initial commit

# Conflicts:
#	config.ini
#	src/Program.cpp

.github/workflows/test_build.yml

@@ -1,35 +1,22 @@
 on:
   push:
-    branches: [ master ]
+    branches:
+      - main
+      - develop
   pull_request:
-    branches: [ master ]
+    branches:
+      - main
+      - develop
 
 jobs:
   test:
-
     runs-on: ubuntu-latest
-
     steps:
     - name: Checkout project
       uses: actions/checkout@v3
 
-    # - name: Cache pip
-    #   uses: actions/cache@v3
-    #   with:
-    #     path: ~/.cache/pip
-    #     key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-    #     restore-keys: |
-    #       ${{ runner.os }}-pip-
-
-    # # this cache the platformio binaries and not the .pio folder
-    # - name: Cache PlatformIO
-    #   uses: actions/cache@v3
-    #   with:
-    #     path: ~/.platformio
-    #     key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
-
     - name: Set up Python
-      uses: https://github.com/actions/setup-python@v3
+      uses: actions/setup-python@v3
 
     - name: Install PlatformIO
       run: pip install platformio

config.ini

@@ -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=2000 ;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=100
+
+
+
+    -D CONVOYER_LEN=70  ; 80 ;mm

docs/Schématics/Algo.puml

@@ -0,0 +1,23 @@
+@startuml algo
+
+!pragma useVerticalIf on
+
+start
+
+:teste périphérique;
+
+:gestion bourrage colis;
+
+if (NFC détecter) then (oui)
+	:j'affiche le tag lu;
+	:je récupère le produit sur Dolibarr;
+	:gestion erreur;
+	:je crée un mouvement de stock Dolibarr;
+	:gestion erreur;
+	:je bouge l'aiguillage de destination;
+	:j'avance de la longueur du tapis;
+else (non)
+	:avance tapis;
+endif
+stop
+@enduml

docs/Schématics/Class.puml

@@ -8,18 +8,6 @@ class Dolibarr {
     + String createStockMovement(String tagID, String warehouseId)
 }
 
-package "Managers" {
-    abstract AManager {
-        # ILCDScreen lcd
-        # IServoMotor servo
-        # IGRBL grbl
-        # INFCReader nfc
-    }
-
-    class WarehouseManager
-
-    WarehouseManager .|> AManager
-}
 
 package "Components" {
     package "NFCReader" {
@@ -66,12 +54,11 @@ class Program {
 	+ void loop
 }
 
-AManager <-- IServoMotor
-AManager <-- IGRBL
-AManager <-- ILCDScreen
-AManager <-- INFCReader
+Program <-- IServoMotor
+Program <-- IGRBL
+Program <-- ILCDScreen
+Program <-- INFCReader
 
-Program <-- WarehouseManager
-Program <-- Dolibarr
+Dolibarr --> Program
 
 @enduml

include/Program.h

@@ -1,12 +1,12 @@
 #ifndef PROGRAM_H
 #define PROGRAM_H
 
-#include "Arduino.h"
 #include "DolibarrClient.h"
 #include <M5Stack.h>
 #include "ServoMotorComponent.h"
 #include "NfcReader.h"
 #include "GRBL.h"
+#include "BigNfcReader.h"
 
 class Program {
 public:
@@ -22,11 +22,14 @@ public:
     void checkNfc();
     void checkServo();
     void checkWifi();
+    void moveStepper();
 private:
     DolibarrClient *client;
     ServoMotorComponent *servo;
     NfcReader *nfcReader;
     GRBL *grbl;
+    BigNfcReader* outputReader;
+    int grblUpdateTime;
 };
 
 #endif

lib/DolibarrClient/src/DolibarrClient.cpp

@@ -4,6 +4,8 @@
 #include <iostream>
 #include "M5LCD.h"
 
+HTTPClient *client = new HTTPClient();
+
 DolibarrClient::DolibarrClient(struct DolibarrConfig dolibarr_config) : dolibarr(dolibarr_config) {
     #if defined(DEBUG)
         Serial.println(" --- Dolibarr configuration --- ");
@@ -14,7 +16,6 @@ DolibarrClient::DolibarrClient(struct DolibarrConfig dolibarr_config) : dolibarr
 }
 
 HTTPClient *DolibarrClient::build_url(const String& url) const {
-    auto *client = new HTTPClient();
     String clientUrl = this->dolibarr.url + url;
     client->begin(clientUrl);
     client->addHeader("Content-Type", "application/json");
@@ -25,40 +26,12 @@ HTTPClient *DolibarrClient::build_url(const String& url) const {
     return client;
 }
 
-
-int DolibarrClient::login() const {
-    HTTPClient *client = this->build_url(API_LOGIN_URL);
-    int httpResponseCode = client->GET();
-    if (httpResponseCode > 0) {
-        DynamicJsonDocument doc(384);
-        DeserializationError error = deserializeJson(doc, client->getString().c_str());
-        if (error) {
-            Serial.println("ERROR: ");
-            Serial.println(error.c_str());
-            delete client;
-            return -1;
-        }
-        delete client;
-        return 0;
-    }
-    delete client;
-    return -1;
-}
-
 String replace_id(const char *str, const char *id) {
     String url(str);
     url.replace("{id}", id);
     return url;
 }
 
-std::vector<models::Product> *DolibarrClient::list_products() const {
-    HTTPClient *client = this->build_url(API_LIST_PRODUCT_URL);
-    if (client->GET() == HTTP_CODE_OK) {
-
-    }
-    return nullptr;
-}
-
 models::Product DolibarrClient::get_product_by_factory_id(const char* factory_id) const {
     HTTPClient *client = this->build_url(replace_id("/products?sortorder=ASC&limit=1&sqlfilters=(t.accountancy_code_sell:like:'{id}')", factory_id).c_str());
     if (client->GET() == HTTP_CODE_OK) {
@@ -67,7 +40,6 @@ models::Product DolibarrClient::get_product_by_factory_id(const char* factory_id
         if (error) {
             Serial.println("ERROR: ");
             Serial.println(error.c_str());
-            delete client;
             return {};
         }
         for (auto obj : doc.as<JsonArray>()) {
@@ -80,13 +52,10 @@ models::Product DolibarrClient::get_product_by_factory_id(const char* factory_id
             product.accountancy_code_sell = obj["accountancy_code_sell"].as<std::string>();
             product.accountancy_code_sell_export = obj["accountancy_code_sell_export"].as<std::string>();
             product.fk_default_warehouse = obj["fk_default_warehouse"].as<std::string>();
-            delete client;
             return product;
         }
-        delete client;
         return {};
     }
-    delete client;
     return {};
 }
 
@@ -96,7 +65,6 @@ models::Product *DolibarrClient::get_product_by_id(const char* id_product) const
         DynamicJsonDocument doc(6144);
         DeserializationError error = deserializeJson(doc, client->getString().c_str());
         if (error) {
-            delete client;
             return nullptr;
         }
         auto *product = new models::Product();
@@ -107,10 +75,8 @@ models::Product *DolibarrClient::get_product_by_id(const char* id_product) const
         product->label = doc["label"].as<std::string>();
         product->accountancy_code_sell = doc["accountancy_code_sell"].as<std::string>();
         product->accountancy_code_sell_export = doc["accountancy_code_sell_export"].as<std::string>();
-        delete client;
         return product;
     }
-    delete client;
     return nullptr;
 }
 
@@ -122,7 +88,6 @@ std::vector<models::Warehouse> *DolibarrClient::list_warehouse() const {
         if (error) {
             Serial.println("ERROR: ");
             Serial.println(error.c_str());
-            delete client;
             return nullptr;
         }
         auto *warehouses = new std::vector<models::Warehouse>();
@@ -132,10 +97,8 @@ std::vector<models::Warehouse> *DolibarrClient::list_warehouse() const {
             warehouse.label = obj["label"].as<std::string>();
             warehouses->push_back(warehouse);
         }
-        delete client;
         return warehouses;
     }
-    delete client;
     return nullptr;
 }
 
@@ -151,7 +114,6 @@ int DolibarrClient::create_movement(models::CreateProductStock stock) const {
     serializeJson(doc, result);
     Serial.println(result.c_str());
     if (client->POST(result.c_str()) == HTTP_CODE_OK) {
-        delete client;
         return 0;
     }
     return -1;

lib/DolibarrClient/src/DolibarrClient.h

@@ -20,9 +20,7 @@ class DolibarrClient {
 public:
     DolibarrClient(DolibarrConfig dolibarr_config);
     ~DolibarrClient() = default;
-    int login() const;
     std::vector<models::Warehouse> *list_warehouse() const;
-    std::vector<models::Product> *list_products() const;
     models::Product *get_product_by_id(const char* id_product) const;
     models::Product get_product_by_factory_id(const char* uuid) const;
     int create_movement(models::CreateProductStock stock) const;

lib/GRBL/include/GRBL.h

@@ -8,6 +8,7 @@ class iGRBL{
 public:
     virtual void init(int speed, double pas, int accel, String mode = "distance") = 0;
     virtual void mouveForward(int mm) = 0;
+    virtual bool isIddle() = 0;
 };
 
 class GRBL : public iGRBL{
@@ -15,6 +16,7 @@ public:
     GRBL(int grblAddr);
     void init(int speed, double pas, int accel, String mode = "distance") override;
     void mouveForward(int mm = 5) override;
+    bool isIddle() override;
 private:
     Module_GRBL* grbl;
 };

lib/GRBL/src/GRBL.cpp

@@ -32,3 +32,13 @@ void GRBL::mouveForward(int mm){
     sprintf(s, "G1 X%d", mm);
     this->grbl->sendGcode(s);
 }
+
+bool GRBL::isIddle(){
+    bool sortie = false;
+
+    if(this->grbl->readStatus().indexOf("IDLE") != -1) {
+        sortie = true;
+    }
+
+    return sortie;
+}

lib/M5LCD/src/M5LCD.cpp

@@ -4,7 +4,7 @@
  * M5LCD classe
  */
 
-M5LCD::M5LCD() : _current_page(0), _logs() , _debug_loc_y(0), _components_status({COMPONENT_KO, COMPONENT_KO, COMPONENT_KO, COMPONENT_KO, COMPONENT_KO}) {
+M5LCD::M5LCD() : _current_page(0), _logs() , _debug_loc_y(0), _components_status({COMPONENT_KO, COMPONENT_KO, COMPONENT_KO, COMPONENT_KO, COMPONENT_OK}) {
     this->_product_id = std::string("");
     this->_product_label = std::string("");
     this->_last_nfc = std::string("");
@@ -173,6 +173,7 @@ void M5LCD::set_dolibarr_status(AvailableComponentsStatus status) {
 
 void M5LCD::update_dashboard() const {
     if (this->_current_page == DASHBOARD_SCREEN) {
+        M5.Lcd.clear();
         this->show_dashboard();
     }
 }

lib/M5LCD/src/M5LCD.h

@@ -60,6 +60,7 @@ public:
     void set_product_label(std::string str);
     void set_product_id(std::string str);
     void set_servo_message(std::string str);
+    int _current_page;
 private:
     void update_page() const;
     void show_debug() const;
@@ -68,7 +69,6 @@ private:
     void update_pagination() const;
     void update_dashboard() const;
 
-    int _current_page;
     int _debug_loc_y;
     std::vector<LogMessage> _logs;
     ComponentsStatus _components_status;

lib/NFC/src/NfcReader.cpp

@@ -11,7 +11,7 @@ String NfcReader::ReadNfc()
     this->uid.clear();
     if (!this->mfrc522->PICC_IsNewCardPresent() ||
         !this->mfrc522->PICC_ReadCardSerial()) {
-        return ("0");
+        return "0";
     }
     for (unsigned int i = 0; i < this->mfrc522->uid.size; i++) {
         if (this->mfrc522->uid.uidByte[i] < 0xF) {

lib/NFC/src/NfcReader.h

@@ -1,5 +1,5 @@
-#ifndef NFCREADER_HPP_
-#define NFCREADER_HPP_
+#ifndef NFCREADER_H
+#define NFCREADER_H
 
 #include <M5Stack.h>
 #include "MFRC522_I2C.h"
@@ -19,4 +19,4 @@ class NfcReader {
         String uid;
 };
 
-#endif /* !NFCREADER_HPP_ */
+#endif /* !NFCREADER_H */

lib/NfcReader/include/BigNfcReader.h

@@ -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

lib/NfcReader/include/TrameList.h

@@ -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

lib/NfcReader/src/BigNfcReader.cpp

@@ -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);
+}

src/Program.cpp

@@ -77,8 +77,13 @@ Program::Program() {
     lcdScreen = new M5LCD();
     lcdScreen->add_log("Initialize M5LCD component....");
     this->nfcReader = new NfcReader(NFC_ADDR);
-    this->servo = new ServoMotorComponent(2, 1, 1);
+    this->servo = new ServoMotorComponent(2, 1, 1.5);
+    this->servo->setDesiredPosition(Position::MIDDLE);
     this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
+    this->outputReader = new BigNfcReader();
+    this->outputReader->init();
+    this->grblUpdateTime = 0;
+    lcdScreen->set_grbl_status(COMPONENT_OK);
     Wire.begin(21, 22);
     grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
     struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
@@ -96,6 +101,13 @@ 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");
+        lcdScreen->set_grbl_status(COMPONENT_KO);
+    }
 
     String nfcId = this->nfcReader->ReadNfc();
     //si qqc
@@ -152,9 +164,12 @@ void Program::loop() {
         }
         this->grbl->mouveForward(CONVOYER_LEN);
     } else {
-        //si rien
-        //je check si le stepper est en iddle
-        //this->grbl->mouveForward(5);
+        if((this->grbl->isIddle()) && lcdScreen->get_components().grbl == COMPONENT_OK){
+            //this->grblUpdateTime = maintenant;
+            this->grbl->mouveForward(5);
+        }
+    }
+    if(M5.BtnC.wasReleased() != 0 && lcdScreen->_current_page == DASHBOARD_SCREEN){
+        lcdScreen->set_grbl_status(COMPONENT_OK);
     }
-
 }