Epitech/T-IOT-901_convoyor
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Merge pull request 'feat/output-reader' (#20) from feat/output-reader into develop

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Reviewed-on: #20
Reviewed-by: Nicolas <nicolas.sansd@gmail.com>
This commit is contained in:
Clement 2024-02-02 16:43:13 +01:00
commit 57cf250a03
6 changed files with 197 additions and 6 deletions
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12
config.ini
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@ -22,7 +22,8 @@ build_flags =
-D STEPER_ACC=200
;-D STEPER_PAS=755.906 ; = 65mm
-D STEPER_PAS=58 ; = 5mm
-D STEPER_SPEED=1000 ; 12000
-D STEPER_SPEED=2700 ;1000 ; 2500
-D GRBL_UPDATE=165 ;update time in ms
;;;;;;;;;;;;;;;;;;;;;;
;;; App config ;;;
;;;;;;;;;;;;;;;;;;;;;;
@ -33,7 +34,10 @@ build_flags =
;;;;;;;;;;;;;;;;;;;;;;
;;; Servo config ;;;
;;;;;;;;;;;;;;;;;;;;;;
-D RIGHT_POS=18
-D MIDDLE_POS=32
-D RIGHT_POS=14 ;18
-D MIDDLE_POS=30 ;32
-D LEFT_POS=52
-D CONVOYER_LEN=150 ;mm
-D CONVOYER_LEN=80 ;mm

3
include/Program.h
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@ -6,6 +6,7 @@
#include "ServoMotorComponent.h"
#include "NfcReader.h"
#include "GRBL.h"
#include "BigNfcReader.h"
class Program {
public:
@ -26,6 +27,8 @@ private:
ServoMotorComponent *servo;
NfcReader *nfcReader;
GRBL *grbl;
BigNfcReader* outputReader;
int grblUpdateTime;
};
#endif

67
lib/NfcReader/include/BigNfcReader.h Normal file
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@ -0,0 +1,67 @@
#ifndef BIG_NFC_READER_H
#define BIG_NFC_READER_H
#include <Arduino.h>
#include <vector>
#include "TrameList.h"
class BigNfcReader{
public:
BigNfcReader();
/**
* @brief initialise le lecteur NFC
*
* @return true le lecteur NFC est initialisé
* @return false le lecteur NFC n'est pas initialisé (erreur)
*/
bool init();
/**
* @brief rafraichit les données du lecteur NFC
*
*/
void refresh();
/**
* @brief affiche la dernière trame lue
*
*/
void printTrame();
/**
* @brief retourne le nombre de tags lus
*
* @return int nombre de tags lus
*/
int getNbTags();
private:
/**
* @brief convertit un nombre en hexadécimal (a 2 chiffres)
*
* @param number nombre à convertir
* @return String nombre converti
*/
String digitify(int number);
/**
* @brief variable pair/impair pour le type de trame
*
*/
bool pair;
/**
* @brief dernière trame lue
*
*/
std::vector<byte>* trame;
};
#endif

29
lib/NfcReader/include/TrameList.h Normal file
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@ -0,0 +1,29 @@
#ifndef TRAM_LIST_H
#define TRAM_LIST_H
#include <Arduino.h>
#include <vector>
const std::vector<byte> SEARCH_TRAM_0 = {0x05, 0x07, 0x01, 0x01, 0x01, 0x00, 0xEB, 0x5F};
const std::vector<byte> INIT_TRAM_0 = {0xFA, 0x05, 0x01, 0xC0, 0x5A, 0xDF};
const std::vector<byte> INIT_TRAM_1 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x01, 0x01, 0xE1, 0x70};
const std::vector<byte> INIT_TRAM_2 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x02, 0x01, 0x3E, 0x4C};
const std::vector<byte> INIT_TRAM_3 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x03, 0x01, 0x51, 0x43};
const std::vector<byte> INIT_TRAM_4 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x04, 0x01, 0xEE, 0x18};
const std::vector<byte> INIT_TRAM_5 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x05, 0x01, 0x81, 0x17};
const std::vector<byte> INIT_TRAM_6 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x06, 0x01, 0x5E, 0x2B};
const std::vector<byte> INIT_TRAM_7 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x07, 0x01, 0x31, 0x24};
const std::vector<byte> REP_TRAM_0 = {0xFA, 0x05, 0x01, 0xE0, 0x58, 0xFE};
const std::vector<byte> REP_TRAM_1 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x04, 0x00, 0x00, 0x03, 0x01, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x95, 0x8A};
const std::vector<byte> REP_TRAM_2 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0xFF, 0x00, 0x10, 0x07, 0x13, 0x01, 0x0E, 0x08, 0x09, 0x0B, 0x00, 0x2D, 0x98};
const std::vector<byte> REP_TRAM_3 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xE8, 0x03, 0x00, 0x00, 0x00, 0x00, 0x43, 0x83, 0x00, 0x00, 0x00, 0x9A, 0xBF};
const std::vector<byte> REP_TRAM_4 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x04, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD7, 0x15};
const std::vector<byte> REP_TRAM_5 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x0A, 0x03, 0x0A, 0x00, 0xF6, 0xCD};
const std::vector<byte> REP_TRAM_6 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0xD4, 0x03};
const std::vector<byte> REP_TRAM_7 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x52, 0xF6};
const std::vector<byte> READ_TRAM_0 = {0xFA, 0x24, 0x01, 0x00, 0x31, 0x02, 0x07, 0x0E, 0x00, 0x00, 0x04, 0x00, 0x00, 0x0D, 0x00, 0x00, 0x06, 0x00, 0x03, 0x00, 0xFF, 0x00, 0x03, 0x00, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x5D, 0x74};
const std::vector<byte> READ_TRAM_1 = {0xFA, 0x24, 0x01, 0x40, 0x31, 0x02, 0x07, 0x0E, 0x00, 0x00, 0x04, 0x00, 0x00, 0x0D, 0x00, 0x00, 0x06, 0x00, 0x03, 0x00, 0xFF, 0x00, 0x03, 0x00, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x10, 0x45};
#endif

75
lib/NfcReader/src/BigNfcReader.cpp Normal file
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@ -0,0 +1,75 @@
#include "../include/BigNfcReader.h"
BigNfcReader::BigNfcReader(){
Serial2.begin(115200, SERIAL_8N1, 16, 17);//TODO: mettre le port série en paramètre
this->pair = true;
this->trame = new std::vector<byte>();
}
bool BigNfcReader::init(){
const std::vector<std::vector<byte>> INIT_TRAMES = {INIT_TRAM_0, INIT_TRAM_1, INIT_TRAM_2, INIT_TRAM_3, INIT_TRAM_4, INIT_TRAM_5, INIT_TRAM_6, INIT_TRAM_7};
const std::vector<std::vector<byte>> REP_TRAMES = {REP_TRAM_0, REP_TRAM_1, REP_TRAM_2, REP_TRAM_3, REP_TRAM_4, REP_TRAM_5, REP_TRAM_6, REP_TRAM_7};
int repnb = 0;
for(std::vector<byte> i: INIT_TRAMES){
for(byte j: i){
Serial2.write(j);
}
while (Serial2.available() == 0);
while (Serial2.available() > 0){
for(byte j: REP_TRAMES[repnb]){
if(Serial2.read() != j){
Serial.println("NFC reader init failed");
return false;
}
}
}
repnb++;
}
return true;
}
void BigNfcReader::refresh(){
this->trame->clear();
std::vector<byte> trame = READ_TRAM_0;
if (this->pair){
trame = READ_TRAM_1;
}
this->pair = !this->pair;
for(byte i: trame){
Serial2.write(i);
}
while (Serial2.available() == 0);
while (Serial2.available() > 0){
this->trame->push_back(Serial2.read());
}
}
String BigNfcReader::digitify(int number){
String sortie = "";
if(number <= 0xF){
sortie += '0';
sortie += String(number,HEX);
}else{
sortie += String(number,HEX);
}
return sortie;
}
void BigNfcReader::printTrame(){
for(byte i: *this->trame){
Serial.print(this->digitify(i));
Serial.print(" ");
}
Serial.println();
}
int BigNfcReader::getNbTags(){
return this->trame->at(8);
}

17
src/Program.cpp
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@ -78,7 +78,11 @@ Program::Program() {
lcdScreen->add_log("Initialize M5LCD component....");
this->nfcReader = new NfcReader(NFC_ADDR);
this->servo = new ServoMotorComponent(2, 1, 1);
this->servo->setDesiredPosition(Position::MIDDLE);
this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
this->outputReader = new BigNfcReader();
this->outputReader->init();
this->grblUpdateTime = 0;
Wire.begin(21, 22);
grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
@ -96,6 +100,13 @@ void Program::loop() {
derniereExecution = maintenant;
}
this->servo->refresh();
this->outputReader->refresh();
// Serial.println(this->outputReader->getNbTags());
if(this->outputReader->getNbTags() >= 2){
lcdScreen->set_nfc_message("To mutch colis number detected");
return;
}
String nfcId = this->nfcReader->ReadNfc();
//si qqc
@ -152,8 +163,10 @@ void Program::loop() {
}
this->grbl->mouveForward(CONVOYER_LEN);
} else {
if(this->grbl->isIddle()){
if(this->grbl->isIddle() || (maintenant - this->grblUpdateTime >= GRBL_UPDATE)){
this->grblUpdateTime = maintenant;
this->grbl->mouveForward(5);
Serial.print("pouet");
}
}
}
}