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108 lines
3.2 KiB
108 lines
3.2 KiB
#include "cJSON.h"
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#include "cJSON_Utils.h"
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#include "driver/gpio.h"
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#include "driver/timer.h"
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#include "driver/uart.h"
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#include "esp_log.h"
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#include "esp_system.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/event_groups.h"
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#include "freertos/task.h"
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#include "nvs_flash.h"
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#include "string.h"
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//
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#include "ble_spp_server_demo.h"
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#include "motor_drive.h"
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#define MAIN_LOG_TAG "MAIN"
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#define ble_uart_tx_size 128
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#define ble_uart_rx_size 128
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static uint8_t bluetooth_tx_buffer[ble_uart_tx_size] = {0};
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static uint8_t bluetooth_rx_buffer[ble_uart_rx_size] = {0};
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bleuart_t ble_uart_init_struct = {
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.txbuf = bluetooth_tx_buffer,
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.txbufsize = sizeof(bluetooth_tx_buffer),
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.rxbuf = bluetooth_rx_buffer,
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.rxbufsize = sizeof(bluetooth_rx_buffer),
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.rxpacketReceiveOvertime = 200,
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.receive_data_processing_flag = false,
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.maxClientNum = 1,
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.bleName = "yimei_ble",
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};
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motor_t ble_uart_motor_structer = {.uartNum = UART_NUM_1};
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void process_setPosition(cJSON *rxjson) {
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// { "order": "setPosition", "ble_uart_index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
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int index = 0;
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int speedLevel = 0;
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float position = 0;
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int direction = 0;
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if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "position"))) {
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position = cJSON_GetObjectItem(rxjson, "position")->valuedouble;
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}
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if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) {
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index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index"));
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}
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if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "speedLevel"))) {
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speedLevel = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "speedLevel"));
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}
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if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "direction"))) {
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direction = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "direction"));
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}
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motor_run_to_postion(1, position, 1);
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}
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void processrxjson(cJSON *rxjson) {
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if (!cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) {
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return;
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}
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const char *order = cJSON_GetStringValue(cJSON_GetObjectItem(rxjson, "order"));
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if (strcmp(order, "setPosition") == 0) {
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process_setPosition(rxjson);
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} else if (strcmp(order, "getStatus") == 0) {
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}
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}
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void blerxcb(uint8_t *rxmessage, size_t rxsize) {
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rxmessage[rxsize] = 0;
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cJSON *rxmessage_json = cJSON_ParseWithLength((char *)rxmessage, rxsize);
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if (rxmessage_json == NULL) {
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ESP_LOGE(MAIN_LOG_TAG, "cJSON_Parse fail rxmessage_json == null,%s", cJSON_GetErrorPtr());
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return;
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}
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processrxjson(rxmessage_json);
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cJSON_Delete(rxmessage_json);
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}
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void motor_on_event(motor_event_t event) {
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//打算使用sprintf
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if (event == kRunToPosition) {
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ESP_LOGI(MAIN_LOG_TAG, "kRunToPosition ok!");
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uint8_t buffer[128] = {0};
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//组包
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//上报
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//{ "order": "deviceStatusReport", "ble_uart_index": 0, "deviceState": "running", "position":13.9, "deviceException": 0, "deviceExceptionInfo": "", }
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sprintf((char *)buffer, "{ \"order\": \"receipt\", \"code\": 0, \"info\": \"success\", \"index\": %d }", 1);
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bleuart_notify_send(buffer,sizeof(buffer));
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}
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}
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void app_main(void) {
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bleuart_init(&ble_uart_init_struct);
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bleuart_reg_cb(blerxcb);
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motor_init(&ble_uart_motor_structer);
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motor_reg_event_cb(motor_on_event);
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while (true) {
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bleuart_schedule();
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motor_module_schedule();
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}
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}
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