void hardware::initializePins()
{
setBatteryOutput(false);
setFan(false);
setBuzzer(0);
setBalancer(0);
IO::pinMode(BACKLIGHT_PIN, OUTPUT);
IO::pinMode(OUTPUT_DISABLE_PIN, OUTPUT);
IO::pinMode(FAN_PIN, OUTPUT);
IO::pinMode(BUZZER_PIN, OUTPUT);
IO::pinMode(BALANCER1_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER2_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER3_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER4_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER5_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER6_LOAD_PIN, OUTPUT);
#if MAX_BANANCE_CELLS > 6
IO::pinMode(BALANCER7_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER8_LOAD_PIN, OUTPUT);
#endif
#ifdef ENABLE_BALANCER_PWR
IO::pinMode(BALANCER_PWR_ENABLE_PIN, OUTPUT);
#endif
IO::pinMode(SMPS_VALUE_PIN, OUTPUT);
IO::pinMode(SMPS_DISABLE_PIN, OUTPUT);
IO::pinMode(DISCHARGE_VALUE_PIN, OUTPUT);
IO::pinMode(DISCHARGE_DISABLE_PIN, OUTPUT);
}
void hardware::init()
{
analogReference(EXTERNAL);
pinMode(OUTPUT_DISABLE_PIN, OUTPUT);
pinMode(DISCHARGE_VALUE_PIN, OUTPUT);
pinMode(DISCHARGE_DISABLE_PIN, OUTPUT);
pinMode(SMPS_VALUE0_PIN, OUTPUT);
pinMode(SMPS_VALUE1_PIN, OUTPUT);
pinMode(SMPS_DISABLE_PIN, OUTPUT);
pinMode(BUZZER_PIN, OUTPUT);
pinMode(BALANCER1_LOAD_PIN, OUTPUT);
pinMode(BALANCER2_LOAD_PIN, OUTPUT);
pinMode(BALANCER3_LOAD_PIN, OUTPUT);
pinMode(BALANCER4_LOAD_PIN, OUTPUT);
pinMode(BALANCER5_LOAD_PIN, OUTPUT);
pinMode(BALANCER6_LOAD_PIN, OUTPUT);
pinMode(MUX_ADR0_PIN, OUTPUT);
pinMode(MUX_ADR1_PIN, OUTPUT);
pinMode(MUX_ADR2_PIN, OUTPUT);
pinMode(MUX0_Z_D_PIN, INPUT);
setBatteryOutput(false);
setFan(false);
setBuzzer(0);
lcd.begin(LCD_COLUMNS, LCD_LINES);
timer.init();
TimerOne::initialize();
}
AirTerminalSingleDuctParallelPIUReheat::AirTerminalSingleDuctParallelPIUReheat( const Model& model,
Schedule & schedule,
HVACComponent & fan,
HVACComponent & reheatCoil )
: StraightComponent(AirTerminalSingleDuctParallelPIUReheat::iddObjectType(),model)
{
OS_ASSERT(getImpl<detail::AirTerminalSingleDuctParallelPIUReheat_Impl>());
bool test = setAvailabilitySchedule(schedule);
if (!test) {
remove();
LOG_AND_THROW("Could not construct " << briefDescription() << ", because could not set its "
<< "availability schedule to " << schedule.briefDescription() << ".");
}
setFan(fan);
setReheatCoil(reheatCoil);
autosizeMaximumHotWaterorSteamFlowRate();
setMinimumHotWaterorSteamFlowRate(0.0);
setConvergenceTolerance(0.001);
autosizeMaximumPrimaryAirFlowRate();
autosizeMaximumSecondaryAirFlowRate();
autosizeMinimumPrimaryAirFlowFraction();
autosizeFanOnFlowFraction();
}
void hardware::init()
{
analogReference(EXTERNAL);
pinMode(BACKLIGHT_PIN, OUTPUT);
pinMode(OUTPUT_DISABLE_PIN, OUTPUT);
pinMode(FAN_PIN, OUTPUT);
pinMode(BUZZER_PIN, OUTPUT);
pinMode(SMPS_VALUE_PIN, OUTPUT);
pinMode(SMPS_DISABLE_PIN, OUTPUT);
pinMode(DISCHARGE_VALUE_PIN, OUTPUT);
pinMode(DISCHARGE_DISABLE_PIN, OUTPUT);
pinMode(BALANCER1_LOAD_PIN, OUTPUT);
pinMode(BALANCER2_LOAD_PIN, OUTPUT);
pinMode(BALANCER3_LOAD_PIN, OUTPUT);
pinMode(BALANCER4_LOAD_PIN, OUTPUT);
pinMode(BALANCER5_LOAD_PIN, OUTPUT);
pinMode(BALANCER6_LOAD_PIN, OUTPUT);
pinMode(MUX_ADR0_PIN, OUTPUT);
pinMode(MUX_ADR1_PIN, OUTPUT);
pinMode(MUX_ADR2_PIN, OUTPUT);
pinMode(MUX0_Z_D_PIN, INPUT);
pinMode(MUX1_Z_D_PIN, INPUT);
setBatteryOutput(false);
setFan(false);
hardware::setBuzzer(0);
lcd.begin(LCD_COLUMNS, LCD_LINES);
timer.init();
Timer1.initialize(TIMER1_PERIOD_MICROSECONDS); // initialize timer1, and set a 1/2 second period
}
void hardware::initialize()
{
IO::pinMode(BACKLIGHT_PIN, OUTPUT);
IO::pinMode(OUTPUT_DISABLE_PIN, OUTPUT);
IO::pinMode(FAN_PIN, OUTPUT);
IO::pinMode(BUZZER_PIN, OUTPUT);
IO::pinMode(BALANCER1_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER2_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER3_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER4_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER5_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER6_LOAD_PIN, OUTPUT);
#if MAX_BANANCE_CELLS > 6
IO::pinMode(BALANCER7_LOAD_PIN, OUTPUT);
IO::pinMode(BALANCER8_LOAD_PIN, OUTPUT);
#endif
#ifdef ENABLE_BALANCER_PWR
IO::pinMode(BALANCER_PWR_ENABLE_PIN, OUTPUT);
#endif
IO::pinMode(SMPS_VALUE_PIN, OUTPUT);
IO::pinMode(SMPS_DISABLE_PIN, OUTPUT);
IO::pinMode(DISCHARGE_VALUE_PIN, OUTPUT);
IO::pinMode(DISCHARGE_DISABLE_PIN, OUTPUT);
setBatteryOutput(false);
setFan(false);
setBuzzer(0);
setBalancer(0);
lcd.begin(LCD_COLUMNS, LCD_LINES);
// Timer1.initialize(TIMER1_PERIOD_MICROSECONDS); // initialize timer1, and set a 1/2 second period
Timer1::initialize();
adc::initialize();
}
void Cyberhawk::setRobotState(kRobotStates state) {
printf("Changing state to %i ...", state);
switch(state) {
case RS_DEFAULT: // allows for a smooth transition between autonomous and teleop, should not be needed anywhere else
vics[VI_ELEVATOR]->Set(.3); //puts elevator at bottom
while(switches[SW_ELEVATOR]->Get() == 0);
vics[VI_ELEVATOR]->Set(0);
setAdjustableStates(true, true, true, true); //resets shit
for(int i = 2; i < 6; i++) dnoids[i].setToDefaultValue(); //reset noids
for(unsigned int i = 0; i < vics.size(); i++) vics[i]->Set(0); //reset more shit
for(unsigned int i = 0; i < drive.size(); i++) drive[i]->Set(0);
for(unsigned int i = 0; i < spikes.size(); i++) spikes[i]->Set(Relay::kOff);
for(unsigned int i = 0; i < encoders.size(); i++) encoders[i]->Reset();
setFan(FAN_DOWN); //put fan down
cshooter.Reset(); //reset shooter counter
break;
case RS_DRIVING_OFF: // offensive driving state
vics[VI_ELEVATOR]->Set(.3); //lower elevator
while(switches[SW_ELEVATOR]->Get() == 0);
vics[VI_ELEVATOR]->Set(0);
setAdjustableStates(true, true, false, false); //gate, fork, firing pin, elevator
setFan(FAN_DOWN);
dnoids[DSO_FIRINGPIN].setValue(false); //turn off firing pin
break;
case RS_DRIVING_DEF: // defensive driving state
vics[VI_ELEVATOR]->Set(.3); //lower elevator (again)
while(switches[SW_ELEVATOR]->Get() == 0);
vics[VI_ELEVATOR]->Set(0);
setAdjustableStates(false, false, false, false); //you cant do shit
setFan(FAN_UP);
dnoids[DSO_GATE].setValue(false); //nothing works
dnoids[DSO_FORK].setValue(false);
dnoids[DSO_FIRINGPIN].setValue(false);
break;
case RS_SHOOTING: // shooting state
setAdjustableStates(false, false, true, true); //cant control gate or fork
setFan(FAN_DOWN); //lower fan
dnoids[DSO_GATE].setValue(false); //turn off gate
dnoids[DSO_FORK].setValue(false); //turn off fork
break;
case RS_LOADING: // loading state
vics[VI_ELEVATOR]->Set(.3); //drop elevator
while(switches[SW_ELEVATOR]->Get() == 0);
vics[VI_ELEVATOR]->Set(0);
setAdjustableStates(false, false, false, false); //cant do shit
setFan(FAN_MIDDLE); //OMG ITS IN THE MIDDLE
dnoids[DSO_GATE].setValue(false); //boring
dnoids[DSO_FORK].setValue(false); //boring
dnoids[DSO_FIRINGPIN].setValue(true); //keeps from falling down
break;
default:
cerr.write("FATAL ERROR IN STATE SHIFTING\n"); //YOU REALLY F****D UP
break;
}
currentRobotState = state;
printf("Finished changing state.\n");
}
// POST set params as "fanmode=1"
void HVAC::setVar(String sCmd, int val)
{
if(m_EE.bLock) return;
switch( CmdIdx( sCmd, cSCmds ) )
{
case 0: // fanmode
if(val == 2) // "freshen"
{
if(m_bRunning || m_furnaceFan || m_bFanMode) // don't run if system or fan is running
break;
m_fanPostTimer = m_EE.fanCycleTime; // use the post fan timer to shut off
fanSwitch(true);
}
else setFan( (val) ? true:false);
break;
case 1: // mode
setMode( val );
break;
case 2: // heatmode
setHeatMode( val );
break;
case 3: // resettotal
resetTotal();
break;
case 4:
resetFilter();
break;
case 5: // fanpostdelay
m_EE.fanPostDelay[digitalRead(P_REV)] = constrain(val, 0, 60*5); // Limit 0 to 5 minutes
break;
case 6: // cyclemin
m_EE.cycleMin = constrain(val, 60, 60*20); // Limit 1 to 20 minutes
break;
case 7: // cyclemax
m_EE.cycleMax = constrain(val, 60*2, 60*60); // Limit 2 to 60 minutes
break;
case 8: // idlemin
m_EE.idleMin = constrain(val, 60, 60*30); // Limit 1 to 30 minutes
break;
case 9: // cyclethresh
m_EE.cycleThresh = constrain(val, 5, 50); // Limit 0.5 to 5.0 degrees
break;
case 10: // cooltempl
setTemp(Mode_Cool, val, 0);
m_bRecheck = true; // faster update
break;
case 11: // cooltemph
setTemp(Mode_Cool, val, 1);
m_bRecheck = true;
break;
case 12: // heattempl
setTemp(Mode_Heat, val, 0);
m_bRecheck = true;
break;
case 13: // heattemph
setTemp(Mode_Heat, val, 1);
m_bRecheck = true;
break;
case 14: // eheatthresh
m_EE.eHeatThresh = constrain(val, 5, 50); // Limit 5 to 50 degrees F
break;
case 15: // override
if(val == 0) // cancel
{
m_ovrTemp = 0;
m_overrideTimer = 0;
}
else
{
m_ovrTemp = constrain(val, -90, 90); // Limit to -9.0 to +9.0 degrees F
m_overrideTimer = m_EE.overrideTime;
}
m_bRecheck = true;
break;
case 16: // overridetime
m_EE.overrideTime = constrain(val, 60*1, 60*60*6); // Limit 1 min to 6 hours
break;
case 17: // humidmode
m_EE.humidMode = constrain(val, HM_Off, HM_Auto2);
break;
case 18: // humidl
m_EE.rhLevel[0] = constrain(val, 300, 900); // no idea really
break;
case 19: // humidh
m_EE.rhLevel[1] = constrain(val, 300, 900);
break;
case 20: // adj
m_EE.adj = constrain(val, -30, 30); // calibrate can only be +/-3.0
break;
case 21: // fanPretime
m_EE.fanPreTime[m_EE.Mode == Mode_Heat] = constrain(val, 0, 60*5); // Limit 0 to 5 minutes
break;
case 22: // fancycletime
m_EE.fanCycleTime = val;
break;
case 23: // rmtflgs 0xC=(RF_RL|RF_RH) = use remote, 0x3=(RFML|RF_MH)= use main, 0xF = use both averaged
m_RemoteFlags = val;
break;
case 24: // awaytime
m_EE.awayTime = val; // no limit
break;
case 25: // awaydelta
if(m_EE.Mode == Mode_Heat)
m_EE.awayDelta[1] = constrain(val, -150, 0); // Limit to -15 degrees (heat away) target is constrained in calcTargetTemp
else
m_EE.awayDelta[0] = constrain(val, 0, 150); // Limit +15 degrees (cool away)
break;
case 26: // away (uses the override feature)
if(val) // away
{
m_overrideTimer = m_EE.awayTime * 60; // convert minutes to seconds
m_ovrTemp = m_EE.awayDelta[m_EE.Mode == Mode_Heat];
m_bAway = true;
}
else // back
{
m_ovrTemp = 0;
m_overrideTimer = 0;
m_bAway = false;
}
break;
}
}
/*
* The Connection Handler for each client
*********************************************************************************
*/
void *connectionHandler(void *socket_desc) {
//Get the socket descriptor
int sock = *(int*)socket_desc;
int read_size;
int buffersize = 255;
char * client_message[2000];
clientIsConnected = true;
setUpdateDisplay(true);
//Send some messages to the client
//strcmp(message,"Welcome to Raspberry Pi gbmon2\n");
//write(sock , message , strlen(message));
//Receive a message from client
while( (read_size = recv(sock , client_message , 2000 , 0)) > 0 ){
//end of string marker
char * buffer = (char*)malloc(buffersize);
sprintf(buffer,"Received Command: *%s*", client_message);
debugPrint(true, true, buffer, true, "SERVER");
// usage
if((strcmp(client_message, "usage") == 0) || (strcmp(client_message, "help") == 0)){
debugPrint(true, false, "usage", false,"");
write(sock,"Available Commands:\n getVersion \t\t- returns version\n getServerTime \t- returns current server time\0\n getWifiStrength \t- returns current wifi signal strength\n getTemperature \t- returns current temperature\n getHumidity \t- returns current humidity\n getFan \t- returns current fan status \n\n setFan \t- toggle fan On or Off\0",400);
}
// getServerTime
if(strcmp(client_message, "getServerTime") == 0) {
sprintf(buffer,"Sending Response: *%s*", getTime());
debugPrint(true, true, buffer, true, "SERVER");
write(sock,getTime(),30);
}
// getVersion
if(strcmp(client_message, "getVersion") == 0) {
sprintf(buffer,"Sending Response: *%s*", getVersion());
debugPrint(true, true, buffer, true, "SERVER");
write(sock,getVersion(),3);
}
// getWifiStrength
if(strcmp(client_message, "getWifiStrength") == 0) {
sprintf(buffer,"Sending Response: *%d*", getWifiStrength());
debugPrint(true, true, buffer, true, "SERVER");
write(sock,getWifiStrength(),3);
}
// getTemperature
if(strcmp(client_message, "getTemperature") == 0) {
sprintf(buffer,"Sending Response: *%s*", getTemperature());
debugPrint(true, true, buffer, true, "SERVER");
write(sock,getTemperature(),4);
}
// getHumidity
if(strcmp(client_message, "getHumidity") == 0) {
sprintf(buffer,"Sending Response: *%s*", getHumidity());
debugPrint(true, true, buffer, true, "SERVER");
write(sock,getHumidity(),4);
}
// getFan
if(strcmp(client_message, "getFan") == 0) {
sprintf(buffer,"Sending Response: *%s*", getFanAsString());
debugPrint(true, true, buffer, true, "SERVER");
write(sock,getFanAsString(),2);
}
// setFan
if(strcmp(client_message, "setFan") == 0) {
sprintf(buffer,"Sending Response: *%d*", setFan());
debugPrint(true, true, buffer, true, "SERVER");
write(sock,getFanAsString(),2);
}
/*
if(strcmp(client_message, "getHumidity") == 0) {
printf(">>> getHumidity \n");
char tmp[4];
sprintf(tmp,"%.1f\0",measure.humidity);
//send(sock, &measure.humidity, sizeof(float),0);
//write(sock,&measure.humidity, sizeof(float));
write(sock,tmp,4);
}
if(strcmp(client_message, "getTemperature") == 0) {
printf(">>> getTemperature \n");
char tmp[4];
sprintf(tmp,"%.1f\0",measure.temperature[0]);
write(sock,tmp,4);
}
if(strcmp(client_message, "getAll") == 0) {
if (debug==2) {
printf(">>> getAll\n");
}
char tmp[255];
sprintf(tmp,"%s\0",getAllJSON());
write(sock,tmp,strlen(tmp));
//n = write(sock,measure.humidity,6);
}
if(strcmp(client_message, "makePic") == 0) {
printf(">>> makePic \n");
char shellCommand [100];
struct tm *t ;
time_t tim ;
char buf2[32];
tim = time (NULL) ;
t = localtime (&tim) ;
sprintf (buf2,"%02d-%02d-%04d.jpg", t->tm_mday, t->tm_mon + 1, t->tm_year+1900);
sprintf(shellCommand,"raspistill -o /home/pi/.gbmon/pics/%s",buf2);
//printf("CAM command: %s",shellCommand);
FILE * pp ;
//char shellCommand[] = buf;
pp = popen(shellCommand, "r");
if (pp != NULL) {
while (1) {
char *line;
char buf[1000];
line = fgets(buf, sizeof buf, pp);
if (line == NULL) break;
if (line[0] == 'd') printf("%s", line); // line includes '\n'
}
pclose(pp);
}
sprintf(shellCommand,"sshpass -p 'alpine' scp /home/pi/.gbmon/pics/%s [email protected]:./Sites/MacServer/gbmon/pics/",buf2);
pp = popen(shellCommand, "r");
pclose(pp);
write(sock,"Picture updated\0",20);
}
*/
//client_message[read_size] = '\0';
//Send the message back to client
//write(sock , client_message , strlen(client_message));
//clear the message buffer
free(buffer);
read_size=1;
memset(client_message, 0, 2000);
}
if(read_size == 0) {
debugPrint(true, true, "Client disconnected", true, "SERVER");
fflush(stdout);
// DIsplay UPdate
clientIsConnected = false;
setUpdateDisplay(true);
} else if(read_size == -1) {
perror("recv failed");
}
return 0;
}
