From d035c7ede4ac0a8cfed434129f164c1ce7f88b5c Mon Sep 17 00:00:00 2001
From: SeungHun Han <shhan730@gmail.com>
Date: Fri, 23 Jun 2023 23:42:50 +0900
Subject: [PATCH] final
---
camera/camera | Bin 0 -> 9184 bytes
camera/camera_main.c | 148 +++++++
camera/picture/Sat_Jun_10_190322_202.jpg | 0
master_gps/.vscode/settings.json | 6 +
master_gps/Master_GPS.c | 273 +++++++++++++
master_gps/cgps | Bin 0 -> 8408 bytes
master_gps/gps.c | 70 ++++
master_gps/gps.py | 19 +
master_gps/main | Bin 0 -> 14096 bytes
master_gps/myMath.h | 45 ++
master_main/RF.c | 129 ++++++
master_main/c | Bin 0 -> 19804 bytes
master_main/gpio.h | 263 ++++++++++++
master_main/lcd.h | 149 +++++++
master_main/lcd/WiringPi | 1 +
master_main/lcd/a.out | Bin 0 -> 13196 bytes
master_main/lcd/c | Bin 0 -> 18880 bytes
master_main/lcd/cc.c | 235 +++++++++++
master_main/lcd/gpio.h | 263 ++++++++++++
master_main/lcd/vibration_motor.c | 318 +++++++++++++++
master_main/make | 13 +
master_main/rf24libs/RF24 | 1 +
master_main/rf24libs/RF24Gateway | 1 +
master_main/rf24libs/RF24Mesh | 1 +
master_main/rf24libs/RF24Network | 1 +
master_main/vib | Bin 0 -> 24088 bytes
master_main/vibration_motor.c | 406 +++++++++++++++++++
pet_main/GPS/gps | Bin 0 -> 8488 bytes
pet_main/GPS/gps.c | 70 ++++
pet_main/GPS/gps.py | 19 +
pet_main/Raspberry-Pi-Heartbeat-Pulse-Sensor | 1 +
pet_main/main | Bin 0 -> 13736 bytes
pet_main/pet_main.c | 278 +++++++++++++
33 files changed, 2710 insertions(+)
create mode 100644 camera/camera
create mode 100644 camera/camera_main.c
create mode 100644 camera/picture/Sat_Jun_10_190322_202.jpg
create mode 100644 master_gps/.vscode/settings.json
create mode 100644 master_gps/Master_GPS.c
create mode 100644 master_gps/cgps
create mode 100644 master_gps/gps.c
create mode 100644 master_gps/gps.py
create mode 100644 master_gps/main
create mode 100644 master_gps/myMath.h
create mode 100644 master_main/RF.c
create mode 100644 master_main/c
create mode 100644 master_main/gpio.h
create mode 100644 master_main/lcd.h
create mode 160000 master_main/lcd/WiringPi
create mode 100644 master_main/lcd/a.out
create mode 100644 master_main/lcd/c
create mode 100644 master_main/lcd/cc.c
create mode 100644 master_main/lcd/gpio.h
create mode 100644 master_main/lcd/vibration_motor.c
create mode 100644 master_main/make
create mode 160000 master_main/rf24libs/RF24
create mode 160000 master_main/rf24libs/RF24Gateway
create mode 160000 master_main/rf24libs/RF24Mesh
create mode 160000 master_main/rf24libs/RF24Network
create mode 100644 master_main/vib
create mode 100644 master_main/vibration_motor.c
create mode 100644 pet_main/GPS/gps
create mode 100644 pet_main/GPS/gps.c
create mode 100644 pet_main/GPS/gps.py
create mode 160000 pet_main/Raspberry-Pi-Heartbeat-Pulse-Sensor
create mode 100644 pet_main/main
create mode 100644 pet_main/pet_main.c
diff --git a/camera/camera b/camera/camera
new file mode 100644
index 0000000000000000000000000000000000000000..db58c0d5b8ef28ecc21773de8dd2d49ba6d12ab4
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diff --git a/camera/camera_main.c b/camera/camera_main.c
new file mode 100644
index 0000000..dc1afb0
--- /dev/null
+++ b/camera/camera_main.c
@@ -0,0 +1,148 @@
+#include <pthread.h> // -lpthread
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <time.h>
+#include <arpa/inet.h>
+#include <sys/socket.h>
+
+#define BUF_SIZE 1024
+
+char msg[32];
+
+void error_handling(char *message);
+void remove_spaces(char* str);
+static void *recvi(void *arg);
+static void *sendmaster(void *arg);
+
+/**
+ * DESCRIPTION
+ * This code is attached to the Raspberry Pi #3
+ * this module establish connection with Raspberry Pi #4(Master's main device) through socket
+ *
+ * this device is connected with GPS Module,
+ * and it receives order from RP #4 to take a photo in this device
+ *
+ * In summary,
+ * RP #3 make an order to this device(RP #4) to take a photo, based on RP #3's heartbeat sensor data
+ * and if its order has sent to this device through socket,
+ * Camera Module takes some photos and save'em
+ */
+int main(int argc, char *argv[])
+{
+ pthread_t p_thread_recv, p_thread_send;
+
+ const char server_ip[] = "192.168.219.107";
+
+ struct sockaddr_in serv_addr;
+ time_t current_time;
+ ssize_t str_len;
+ int sock, cnt;
+
+ char command[256];
+ char* times;
+
+ //socket 설정
+ sock = socket(PF_INET, SOCK_STREAM, 0);
+ if(sock == -1) {
+ error_handling("socket() error");
+ }
+
+ //주소&포트 설정
+ memset(&serv_addr, 0, sizeof(serv_addr));
+ serv_addr.sin_family = AF_INET;
+ serv_addr.sin_addr.s_addr = inet_addr(server_ip);
+ serv_addr.sin_port = htons(atoi("8886"));
+
+ //socket 연결
+ if(connect(sock, (struct sockaddr*)&serv_addr, sizeof(serv_addr) ) == -1 ) {
+ error_handling("connect() error");
+ }
+
+ pthread_create(&p_thread_recv, NULL, recvi, (void *)&sock);
+ pthread_create(&p_thread_send, NULL, sendmaster, NULL);
+
+ while (true) {
+ // 사진촬영 명령을 받으면 1초간격으로 5번 사진촬영
+ if (msg[0] == '1'){ // RF통신용
+ //if (strcmp(msg, "1") == 0){ // 소켓통신용
+ cnt=5;
+ while(cnt--) {
+ current_time = time(NULL);
+ times = ctime(¤t_time);
+ times[strlen(times) - 2] = '\0';
+ strcat(times, ".jpg");
+ remove_spaces(times);
+ printf("%s\n",times);
+
+ // 현재 시간을 이름으로 picture폴더에 사진 저장
+ sprintf(command, "raspistill -t 1 -o ./picture/%s", times);
+ system(command);
+ sleep(1);
+ }
+ }
+ }
+
+ //파일 & 소켓 연결 해제
+ close(sock);
+
+ return(0);
+}
+
+//오류 메시지 출력함수
+void error_handling(char *message){
+ fputs(message,stderr);
+ fputc('\n',stderr);
+ exit(1);
+}
+
+//공백을 _로 바꾸는 함수
+void remove_spaces(char* str)
+{
+ for (int i = 0; str[i]; i++) {
+ if (str[i] == ' ') {
+ str[i] = '_';
+ }
+ }
+}
+
+//메인 장치에서 정보를 받아와 변수에 저장
+static void *recvi(void *arg)
+{
+ int sock = *(int*)arg;
+
+ while(true) {
+ read(sock, msg, sizeof(msg));
+ printf("%s\n", msg); // 실행확인용
+ }
+ return NULL;
+}
+
+// 주인측 장치에 RF통신으로 정보 전송
+static void *sendmaster(void *arg)
+{
+ FILE* pipe;
+ char buffer[BUF_SIZE];
+
+ // 심박센서 신호 출력 프로그램 실행&파이프 연결
+ pipe = popen("sudo ./rf24libs/RF24/examples_linux/gettingstarted", "w");
+
+ if (pipe == NULL) {
+ perror("popen");
+ return NULL;
+ }
+
+ // 받아온 정보 변수에 저장
+ while (true) {
+ sleep(1);
+ fwrite(msg, sizeof(char), 32, pipe);
+ fflush(pipe);
+ }
+
+ return NULL;
+}
\ No newline at end of file
diff --git a/camera/picture/Sat_Jun_10_190322_202.jpg b/camera/picture/Sat_Jun_10_190322_202.jpg
new file mode 100644
index 0000000..e69de29
diff --git a/master_gps/.vscode/settings.json b/master_gps/.vscode/settings.json
new file mode 100644
index 0000000..fb365f8
--- /dev/null
+++ b/master_gps/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+ "files.associations": {
+ "stdbool.h": "c",
+ "math.h": "c"
+ }
+}
\ No newline at end of file
diff --git a/master_gps/Master_GPS.c b/master_gps/Master_GPS.c
new file mode 100644
index 0000000..cfa51c9
--- /dev/null
+++ b/master_gps/Master_GPS.c
@@ -0,0 +1,273 @@
+#include <sys/socket.h>
+#include <sys/wait.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <pthread.h> // -lpthread
+#include <unistd.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h> // -lm
+
+#define LOW 0
+#define HIGH 1
+
+#define BUF_SIZE 1024
+#define DIST_THRESHOLD 300
+
+static inline double rad(double x) {
+ return x * 3.14159265 / 180.0;
+}
+
+typedef struct {
+ double x;
+ double y;
+ double z;
+}tagPT;
+
+const int VIBRATION_MOTOR_PIN = 23;
+const int BUTTON_PIN_IN = 20;
+const int BUTTON_PIN_OUT = 21;
+
+static void* recv_from_Slave(void *p_sock);
+static void* send_to_rp1(void *arg);
+static void* gps(void *arg);
+static inline double GetDistance(tagPT pt1, tagPT pt2);
+
+void error_handling(char *msg);
+
+static int buzzerMode = true;
+static int vibMode = false;
+static int heartbeat = 80;
+static int event = 0;
+
+static int tookPhoto = false;
+static double curDist = DIST_THRESHOLD;
+static tagPT myPos = {127.123,68.56,123.56};
+static tagPT dogPos = {127.123,68.56,123.56};
+
+/**
+ * DESCRIPTION
+ * This code is attached to the Raspberry Pi #2
+ * this module establish connection with RP #1(Master's sub device) and RP #4 (Pet's main device)
+ * it is connected with RF module, and GPS module
+ *
+ * this device (RP #2) receives data from RP #4, which is
+ * 1) tookPhoto, 2) heartbeat rate, and 3) latitude 4)longitude of the Pet
+ * based on these datas, it caculates the Distance Between Master and Pet (GetDistance func)
+ *
+ * And it sends 3 datas to the RP #1, which is
+ * 1) tookPhoto 2) heartbeat rate, and 3) Distance data
+ *
+ * Notice that Master's latitude and longitude data comes from the GPS module
+ *
+ * In conclusion,
+ * this device RP #2 literally play a 'Medium' role between Master and a Pet
+ */
+
+int main(int argc, char* argv[])
+{
+ pthread_t thread, send_thread, recv_thread;
+ struct sockaddr_in serv_adr;
+
+ int serv_sock, pet_sock, lcd_sock;
+ char buf[BUF_SIZE];
+ int str_len;
+
+ //소켓 정보 설정
+ serv_sock=socket(PF_INET, SOCK_STREAM, 0);
+ if(serv_sock==-1) {
+ error_handling("socket() error");
+ }
+
+ //ARGUMENT 활용해서 서버 구성
+ memset(&serv_adr, 0, sizeof(serv_adr));
+
+ serv_adr.sin_family=AF_INET;
+ serv_adr.sin_addr.s_addr=htonl(INADDR_ANY);
+ serv_adr.sin_port=htons(atoi("8885"));
+
+ //소켓에 주소를 할당
+ if (bind(serv_sock, (struct sockaddr*)&serv_adr, sizeof(serv_adr)) == -1) {
+ error_handling("bind() error");
+ }
+
+ //함수를 수동 대기 상태로 설정 함.
+ //serv_sock 소켓을 사용하여 연결 요청을 대기하고,
+ //최대 5개의 연결 요청을 대기 큐에 저장할 수 있도록 설정
+ if (listen(serv_sock, 5) == -1) {
+ error_handling("listen() error");
+ }
+
+ struct sockaddr_in clnt_adr;
+ socklen_t clnt_adr_sz = sizeof(clnt_adr);
+
+ // pet_sock = accept(serv_sock, (struct sockaddr*)&clnt_adr, &clnt_adr_sz);
+ // if (pet_sock == -1 ) {
+ // error_handling("accept() error");
+ // } else {
+ // printf("pet connected() ! \n");
+ // }
+
+ struct sockaddr_in clnt_adr2;
+ lcd_sock = accept(serv_sock, (struct sockaddr*)&clnt_adr2, &clnt_adr_sz);
+ if (lcd_sock == -1) {
+ error_handling("accept() error");
+ } else {
+ printf("lcd connected() ! \n");
+ }
+
+ printf("Multi-threading start\n");
+ pthread_create(&thread, NULL, gps, NULL);
+ //pthread_create(&recv_thread, NULL, recv_from_Slave, &pet_sock); //RF 통신에서는 사용안함
+ pthread_create(&send_thread, NULL, send_to_rp1, &lcd_sock);
+
+ pthread_join(thread, NULL);
+ pthread_join(send_thread, NULL);
+
+ return 0;
+}
+
+//pet으로부터 데이터 수신하는 THREAD용 함수
+static void* recv_from_Slave(void* p_sock)
+{
+ int sock = *(int*)p_sock;
+ char buffer[1024];
+ ssize_t n;
+
+ while ((n = read(sock, buffer, sizeof(buffer))) > 0) {
+ int data_cnt = atoi(buffer);
+ printf("read buffer : %s\n", buffer);
+
+ char* p_delims = "_";
+ char* p_tok = strtok(buffer, p_delims);
+ tookPhoto = atoi(p_tok);
+ p_tok = strtok(NULL, p_delims);
+ heartbeat = atoi(p_tok);
+
+ p_tok = strtok(NULL, p_delims);
+ dogPos.x = atof(p_tok);
+ p_tok = strtok(NULL, p_delims);
+ dogPos.y = atof(p_tok);
+
+ curDist = GetDistance(myPos, dogPos);
+ printf("Dist : %lf\n", curDist);
+ printf("TookPhoto : %d Heart : %d Position : %lf %lf\n", tookPhoto, heartbeat, dogPos.x, dogPos.y);
+ }
+
+ close(sock); //소켓을 닫아주고
+ write(STDOUT_FILENO, "[*] session closed\n", 19); //세션이 닫혔다고 print해준다.
+ exit(0);
+}
+
+// GPS module Thread 관련 함수
+static void* gps(void *arg)
+{
+ FILE *pipe;
+ char buffer[BUF_SIZE];
+ char msg[] = "1";
+
+ // gps 정보를 읽어 경도와 위도를 출력하는 프로그램 실행&파이프 연결
+ pipe = popen("python3 -u gps.py", "r");
+ if (pipe == NULL) {
+ perror("popen");
+ return NULL;
+ }
+
+ // 파이프에서 받은 경도와 위도를 변수에 저장
+ while (fgets(buffer, BUF_SIZE, pipe) != NULL) {
+ myPos.y = atof(strtok(buffer, " "));
+ myPos.x = atof(strtok(NULL, " "));
+
+ //실행확인용
+ printf("Master latitude : %f\n", myPos.x);
+ printf("Master longitude : %f\n", myPos.y);
+
+ }
+
+ // 파이프 닫음
+ if ( pclose(pipe) == -1 ) {
+ perror("pclose");
+ return NULL;
+ }
+
+ return NULL;
+}
+
+// 두 위치정보를 바탕으로 거리를 계산하는 함수
+static inline double GetDistance(tagPT pt1, tagPT pt2 )
+{
+ const int radius = 6371;
+
+ double dLat = rad( (pt2.y-pt1.y) );
+ double dLon = rad( (pt2.x-pt1.x) );
+
+ pt1.y = rad( pt1.y );
+ pt2.y = rad( pt2.y );
+
+ double a = sin(dLat/2) * sin(dLat/2) + sin(dLon/2) * sin(dLon/2) * cos(pt1.y) * cos(pt2.y);
+ double c = 2 * atan2f(sqrtf(a), sqrtf(1-a));
+ double dDistance = radius * c;
+
+ // dDistance*=1000;
+
+ return dDistance;
+}
+
+// RP #1 (주인측 sub 장치)로 데이터를 보내는 Thread 함수
+static void* send_to_rp1(void *arg)
+{
+ int sock = *(int*)arg;
+ char msg[100];
+ char str[20];
+
+ // 1초마다 정보표시 장치에 정보 보냄
+ while (true) {
+ // // 촬영여부
+ // sprintf(str, "%d", tookPhoto);
+ // strcpy(msg, str);
+ // msg[strcspn(msg, "\n")] = 0;
+ // strcat(msg, "_");
+
+ // // 심박수
+ // sprintf(str, "%d", heartbeat);
+ // strcat(msg, str);
+ // msg[strcspn(msg, "\n")] = 0;
+ // strcat(msg, "_");
+
+ // // 거리
+ // sprintf(str, "%f", curDist);
+ // strcat(msg, str);
+ // msg[strcspn(msg, "\n")] = 0;
+
+ //경도
+ sprintf(str, "%.3lf", myPos.y);
+ strcat(msg, str);
+ msg[strcspn(msg, "\n")] = 0;
+ strcat(msg, "_");
+
+ //위도
+ sprintf(str, "%.3lf", myPos.x);
+ strcat(msg, str);
+ msg[strcspn(msg, "\n")] = 0;
+
+ // 전송
+ write(sock, msg, strlen(msg));
+
+ // rintf("Dist : %lf\n", curDist);
+ printf("latitude : %lf longitude : %lf\n", myPos.x, myPos.y);
+
+ sleep(1);
+ }
+ return NULL;
+}
+
+//에러 핸들링 용 함수
+void error_handling(char *message)
+{
+ fputs(message, stderr);
+ fputc('\n', stderr);
+ exit(1);
+}
\ No newline at end of file
diff --git a/master_gps/cgps b/master_gps/cgps
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diff --git a/master_gps/gps.c b/master_gps/gps.c
new file mode 100644
index 0000000..e3020a2
--- /dev/null
+++ b/master_gps/gps.c
@@ -0,0 +1,70 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+
+#define GPS_MSG_SIZE 128
+
+int main() {
+ int serial_port;
+ char *port = "/dev/ttyAMA0";
+ struct termios options;
+
+ serial_port = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
+ if (serial_port == -1) {
+ printf("Failed to open the serial port.\n");
+ return -1;
+ }
+
+ tcgetattr(serial_port, &options);
+ cfsetispeed(&options, B9600);
+ cfsetospeed(&options, B9600);
+ options.c_cflag |= (CLOCAL | CREAD);
+ options.c_cflag &= ~PARENB;
+ options.c_cflag &= ~CSTOPB;
+ options.c_cflag &= ~CSIZE;
+ options.c_cflag |= CS8;
+ options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+ options.c_iflag &= ~(IXON | IXOFF | IXANY);
+ options.c_oflag &= ~OPOST;
+ options.c_cc[VMIN] = 0;
+ options.c_cc[VTIME] = 5;
+ tcsetattr(serial_port, TCSANOW, &options);
+
+ char gps_msg[GPS_MSG_SIZE];
+ memset(gps_msg, 0, sizeof(gps_msg));
+
+ while (1) {
+ ssize_t newdata = read(serial_port, gps_msg, sizeof(gps_msg));
+ if (newdata > 0) {
+ // Process the GPS data
+ if (strncmp(gps_msg, "$GPRMC", 6) == 0) {
+ // printf("%s\n",gps_msg);
+ char *token;
+ char *latitude;
+ char *longitude;
+ token = strtok(gps_msg, ",");
+ int token_count = 0;
+ while (token != NULL) {
+ if (token_count == 2) {
+ latitude = token;
+ } else if (token_count == 4) {
+ longitude = token;
+ }
+ token = strtok(NULL, ",");
+ token_count++;
+ }
+ printf("Latitude: %s\n", latitude);
+ printf("Longitude: %s\n", longitude);
+ }
+ }
+ memset(gps_msg, 0, sizeof(gps_msg));
+ usleep(500000);
+ }
+
+ close(serial_port);
+
+ return 0;
+}
\ No newline at end of file
diff --git a/master_gps/gps.py b/master_gps/gps.py
new file mode 100644
index 0000000..e051d0b
--- /dev/null
+++ b/master_gps/gps.py
@@ -0,0 +1,19 @@
+import serial
+import time
+import string
+import pynmea2
+
+while True:
+ port="/dev/ttyAMA0"
+ ser=serial.Serial(port, baudrate=9600, timeout=0.5)
+ dataout = pynmea2.NMEAStreamReader()
+ newdata=ser.readline()
+ #print(newdata)
+
+ if newdata[0:6] == b"$GPRMC":
+ newmsg=pynmea2.parse(newdata.decode('ascii'))
+ lat=newmsg.latitude
+ lng=newmsg.longitude
+ gps = str(round(lat, 12)) + " " + str(round(lng, 12))
+ print(gps)
+
\ No newline at end of file
diff --git a/master_gps/main b/master_gps/main
new file mode 100644
index 0000000000000000000000000000000000000000..41fcf6bbed4aa2cf269c9671cd23ac576a380c41
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diff --git a/master_gps/myMath.h b/master_gps/myMath.h
new file mode 100644
index 0000000..d99dfe0
--- /dev/null
+++ b/master_gps/myMath.h
@@ -0,0 +1,45 @@
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+
+int fd; // seen by all subroutines
+
+void itoa(int n, char* s);
+void reverse(char* s);
+void ftoa(float f, char* buf);
+
+/* itoa: convert n to characters in s */
+void itoa(int n, char* s)
+{
+ int i, sign;
+
+ if ((sign = n) < 0) /* record sign */
+ n = -n; /* make n positive */
+ i = 0;
+ do { /* generate digits in reverse order */
+ s[i++] = n % 10 + '0'; /* get next digit */
+ } while ((n /= 10) > 0); /* delete it */
+ if (sign < 0)
+ s[i++] = '-';
+ s[i] = '\0';
+ reverse(s);
+}
+
+void ftoa(float f, char* buf)
+{
+ sprintf(buf, "%f", f);
+ // return buf;
+}
+
+/* reverse: reverse string s in place */
+void reverse(char* s)
+{
+ int i, j;
+ char c;
+
+ for (i = 0, j = strlen(s)-1; i<j; i++, j--) {
+ c = s[i];
+ s[i] = s[j];
+ s[j] = c;
+ }
+}
\ No newline at end of file
diff --git a/master_main/RF.c b/master_main/RF.c
new file mode 100644
index 0000000..4519f51
--- /dev/null
+++ b/master_main/RF.c
@@ -0,0 +1,129 @@
+// 아래 헤더들을 추가해준다
+#include <SPI.h>
+#include <RF24.h>
+
+// 0 번과 1번 아두이노(nRF모듈)를 나누어서 주고받기위한 용도
+// 하나는 0으로, 하나는 1로 설정하고 컴파일 해야 한다
+bool radioNumber = 0;
+
+// 7 : CE , 8: CSN
+RF24 radio(7,8);
+
+// Pipe Address 를 설정하기 위한 값
+byte addresses[][6] = {"1Node","2Node"};
+
+// 누가 Ping 하고 Pong 할 것인지 결정 위함
+bool role = 0;
+
+void setup() {
+ Serial.begin(115200);
+ Serial.println(F("RF24/examples/GettingStarted"));
+ Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
+
+ // RF24 모듈 초기화
+ radio.begin();
+ // PA 세기를 LOW 로 한다. 입력 전류 불안정을 감안함
+ radio.setPALevel(RF24_PA_LOW);
+
+ // radioNumber 에 따라 Write Pipe - Read Pipe 쌍의 주소를 지정해서 Open 한다
+ if(radioNumber){
+ radio.openWritingPipe(addresses[1]);
+ radio.openReadingPipe(1,addresses[0]);
+ }else{
+ radio.openWritingPipe(addresses[0]);
+ radio.openReadingPipe(1,addresses[1]);
+ }
+
+ // Reading Pipe 주소의 Listening 을 시작한다
+ radio.startListening();
+}
+
+void loop() {
+
+// Ping 보내는 역할
+if (role == 1) {
+
+ // Write 를 하기 전에 반드시 Listening 을 Stop 해야한다
+ radio.stopListening();
+
+
+ Serial.println(F("Now sending"));
+ unsigned long time = micros();
+
+ // 데이터를 Write 한다. 이때 채널 내의 해당 주소로 Listen 하는 녀석이 없으면 Fail 떨어진다
+ if (!radio.write( &time, sizeof(unsigned long) )){
+ Serial.println(F("failed"));
+ }
+
+ // 보내고 나서 다시 LIsten 한다
+ radio.startListening();
+
+ unsigned long started_waiting_at = micros();
+ boolean timeout = false;
+
+ // 수신 로직이다. Ping Timeout 을 200ms 로 잡고, Timeout 내에서 수신한다
+ while ( ! radio.available() ){
+ if (micros() - started_waiting_at > 200000 ){
+ timeout = true;
+ break;
+ }
+ }
+
+ if ( timeout ){
+ Serial.println(F("Failed, response timed out."));
+ }else{
+ unsigned long got_time;
+ // Pong 이 왔을 때 데이터를 읽어온다
+ radio.read( &got_time, sizeof(unsigned long) );
+ unsigned long time = micros();
+
+ // Ping 의 Round-Trip 시간을 계산하여 알려준다
+ Serial.print(F("Sent "));
+ Serial.print(time);
+ Serial.print(F(", Got response "));
+ Serial.print(got_time);
+ Serial.print(F(", Round-trip delay "));
+ Serial.print(time-got_time);
+ Serial.println(F(" microseconds"));
+ }
+
+ delay(1000);
+ }
+
+// Pong 쳐주는 역할
+ if ( role == 0 )
+ {
+ unsigned long got_time;
+
+ // 데이터가 있으면 데이터를 모두 읽어서 FIFO 버퍼 소진한다
+ if( radio.available()){
+ while (radio.available()) {
+ radio.read( &got_time, sizeof(unsigned long) );
+ }
+
+ // Listening 멈추고 Pong 을 Write 한다
+ radio.stopListening();
+ radio.write( &got_time, sizeof(unsigned long) );
+ radio.startListening();
+ Serial.print(F("Sent response "));
+ Serial.println(got_time);
+ }
+ }
+
+// Serial 을 통해서 T 와 R 에 따라 역할을 바꾼다
+ if ( Serial.available() )
+ {
+ char c = toupper(Serial.read());
+ if ( c == 'T' && role == 0 ){
+ Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
+ role = 1; // Become the primary transmitter (ping out)
+
+ }else
+ if ( c == 'R' && role == 1 ){
+ Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
+ role = 0; // Become the primary receiver (pong back)
+ radio.startListening();
+
+ }
+ }
+}
\ No newline at end of file
diff --git a/master_main/c b/master_main/c
new file mode 100644
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HcmV?d00001
diff --git a/master_main/gpio.h b/master_main/gpio.h
new file mode 100644
index 0000000..a22428f
--- /dev/null
+++ b/master_main/gpio.h
@@ -0,0 +1,263 @@
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#define IN 0
+#define OUT 1
+#define LOW 0
+#define HIGH 1
+
+#define VALUE_MAX 256
+#define BUFFER_MAX 3
+#define DIRECTION_MAX 45
+
+static int GPIOExport(int pin);
+static int GPIOUnexport(int pin);
+static int GPIODirection(int pin, int dir);
+static int GPIORead(int pin);
+static int GPIOWrite(int pin, int value);
+
+static int PWMWriteDutyCycle(int pwmnum, int value);
+static int PWMWritePeriod(int pwmnum, int value);
+static int PWMEnable(int pwmnum);
+static int PWMUnexport(int pwmnum);
+static int PWMExport(int pwmnum);
+static int PWMUnable(int pwmnum);
+
+static int GPIOExport(int pin)
+{
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/gpio/export", O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open export for writing!\n");
+ return(-1);
+ }
+
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ return(0);
+}
+
+static int GPIOUnexport(int pin)
+{
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/gpio/unexport", O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio value for writing!\n");
+ return (-1);
+ }
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ return(0);
+}
+
+static int GPIODirection(int pin, int dir)
+{
+ static const char s_directions_str[] = "in\0out";
+
+ char path[DIRECTION_MAX] = "/sys/class/gpio/gpio%d/direction";
+ int fd;
+
+ snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
+
+ fd = open(path, O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio direction for writing!\n");
+ return(-1);
+ }
+
+ if(-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3)){
+ fprintf(stderr, "Failed to set direction!\n");
+ // close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
+
+static int GPIORead(int pin)
+{
+ char path[VALUE_MAX];
+ char value_str[3];
+ int fd;
+
+ snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+ fd = open(path, O_RDONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio value for raeding!\n");
+ return (-1);
+ }
+
+ if (-1 == read(fd, value_str, 3)){
+ fprintf(stderr, "Failed to read value!\n");
+ // close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(atoi(value_str));
+}
+
+static int GPIOWrite(int pin, int value)
+{
+ static const char s_values_str[] = "01";
+ char path[VALUE_MAX];
+ int fd;
+
+ snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+ fd = open(path, O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio value for writing!\n");
+ return (-1);
+ }
+
+ if (1 != write(fd, &s_values_str[LOW == value ? 0 : 1], 1)){
+ fprintf(stderr, "Failed to write value!\n");
+ // close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
+
+static int PWMExport(int pwmnum){
+ #define BUFFER_MAX 3
+ char buffer[BUFFER_MAX];
+ int bytes_written;
+ int fd;
+
+ fd = open("/sys/class/pwm/pwmchip0/export", O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in export!\n");
+ return(-1);
+ }
+ bytes_written=snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ sleep(1);
+ return(0);
+}
+
+static int PWMUnexport(int pwmnum)
+{
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in unexport!\n");
+ return(-1);
+ }
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ sleep(1);
+ return(0);
+}
+
+static int PWMEnable(int pwmnum){
+ static const char s_unenable_str[] = "0";
+ static const char s_enable_str[] = "1";
+ char path[DIRECTION_MAX];
+ int fd;
+
+ snprintf(path, DIRECTION_MAX, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in enable!\n");
+ return -1;
+ }
+
+ write(fd,s_unenable_str,strlen(s_unenable_str));
+ close(fd);
+
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in enable!\n");
+ return -1;
+ }
+
+ write(fd,s_enable_str,strlen(s_enable_str));
+ close(fd);
+ return 0;
+}
+
+
+static int PWMUnable(int pwmnum){
+ static const char s_unable_str[] = "0";
+ char path[DIRECTION_MAX];
+ int fd;
+
+ snprintf(path, DIRECTION_MAX, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in enable!\n");
+ return -1;
+ }
+
+ write(fd,s_unable_str,strlen(s_unable_str));
+ close(fd);
+ return 0;
+}
+
+static int PWMWritePeriod(int pwmnum, int value){
+ char s_values_str[VALUE_MAX];
+ char path[VALUE_MAX];
+ int fd,byte;
+
+ snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/period",pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in period!\n");
+ return(-1);
+ }
+
+ byte=snprintf(s_values_str,10,"%d",value);
+
+ if(-1==write(fd,s_values_str,byte)){
+ fprintf(stderr, "Failed to write value in period!\n");
+ close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
+
+static int PWMWriteDutyCycle(int pwmnum, int value){
+ char path[VALUE_MAX];
+ char s_values_str[VALUE_MAX];
+ int fd,byte;
+
+ snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/duty_cycle",pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr,"Failed to oepn in duty_cycle!\n");
+ return(-1);
+ }
+
+ byte=snprintf(s_values_str, 10,"%d",value);
+
+ if(-1==write(fd,s_values_str,byte)){
+ fprintf(stderr, "Failed to write value! in duty_cycle\n");
+ close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
\ No newline at end of file
diff --git a/master_main/lcd.h b/master_main/lcd.h
new file mode 100644
index 0000000..849d30e
--- /dev/null
+++ b/master_main/lcd.h
@@ -0,0 +1,149 @@
+#include <wiringPiI2C.h>
+#include <wiringPi.h> // -lwiringPi
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+
+// Define some device parameters
+#define I2C_ADDR 0x27 // I2C device address
+
+// Define some device constants
+#define LCD_CHR 1 // Mode - Sending data
+#define LCD_CMD 0 // Mode - Sending command
+
+#define LINE1 0x80 // 1st line
+#define LINE2 0xC0 // 2nd line
+
+#define LCD_BACKLIGHT 0x08 // On
+// LCD_BACKLIGHT = 0x00 # Off
+
+#define ENABLE 0b00000100 // Enable bit
+
+int fd; // seen by all subroutines
+
+
+void typeFloat(float myFloat);
+void typeInt(int i);
+void ClrLcd(void);
+void lcdLoc(int line);
+void typeChar(char val);
+void typeln(const char *s);
+void lcd_byte(int bits, int mode);
+void lcd_toggle_enable(int bits);
+void lcd_init();
+void itoa(int n, char* s);
+void reverse(char* s);
+void ftoa(float f, char* buf);
+
+// float to string
+void typeFloat(float myFloat) {
+ char buffer[20];
+ sprintf(buffer, "%4.2f", myFloat);
+ typeln(buffer);
+}
+
+// int to string
+void typeInt(int i) {
+ char array1[20];
+ sprintf(array1, "%d", i);
+ typeln(array1);
+}
+
+// clr lcd go home loc 0x80
+void ClrLcd(void) {
+ lcd_byte(0x01, LCD_CMD);
+ lcd_byte(0x02, LCD_CMD);
+}
+
+// go to location on LCD
+void lcdLoc(int line) {
+ lcd_byte(line, LCD_CMD);
+}
+
+// out char to LCD at current position
+void typeChar(char val) {
+
+ lcd_byte(val, LCD_CHR);
+}
+
+
+// this allows use of any size string
+void typeln(const char *s) {
+
+ while ( *s ) lcd_byte(*(s++), LCD_CHR);
+
+}
+
+void lcd_byte(int bits, int mode) {
+
+ //Send byte to data pins
+ // bits = the data
+ // mode = 1 for data, 0 for command
+ int bits_high;
+ int bits_low;
+ // uses the two half byte writes to LCD
+ bits_high = mode | (bits & 0xF0) | LCD_BACKLIGHT ;
+ bits_low = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT ;
+
+ // High bits
+ wiringPiI2CReadReg8(fd, bits_high);
+ lcd_toggle_enable(bits_high);
+
+ // Low bits
+ wiringPiI2CReadReg8(fd, bits_low);
+ lcd_toggle_enable(bits_low);
+}
+
+void lcd_toggle_enable(int bits) {
+ // Toggle enable pin on LCD display
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits | ENABLE));
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits & ~ENABLE));
+ delayMicroseconds(500);
+}
+
+
+void lcd_init() {
+ // Initialise display
+ lcd_byte(0x33, LCD_CMD); // Initialise
+ lcd_byte(0x32, LCD_CMD); // Initialise
+ lcd_byte(0x06, LCD_CMD); // Cursor move direction
+ lcd_byte(0x0C, LCD_CMD); // 0x0F On, Blink Off
+ lcd_byte(0x28, LCD_CMD); // Data length, number of lines, font size
+ lcd_byte(0x01, LCD_CMD); // Clear display
+ delayMicroseconds(500);
+}
+
+/* itoa: convert n to characters in s */
+void itoa(int n, char* s)
+{
+ int i, sign;
+
+ if ((sign = n) < 0) /* record sign */
+ n = -n; /* make n positive */
+ i = 0;
+ do { /* generate digits in reverse order */
+ s[i++] = n % 10 + '0'; /* get next digit */
+ } while ((n /= 10) > 0); /* delete it */
+ if (sign < 0)
+ s[i++] = '-';
+ s[i] = '\0';
+ reverse(s);
+}
+void ftoa(float f, char* buf) {
+ sprintf(buf, "%f", f);
+ // return buf;
+}
+ /* reverse: reverse string s in place */
+ void reverse(char* s)
+ {
+ int i, j;
+ char c;
+
+ for (i = 0, j = strlen(s)-1; i<j; i++, j--) {
+ c = s[i];
+ s[i] = s[j];
+ s[j] = c;
+ }
+ }
\ No newline at end of file
diff --git a/master_main/lcd/WiringPi b/master_main/lcd/WiringPi
new file mode 160000
index 0000000..f97a623
--- /dev/null
+++ b/master_main/lcd/WiringPi
@@ -0,0 +1 @@
+Subproject commit f97a6230160b819e6daea7eb242404afa708e421
diff --git a/master_main/lcd/a.out b/master_main/lcd/a.out
new file mode 100644
index 0000000000000000000000000000000000000000..2e905a86f20c01eaca643435c98f5f92230c3af2
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diff --git a/master_main/lcd/c b/master_main/lcd/c
new file mode 100644
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zEEjYh4=5ZUqraeWQ;;eKhK&$);4^VRebyU_2sw}nn7zB9=fHrQ(xASmKBhX5+T+l(
zVnFIZV|Xk$)Ln+gB}g4;j)6lTaRv{}UXXk5K-~vY2bu=~bt*vZYLFTb2H6S150TV?
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zm<4yzAp^+KLm)LE3{nH5L2(9RgYXvv1_lFO$k{o4(0BvoBT!lf`xT^!fq_BAj)8$6
ZGDQFuftd#yg-2Fr?83l+JiP-`2LN1+u=oG~
literal 0
HcmV?d00001
diff --git a/master_main/lcd/cc.c b/master_main/lcd/cc.c
new file mode 100644
index 0000000..d16d087
--- /dev/null
+++ b/master_main/lcd/cc.c
@@ -0,0 +1,235 @@
+#include <wiringPiI2C.h>
+#include <wiringPi.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+// Define some device parameters
+#define I2C_ADDR 0x27 // I2C device address
+
+// Define some device constants
+#define LCD_CHR 1 // Mode - Sending data
+#define LCD_CMD 0 // Mode - Sending command
+
+#define LINE1 0x80 // 1st line
+#define LINE2 0xC0 // 2nd line
+
+#define LCD_BACKLIGHT 0x08 // On
+// LCD_BACKLIGHT = 0x00 # Off
+
+#define ENABLE 0b00000100 // Enable bit
+
+void lcd_init(void);
+void lcd_byte(int bits, int mode);
+void lcd_toggle_enable(int bits);
+
+// added by Lewis
+void typeInt(int i);
+void typeFloat(float myFloat);
+void lcdLoc(int line); //move cursor
+void ClrLcd(void); // clr LCD return home
+void typeln(const char *s);
+void typeChar(char val);
+
+void itoa(int n, char s[]);
+void reverse(char s[]);
+
+
+int fd; // seen by all subroutines
+
+int buzzerMode = true;
+int vibMode = false;
+int distance = 100;
+int heartbeat = 80;
+int event=1;
+
+void* lcd(){
+ if (wiringPiSetup () == -1) exit (1);
+ fd = wiringPiI2CSetup(I2C_ADDR);
+ lcd_init(); // setup LCD
+ while (1) {
+ // 처음 시작할 때 LCD 한 번 비우고 감
+
+ // 부저모드인지, 진동 모드인지
+ if(buzzerMode == 1){
+ lcdLoc(LINE1);
+ typeln("buzzer Mode");
+ }
+ else if(vibMode == 1){
+ lcdLoc(LINE1);
+ typeln("vibration mode");
+ }
+
+ // 거리가 나와야하고
+ lcdLoc(LINE2);
+ char dis[10];
+ itoa(distance,dis);
+ strcat(dis,"M ");
+
+ // 심박수가 나와야하고
+ char htb[100];
+ itoa(heartbeat,htb);
+ strcat(dis, htb);
+ strcat(dis,"bpm");
+ typeln(dis);
+
+ delay(2000);
+ // 이벤트가 발생하면 화면이 바뀌어야 함
+ // 특이사항 :
+ if(event == 1){
+ // 반려동물이 멀어지면 -> 이탈 경보
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("dog is gone");
+ lcdLoc(LINE2);
+ typeln("please");
+ delay(2000);
+ ClrLcd();
+ event=0;
+ }
+ else if(event==2){
+ // 사진 촬영하면 -> 촬영했어용
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("dog feel happy");
+ lcdLoc(LINE2);
+ typeln("taking picture");
+ delay(2000);
+ ClrLcd();
+ event=0;
+ }
+ else if(event==3){
+ // 심박수 측정해서 이상값이 있으면 -> 건강 이상해용
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("weird heartbeat");
+ lcdLoc(LINE2);
+ typeln("check the heart");
+ delay(2000);
+ ClrLcd();
+ }
+ }
+}
+
+int main() {
+
+
+ // char array1[] = "Hello world!";
+ // char array2[] = "Smart Class!";
+
+
+ return 0;
+
+}
+
+
+// float to string
+void typeFloat(float myFloat) {
+ char buffer[20];
+ sprintf(buffer, "%4.2f", myFloat);
+ typeln(buffer);
+}
+
+// int to string
+void typeInt(int i) {
+ char array1[20];
+ sprintf(array1, "%d", i);
+ typeln(array1);
+}
+
+// clr lcd go home loc 0x80
+void ClrLcd(void) {
+ lcd_byte(0x01, LCD_CMD);
+ lcd_byte(0x02, LCD_CMD);
+}
+
+// go to location on LCD
+void lcdLoc(int line) {
+ lcd_byte(line, LCD_CMD);
+}
+
+// out char to LCD at current position
+void typeChar(char val) {
+
+ lcd_byte(val, LCD_CHR);
+}
+
+
+// this allows use of any size string
+void typeln(const char *s) {
+
+ while ( *s ) lcd_byte(*(s++), LCD_CHR);
+
+}
+
+void lcd_byte(int bits, int mode) {
+
+ //Send byte to data pins
+ // bits = the data
+ // mode = 1 for data, 0 for command
+ int bits_high;
+ int bits_low;
+ // uses the two half byte writes to LCD
+ bits_high = mode | (bits & 0xF0) | LCD_BACKLIGHT ;
+ bits_low = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT ;
+
+ // High bits
+ wiringPiI2CReadReg8(fd, bits_high);
+ lcd_toggle_enable(bits_high);
+
+ // Low bits
+ wiringPiI2CReadReg8(fd, bits_low);
+ lcd_toggle_enable(bits_low);
+}
+
+void lcd_toggle_enable(int bits) {
+ // Toggle enable pin on LCD display
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits | ENABLE));
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits & ~ENABLE));
+ delayMicroseconds(500);
+}
+
+
+void lcd_init() {
+ // Initialise display
+ lcd_byte(0x33, LCD_CMD); // Initialise
+ lcd_byte(0x32, LCD_CMD); // Initialise
+ lcd_byte(0x06, LCD_CMD); // Cursor move direction
+ lcd_byte(0x0C, LCD_CMD); // 0x0F On, Blink Off
+ lcd_byte(0x28, LCD_CMD); // Data length, number of lines, font size
+ lcd_byte(0x01, LCD_CMD); // Clear display
+ delayMicroseconds(500);
+}
+
+/* itoa: convert n to characters in s */
+ void itoa(int n, char* s)
+ {
+ int i, sign;
+
+ if ((sign = n) < 0) /* record sign */
+ n = -n; /* make n positive */
+ i = 0;
+ do { /* generate digits in reverse order */
+ s[i++] = n % 10 + '0'; /* get next digit */
+ } while ((n /= 10) > 0); /* delete it */
+ if (sign < 0)
+ s[i++] = '-';
+ s[i] = '\0';
+ reverse(s);
+ }
+
+ /* reverse: reverse string s in place */
+ void reverse(char* s)
+ {
+ int i, j;
+ char c;
+
+ for (i = 0, j = strlen(s)-1; i<j; i++, j--) {
+ c = s[i];
+ s[i] = s[j];
+ s[j] = c;
+ }
+ }
\ No newline at end of file
diff --git a/master_main/lcd/gpio.h b/master_main/lcd/gpio.h
new file mode 100644
index 0000000..8c850c5
--- /dev/null
+++ b/master_main/lcd/gpio.h
@@ -0,0 +1,263 @@
+#include <stdio.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdlib.h>
+
+#define IN 0
+#define OUT 1
+#define LOW 0
+#define HIGH 1
+
+#define VALUE_MAX 256
+#define BUFFER_MAX 3
+#define DIRECTION_MAX 45
+
+static int GPIOExport(int pin);
+static int GPIOUnexport(int pin);
+static int GPIODirection(int pin, int dir);
+static int GPIORead(int pin);
+static int GPIOWrite(int pin, int value);
+
+static int PWMWriteDutyCycle(int pwmnum, int value);
+static int PWMWritePeriod(int pwmnum, int value);
+static int PWMEnable(int pwmnum);
+static int PWMUnexport(int pwmnum);
+static int PWMExport(int pwmnum);
+static int PWMUnable(int pwmnum);
+
+static int GPIOExport(int pin)
+{
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/gpio/export", O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open export for writing!\n");
+ return(-1);
+ }
+
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ return(0);
+}
+
+static int GPIOUnexport(int pin)
+{
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/gpio/unexport", O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio value for writing!\n");
+ return (-1);
+ }
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ return(0);
+}
+
+static int GPIODirection(int pin, int dir)
+{
+ static const char s_directions_str[] = "in\0out";
+
+ char path[DIRECTION_MAX] = "/sys/class/gpio/gpio%d/direction";
+ int fd;
+
+ snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
+
+ fd = open(path, O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio direction for writing!\n");
+ return(-1);
+ }
+
+ if(-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3)){
+ fprintf(stderr, "Failed to set direction!\n");
+ // close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
+
+static int GPIORead(int pin)
+{
+ char path[VALUE_MAX];
+ char value_str[3];
+ int fd;
+
+ snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+ fd = open(path, O_RDONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio value for raeding!\n");
+ return (-1);
+ }
+
+ if (-1 == read(fd, value_str, 3)){
+ fprintf(stderr, "Failed to read value!\n");
+ // close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(atoi(value_str));
+}
+
+static int GPIOWrite(int pin, int value)
+{
+ static const char s_values_str[] = "01";
+ char path[VALUE_MAX];
+ int fd;
+
+ snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+ fd = open(path, O_WRONLY);
+ if (-1 == fd){
+ fprintf(stderr, "Failed to open gpio value for writing!\n");
+ return (-1);
+ }
+
+ if (1 != write(fd, &s_values_str[LOW == value ? 0 : 1], 1)){
+ fprintf(stderr, "Failed to write value!\n");
+ // close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
+
+static int PWMExport(int pwmnum){
+ #define BUFFER_MAX 3
+ char buffer[BUFFER_MAX];
+ int bytes_written;
+ int fd;
+
+ fd = open("/sys/class/pwm/pwmchip0/export", O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in export!\n");
+ return(-1);
+ }
+ bytes_written=snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ sleep(1);
+ return(0);
+}
+
+static int PWMUnexport(int pwmnum)
+{
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in unexport!\n");
+ return(-1);
+ }
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ sleep(1);
+ return(0);
+}
+
+static int PWMEnable(int pwmnum){
+ static const char s_unenable_str[] = "0";
+ static const char s_enable_str[] = "1";
+ char path[DIRECTION_MAX];
+ int fd;
+
+ snprintf(path, DIRECTION_MAX, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in enable!\n");
+ return -1;
+ }
+
+ write(fd,s_unenable_str,strlen(s_unenable_str));
+ close(fd);
+
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in enable!\n");
+ return -1;
+ }
+
+ write(fd,s_enable_str,strlen(s_enable_str));
+ close(fd);
+ return 0;
+}
+
+
+static int PWMUnable(int pwmnum){
+ static const char s_unable_str[] = "0";
+ char path[DIRECTION_MAX];
+ int fd;
+
+ snprintf(path, DIRECTION_MAX, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in enable!\n");
+ return -1;
+ }
+
+ write(fd,s_unable_str,strlen(s_unable_str));
+ close(fd);
+ return 0;
+}
+
+static int PWMWritePeriod(int pwmnum, int value){
+ char s_values_str[VALUE_MAX];
+ char path[VALUE_MAX];
+ int fd,byte;
+
+ snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/period",pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr, "Failed to open in period!\n");
+ return(-1);
+ }
+
+ byte=snprintf(s_values_str,10,"%d",value);
+
+ if(-1==write(fd,s_values_str,byte)){
+ fprintf(stderr, "Failed to write value in period!\n");
+ close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
+
+static int PWMWriteDutyCycle(int pwmnum, int value){
+ char path[VALUE_MAX];
+ char s_values_str[VALUE_MAX];
+ int fd,byte;
+
+ snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/duty_cycle",pwmnum);
+ fd=open(path,O_WRONLY);
+ if(-1==fd){
+ fprintf(stderr,"Failed to oepn in duty_cycle!\n");
+ return(-1);
+ }
+
+ byte=snprintf(s_values_str, 10,"%d",value);
+
+ if(-1==write(fd,s_values_str,byte)){
+ fprintf(stderr, "Failed to write value! in duty_cycle\n");
+ close(fd);
+ return(-1);
+ }
+
+ close(fd);
+ return(0);
+}
\ No newline at end of file
diff --git a/master_main/lcd/vibration_motor.c b/master_main/lcd/vibration_motor.c
new file mode 100644
index 0000000..e22cd99
--- /dev/null
+++ b/master_main/lcd/vibration_motor.c
@@ -0,0 +1,318 @@
+#include <stdio.h>
+#include <pthread.h>
+#include <unistd.h>
+#include "gpio.h"
+#include <wiringPiI2C.h>
+#include <wiringPi.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+
+#define LOW 0
+#define HIGH 1
+
+int VIBRATION_MOTOR_PIN = 23;
+
+int BUTTON_PIN_IN = 20;
+int BUTTON_PIN_OUT = 21;
+
+
+// Define some device parameters
+#define I2C_ADDR 0x27 // I2C device address
+
+// Define some device constants
+#define LCD_CHR 1 // Mode - Sending data
+#define LCD_CMD 0 // Mode - Sending command
+
+#define LINE1 0x80 // 1st line
+#define LINE2 0xC0 // 2nd line
+
+#define LCD_BACKLIGHT 0x08 // On
+// LCD_BACKLIGHT = 0x00 # Off
+
+#define ENABLE 0b00000100 // Enable bit
+
+void lcd_init(void);
+void lcd_byte(int bits, int mode);
+void lcd_toggle_enable(int bits);
+
+// added by Lewis
+void typeInt(int i);
+void typeFloat(float myFloat);
+void lcdLoc(int line); //move cursor
+void ClrLcd(void); // clr LCD return home
+void typeln(const char *s);
+void typeChar(char val);
+
+void itoa(int n, char s[]);
+void reverse(char s[]);
+
+
+int fd; // seen by all subroutines
+
+int buzzerMode = true;
+int vibMode = false;
+int distance = 100;
+int heartbeat = 80;
+int event=1;
+
+void* lcd(){
+ if (wiringPiSetup () == -1) exit (1);
+ fd = wiringPiI2CSetup(I2C_ADDR);
+ lcd_init(); // setup LCD
+ while (1) {
+ // 처음 시작할 때 LCD 한 번 비우고 감
+
+ // 부저모드인지, 진동 모드인지
+ if(buzzerMode == 1){
+ lcdLoc(LINE1);
+ typeln("buzzer Mode");
+ }
+ else if(vibMode == 1){
+ lcdLoc(LINE1);
+ typeln("vibration mode");
+ }
+
+ // 거리가 나와야하고
+ lcdLoc(LINE2);
+ char dis[10];
+ itoa(distance,dis);
+ strcat(dis,"M ");
+
+ // 심박수가 나와야하고
+ char htb[100];
+ itoa(heartbeat,htb);
+ strcat(dis, htb);
+ strcat(dis,"bpm");
+ typeln(dis);
+
+ delay(2000);
+ // 이벤트가 발생하면 화면이 바뀌어야 함
+ // 특이사항 :
+ if(event == 1 ){
+ // 반려동물이 멀어지면 -> 이탈 경보
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("dog is gone");
+ lcdLoc(LINE2);
+ typeln("please");
+ delay(2000);
+ ClrLcd();
+ event=0;
+ }
+ else if(event==2){
+ // 사진 촬영하면 -> 촬영했어용
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("dog feel happy");
+ lcdLoc(LINE2);
+ typeln("taking picture");
+ delay(5000);
+ ClrLcd();
+ event=0;
+ }
+ else if(event==3){
+ // 심박수 측정해서 이상값이 있으면 -> 건강 이상해용
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("weird heartbeat");
+ lcdLoc(LINE2);
+ typeln("check the heart");
+ delay(2000);
+ ClrLcd();
+ }
+ }
+}
+
+// float to string
+void typeFloat(float myFloat) {
+ char buffer[20];
+ sprintf(buffer, "%4.2f", myFloat);
+ typeln(buffer);
+}
+
+// int to string
+void typeInt(int i) {
+ char array1[20];
+ sprintf(array1, "%d", i);
+ typeln(array1);
+}
+
+// clr lcd go home loc 0x80
+void ClrLcd(void) {
+ lcd_byte(0x01, LCD_CMD);
+ lcd_byte(0x02, LCD_CMD);
+}
+
+// go to location on LCD
+void lcdLoc(int line) {
+ lcd_byte(line, LCD_CMD);
+}
+
+// out char to LCD at current position
+void typeChar(char val) {
+
+ lcd_byte(val, LCD_CHR);
+}
+
+
+// this allows use of any size string
+void typeln(const char *s) {
+
+ while ( *s ) lcd_byte(*(s++), LCD_CHR);
+
+}
+
+void lcd_byte(int bits, int mode) {
+
+ //Send byte to data pins
+ // bits = the data
+ // mode = 1 for data, 0 for command
+ int bits_high;
+ int bits_low;
+ // uses the two half byte writes to LCD
+ bits_high = mode | (bits & 0xF0) | LCD_BACKLIGHT ;
+ bits_low = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT ;
+
+ // High bits
+ wiringPiI2CReadReg8(fd, bits_high);
+ lcd_toggle_enable(bits_high);
+
+ // Low bits
+ wiringPiI2CReadReg8(fd, bits_low);
+ lcd_toggle_enable(bits_low);
+}
+
+void lcd_toggle_enable(int bits) {
+ // Toggle enable pin on LCD display
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits | ENABLE));
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits & ~ENABLE));
+ delayMicroseconds(500);
+}
+
+
+void lcd_init() {
+ // Initialise display
+ lcd_byte(0x33, LCD_CMD); // Initialise
+ lcd_byte(0x32, LCD_CMD); // Initialise
+ lcd_byte(0x06, LCD_CMD); // Cursor move direction
+ lcd_byte(0x0C, LCD_CMD); // 0x0F On, Blink Off
+ lcd_byte(0x28, LCD_CMD); // Data length, number of lines, font size
+ lcd_byte(0x01, LCD_CMD); // Clear display
+ delayMicroseconds(500);
+}
+
+/* itoa: convert n to characters in s */
+ void itoa(int n, char* s)
+ {
+ int i, sign;
+
+ if ((sign = n) < 0) /* record sign */
+ n = -n; /* make n positive */
+ i = 0;
+ do { /* generate digits in reverse order */
+ s[i++] = n % 10 + '0'; /* get next digit */
+ } while ((n /= 10) > 0); /* delete it */
+ if (sign < 0)
+ s[i++] = '-';
+ s[i] = '\0';
+ reverse(s);
+ }
+
+ /* reverse: reverse string s in place */
+ void reverse(char* s)
+ {
+ int i, j;
+ char c;
+
+ for (i = 0, j = strlen(s)-1; i<j; i++, j--) {
+ c = s[i];
+ s[i] = s[j];
+ s[j] = c;
+ }
+ }
+
+// INPLEMENTATION
+// activate_seconds: 한번 진동이 작동할 때 동작하는 시간 (초 단위)
+// interval_seconds: 매 진동 사이의 간격 (초 단위)
+// times: 진동을 몇번 수행할지를 결정
+
+void* active_vibration_motor(void* activate_seconds){
+
+ GPIOExport(VIBRATION_MOTOR_PIN);
+ GPIODirection(VIBRATION_MOTOR_PIN, OUT);
+
+ GPIOWrite(VIBRATION_MOTOR_PIN, HIGH);
+ int a = *(int*)activate_seconds;
+ usleep(a * 1000 * 1000);
+ GPIOWrite(VIBRATION_MOTOR_PIN, LOW);
+
+ GPIOUnexport(VIBRATION_MOTOR_PIN);
+
+ return NULL;
+}
+
+void* read_button(){
+
+ GPIOExport(BUTTON_PIN_IN);
+ GPIOExport(BUTTON_PIN_OUT);
+
+ GPIODirection(BUTTON_PIN_IN, IN);
+ GPIODirection(BUTTON_PIN_OUT, OUT);
+
+
+ while(1){
+ GPIOWrite(BUTTON_PIN_OUT,1);
+ int data = GPIORead(BUTTON_PIN_IN);
+ printf("BUTTON GPIO Read : %d from pin %d\n", data, BUTTON_PIN_IN);
+ usleep(1000 * 1000);
+ }
+
+ GPIOUnexport(BUTTON_PIN_IN);
+ GPIOUnexport(BUTTON_PIN_OUT);
+ return NULL;
+
+}
+
+void* activate_buzzer(void* activate_seconds){
+ const int PNUM = 0;
+
+ PWMExport(PNUM); //pwm0 == gpio18
+ PWMWritePeriod(PNUM,20000000);
+ PWMWriteDutyCycle(PNUM,0);
+ PWMEnable(PNUM);
+
+ int a = *(int*)activate_seconds;
+ //a *= (1000*1000);
+ while(a--){
+ for(int i=0;i<1000;i++){
+ PWMWriteDutyCycle(PNUM,i*10000);
+ usleep(1000);
+ }
+ for(int i=1000;i>0;i--){
+ PWMWriteDutyCycle(PNUM,i*10000);
+ usleep(1000);
+ }
+ }
+
+ PWMUnable(PNUM);
+ return NULL;
+
+}
+
+int main(){
+ pthread_t thread_1, thread_2, thread_3, thread_4;
+ int a = 1;
+ pthread_create(&thread_1, NULL, active_vibration_motor, &a);
+ // pthread_create(&thread_2, NULL, read_button, NULL);
+ pthread_create(&thread_3, NULL, activate_buzzer, &a);
+ pthread_create(&thread_4, NULL, lcd, &a);
+
+ pthread_join(thread_1, NULL);
+ // pthread_join(thread_2, NULL);
+ pthread_join(thread_3, NULL);
+ pthread_join(thread_4, NULL);
+
+}
\ No newline at end of file
diff --git a/master_main/make b/master_main/make
new file mode 100644
index 0000000..b9c206e
--- /dev/null
+++ b/master_main/make
@@ -0,0 +1,13 @@
+all: vivration_motor
+
+vivration_motor: vivration_motor.o gpio.o
+ gcc -o vivration_motor vivration_motor.o gpio.o
+
+gpio.o: gpio.h
+ gcc -c -o gpio.o gpio.c
+
+vivration_motor.o: vivration_motor.c
+ gcc -c -o vivration_motor.o vivration_motor.c
+
+clean:
+ rm -f vivration_motor *.o
\ No newline at end of file
diff --git a/master_main/rf24libs/RF24 b/master_main/rf24libs/RF24
new file mode 160000
index 0000000..a028813
--- /dev/null
+++ b/master_main/rf24libs/RF24
@@ -0,0 +1 @@
+Subproject commit a028813b285d6cec3090d2c96984bd67a399c52e
diff --git a/master_main/rf24libs/RF24Gateway b/master_main/rf24libs/RF24Gateway
new file mode 160000
index 0000000..7bf8ec0
--- /dev/null
+++ b/master_main/rf24libs/RF24Gateway
@@ -0,0 +1 @@
+Subproject commit 7bf8ec0a253fd9ad1c6111f83c4d14b6d6d6f2dc
diff --git a/master_main/rf24libs/RF24Mesh b/master_main/rf24libs/RF24Mesh
new file mode 160000
index 0000000..38ee022
--- /dev/null
+++ b/master_main/rf24libs/RF24Mesh
@@ -0,0 +1 @@
+Subproject commit 38ee0225c336349fab513907f9798d308d2db497
diff --git a/master_main/rf24libs/RF24Network b/master_main/rf24libs/RF24Network
new file mode 160000
index 0000000..a334fa6
--- /dev/null
+++ b/master_main/rf24libs/RF24Network
@@ -0,0 +1 @@
+Subproject commit a334fa6ec420b2beedaf617018c11847cea80402
diff --git a/master_main/vib b/master_main/vib
new file mode 100644
index 0000000000000000000000000000000000000000..398a4b9c13b69131c76fb78b056ef008cb552be9
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HcmV?d00001
diff --git a/master_main/vibration_motor.c b/master_main/vibration_motor.c
new file mode 100644
index 0000000..96c92d4
--- /dev/null
+++ b/master_main/vibration_motor.c
@@ -0,0 +1,406 @@
+#include <sys/wait.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <pthread.h> // -lpthread
+#include <math.h> // -lm
+
+#include "gpio.h"
+#include "lcd.h" // -lwiringPi
+
+#define _MAX_THRESHOLD 120
+#define _MIN_THRESHOLD 50
+#define LOW 0
+#define HIGH 1
+
+#define BUF_SIZE 1024
+#define DIST_THRESHOLD 300
+
+
+int VIBRATION_MOTOR_PIN = 23;
+
+int BUTTON_PIN_IN = 20;
+int BUTTON_PIN_OUT = 21;
+
+static inline double rad(double x) {
+ return x * 3.14159265 / 180.0;
+}
+
+typedef struct {
+ double x;
+ double y;
+ double z;
+}tagPT;
+
+static void* lcd();
+static void* activate_buzzer(void* activate_seconds);
+static void* read_button();
+static void* active_vibration_motor(void* activate_seconds);
+static void* recv_from_server(void *sock_ptr);
+static void *recvpet(void *arg);
+
+void error_handling(char *message);
+static inline double GetDistance(tagPT pt1, tagPT pt2 );
+
+
+int buzzerMode = true;
+int vibMode = false;
+int heartbeat = 80;
+int event=0;
+
+int tookPhoto = false;
+double curDist = DIST_THRESHOLD;
+tagPT myPos = {127.123,68.56,123.56};
+tagPT dogPos = {127.123,68.56,123.56};
+
+struct sockaddr_in serv_addr;
+int sock;
+
+/**
+ * DESCRIPTION
+ * This code is attached to the Raspberry Pi #1
+ * this module establish connection with Raspberry Pi #2(Master's main device)
+ * it is connected with buzzer, button, Vibrator, and LCD module
+ *
+ * this device receives data from RP #2, which is
+ * 1) heartbeat rate, 2) tookPhoto, and 3) Distance between Master and Slave
+ * based on these datas, it handles the EVENT and display it through LCD Module
+ *
+ * Here's the Events
+ * a) Alarm if the "Distance" between Master and Pet is too far
+ * b) Notice Photo has taken by the Camera module (on RP #3) "tookPhoto"
+ * c) whether "heartbeat rate" is abnormal or not
+ *
+ * these infos are also driven by BUZZER OR VIBRATOR
+ *
+ * User can switch these two modes
+ * by pushing the BUTTON
+ *
+ * In conclusion,
+ * all the events are displayed and noticed by LCD, and (BUZZER or VIBRATOR)
+ */
+int main(int argc, char* argv[])
+{
+
+ pthread_t thread_1, thread_2, thread_3, thread_4, thread_pet;
+ pthread_t send_thread, recv_thread;
+ int a = 10;
+
+ char buf[BUF_SIZE];
+ int str_len;
+
+ //ARGUMENT 오류 핸들링
+ if (argc != 3) {
+ printf("Usage : <PATH> <IP> <port>\n");
+ exit(1);
+ }
+ //소켓 정보 설정
+ sock = socket(PF_INET, SOCK_STREAM, 0);
+ if(sock == -1) {
+ error_handling("socket() error");
+ }
+
+ //ARGUMENT 활용해서 서버 구성
+ memset(&serv_addr, 0, sizeof(serv_addr));
+ serv_addr.sin_family = AF_INET;
+ serv_addr.sin_addr.s_addr = inet_addr(argv[1]);
+ serv_addr.sin_port = htons(atoi(argv[2]));
+
+ // Master_GPS 서버 소켓과의 연결
+ if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) == -1) {
+ error_handling("connect() error");
+ } else {
+ puts("[SERVER CONNECTED]");
+ }
+
+ pthread_create(&thread_pet, NULL, recvpet, NULL);
+
+ pthread_create(&thread_1, NULL, active_vibration_motor, &a);
+ pthread_create(&thread_2, NULL, read_button, NULL);
+ pthread_create(&thread_3, NULL, activate_buzzer, &a);
+ pthread_create(&thread_4, NULL, lcd, &a);
+ pthread_create(&recv_thread, NULL, recv_from_server, &sock);
+
+
+ pthread_join(thread_1, NULL);
+ pthread_join(thread_2, NULL);
+ pthread_join(thread_3, NULL);
+ pthread_join(thread_4, NULL);
+ pthread_join(recv_thread, NULL);
+ pthread_join(thread_pet, NULL);
+
+}
+
+//서버로 부터 데이터 수신하는 THREAD용 함수
+static void *recv_from_server(void *sock_ptr)
+{
+ int sock = *(int *)sock_ptr;
+ char buffer[1024];
+ ssize_t n;
+
+ while ((n = read(sock, buffer, sizeof(buffer))) > 0) {
+ int data_cnt = atoi(buffer);
+ printf("read me : %s\n", buffer);
+
+ char* p_delims = "_";
+ char* p_tok = strtok(buffer, p_delims);
+ myPos.x = atof(p_tok);
+ p_tok = strtok(NULL, p_delims);
+ myPos.y = atof(p_tok);
+
+
+ // tookPhoto = atoi(p_tok);
+ // p_tok = strtok(NULL, p_delims);
+ // heartbeat = atoi(p_tok);
+
+ // p_tok = strtok(NULL, p_delims);
+ curDist = GetDistance(myPos, dogPos);
+
+ printf("Dist : %lf\n", curDist);
+ printf("TookPhoto : %d Heart : %d \n", tookPhoto, heartbeat);
+ }
+
+ close(sock); //소켓을 닫아주고
+ write(STDOUT_FILENO, "[*] session closed\n", 19); //세션이 닫혔다고 print해준다.
+ exit(0);
+}
+
+static void* lcd()
+{
+ if (wiringPiSetup () == -1) {
+ exit (1);
+ }
+ fd = wiringPiI2CSetup(I2C_ADDR);
+ lcd_init(); // setup LCD
+ while (1) {
+ // 처음 시작할 때 LCD 한 번 비우고 감
+ ClrLcd();
+ // 부저모드인지, 진동 모드인지
+ if(buzzerMode == 1) {
+ lcdLoc(LINE1);
+ typeln("buzzer Mode");
+ } else if(vibMode == 1) {
+ lcdLoc(LINE1);
+ typeln("vibration mode");
+ }
+
+ // 거리가 나와야하고
+ lcdLoc(LINE2);
+ char dis[100];
+
+ itoa((int)curDist,dis);
+ printf("lcd dist : %.2f, dis : %s\n",curDist, dis);
+ strcat(dis,"M ");
+
+ // 심박수가 나와야하고
+ char htb[100];
+
+ itoa(heartbeat,htb);
+ printf(" %d\n",heartbeat);
+ strcat(dis, htb);
+ strcat(dis,"bpm");
+ typeln(dis);
+
+ delay(1000);
+ // 이벤트가 발생하면 화면이 바뀌어야 함
+ // 특이사항 :
+ if( event == 1 || curDist > DIST_THRESHOLD){
+ // 반려동물이 멀어지면 -> 이탈 경보
+ event = 1;
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("dog is gone");
+ lcdLoc(LINE2);
+ typeln("please");
+ delay(2000);
+ ClrLcd();
+ event=0;
+ } else if( event == 2 || tookPhoto == true){
+ // 사진 촬영하면 -> 촬영했어용
+ event = 2;
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("dog feel happy");
+ lcdLoc(LINE2);
+ typeln("taking picture");
+ delay(2000);
+ ClrLcd();
+ event=0;
+ tookPhoto = false;
+ } else if( event == 3 || (heartbeat > _MAX_THRESHOLD || heartbeat < _MIN_THRESHOLD)) {
+ // 심박수 측정해서 이상값이 있으면 -> 건강 이상해용
+ event = 3;
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("weird heartbeat");
+ lcdLoc(LINE2);
+ typeln("check the heart");
+ delay(2000);
+ ClrLcd();
+ event = 0;
+ }
+ }
+}
+
+
+
+// INPLEMENTATION
+// activate_seconds: 한번 진동이 작동할 때 동작하는 시간 (초 단위)
+// interval_seconds: 매 진동 사이의 간격 (초 단위)
+// times: 진동을 몇번 수행할지를 결정
+
+static void* active_vibration_motor(void* activate_seconds)
+{
+
+ GPIOExport(VIBRATION_MOTOR_PIN);
+ GPIODirection(VIBRATION_MOTOR_PIN, OUT);
+
+ while (true) {
+ if (vibMode == true && event != 0) {
+ GPIOWrite(VIBRATION_MOTOR_PIN, HIGH);
+ }
+ int a = *(int*)activate_seconds;
+ a = 1;
+ usleep(a * 1000 * 1000);
+ GPIOWrite(VIBRATION_MOTOR_PIN, LOW);
+ }
+ GPIOUnexport(VIBRATION_MOTOR_PIN);
+
+ return NULL;
+}
+
+static void* read_button()
+{
+
+ GPIOExport(BUTTON_PIN_IN);
+ GPIOExport(BUTTON_PIN_OUT);
+
+ GPIODirection(BUTTON_PIN_IN, IN);
+ GPIODirection(BUTTON_PIN_OUT, OUT);
+
+ while(1){
+ GPIOWrite(BUTTON_PIN_OUT,1);
+ int data = GPIORead(BUTTON_PIN_IN);
+ if (data == 0) {
+ buzzerMode = (buzzerMode + 1) % 2;
+ vibMode = (vibMode + 1) % 2;
+ }
+ printf("BUTTON GPIO Read : %d from pin %d\n", data, BUTTON_PIN_IN);
+ usleep(1000 * 1000);
+ }
+
+ GPIOUnexport(BUTTON_PIN_IN);
+ GPIOUnexport(BUTTON_PIN_OUT);
+
+ return NULL;
+}
+
+static void* activate_buzzer(void* activate_seconds)
+{
+ const int PNUM = 0;
+
+ PWMExport(PNUM); //pwm0 == gpio18
+ PWMWritePeriod(PNUM,20000000);
+ PWMWriteDutyCycle(PNUM,0);
+ // PWMEnable(PNUM);
+
+ int a = *(int*)activate_seconds;
+ //a *= (1000*1000);
+ while(1){
+ if (buzzerMode == true && event != 0) {
+ PWMEnable(PNUM);
+ for(int i=0;i<1000;i++){
+ PWMWriteDutyCycle(PNUM,i*10000);
+ usleep(1000);
+ }
+ for(int i=1000;i>0;i--){
+ PWMWriteDutyCycle(PNUM,i*10000);
+ usleep(1000);
+ }
+ } else {
+ PWMUnable(PNUM);
+ }
+ }
+
+ PWMUnable(PNUM);
+ return NULL;
+
+}
+
+//에러 핸들링 용 함수
+void error_handling(char *message)
+{
+ fputs(message, stderr);
+ fputc('\n', stderr);
+ exit(1);
+}
+
+// 두 위치정보를 바탕으로 거리를 계산하는 함수
+static inline double GetDistance(tagPT pt1, tagPT pt2 )
+{
+ const int radius = 6371;
+
+ double dLat = rad( (pt2.y-pt1.y) );
+ double dLon = rad( (pt2.x-pt1.x) );
+
+ pt1.y = rad( pt1.y );
+ pt2.y = rad( pt2.y );
+
+ double a = sin(dLat/2) * sin(dLat/2) + sin(dLon/2) * sin(dLon/2) * cos(pt1.y) * cos(pt2.y);
+ double c = 2 * atan2f(sqrtf(a), sqrtf(1-a));
+ double dDistance = radius * c;
+
+ // dDistance*=1000;
+
+ return dDistance;
+}
+
+// pet 장치에서 RF통신으로 정보 받음
+static void *recvpet(void *arg)
+{
+ FILE* pipe;
+ char buffer[BUF_SIZE];
+
+ // 심박센서 신호 출력 프로그램 실행&파이프 연결
+ pipe = popen("sudo ./rf24libs/RF24/examples_linux/gettingstarted", "r");
+
+ if (pipe == NULL) {
+ perror("popen");
+ return NULL;
+ }
+
+ // 받아온 정보 변수에 저장
+ while (fgets(buffer, BUF_SIZE, pipe) != NULL) {
+ // if(buffer[0] == '\0') continue;
+ int data_cnt = atoi(buffer);
+
+ printf("read buffer : %s\n", buffer);
+
+ char* p_delims = "_";
+ char* p_tok = strtok(buffer, p_delims);
+ tookPhoto = atoi(p_tok);
+ p_tok = strtok(NULL, p_delims);
+ heartbeat = atoi(p_tok);
+
+ p_tok = strtok(NULL, p_delims);
+ dogPos.x = atof(p_tok);
+ p_tok = strtok(NULL, p_delims);
+ dogPos.y = atof(p_tok);
+
+
+ // tookPhoto = atoi(p_tok);
+ // p_tok = strtok(NULL, p_delims);
+ // heartbeat = atoi(p_tok);
+
+ // p_tok = strtok(NULL, p_delims);
+ curDist = GetDistance(myPos, dogPos);
+
+ printf("Dist : %lf\n", curDist);
+ printf("TookPhoto : %d Heart : %d \n", tookPhoto, heartbeat);
+ }
+
+ return NULL;
+}
+
+
diff --git a/pet_main/GPS/gps b/pet_main/GPS/gps
new file mode 100644
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diff --git a/pet_main/GPS/gps.c b/pet_main/GPS/gps.c
new file mode 100644
index 0000000..e3020a2
--- /dev/null
+++ b/pet_main/GPS/gps.c
@@ -0,0 +1,70 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+
+#define GPS_MSG_SIZE 128
+
+int main() {
+ int serial_port;
+ char *port = "/dev/ttyAMA0";
+ struct termios options;
+
+ serial_port = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
+ if (serial_port == -1) {
+ printf("Failed to open the serial port.\n");
+ return -1;
+ }
+
+ tcgetattr(serial_port, &options);
+ cfsetispeed(&options, B9600);
+ cfsetospeed(&options, B9600);
+ options.c_cflag |= (CLOCAL | CREAD);
+ options.c_cflag &= ~PARENB;
+ options.c_cflag &= ~CSTOPB;
+ options.c_cflag &= ~CSIZE;
+ options.c_cflag |= CS8;
+ options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+ options.c_iflag &= ~(IXON | IXOFF | IXANY);
+ options.c_oflag &= ~OPOST;
+ options.c_cc[VMIN] = 0;
+ options.c_cc[VTIME] = 5;
+ tcsetattr(serial_port, TCSANOW, &options);
+
+ char gps_msg[GPS_MSG_SIZE];
+ memset(gps_msg, 0, sizeof(gps_msg));
+
+ while (1) {
+ ssize_t newdata = read(serial_port, gps_msg, sizeof(gps_msg));
+ if (newdata > 0) {
+ // Process the GPS data
+ if (strncmp(gps_msg, "$GPRMC", 6) == 0) {
+ // printf("%s\n",gps_msg);
+ char *token;
+ char *latitude;
+ char *longitude;
+ token = strtok(gps_msg, ",");
+ int token_count = 0;
+ while (token != NULL) {
+ if (token_count == 2) {
+ latitude = token;
+ } else if (token_count == 4) {
+ longitude = token;
+ }
+ token = strtok(NULL, ",");
+ token_count++;
+ }
+ printf("Latitude: %s\n", latitude);
+ printf("Longitude: %s\n", longitude);
+ }
+ }
+ memset(gps_msg, 0, sizeof(gps_msg));
+ usleep(500000);
+ }
+
+ close(serial_port);
+
+ return 0;
+}
\ No newline at end of file
diff --git a/pet_main/GPS/gps.py b/pet_main/GPS/gps.py
new file mode 100644
index 0000000..e051d0b
--- /dev/null
+++ b/pet_main/GPS/gps.py
@@ -0,0 +1,19 @@
+import serial
+import time
+import string
+import pynmea2
+
+while True:
+ port="/dev/ttyAMA0"
+ ser=serial.Serial(port, baudrate=9600, timeout=0.5)
+ dataout = pynmea2.NMEAStreamReader()
+ newdata=ser.readline()
+ #print(newdata)
+
+ if newdata[0:6] == b"$GPRMC":
+ newmsg=pynmea2.parse(newdata.decode('ascii'))
+ lat=newmsg.latitude
+ lng=newmsg.longitude
+ gps = str(round(lat, 12)) + " " + str(round(lng, 12))
+ print(gps)
+
\ No newline at end of file
diff --git a/pet_main/Raspberry-Pi-Heartbeat-Pulse-Sensor b/pet_main/Raspberry-Pi-Heartbeat-Pulse-Sensor
new file mode 160000
index 0000000..8edae9f
--- /dev/null
+++ b/pet_main/Raspberry-Pi-Heartbeat-Pulse-Sensor
@@ -0,0 +1 @@
+Subproject commit 8edae9fd2fbb283beb997e6d39b2e914c8ea7a84
diff --git a/pet_main/main b/pet_main/main
new file mode 100644
index 0000000000000000000000000000000000000000..421663369e770a4f0763ae77a71ea309db0a3395
GIT binary patch
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diff --git a/pet_main/pet_main.c b/pet_main/pet_main.c
new file mode 100644
index 0000000..932ab4e
--- /dev/null
+++ b/pet_main/pet_main.c
@@ -0,0 +1,278 @@
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <pthread.h> // -lpthread
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <string.h>
+#include <time.h>
+
+#define MAX_BUFFER 1024
+
+char* shot = "0";
+char* heartbeat = "0";
+char* longitude = "0";
+char* latitude = "0";
+
+void error_handling(char *msg);
+static void* gps(void *arg);
+static void* heart(void *arg);
+static void* timer(void *arg);
+static void* camera(void *arg);
+static void* send_master(void *arg);
+
+/**
+ * DESCRIPTION
+ * This code is attached to the Raspberry Pi #4
+ * this module would establish connection with Raspberry Pi #2(Master), Raspberry Pi #3(Slave - attached with Camera sensor)
+ * it is connected with hearbeat sensor, GPS sensor.. etc)
+ * so the datas are the heartbeat rate, GPS data
+ * and it decides whether the Camera sensor take a photo or not
+ *
+ * If RF communication is enabled, it sends data to RP #3 so that RP #3 can send'em to RP #2
+ * if not, it sends data to RP #2 via socket connection
+ */
+int main()
+{
+ pthread_t p_thread_heart, p_thread_gps, p_thread_heartb, p_thread_send;
+ struct sockaddr_in serv_addr, clnt_addr, master_addr;
+
+ socklen_t clnt_addr_size;
+ size_t len;
+ int serv_sock, clnt_sock, mastersock;
+
+ const char master_ip[] = "192.168.219.104";
+ char buf[100];
+
+ clnt_sock = mastersock = -1;
+
+ //RF가 아닌 소켓으로 통신할 때 코드
+ // // 주인측 소켓 생성
+ // mastersock = socket(PF_INET, SOCK_STREAM, 0);
+ // if (mastersock == -1) {
+ // error_handling("socket() error");
+ // }
+
+ // // //주인측 주소&포트 설정
+ // memset(&master_addr, 0, sizeof(master_addr));
+ // master_addr.sin_family = AF_INET;
+ // master_addr.sin_addr.s_addr = inet_addr(master_ip);
+ // master_addr.sin_port = htons(atoi("8887"));
+
+ // // 주인측 소켓연결
+ // if (connect(mastersock, (struct sockaddr *)&master_addr, sizeof(master_addr)) == -1) {
+ // error_handling("connect() error");
+ // }
+
+ // printf("master connect\n"); // 실행확인용
+
+ // 메인 소켓 생성
+ serv_sock = socket(PF_INET, SOCK_STREAM, 0);
+
+ // 메인 소켓 생성됐는지 확인
+ if (serv_sock == -1) {
+ error_handling("socket() error");
+ }
+
+ // 카메라 주소&포트 설정
+ memset(&serv_addr, 0, sizeof(serv_addr));
+ serv_addr.sin_family = AF_INET;
+ serv_addr.sin_addr.s_addr = htonl(INADDR_ANY);
+ serv_addr.sin_port = htons(atoi("8886"));
+
+ // 포트 열기
+ if (bind(serv_sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) == -1) {
+ error_handling("bind() error");
+ }
+
+ // client 연결 대기
+ if (listen(serv_sock, 5) == -1) {
+ error_handling("listen() error");
+ }
+
+ // 카메라 연결
+ clnt_addr_size = sizeof(clnt_addr);
+ clnt_sock = accept(serv_sock, (struct sockaddr *)&clnt_addr, &clnt_addr_size);
+ if (clnt_sock == -1) {
+ error_handling("accept() error");
+ }
+ printf("connect\n"); // 실행확인용
+
+ // 스레드들 실행
+ pthread_create(&p_thread_heartb, NULL, heart, NULL);
+ pthread_create(&p_thread_heart, NULL, camera, (void *)&clnt_sock);
+ pthread_create(&p_thread_gps, NULL, gps, NULL);
+ // pthread_create(&p_thread_send, NULL, send_master, (void *)&mastersock); // 소켓통신용
+ pthread_create(&p_thread_send, NULL, send_master, (void *)&clnt_sock); // RF통신용
+ pthread_join(p_thread_heart, NULL);
+ // pthread_join(p_thread_heart, NULL);
+
+ // client 연결 해제
+ close(clnt_sock);
+
+ printf("end\n"); // 실행확인용
+
+ close(serv_sock);
+
+ return 0;
+}
+
+// 오류 메시지 출력함수
+void error_handling(char *message)
+{
+ fputs(message, stderr);
+ fputc('\n', stderr);
+ exit(1);
+}
+
+static void* send_master(void *arg)
+{
+ int mastersock = *(int*)arg;
+ char msg[100];
+
+ // 1초마다 주인측 장치에 정보 보냄
+ while (true) {
+ // 촬영여부
+ strcpy(msg, shot);
+ shot = "0";
+ msg[strcspn(msg, "\n")] = 0;
+ strcat(msg, "_");
+ // 심박수
+ strcat(msg, heartbeat);
+ msg[strcspn(msg, "\n")] = 0;
+ strcat(msg, "_");
+ // 경도
+ strcat(msg, longitude);
+ msg[strcspn(msg, "\n")] = 0;
+ strcat(msg, "_");
+ // 위도
+ strcat(msg, latitude);
+ msg[strcspn(msg, "\n")] = 0;
+ // 전송
+ write(mastersock, msg, strlen(msg));
+ sleep(1);
+ }
+ return NULL;
+}
+
+static void* heart(void *arg)
+{
+ FILE* pipe;
+ char buffer[MAX_BUFFER];
+
+ // 심박센서 신호 출력 프로그램 실행&파이프 연결
+ pipe = popen("python3 -u Raspberry-Pi-Heartbeat-Pulse-Sensor/example.py", "r");
+
+ if (pipe == NULL) {
+ perror("popen");
+ return NULL;
+ }
+
+ // 받아온 정보 변수에 저장
+ while (fgets(buffer, MAX_BUFFER, pipe) != NULL) {
+ heartbeat = buffer;
+ }
+
+ return NULL;
+}
+
+static void *timer(void *arg)
+{
+ char *p_t = (char *)arg;
+ // 60초 타이머
+ sleep(60);
+ p_t[0] = '1';
+ return NULL;
+}
+
+static void* camera(void *arg)
+{
+ FILE* pipe;
+ pthread_t p_thread_timer;
+ int number, threshold = 100;
+ int sock = *(int*)arg;
+ char buffer[MAX_BUFFER];
+ char msg[] = "1";
+
+ char *timers = malloc(sizeof(char *));
+ timers[0] = '0';
+
+ // 1분 타이머 실행
+ pthread_create(&p_thread_timer, NULL, timer, (void *)timers);
+
+ while (1) {
+ sleep(1); // 1초마다 사진촬영을 결정
+ printf("heartbeat : %s", heartbeat); // 실행 확인용
+
+ number = atoi(heartbeat); // 정수로
+
+ // 사진이 찍히지 않고 1분이 지난 경우
+ if (timers[0] == '1') {
+ printf("threshold = : %d\n", threshold); // 실행확인용
+ threshold = threshold * 0.8; // threshold 0.8배
+ timers[0] = '0'; // 타이머초기화
+ pthread_create(&p_thread_timer, NULL, timer, (void *)timers); // 타이머 다시시작
+ }
+
+ // 심박이 threshold를 넘긴 경우
+ if (number > threshold) {
+ //write(sock, msg, strlen(msg)); // 카메라에 촬영명령, RF통신의 경우 사용 안함
+ printf("shot&stop\n"); // 실행확인용
+ shot = "1"; // 주인측 장치에 보낼 정보
+ pthread_cancel(p_thread_timer); // 타이머 정지
+ sleep(20); // 촬영 후 20초 재촬영 안함
+ threshold = threshold * 1.2; // threshold 1.2배
+ printf("threshold = : %d\n", threshold); // 실행확인용
+ printf("restart\n"); // 실행확인용
+ pthread_create(&p_thread_timer, NULL, timer, (void *)timers); // 타이머 재실행
+ }
+ }
+
+ return NULL;
+}
+
+
+
+static void* gps(void *arg)
+{
+ FILE* pipe;
+ char buffer[MAX_BUFFER];
+ char msg[] = "1";
+
+ // 실내에서 진행하기위한 임의의 좌표 변경 코드
+ // while(1){
+ // char *gps_data3[] = {"128.110","128.110","128.110","128.110","150.110","128.110","127.521","127.521","127.521","127.521","127.521","127.521","127.632","127.632","127.632","127.632","127.632","127.632","127.743","127.743","127.743","127.743","127.743","127.743","127.824","127.824","127.824","127.824","127.824","127.824","127.824"};
+ // gps_data1 = gps_data3[inde++];
+ // if(inde==20)inde=0;
+ // sleep(1);
+ // }
+
+ // gps 정보를 읽어 경도와 위도를 출력하는 프로그램 실행&파이프 연결
+ pipe = popen("python3 -u GPS/gps.py", "r");
+ if (pipe == NULL) {
+ perror("popen");
+ return NULL;
+ }
+
+ // 파이프에서 받은 경도와 위도를 변수에 저장
+ while (fgets(buffer, MAX_BUFFER, pipe) != NULL) {
+ latitude = strtok(buffer, " ");
+ longitude = strtok(NULL, " ");
+
+ // 실행확인용
+ printf("latitude : %s\n", latitude);
+ printf("longitude : %s\n", longitude);
+ }
+
+ // 파이프 닫음
+ if (pclose(pipe) == -1) {
+ perror("pclose");
+ return NULL;
+ }
+
+ return NULL;
+}
\ No newline at end of file
--
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