mirror of
https://github.com/supleed2/ELEC50003-P1-CW.git
synced 2024-12-22 21:45:49 +00:00
Set up basic rover flow, individual functions to be completed
This commit is contained in:
parent
5e6254029a
commit
bbec96810f
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@ -1,7 +1,7 @@
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#pragma region Includes
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#include <Arduino.h>
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#include <string>
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// #include <SoftwareSerial.h> Software Serial not currently needed
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#include <SoftwareSerial.h>
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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#include <ESPmDNS.h>
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@ -12,6 +12,7 @@
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#include <SPIFFS.h>
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#include "status.h"
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#include "instruction.h"
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#include <queue>
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#pragma endregion
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#pragma region Enable extra debugging info for ESP32
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@ -21,27 +22,44 @@
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#pragma endregion
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#pragma region Definitions eg pins
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#define RX1pin 14 // Pin 10 on expansion board, UART1
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#define TX1pin 4 // Pin 11 on expansion board, UART1
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#define RX1pin 18 // Pin 6 on expansion board, UART1
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#define TX1pin 5 // Pin 7 on expansion board, UART1
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#define RX2pin 17 // Pin 8 on expansion board, UART2
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#define TX2pin 16 // Pin 9 on expansion board, UART2
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#define RX3pin 14 // Pin 10 on expansion board, UART3
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#define TX3pin 4 // Pin 11 on expansion board, UART3
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#pragma endregion
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#pragma region Function Declarations
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void printFPGAoutput();
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void returnSensorData();
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void notFound(AsyncWebServerRequest *request);
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void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length);
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void queueInstruction(RoverInstruction instruction);
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void sendToCommand();
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void sendToDrive(RoverInstruction instruction);
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void recvFromDrive();
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void sendToEnergy(RoverInstruction instruction);
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void recvFromEnergy();
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void sendToVision();
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void recvFromVision();
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#pragma endregion
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#pragma region Global objects
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AsyncWebServer webserver(80);
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WebSocketsServer websocketserver(81);
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Ticker ticker;
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SoftwareSerial Serial3;
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std::queue<RoverInstruction> InstrQueue;
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#pragma endregion
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#pragma region Global variables
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ControlStatus_t Status;
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float battery_voltage = 4.0f;
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int distance_travelled = 0;
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float batteryVoltage;
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int batteryLevel;
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int odometer;
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int heading;
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int xpos, ypos;
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int signalStrength;
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int lastCompletedCommand;
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#pragma endregion
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void setup()
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@ -50,10 +68,21 @@ void setup()
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esp_log_level_set("wifi", ESP_LOG_WARN); // enable WARN logs from WiFi stack
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esp_log_level_set("dhcpc", ESP_LOG_INFO); // enable INFO logs from DHCP client
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Status = CS_IDLE;
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Serial.begin(115200); // Set up hardware UART0 (Connected to USB port)
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Serial1.begin(9600, SERIAL_8N1, RX1pin, TX1pin); // Set up hardware UART1
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// Set up remaining communication ports here (Energy, Drive, Vision)
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Serial1.begin(9600, SERIAL_8N1, RX1pin, TX1pin); // Set up hardware UART1 (Connected to Drive)
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Serial2.begin(9600, SERIAL_8N1, RX2pin, TX2pin); // Set up hardware UART2 (Connected to Energy)
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Serial3.begin(9600, SWSERIAL_8N1, RX3pin, TX3pin); // Set up software UART3 (Connected to Vision)
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// Set global variable startup values
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Status = CS_IDLE;
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batteryVoltage = 0;
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batteryLevel = 0;
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odometer = 0;
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heading = 0;
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xpos = 0;
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ypos = 0;
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signalStrength = 0;
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lastCompletedCommand = 0;
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if (!SPIFFS.begin(true)) // Mount SPIFFS
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{
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@ -63,11 +92,11 @@ void setup()
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Serial.println("SPIFFS mounted");
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WiFi.begin(WIFI_SSID, WIFI_PW);
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while (WiFi.status() != WL_CONNECTED)
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while (WiFi.status() != WL_CONNECTED) // Wait for ESP32 to connect to AP in "credentials.h"
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{
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delay(500);
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}
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while (!MDNS.begin("rover"))
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while (!MDNS.begin("rover")) // Set up mDNS cast at "rover.local/"
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{
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Serial.println("Error setting up mDNS, retrying in 5s");
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delay(5000);
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@ -75,56 +104,95 @@ void setup()
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Serial.println("mDNS set up, access Control Panel at 'rover.local/'");
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webserver.on("/", HTTP_GET, [](AsyncWebServerRequest *request)
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{ request->send(SPIFFS, "/index.html", "text/html"); });
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{ request->send(SPIFFS, "/index.html", "text/html"); }); // Serve "index.html" at root page
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webserver.on("/favicon.ico", HTTP_GET, [](AsyncWebServerRequest *request)
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{ request->send(SPIFFS, "/favicon.ico", "image/png"); });
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webserver.onNotFound(notFound);
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webserver.begin();
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{ request->send(SPIFFS, "/favicon.ico", "image/png"); }); // Serve tab icon
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webserver.onNotFound(notFound); // Set up basic 404NotFound page
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webserver.begin(); // Start Asynchronous Web Server
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websocketserver.begin();
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websocketserver.onEvent(webSocketEvent);
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ticker.attach(0.5, returnSensorData);
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websocketserver.begin(); // Start Websocket Server
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websocketserver.onEvent(webSocketEvent); // Set up function call when event received from Command
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ticker.attach(0.5, sendToCommand); // Set up recurring function to forward rover status to Command
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}
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void loop()
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void loop() // TO DO
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{
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printFPGAoutput();
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String FPGAinput; // Forward serial monitor input to FPGA
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if (Serial.available())
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{
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FPGAinput = String(Serial.readStringUntil('\n'));
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Serial1.println(FPGAinput);
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}
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websocketserver.loop(); // Handle incoming client connections
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}
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void printFPGAoutput()
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{ // Print serial communication from FPGA to serial monitor
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String FPGAoutput;
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if (Serial1.available())
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switch (Status)
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{
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FPGAoutput = String(Serial1.readStringUntil('\n'));
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Serial.println(FPGAoutput);
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case CS_ERROR:
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{
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Serial.println("Rover in error state, rebooting...");
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exit(1);
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}
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}
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void returnSensorData()
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{
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// Collect sensor data here?
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distance_travelled++;
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if (battery_voltage < 6)
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break;
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case CS_IDLE:
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{
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battery_voltage += 0.2;
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if (InstrQueue.empty()) // If Rover idle and InstrQueue empty:
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{
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// TO DO: Collect all data (recvFrom) and
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sendToCommand(); // Update command panel
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// Maybe wait 1s? Possibly prevent from looping too fast
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}
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else
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{
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battery_voltage = 4;
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// Do the next command in the queue
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RoverInstruction *instr = &InstrQueue.front();
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switch (instr->instr)
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{
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case INSTR_RESET:
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{
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odometer = 0;
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xpos = 0;
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ypos = 0;
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}
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break;
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case INSTR_STOP:
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{
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while (1)
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{
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Serial.println("Emergency Stop should not get queued, hold and print");
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delay(1000);
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}
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}
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break;
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case INSTR_MOVE:
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{
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Status = CS_MOVING;
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sendToDrive(*instr);
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}
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break;
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case INSTR_CHARGE:
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{
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Status = CS_CHARGING;
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sendToEnergy(*instr);
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}
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break;
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default:
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{
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Serial.println("Unknown instruction type in queue, skipping...");
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}
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break;
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}
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}
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}
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break;
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case CS_MOVING:
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{
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// TO DO
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}
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break;
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case CS_CHARGING:
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{
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// TO DO
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}
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break;
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default:
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{
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Serial.println("Unknown rover state, exiting...");
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exit(1);
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}
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}
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String JSON_Data = String("{\"BTRY_VOLT\":") + battery_voltage + String(",\"ODO_DIST\":") + distance_travelled + "}";
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Serial.println(JSON_Data);
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websocketserver.broadcastTXT(JSON_Data);
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}
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void notFound(AsyncWebServerRequest *request)
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@ -132,7 +200,7 @@ void notFound(AsyncWebServerRequest *request)
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request->send(404, "text/plain", "Page Not found. Check URI/IP address.");
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}
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void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
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void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length) // TO DO
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{
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switch (type)
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{
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@ -147,13 +215,13 @@ void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
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Serial.printf("Client[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload);
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}
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break;
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case WStype_TEXT:
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case WStype_TEXT: // MSG received from command panel
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{
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Serial.printf("Client[%u] sent Text: %s\n", num, payload);
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String command = String((char *)(payload));
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Serial.printf("Client[%u] sent Text: %s\n", num, payload); // Echo received command to terminal
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String command = String((char *)(payload)); // Convert received command to string type
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DynamicJsonDocument doc(200); //creating an instance of a DynamicJsonDocument allocating 200bytes on the heap.
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DeserializationError error = deserializeJson(doc, command); // deserialize 'doc' and parse for parameters we expect to receive.
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DynamicJsonDocument rdoc(200); // Create instance of DynamicJsonDocument on heap, 200 Bytes
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DeserializationError error = deserializeJson(rdoc, command); // Convert command string to JSONDocument and capture any errors
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if (error)
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{
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Serial.print("deserializeJson() failed: ");
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return;
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}
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int MVM_F_status = doc["MVM_F"];
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int MVM_L_status = doc["MVM_L"];
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int MVM_R_status = doc["MVM_R"];
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int MVM_B_status = doc["MVM_B"];
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RoverInstruction instr;
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int mode = rdoc["mode"];
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switch (mode)
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{
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case -1: // Add to queue, reset x/y/odometer (telemetry data)
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{
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Serial.println("Reset telemetry command received");
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instr.id = rdoc["Cid"];
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instr.instr = INSTR_RESET;
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// Ignore rdoc["rH"], rdoc["rD"], rdoc["rS"], rdoc["rC"]
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Serial.println('<' + MVM_F_status + ',' + MVM_B_status + ',' + MVM_L_status + ',' + MVM_R_status + '>');
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/* Put reset command in commandFIFO */
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}
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break;
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case 0: // Stop immediately, clear command cache
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{
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Serial.println("Emergency stop command received");
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// instr.instr = INSTR_STOP; // Not needed as Emergency Stop is not queued
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// Ignore rdoc["Cid"], rdoc["rH"], rdoc["rD"], rdoc["rS"], rdoc["rC"]
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/* Clear commandFIFO */
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}
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break;
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case 1: // Normal movement command, added to end of command cache
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{
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Serial.println("Normal movement command received");
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instr.id = rdoc["Cid"];
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instr.instr = INSTR_MOVE;
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instr.heading = rdoc["rH"];
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instr.distance = rdoc["rD"];
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instr.speed = rdoc["rS"];
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// Ignore rdoc["rC"]
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/* Put movement command in commandFIFO */
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}
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break;
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case 2: // Normal charge command, results in no motion, added to end of command cache
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{
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Serial.println("Normal charge command received");
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instr.id = rdoc["Cid"];
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instr.instr = INSTR_CHARGE;
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instr.charge = rdoc["rC"];
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// Ignore rdoc["rH"], rdoc["rD"], rdoc["rS"]
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/* Put charge command in commandFIFO */
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}
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break;
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default:
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{
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Serial.println("Unknown Command type received, ignoring"); // Default case, print and continue
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// Ignore rdoc["Cid"], rdoc["rH"], rdoc["rD"], rdoc["rS"], rdoc["rC"]
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}
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break;
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}
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queueInstruction(instr);
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}
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break;
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case WStype_PONG:
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@ -179,5 +297,72 @@ void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
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Serial.println(String("Websocket received invalid event type: ") + type + String(", exiting"));
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exit(1);
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}
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break;
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}
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}
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void queueInstruction(RoverInstruction instruction)
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{
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InstrQueue.push(instruction);
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}
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void sendToCommand()
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{
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DynamicJsonDocument tdoc(1024);
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tdoc["st"] = Status;
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tdoc["bV"] = batteryVoltage;
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tdoc["bL"] = batteryLevel;
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tdoc["tD"] = odometer;
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tdoc["cH"] = heading;
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tdoc["pos"][0] = xpos;
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tdoc["pos"][1] = ypos;
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tdoc["rssi"] = signalStrength;
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tdoc["LCCid"] = lastCompletedCommand;
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String JSON_Data;
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serializeJson(tdoc, JSON_Data);
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websocketserver.broadcastTXT(JSON_Data);
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}
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void sendToDrive(RoverInstruction instruction)
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{
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DynamicJsonDocument tdoc(1024);
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tdoc["rH"] = instruction.heading;
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tdoc["dist"] = instruction.distance;
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tdoc["sp"] = instruction.speed;
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tdoc["cH"] = heading;
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serializeJson(tdoc, Serial1);
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}
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void recvFromDrive() // TO DO
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{
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}
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void sendToEnergy(RoverInstruction instruction)
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{
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DynamicJsonDocument tdoc(1024);
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tdoc["ch"] = instruction.charge;
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serializeJson(tdoc, Serial2);
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}
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void recvFromEnergy() // TO DO
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{
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}
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void sendToVision()
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{
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Serial3.print("R"); // Request new data from Vision
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}
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void recvFromVision() // TO DO
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{
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}
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void emergencyStop() // TO DO
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{
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// Send stop signals to drive, energy
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while (InstrQueue.size())
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{
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InstrQueue.pop(); // Clear Instruction Queue
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}
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Serial.println("Instruction Queue cleared");
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}
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