int main() {
state = new LaosStatus();
state->setState(BOOTING);
if (! check_sd()) mbed_reset();
if (SDcheckFirmware()) mbed_reset();
cfg = new GlobalConfig("config.txt");
mot = new LaosMotion();
// wait until cover is closed
state->setState(WAITFORCOVER);
while (! mot->isStart() );
// home
state->setState(HOMING);
mot->home(cfg->xhome,cfg->yhome, cfg->zhome);
// clean sd card?
if (cfg->cleandir) cleandir();
// configure network
eth_speed = 0;
eth = EthConfig();
eth_speed = 1;
// set up TFTP server thread
osThreadCreate(osThread(tftp_thread), NULL);
// set up Queue (planner-filler) thread
osThreadCreate(osThread(queue_thread), NULL);
while (1) {
if (mot->qstate == IDLE) {
mot->filename = getLaosFile();
if (mot->filename) mot->qstate = NEW;
}
if (mot->qstate == DONE) {
removefile(mot->filename);
delete(mot->filename);
}
osDelay(500);
}
}
/**
*** Main function
**/
int main()
{
systime.start();
//float x, y, z;
eth_speed = 1;
dsp = new LaosDisplay();
printf( VERSION_STRING "...\nBOOT...\n" );
mnu = new LaosMenu(dsp);
eth_speed=0;
printf("TEST SD...\n");
char testfile[] = "test.txt";
FILE *fp = sd.openfile(testfile, "wb");
if ( fp == NULL )
{
mnu->SetScreen("SD NOT READY!");
wait(2.0);
mbed_reset();
}
else
{
printf("SD: READY...\n");
fclose(fp);
removefile(testfile);
}
// See if there's a .bin file on the SD
// if so, put it on the MBED and reboot
if (SDcheckFirmware()) mbed_reset();
mnu->SetScreen(VERSION_STRING);
printf("START...\n");
cfg = new GlobalConfig("config.txt");
mnu->SetScreen("CONFIG OK....");
printf("CONFIG OK...\n");
if (!cfg->nodisplay)
dsp->testI2C();
printf("MOTION...\n");
mot = new LaosMotion();
eth = EthConfig();
eth_speed=1;
printf("SERVER...\n");
srv = new TFTPServer(cfg->port);
mnu->SetScreen("SERVER OK....");
wait(0.5);
mnu->SetScreen(10); // IP
wait(1.0);
printf("RUN...\n");
// Wait for key, and then home
if ( cfg->autohome )
{
printf("WAIT FOR COVER...\n");
wait(1);
// Start homing
mnu->SetScreen("WAIT FOR COVER....");
//if ( cfg->waitforstart )
while ( !mot->isStart() );
mnu->SetScreen("HOME....");
printf("HOME...\n");
mot->home(cfg->xhome,cfg->yhome, cfg->zhome);
// if ( !mot->isHome ) exit(1);
printf("HOME DONE. (%d,%d, %d)\n",cfg->xhome,cfg->yhome,cfg->zhome);
}
else
printf("Homing skipped: %d\n", cfg->autohome);
// clean sd card?
if (cfg->cleandir) cleandir();
mnu->SetScreen("");
if (cfg->nodisplay) {
printf("No display set\n\r");
main_nodisplay();
} else {
printf("Entering display\n\r");
main_menu();
}
}
