Merge pull request 'patch' (#22) from develop into master

Reviewed-on: #22

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=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=100
+
+
+
+    -D CONVOYER_LEN=80 ;mm

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:
@@ -27,6 +27,8 @@ private:
     ServoMotorComponent *servo;
     NfcReader *nfcReader;
     GRBL *grbl;
+    BigNfcReader* outputReader;
+    int grblUpdateTime;
 };
 
 #endif

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.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

@@ -78,7 +78,12 @@ 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;
+    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() || (maintenant - this->grblUpdateTime >= GRBL_UPDATE)) && 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);
     }
-
 }