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Commit 8a6c253a authored by 201221016Kim Haeram's avatar 201221016Kim Haeram
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app.c
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...@@ -2,84 +2,384 @@ ...@@ -2,84 +2,384 @@
#include <pthread.h> #include <pthread.h>
#include <unistd.h> #include <unistd.h>
#include <stdlib.h> #include <stdlib.h>
#include <wiringPi.h>
#include <wiringPiSPI.h>
// http://www.digipine.com/index.php?mid=clan&document_srl=584 #include <fcntl.h>
#include <string.h>
#include <stdint.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/sysmacros.h>
#include <linux/spi/spidev.h>
#define TRUE 1 #define LOADCELL_MAJOR_NUMBER 502
#define FALSE 0 #define LOADCELL_MINOR_NUMBER 100
#define LOADCELL_DEV_PATH_NAME "/dev/loadcell_dev"
#define LOADCELL_THRESHOLD 10000
#define THRESHOLD_ULTRASONIC_COMING 1234 #define LED_PED_GREEN 18
#define LED_CAR_RED 23
#define LED_CAR_YELLOW 24
#define LED_CAR_GREEN 25
#define HS_TRIG 2
#define HS_ECHO 3
#define HS_MAX 1400
#define HS_MIN 50
#define HS_WAIT_THRESHOLD 10
#define HS_INCOME_THRESHOLD 30
#define TERM_COMING 1 #define TERM_COMING 1
#define SPI_DEV0_PATH "/dev/spidev0.0"
#define SPI_CHANNEL 0
#define SPI_SPEED 1000000
#define SPI_DELAY 0
#define SPI_BPW 8
#define ADC_CHANNEL 0
#define WATER_THRESHOLD 300
#define MAIN_WAITTIME 3
int isPedestrianComing = 0; int isPedestrianComing = 0;
long weight = -1;
double distance = -1;
int adc_value = -1;
long tare = -1;
void *hs_read(void *data){
printf("hs_read() called\n");
while(1){
digitalWrite(HS_TRIG, HIGH);
delayMicroseconds(10);
digitalWrite(HS_TRIG, LOW);
unsigned int echoStart = millis();
while(digitalRead(HS_ECHO) == LOW && millis()-echoStart < 1000) {
// do nothing
}
if (millis()-echoStart < 1000) {
// Mark start
unsigned int start = micros();
while(digitalRead(HS_ECHO) == HIGH) {
// do nothing
}
// Mark end
unsigned int end = micros();
unsigned int delta = end-start;
if(delta < HS_MAX && delta > HS_MIN){
distance = 34029 * delta / 2000000.0;
//printf("Distance: %f\n", distance);
}
else distance = -1;
}
}
void *t_function(void *data){ }
int buf1 = 0;
int buf2 = 0; void *water_read(void *data){
int buf3 = 0; unsigned char buffer[3];
struct spi_ioc_transfer spi;
int spiFds = *(int *)data;
buffer[0] = 1;
buffer[1] = (8 + ADC_CHANNEL) << 4;
buffer[2] = 0;
memset(&spi, 0, sizeof(spi));
spi.tx_buf = (unsigned long)buffer;
spi.rx_buf = (unsigned long)buffer;
spi.len = 3;
spi.delay_usecs = (uint16_t) SPI_DELAY;
spi.speed_hz = (uint16_t) SPI_SPEED;
spi.bits_per_word = (uint8_t) SPI_BPW;
while (1) {
ioctl(spiFds, SPI_IOC_MESSAGE(1), &spi);
adc_value = ((buffer[1] & 3) << 8) + buffer[2];
delay(100);
}
}
void *incoming_validate(void *data){
double buf1 = 0;
double buf2 = 0;
double buf3 = 0;
//printf("thread opened\n");
while(distance<0){
//printf("distance not ready\n");
sleep(1);
}
// ultrasonic.read(&buf1); buf1 = distance;
sleep(TERM_COMING); sleep(TERM_COMING);
// ultrasonic.read(&buf2);
while(distance<0){
//printf("distance not ready\n");
sleep(1);
}
buf2 = distance;
sleep(TERM_COMING); sleep(TERM_COMING);
while(TRUE){ while(TRUE){
// ultrasonic.read(&buf3); while(distance<0){
if(buf3 > THRESHOLD_ULTRASONIC_COMING isPedestrianComing = FALSE;
&& buf2 - buf1 > 0 //printf("distance not ready\n");
&& buf3 - buf2 > 0){ sleep(1);
}
buf3 = distance;
if(buf3 < HS_INCOME_THRESHOLD
& ((isPedestrianComing == TRUE)
|| (buf2 - buf1 < 0
&& buf3 - buf2 < 0))){
isPedestrianComing = TRUE; isPedestrianComing = TRUE;
printf("true\n"); //printf("%2.1f %2.1f %2.1f true\n",buf1,buf2,buf3);
} }
else{ else{
isPedestrianComing = FALSE; isPedestrianComing = FALSE;
printf("false\n"); //printf("%2.1f %2.1f %2.1f false\n",buf1,buf2,buf3);
} }
sleep(TERM_COMING); sleep(TERM_COMING);
// ultrasonic.read(&buf1); while(distance<0){
if(buf1 > THRESHOLD_ULTRASONIC_COMING isPedestrianComing = FALSE;
&& buf3 - buf2 > 0 //printf("distance not ready\n");
&& buf1 - buf3 > 0){ sleep(1);
}
buf1 = distance;
if(buf1 < HS_INCOME_THRESHOLD
& ((isPedestrianComing == TRUE)
|| (buf3 - buf2 < 0
&& buf1 - buf3 < 0))){
isPedestrianComing = TRUE; isPedestrianComing = TRUE;
printf("true\n"); //printf("%2.1f %2.1f %2.1f true\n",buf2,buf3,buf1);
} }
else{ else{
isPedestrianComing = FALSE; isPedestrianComing = FALSE;
printf("false\n"); //printf("%2.1f %2.1f %2.1f false\n",buf2,buf3,buf1);
} }
sleep(TERM_COMING); sleep(TERM_COMING);
// ultrasonic.read(&buf2); while(distance<0){
if(buf2 > THRESHOLD_ULTRASONIC_COMING isPedestrianComing = FALSE;
&& buf1 - buf3 > 0 //printf("distance not ready\n");
&& buf2 - buf1 > 0){ sleep(1);
}
buf2 = distance;
if(buf2 < HS_INCOME_THRESHOLD
& ((isPedestrianComing == TRUE)
|| (buf1 - buf3 < 0
&& buf2 - buf1 < 0))){
isPedestrianComing = TRUE; isPedestrianComing = TRUE;
printf("true\n"); //printf("%2.1f %2.1f %2.1f true\n",buf3,buf1,buf2);
} }
else{ else{
isPedestrianComing = FALSE; isPedestrianComing = FALSE;
printf("false\n"); //printf("%2.1f %2.1f %2.1f false\n",buf3,buf1,buf2);
} }
sleep(TERM_COMING); sleep(TERM_COMING);
} }
} }
/*
void *weight_read(void *data){
int loadcell_fd = *(int*)data;
int i, test;
long buffer[1];
long sample[5];
long avg;
while(1){
*buffer = -1;
while(*buffer < 3000 || *buffer >= 200000){
usleep(100);
read(loadcell_fd,buffer,4);
}
}
test = 0;
while(test<5){
test = 0;
avg=0;
for(i=0;i<5;i++){
read(loadcell_fd,buffer,4);
while(*buffer < 0 || *buffer >= 0x7fffff){
usleep(100000);
read(loadcell_fd,buffer,4);
}
//printf("%ld ",*buffer);
sample[i] = *buffer;
avg += sample[i];
}
avg /= 5;
for(i=0;i<5;i++){
if((sample[i] - avg) < (avg*0.1)
&& (sample[i] - avg) > -(avg*0.1)){
test++;
//printf("test+ ");
}
//else printf("test- ");
}
//printf("avg: %ld \n",avg);
}
tare = avg;
while(1){
test = 0;
avg = 0;
for(i=0;i<3;i++){
read(loadcell_fd,buffer,4);
while(*buffer < 0 || *buffer >= 0x7fffff){
usleep(100000);
read(loadcell_fd,buffer,4);
}
sample[i] = *buffer;
avg += sample[i];
}
avg /= 3;
//printf("avg: %ld / ",avg);
for(i=0;i<3;i++){
if((sample[i] - avg) < (avg*0.1)
&& (sample[i] - avg) > -(avg*0.1)){
test++;
//printf("%ld+ ",sample[i]);
}
//else printf("%ld- ",sample[i]);
}
//printf("\n");
if(test == 3){
weight = avg - tare;
//printf("weighted : %ld",weight);
}
sleep(1);
}
}
*/
int main(void){ int main(void){
pthread_t incomeCheckThread; pthread_t waterThread, hsReadThread, incomeCheckThread, weightThread;
int status; //setbuf(stdout, NULL);
int rc = wiringPiSetupGpio();
if (rc != 0) {
printf("Failed to wiringPiSetupGpio()\n");
return 0;
}
if(pthread_create(&incomeCheckThread, NULL, t_function, (void *)NULL) < 0){ // setup trafficlight
pinMode(LED_PED_GREEN, OUTPUT);
pinMode(LED_CAR_RED, OUTPUT);
pinMode(LED_CAR_YELLOW, OUTPUT);
pinMode(LED_CAR_GREEN, OUTPUT);
/*
// setup weight
int loadcell_dev = open(LOADCELL_DEV_PATH_NAME, O_RDWR < 0);
if(loadcell_dev < 0){
printf("Failed to open loadcell device\n");
return -1;
}
if(pthread_create(&weightThread, NULL, weight_read, (void *)&loadcell_dev) < 0){
perror("thread create error: "); perror("thread create error: ");
exit(0); exit(0);
} }
// waiting tare
printf("init weight tare, plz wait..\n");
while(1){ while(1){
printf("main read: %d\n", isPedestrianComing); if(tare>0) break;
sleep(1); }
printf("tare init done: %ld\n",tare);
*/
// setup water
int waterdev = open(SPI_DEV0_PATH, O_RDWR < 0);
if(waterdev < 0){
printf("Failed to open water device\n");
return -1;
}
if(pthread_create(&waterThread, NULL, water_read, (void *)&waterdev) < 0){
perror("thread create error: ");
exit(0);
}
// setup hs
pinMode(HS_TRIG, OUTPUT);
pinMode(HS_ECHO, INPUT);
digitalWrite(HS_TRIG, LOW);
if(pthread_create(&hsReadThread, NULL, hs_read, (void *)NULL) < 0){
perror("thread create error: ");
exit(0);
} }
pthread_join(incomeCheckThread, (void *)&status); if(pthread_create(&incomeCheckThread, NULL, incoming_validate, (void *)NULL) < 0){
printf("thread join : %d\n", status); perror("thread create error: ");
exit(0);
}
int yellowTime;
int pedestrianTime;
int extendCount;
while(1){
digitalWrite(LED_PED_GREEN,LOW); // pedestrian = red
digitalWrite(LED_CAR_RED,LOW);
digitalWrite(LED_CAR_YELLOW,LOW);
digitalWrite(LED_CAR_GREEN,HIGH); // car = green
while(distance<0){
printf("waiting pedestrian now..\n");
sleep(MAIN_WAITTIME);
}
if(distance < HS_WAIT_THRESHOLD){
printf("pedestrian accepted. validating now..\n");
sleep(MAIN_WAITTIME);
if(distance < HS_WAIT_THRESHOLD && distance != -1){
// pedestrian waited enough, give him signal
printf("pedestrian validated. turn on yellow\n");
if(adc_value > WATER_THRESHOLD){
// road is slippy, long yellow light time
yellowTime = MAIN_WAITTIME *2;
}
else{
yellowTime = MAIN_WAITTIME;
}
digitalWrite(LED_CAR_YELLOW,HIGH);
digitalWrite(LED_CAR_GREEN,LOW); // car = yellow
printf("yellow-> sleep %d\n",yellowTime);
sleep(yellowTime);
digitalWrite(LED_PED_GREEN,HIGH); // pedestrian = green
digitalWrite(LED_CAR_RED,HIGH);
digitalWrite(LED_CAR_YELLOW,LOW); // car = red
pedestrianTime = MAIN_WAITTIME *5;
extendCount = 0;
while(pedestrianTime > 0){
sleep(MAIN_WAITTIME);
pedestrianTime -= MAIN_WAITTIME;
if(weight < LOADCELL_THRESHOLD
&& isPedestrianComing == TRUE
&& extendCount < 3){
// car is NOT waiting, pedestrian coming.
pedestrianTime += MAIN_WAITTIME;
extendCount++;
printf("pedestrian ++, pedestrian = %d\n", pedestrianTime);
}
else{
printf("pedestrian --, pedestrian = %d\n", pedestrianTime);
}
}
}
else{
printf("pedestrian declined, move to first step..\n");
}
}
}
digitalWrite(LED_PED_GREEN,LOW);
digitalWrite(LED_CAR_RED,LOW);
digitalWrite(LED_CAR_GREEN,LOW);
return 0; return 0;
} }
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