284 lines
6.9 KiB
C++
284 lines
6.9 KiB
C++
//
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// wirelessly connected cloud (based on a LPWAN, called ESP-NOW)
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//
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//
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// puredata gathering @ ururu.cloud, Seoul
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//
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//
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// 2024 02 17
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//
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// this module will be an esp-now node in a group.
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// like, a bird in a group of birds.
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//
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// esp-now @ esp8266 w/ broadcast address (FF:FF:FF:FF:FF:FF)
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// always broadcasting. everyone is 'talkative'.
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//
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//============<identities>============
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#define MY_GROUP_ID (4000)
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#define MY_ID (MY_GROUP_ID + 1)
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#define MY_SIGN ("ROLLER2")
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//============</identities>============
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//============<parameters>============
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#define WIFI_CHANNEL 1
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//============</parameters>===========
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//arduino
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#include <Arduino.h>
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//message types
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#include "message.h"
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//espnow
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#include <ESP8266WiFi.h>
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#include <espnow.h>
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//task
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#include <TaskScheduler.h>
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Scheduler runner;
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//-*-*-*-*-*-*-*-*-*-*-*-*-
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// servo
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#define MOTOR_1A (D6)
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#define MOTOR_1B (D5)
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// my tasks
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int speed = 0;
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bool isactive = false;
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void set_speed() {
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int r = speed;
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//
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if (r >= 0) {
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digitalWrite(MOTOR_1A, LOW);
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analogWrite(MOTOR_1B, r);
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} else {
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digitalWrite(MOTOR_1B, LOW);
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analogWrite(MOTOR_1A, r*(-1));
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}
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Serial.print("set_speed:");
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Serial.println(r);
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isactive = true;
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}
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Task set_speed_task(0, TASK_ONCE, &set_speed, &runner, false);
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//
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void rest() {
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analogWrite(MOTOR_1A, LOW);
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analogWrite(MOTOR_1B, LOW);
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isactive = false;
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}
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Task rest_task(0, TASK_ONCE, &rest, &runner, false);
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//
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uint8_t watch_counter = 0;
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void watcher() {
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if (isactive) {
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if (watch_counter > 3) {
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rest_task.restartDelayed(10);
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watch_counter = 0;
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} else {
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watch_counter++;
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}
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}
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}
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Task watcher_task(1000, TASK_FOREVER, &watcher, &runner, true);
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//
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#define MOTOR_2A (D3)
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#define MOTOR_2B (D2)
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// my tasks
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int speed2 = 0;
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bool isactive2 = false;
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void set_speed2() {
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int r = speed2;
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//
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if (r >= 0) {
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digitalWrite(MOTOR_2A, LOW);
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analogWrite(MOTOR_2B, r);
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} else {
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digitalWrite(MOTOR_2B, LOW);
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analogWrite(MOTOR_2A, r*(-1));
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}
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Serial.print("set_speed2:");
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Serial.println(r);
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isactive2 = true;
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}
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Task set_speed2_task(0, TASK_ONCE, &set_speed2, &runner, false);
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//
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void rest2() {
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analogWrite(MOTOR_2A, LOW);
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analogWrite(MOTOR_2B, LOW);
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isactive2 = false;
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}
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Task rest2_task(0, TASK_ONCE, &rest2, &runner, false);
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//
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uint8_t watch2_counter = 0;
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void watcher2() {
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if (isactive2) {
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if (watch2_counter > 3) {
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rest2_task.restartDelayed(10);
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watch2_counter = 0;
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} else {
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watch2_counter++;
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}
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}
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}
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Task watcher2_task(1000, TASK_FOREVER, &watcher2, &runner, true);
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//*-*-*-*-*-*-*-*-*-*-*-*-*
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//task #0 : blink led
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#define LED_PERIOD (11111)
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#define LED_ONTIME (1)
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#define LED_GAPTIME (222)
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#define LED_PIN 2
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extern Task blink_task;
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void blink() {
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//
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static int count = 0;
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count++;
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//
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switch (count % 4) {
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case 0:
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digitalWrite(LED_PIN, LOW); // first ON
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blink_task.delay(LED_ONTIME);
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break;
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case 1:
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digitalWrite(LED_PIN, HIGH); // first OFF
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blink_task.delay(LED_GAPTIME);
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break;
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case 2:
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digitalWrite(LED_PIN, LOW); // second ON
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blink_task.delay(LED_ONTIME);
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break;
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case 3:
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digitalWrite(LED_PIN, HIGH); // second OFF
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blink_task.delay(LED_PERIOD - 2* LED_ONTIME - LED_GAPTIME);
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break;
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}
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}
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Task blink_task(0, TASK_FOREVER, &blink, &runner, true); // -> ENABLED, at start-up.
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// on 'Note'
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void onNoteHandler(Note & n) {
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//is it for me?
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if (n.id == MY_GROUP_ID || n.id == MY_ID) {
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//
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if (n.pitch == 0) {
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speed = n.velocity;
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//
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if (n.onoff == 1) {
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set_speed_task.restartDelayed(10);
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watch_counter = 0;
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} else if (n.onoff == 0) {
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rest_task.restartDelayed(10);
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} else if (n.onoff == 2) {
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set_speed_task.restartDelayed(10);
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rest_task.restartDelayed(10 + n.x1);
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}
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}
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//
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else if (n.pitch == 1) {
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speed2 = n.velocity;
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//
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if (n.onoff == 1) {
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set_speed2_task.restartDelayed(10);
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watch2_counter = 0;
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} else if (n.onoff == 0) {
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rest2_task.restartDelayed(10);
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} else if (n.onoff == 2) {
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set_speed2_task.restartDelayed(10);
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rest2_task.restartDelayed(10 + n.x1);
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}
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}
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//
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}
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}
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// on 'receive'
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void onDataReceive(uint8_t * mac, uint8_t *incomingData, uint8_t len) {
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//
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Serial.write(incomingData, len);
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// open => identify => use.
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if (incomingData[0] == '{' && incomingData[len - 1] == '}' && len == (sizeof(Hello) + 2)) {
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Hello hello("");
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memcpy((uint8_t *) &hello, incomingData + 1, sizeof(Hello));
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//
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Serial.println(hello.to_string());
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}
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// open => identify => use.
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if (incomingData[0] == '[' && incomingData[len - 1] == ']' && len == (sizeof(Note) + 2)) {
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Note note;
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memcpy((uint8_t *) ¬e, incomingData + 1, sizeof(Note));
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onNoteHandler(note);
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//
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Serial.println(note.to_string());
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}
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}
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// on 'sent'
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void onDataSent(uint8_t *mac, uint8_t sendStatus) {
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char buff[256] = "";
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sprintf(buff, "Delivery failed! -> %02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
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if (sendStatus != 0) Serial.println(buff);
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}
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//
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void setup() {
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//led
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pinMode(LED_PIN, OUTPUT);
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//pwm freq.
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analogWriteFreq(40000);
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//serial
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Serial.begin(115200);
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delay(100);
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//info
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Serial.println();
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Serial.println();
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Serial.println("\"hi, i m your postman.\"");
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Serial.println("-");
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Serial.println("- my id: " + String(MY_ID) + ", gid: " + String(MY_GROUP_ID) + ", call me ==> \"" + String(MY_SIGN) + "\"");
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Serial.println("- mac address: " + WiFi.macAddress() + ", channel: " + String(WIFI_CHANNEL));
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Serial.println("-");
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//wifi - disabled
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system_phy_set_max_tpw(0);
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WiFiMode_t node_type = WIFI_STA;
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WiFi.mode(node_type);
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//esp-now
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if (esp_now_init() != 0) {
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Serial.println("Error initializing ESP-NOW");
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return;
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}
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esp_now_set_self_role(ESP_NOW_ROLE_COMBO);
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esp_now_register_send_cb(onDataSent);
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esp_now_register_recv_cb(onDataReceive);
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//
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Serial.println("- ! (esp_now_add_peer) ==> add a 'broadcast peer' (FF:FF:FF:FF:FF:FF).");
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uint8_t broadcastmac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
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esp_now_add_peer(broadcastmac, ESP_NOW_ROLE_COMBO, 1, NULL, 0);
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Serial.println("-");
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Serial.println("\".-.-.-. :)\"");
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Serial.println();
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//random seed
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randomSeed(analogRead(0));
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//tasks
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rest_task.restartDelayed(500);
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rest2_task.restartDelayed(500);
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}
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void loop() {
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//
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runner.execute();
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//
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}
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