Epitech/T-IOT-901_convoyor
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Merge branch 'develop' of ssh://git.lab-ouest.org:8022/Epitech/T-IOT-901_convoyor into feat/main-algo

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# Conflicts:
#	config.ini
#	include/Program.h
#	lib/NFC/src/NfcReader.cpp
#	src/Program.cpp
This commit is contained in:
Nicolas SANS
2024-01-26 09:46:49 +01:00
parent b3ef581d28 68a4ab9755
commit f64264631e
17 changed files with 655 additions and 155 deletions
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200
src/Program.cpp
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@ -1,103 +1,159 @@
#include "Program.h"
#include "Arduino.h"
#include "M5LCD.h"
#include "DolibarrClient.h"
#include "ServoMotorComponent.h"
#include "NfcReader.h"
#include <Ticker.h>
uint32_t derniereExecution = 0;
const uint32_t intervalle = 1000;
std::vector<models::Warehouse> *warehouses;
int initialize_wifi(WifiConfig wifi) {
lcdScreen->add_log("Connecting to the WiFi network...");
WiFiClass::mode(WIFI_STA); //Optional
WiFi.setSleep(false);
WiFi.begin(wifi.ssid, wifi.password);
Serial.print("Connecting ");
while(WiFiClass::status() != WL_CONNECTED){
delay(WAITING_WIFI_DELAY);
Serial.print(".");
}
Serial.println("Connected to the WiFi network");
return 0;
}
void Program::checkNfc() {
if (this->nfcReader->IsNfcConnected() && lcdScreen->get_components().nfc != COMPONENT_OK) {
lcdScreen->set_nfc_status(COMPONENT_OK);
lcdScreen->add_log("NFC component connected !");
Serial.println("NFC IS CONNECTED !");
} else if (!this->nfcReader->IsNfcConnected() && lcdScreen->get_components().nfc == COMPONENT_OK) {
lcdScreen->set_nfc_status(COMPONENT_KO);
lcdScreen->add_log("NFC component disconnected !");
Serial.println("NFC NOT CONNECTED !");
}
}
void Program::checkServo() {
if (this->servo->isConnected() && lcdScreen->get_components().servo != COMPONENT_OK) {
lcdScreen->set_servo(COMPONENT_OK);
lcdScreen->add_log("SERVO component connected !");
Serial.println("SERVO IS CONNECTED !");
} else if (!this->servo->isConnected() && lcdScreen->get_components().servo == COMPONENT_OK) {
lcdScreen->set_servo(COMPONENT_KO);
lcdScreen->add_log("SERVO component disconnected !");
Serial.println("SERVO NOT CONNECTED !");
}
}
void Program::checkWifi() {
if (WiFiClass::status() == WL_CONNECTED && lcdScreen->get_components().wifi != COMPONENT_OK) {
lcdScreen->add_log("Connected to the WiFi network");
lcdScreen->set_wifi_status(COMPONENT_OK);
struct DolibarrConfig dolibarr = {DOLIBARR_URL, DOLIBARR_API_TOKEN};
this->client = new DolibarrClient(dolibarr);
warehouses = this->client->list_warehouse();
if (warehouses != nullptr) {
lcdScreen->add_log("Warehouses found !");
lcdScreen->set_dolibarr_status(COMPONENT_OK);
for (auto &ware : *warehouses) {
char buffer[50];
sprintf(buffer, "+ Warehouse '%s' (%s)", ware.label.c_str(), ware.id.c_str());
lcdScreen->add_log(buffer);
}
} else {
lcdScreen->add_log("Warehouse not found");
lcdScreen->set_dolibarr_status(COMPONENT_KO);
}
} else if (WiFiClass::status() != WL_CONNECTED && lcdScreen->get_components().wifi == COMPONENT_OK) {
lcdScreen->add_log("Wifi signal lost, reconnecting...");
lcdScreen->set_wifi_status(COMPONENT_KO);
lcdScreen->set_dolibarr_status(COMPONENT_KO);
struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
initialize_wifi(wifi_c);
}
}
Program::Program() {
Serial.begin(MONITOR_SPEED);
struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
struct DolibarrConfig dolibarr = {DOLIBARR_URL, DOLIBARR_API_TOKEN};
initialize_wifi(wifi_c);
this->client = new DolibarrClient(dolibarr);
// initialisation GRBL
Wire.begin();
delay(1000);
lcdScreen = new M5LCD();
lcdScreen->add_log("Initialize M5LCD component....");
this->nfcReader = new NfcReader(NFC_ADDR);
this->servo = new ServoMotorComponent(2, 1, 1);
this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
Wire.begin(21, 22);
grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
this->NFC = new NfcReader(NFC_ADDR);
struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
initialize_wifi(wifi_c);
}
void Program::loop() {
// if(this->grbl->)
// this->grbl->mouveForward(5); //TODO: réglé pour qu'il avance de la bonne distance
// String nfcIn = "0"; // TODO: si le lecteur envoie qqc
// //TODO: refrech servo
// if(nfcIn !="0"){
// //envoyer sur dolibard
// this->NfcIDs->push_back(nfcIn);
// }
// if(this->NfcIDs->size() > 0){
// }
lcdScreen->update();
//algo V1
//je lis la valeur NFC
String nfcId = this->NFC->ReadNfc();
uint32_t maintenant = millis();
if (maintenant - derniereExecution >= intervalle) {
this->checkServo();
this->checkNfc();
this->checkWifi();
derniereExecution = maintenant;
}
this->servo->refresh();
String nfcId = this->nfcReader->ReadNfc();
//si qqc
if(nfcId != "0"){
if (lcdScreen->get_components().wifi != COMPONENT_OK) {
lcdScreen->add_log("Wifi not connected !");
lcdScreen->set_nfc_message("Cannot send wifi request !");
return;
}
//j'arrète le stepper
//this->grbl->stop(); //FIXME: implemente
//j'affiche le tag lue
Serial.print("new colis in comming : ");
Serial.println(nfcId);
//je demande a dolibard ou j'envoie
Serial.println("Demande a dolibard");
delay(500);// TODO: remove mock
//j'envoie au servo la commande
Serial.print("Servo : ");
Serial.println("Droite");
delay(500);// TODO: remove mock
//j'avance le moteur jusqu'a X (a definir)
lcdScreen->add_log("new colis detected: ");
lcdScreen->add_log(nfcId.c_str());
lcdScreen->set_nfc_message(nfcId.c_str());
auto product = this->client->get_product_by_factory_id(nfcId.c_str());
Serial.printf("Product: %s\n%s", product.label.c_str(), product.accountancy_code_sell_export.c_str());
lcdScreen->set_product_label(product.label);
lcdScreen->set_product_id(product.id);
/*if (product.fk_default_warehouse == product.accountancy_code_sell_export) {
Serial.printf("Product already in the good warehouse !\n");
return;
}*/
auto ware = std::find_if(warehouses->begin(), warehouses->end(), [&product](models::Warehouse w) {return w.id == product.accountancy_code_sell_export;});
if (ware.base() == nullptr) {
Serial.printf("Warehouse not found !\n");
return;
}
Serial.printf("Product need to go to warehouse %s\n", ware->label.c_str());
this->client->create_movement(models::CreateProductStock{
product.id,
product.fk_default_warehouse,
"-1"
});
if (this->client->create_movement(models::CreateProductStock{
product.id,
ware->id,
"1"
}) == 0) {
Serial.printf("Movement created !\n");
} else {
Serial.printf("Movement cannot be created !\n");
}
if (ware->id == "1") {
this->servo->setDesiredPosition(Position::RIGHT);
lcdScreen->set_servo_message("RIGHT");
} else if (ware->id == "2") {
this->servo->setDesiredPosition(Position::LEFT);
lcdScreen->set_servo_message("LEFT");
} else if (ware->id == "3") {
this->servo->setDesiredPosition(Position::MIDDLE);
lcdScreen->set_servo_message("MIDDLE");
}
this->grbl->mouveForward(CONVOYER_LEN);
}else{
//si rien
//je check si le stepper est en iddle
} else {
if(this->grbl->isIddle()){
//si oui j'avance de 5 mm
this->grbl->mouveForward(5);
}
}
//j'update la position du servo
//this->servo->refresh();
//idée affichage:
// waitting packet
// new packet detected : ID
// check to dolibarr
// DOLIBARR ID found stockage in progress
// stoage done
// ERR DOLIBARR ID not found
//idée algo v1.5 (ajou petite gestion d'erreur)
//je lis la valeur NFC
//si qqc
//je demande a dolibard ou j'envoie
//j'envoie au servo la commande
//j'avance le moteur jusqu'a X (a definir)
//si rien j'avance le moteur (5mm)
//si le lecteur de sortie voi pas de colis
//on affiche une erreur de colis non lue
//si un seul colis
//on dit que le colis est bien trié (avec porte de sortie)
//si il y a 2 colis (ou plus)
//on affiche une erreur de bourrage
//idée algo v2
//utiliser une pile
//utiliser le 2nd lecteur pour vidé la pile
//gestion d'erreur complete avec celle du dessus plus celle de la pile
}
}