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#include "cJSON.h"
#include "cJSON_Utils.h"
#include "driver/gpio.h"
#include "driver/timer.h"
#include "driver/uart.h"
#include "esp_log.h"
#include "esp_system.h"
#include "freertos/FreeRTOS.h"
#include "freertos/event_groups.h"
#include "freertos/task.h"
#include "nvs_flash.h"
#include "string.h"
//
#include "ble_spp_server_demo.h"
#include "motor_drive.h"
#include "port.h"
#define MAIN_LOG_TAG "MAIN"
#define ble_uart_tx_size 128
#define ble_uart_rx_size 128
#define construct_cmd_packet_buffer_size 256
typedef struct { int index; const char *order;} RxContext_t;
static uint8_t bluetooth_tx_buffer[ble_uart_tx_size] = {0};static uint8_t bluetooth_rx_buffer[ble_uart_rx_size] = {0};
bleuart_t ble_uart_init_struct = { .txbuf = bluetooth_tx_buffer, .txbufsize = sizeof(bluetooth_tx_buffer), .rxbuf = bluetooth_rx_buffer, .rxbufsize = sizeof(bluetooth_rx_buffer), .rxpacketReceiveOvertime = 200, .receive_data_processing_flag = false, .maxClientNum = 1, .bleName = "yimei_ble",};motor_t ble_uart_motor_structer = {.uartNum = UART_NUM_1};
void construct_set_position_packet_and_report(int index, uint8_t setPosition_code) { uint8_t buffer[construct_cmd_packet_buffer_size] = {0};
ESP_LOGI(MAIN_LOG_TAG, "Command setPosition execution complete!");
if (setPosition_code == 0) { snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"code\": %d, \"info\": \"success\", \"index\": %d }", setPosition_code, index); bleuart_notify_send(buffer, strlen((char *)buffer)); } else { snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"code\": %d, \"info\": \"error\", \"index\": %d }", setPosition_code, index); bleuart_notify_send(buffer, strlen((char *)buffer)); }}
void construct_get_status_packet_and_report(int index, double motor_position) { uint8_t buffer[construct_cmd_packet_buffer_size] = {0}; if (motor_turning == false) { snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"%s\", \"deviceException\": 0, \"deviceExceptionInfo\": " ", \"position\":%lf }", index, "idel", motor_position); } else { snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"%s\", \"deviceException\": 0, \"deviceExceptionInfo\": " ", \"position\":%lf }", index, "rotating", motor_position); }
ESP_LOGI(MAIN_LOG_TAG, "report %s", buffer); bleuart_notify_send(buffer, strlen((char *)buffer));}
void construct_set_motorCurrentSize_packet_and_report(int index) { uint8_t buffer[construct_cmd_packet_buffer_size] = {0};
snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"receipt\", \"index\": %d }", index); ESP_LOGI(MAIN_LOG_TAG, "report %s", buffer); bleuart_notify_send(buffer, strlen((char *)buffer));}
void process_setPosition(RxContext_t *context, cJSON *rxjson) { // { "order": "setPosition", "ble_uart_index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
int speedLevel = 0; float position = 0; int direction = 0; uint8_t setPosition_code; if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "position"))) { position = cJSON_GetObjectItem(rxjson, "position")->valuedouble; } if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "speedLevel"))) { speedLevel = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "speedLevel")); } if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "direction"))) { direction = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "direction")); } ESP_LOGI(MAIN_LOG_TAG, "order = %s,index = %d,speedLevel = %d,position = %lf,direction = %d", context->order, context->index, speedLevel, position, direction); setPosition_code = motor_run_to_postion(1, position, 0); motor_turning = true; construct_set_position_packet_and_report(context->index, setPosition_code);}
void process_getStatus(cJSON *rxjson) { int index = 0; if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) { index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index")); } double motor_position = motor_get_position_degree(); construct_get_status_packet_and_report(index, motor_position);}
void process_setMotorCurrentSize(cJSON *rxjson) { int index = 0; if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) { index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index")); }
motor_set_zero_point();
construct_set_motorCurrentSize_packet_and_report(index);}
void processrxjson(cJSON *rxjson) { if (!cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) { return; } RxContext_t rxcontext = {0};
if (cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) { rxcontext.order = cJSON_GetStringValue(cJSON_GetObjectItem(rxjson, "order")); }
if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) { rxcontext.index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index")); }
if (strcmp(rxcontext.order, "setPosition") == 0) { process_setPosition(&rxcontext, rxjson); } else if (strcmp(rxcontext.order, "getStatus") == 0) { process_getStatus(rxjson); } else if (strcmp(rxcontext.order, "setMotorCurrentSize") == 0) { process_setMotorCurrentSize(rxjson); }}
void blerxcb(uint8_t *rxmessage, size_t rxsize) { rxmessage[rxsize] = 0; cJSON *rxmessage_json = cJSON_ParseWithLength((char *)rxmessage, rxsize); if (rxmessage_json == NULL) { ESP_LOGE(MAIN_LOG_TAG, "cJSON_Parse fail rxmessage_json == null,%s", cJSON_GetErrorPtr()); return; } processrxjson(rxmessage_json); cJSON_Delete(rxmessage_json);}
void motor_on_event(motor_event_t event) { //打算使用sprintf
if (event == kRunToPosition) { ESP_LOGI(MAIN_LOG_TAG, "motor_on_event: kRunToPosition"); motor_turning = false; uint8_t buffer[construct_cmd_packet_buffer_size] = {0}; double motor_stop_position = motor_get_position_degree();
//{ "order": "deviceStatusReport", "ble_uart_index": 0, "deviceState": "running", "position":13.9, "deviceException": 0, "deviceExceptionInfo": ""}
snprintf((char *)buffer, construct_cmd_packet_buffer_size, "{ \"order\": \"deviceStatusReport\", \"index\": %d, \"deviceState\": \"idel\", \"position\":%.2lf, \"deviceException\": 0, \"deviceExceptionInfo\": \"\" }", //
/*index :*/ 1, //
/*position :*/ motor_stop_position //
); bleuart_notify_send(buffer, strlen((char *)buffer)); }}
void app_main(void) { bleuart_init(&ble_uart_init_struct); bleuart_reg_cb(blerxcb); ble_set_motor_reg_cb(motor_run_to_postion);
motor_init(&ble_uart_motor_structer); motor_reg_event_cb(motor_on_event);
gpio_output_debug_light_init();
while (true) { port_do_debug_light_state();
bleuart_schedule(); motor_module_schedule(); }}
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