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https://github.com/supleed2/ELEC50003-P1-CW.git
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45 lines
1.7 KiB
C++
45 lines
1.7 KiB
C++
#include <Arduino.h>
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#include <ArduinoJson.h>
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#include <string>
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#define WebSocket 0
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int state, totalTripDistance, currentHeading, current_x, current_y, signal_strength, lastCompletedCommand_id; // Info Control ==> Command
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float batteryVoltage, batteryLevel, batteryCycles; // Info Control ==> Command
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int command_id, mode, reqHeading, reqDistance, reqCharge; // Info Command ==> Control
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float reqSpeed; // Info Command ==> Control
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void setup() {}
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void loop()
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{
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DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be
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deserializeJson(rdoc, WebSocket); // Take JSON input from WebSocket
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state = rdoc["st"]; // State: -1 = Error, 0 = Idle, 1 = Moving, 2 = Charging
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batteryVoltage = rdoc["bV"];
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batteryLevel = rdoc["bL"];
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batteryCycles = rdoc["bC"];
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totalTripDistance = rdoc["tD"];
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currentHeading = rdoc["cH"];
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current_x = rdoc["pos"][0];
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current_y = rdoc["pos"][1];
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signal_strength = rdoc["rssi"];
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lastCompletedCommand_id = rdoc["LCCid"];
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// ResetTelemetry / STOP / M 0 50 1 / C %
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// [20] Heading: 0, Distance: 50, Speed: 1 / [20] Charging to: ??%
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// {"Cid":20,"rH":0,}
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DynamicJsonDocument tdoc(1024); // transmit doc, not sure how big this needs to be
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tdoc["Cid"] = command_id;
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tdoc["mode"] = mode; // Switch (mode):
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// -1 = Add to queue, reset x/y/odometer (telemetry data)
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// 0 = Stop immediately, clear command cache
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// 1 = Normal movement command, added to end of command cache
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// 2 = Normal charge command, results in no motion, added to end of command cache
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tdoc["rH"] = reqHeading;
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tdoc["rD"] = reqDistance;
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tdoc["rS"] = reqSpeed;
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tdoc["rC"] = reqCharge;
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serializeJson(tdoc, WebSocket, WebSocket); // Build JSON and send on UART1
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}
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