diff --git a/app b/app
index e2e0be1a3fa097c90a616f73c9d4b7976634f06a..9ece996fa773f10eb55f7f19ed1823d6ab1f80c2 100755
Binary files a/app and b/app differ
diff --git a/app.c b/app.c
index 8b7ef8c5988c3a36eaec7f603856d0ea3a9e4408..727fc827207b8690baf6999e36f36f40d5f56797 100644
--- a/app.c
+++ b/app.c
@@ -2,84 +2,384 @@
#include <pthread.h>
#include <unistd.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 FALSE 0
+#define LOADCELL_MAJOR_NUMBER 502
+#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 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;
+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;
- int buf3 = 0;
+void *water_read(void *data){
+ 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;
- // ultrasonic.read(&buf1);
+ 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);
+ }
+
+ buf1 = distance;
sleep(TERM_COMING);
- // ultrasonic.read(&buf2);
+
+ while(distance<0){
+ //printf("distance not ready\n");
+ sleep(1);
+ }
+ buf2 = distance;
sleep(TERM_COMING);
while(TRUE){
- // ultrasonic.read(&buf3);
- if(buf3 > THRESHOLD_ULTRASONIC_COMING
- && buf2 - buf1 > 0
- && buf3 - buf2 > 0){
+ while(distance<0){
+ isPedestrianComing = FALSE;
+ //printf("distance not ready\n");
+ sleep(1);
+ }
+ buf3 = distance;
+ if(buf3 < HS_INCOME_THRESHOLD
+ & ((isPedestrianComing == TRUE)
+ || (buf2 - buf1 < 0
+ && buf3 - buf2 < 0))){
isPedestrianComing = TRUE;
- printf("true\n");
+ //printf("%2.1f %2.1f %2.1f true\n",buf1,buf2,buf3);
}
else{
isPedestrianComing = FALSE;
- printf("false\n");
+ //printf("%2.1f %2.1f %2.1f false\n",buf1,buf2,buf3);
}
sleep(TERM_COMING);
- // ultrasonic.read(&buf1);
- if(buf1 > THRESHOLD_ULTRASONIC_COMING
- && buf3 - buf2 > 0
- && buf1 - buf3 > 0){
+ while(distance<0){
+ isPedestrianComing = FALSE;
+ //printf("distance not ready\n");
+ sleep(1);
+ }
+ buf1 = distance;
+ if(buf1 < HS_INCOME_THRESHOLD
+ & ((isPedestrianComing == TRUE)
+ || (buf3 - buf2 < 0
+ && buf1 - buf3 < 0))){
isPedestrianComing = TRUE;
- printf("true\n");
+ //printf("%2.1f %2.1f %2.1f true\n",buf2,buf3,buf1);
}
else{
isPedestrianComing = FALSE;
- printf("false\n");
+ //printf("%2.1f %2.1f %2.1f false\n",buf2,buf3,buf1);
}
sleep(TERM_COMING);
- // ultrasonic.read(&buf2);
- if(buf2 > THRESHOLD_ULTRASONIC_COMING
- && buf1 - buf3 > 0
- && buf2 - buf1 > 0){
+ while(distance<0){
+ isPedestrianComing = FALSE;
+ //printf("distance not ready\n");
+ sleep(1);
+ }
+ buf2 = distance;
+ if(buf2 < HS_INCOME_THRESHOLD
+ & ((isPedestrianComing == TRUE)
+ || (buf1 - buf3 < 0
+ && buf2 - buf1 < 0))){
isPedestrianComing = TRUE;
- printf("true\n");
+ //printf("%2.1f %2.1f %2.1f true\n",buf3,buf1,buf2);
}
else{
isPedestrianComing = FALSE;
- printf("false\n");
+ //printf("%2.1f %2.1f %2.1f false\n",buf3,buf1,buf2);
}
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){
- pthread_t incomeCheckThread;
- int status;
+ pthread_t waterThread, hsReadThread, incomeCheckThread, weightThread;
+ //setbuf(stdout, NULL);
- if(pthread_create(&incomeCheckThread, NULL, t_function, (void *)NULL) < 0){
+ int rc = wiringPiSetupGpio();
+ if (rc != 0) {
+ printf("Failed to wiringPiSetupGpio()\n");
+ return 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: ");
exit(0);
}
+ // waiting tare
+ printf("init weight tare, plz wait..\n");
while(1){
- printf("main read: %d\n", isPedestrianComing);
- sleep(1);
+ if(tare>0) break;
+ }
+ 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);
+ }
+
+ if(pthread_create(&incomeCheckThread, NULL, incoming_validate, (void *)NULL) < 0){
+ perror("thread create error: ");
+ exit(0);
}
- pthread_join(incomeCheckThread, (void *)&status);
- printf("thread join : %d\n", status);
+ 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;
}