ring.norm_d)
sens_str = LASER_CMD .. DELIMITER .. table.concat(M.laser_ring.norm_d, DELIMITER)
end
M.wifi_net.broadcast(sens_str)
end
......@@ -83,7 +85,7 @@ M.color.color_cb.append(color_cb)
--M.laser_ring.enable(true)
--M.color.enable(true)
print 'Robot started:'
print ('robot started. used mem:'..math.floor(collectgarbage("count")*1024))
thread.list(false, false, true)
return M
update.sh
+ 54
− 4
View file @ 642e19c6
......@@ -16,14 +16,40 @@ TEST_DIR="source/tests"
# Array of source files
declare -a LOCAL_FILES=(
$AHSM_DIR/ahsm.lua
$AHSM_DIR/tools/debug_plain.lua
$AHSM_DIR/tools/to_dot.lua
$MODULES_DIR/autorun.lua
$MODULES_DIR/cb_list.lua
$MODULES_DIR/color.lua
$MODULES_DIR/laser_ring.lua
$MODULES_DIR/led_ring.lua
$MODULES_DIR/main_ahsm.lua
$MODULES_DIR/omni.lua
$MODULES_DIR/proximity.lua
$MODULES_DIR/robot.lua
$MODULES_DIR/wifi_net.lua
$TEST_DIR/states/test.lua
$MODULES_AHSM_DIR/onoff.lua
$MODULES_AHSM_DIR/colorway.lua
$MODULES_AHSM_DIR/color.lua
$MODULES_AHSM_DIR/onremoteoff.lua
$MODULES_AHSM_DIR/distance.lua
$MODULES_AHSM_DIR/remotecontrol.lua
$MODULES_AHSM_DIR/ciceaapp.lua
$MODULES_AHSM_DIR/beagleboneapp.lua
$TEST_DIR/test_color_display.lua
$TEST_DIR/test_laser_ring.lua
$TEST_DIR/test_omni.lua
$TEST_DIR/test_wifi.lua
$TEST_DIR/test_ahsm.lua
$TEST_DIR/test_color.lua
$TEST_DIR/test_led_ring.lua
$TEST_DIR/test_proximity.lua
$TEST_DIR/calibrate_color.lua
$TEST_DIR/test_uart_console.lua
$TEST_DIR/test_ble.lua
$TEST_DIR/test_blecli.lua
$MODULES_DIR/interprete_vpl.lua
$MODULES_DIR/recibe_comandos.lua
$MODULES_DIR/utils.lua
......@@ -39,14 +65,40 @@ $MODULES_DIR/udp_utils.lua
# Array of destination files
declare -a REMOTE_FILES=(
ahsm.lua
debug_plain.lua
to_dot.lua
autorun.lua
cb_list.lua
color.lua
laser_ring.lua
led_ring.lua
main_ahsm.lua
omni.lua
proximity.lua
robot.lua
wifi_net.lua
states/test.lua
states/onoff.lua
states/colorway.lua
states/color.lua
states/onremoteoff.lua
states/distance.lua
states/remotecontrol.lua
states/ciceaapp.lua
states/beagleboneapp.lua
test_color_display.lua
test_laser_ring.lua
test_omni.lua
test_wifi.lua
test_ahsm.lua
test_color.lua
test_led_ring.lua
test_proximity.lua
calibrate_color.lua
test_uart_console.lua
test_ble.lua
test_blecli.lua
interprete_vpl.lua
recibe_comandos.lua
utils.lua
......@@ -84,7 +136,7 @@ if [ ! -f $TMP_FILE ]; then
for i in `seq 0 $LENGTH`; do
echo Copying ${LOCAL_FILES[$i]} ........
wcc -p COM8 -up ${LOCAL_FILES[$i]} ${REMOTE_FILES[$i]}
wcc -p /dev/ttyUSB0 -up ${LOCAL_FILES[$i]} ${REMOTE_FILES[$i]}
echo; echo
done
......@@ -96,7 +148,7 @@ else
echo
echo FILE ${LOCAL_FILES[$i]} WAS MODIFIED SINCE LAST RUN OF THIS SCRIPT, IT WILL BE COPIED
wcc -p COM8 -up ${LOCAL_FILES[$i]} ${REMOTE_FILES[$i]}
wcc -p /dev/ttyUSB0 -up ${LOCAL_FILES[$i]} ${REMOTE_FILES[$i]}
echo
fi
......@@ -107,5 +159,3 @@ fi
touch $TMP_FILE
echo Modules Updated
read
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