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add OTA
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Signed-off-by: 0x6f736f646f <b1ackd0t@protonmail.com>
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0x6f736f646f committed Dec 12, 2022
1 parent 7150465 commit 1f01d0f
Showing 1 changed file with 140 additions and 127 deletions.
267 changes: 140 additions & 127 deletions mobileplatform/wificlient/src/main.cpp
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#include "Arduino.h"
#include <ESP8266WiFi.h>
#include <Ticker.h>
#include <AsyncMqttClient.h>
#include <SoftwareSerial.h>
#include <SerialTransfer.h>
#include <WiFi.h>
#include <ESPmDNS.h>
#include <WiFiUdp.h>
#include <ArduinoOTA.h>
#include <PubSubClient.h>
#include <ArduinoJson.h>
#include <string.h>

#define WLAN_SSID "wifi_name"
#define WLAN_PASSWORD "wifi_password"
#define MQTT_TOPIC "mqtt_topic"
#define MQTT_HOST "mqtt_host"
#define MQTT_PORT 1883
#define RX_PIN 1
#define TX_PIN 2
#define UART_BAUDRATE 9600
#define SERIAL_BAUDRATE 115200

#define DEBUG 1
#if DEBUG == 1
#define debug(x) Serial.print(x)
#define debugln(x) Serial.println(x)
#define debugf(x, y) Serial.printf(x, y)
#else
#define debug(x)
#define debugln(x)
#define debugf(x, y)
#endif

struct Data
{
float pitch; // The pitch for speed control of the robot. Speed is either max forward or zero or max revers. float -1 to +1.
uint16_t yaw; // Yaw used to control the direction of the robot. Rotation about perpendicular axis to the floor. Int 0 to 360.
char *metadata; // The metadata of the message. It can be used to add any payload to the message for example the publisher.
};
#include <SoftwareSerial.h>

WiFiEventHandler _wifi_connect_handler;
WiFiEventHandler _wifi_disconnect_handler;
AsyncMqttClient _mqtt_client;
Ticker _mqtt_reconnect_timer;
Ticker _wifi_reconnect_timer;
SerialTransfer _serial_transfer;
SoftwareSerial _esp_serial(RX_PIN, TX_PIN);
uint16_t _send_size = 0;
const char *ssid = "0x6f736f646f-rodney-osodo";
const char *password = "Omicron1234";
const char *mqttServer = "10.42.0.1";
const int mqttPort = 1883;
const char *mqttUser = "cfc7a6c8-941e-4d72-be17-dbcc24b17fa3";
const char *mqttPassword = "7686eb82-d6b5-4513-b559-d867c8ed85e3";
const char *mqttTopic = "channels/fadfba2a-297c-49ef-87f3-c3b4745ce2ec/messages";

void _connect_to_WiFi()
{
debugln("Connecting to Wi-Fi...");
WiFi.begin(WLAN_SSID, WLAN_PASSWORD);
}
WiFiClient wifiClient;
PubSubClient client(wifiClient);
SoftwareSerial mainmcuserial(18, 21);

void _connect_to_MQTT()
{
debugln("Connecting to MQTT...");
_mqtt_client.connect();
}

void _on_WiFi_connect(const WiFiEventStationModeGotIP &event)
void setup()
{
debugln("Connected to Wi-Fi.");
_connect_to_MQTT();
Serial.begin(115200);
mainmcuserial.begin(115200);
// while (!Serial) {
// ; // wait for serial port to connect. Needed for native USB port only
// }
Serial.println("Booting");
connectToWiFi();
setupOTA();
client.setServer(mqttServer, mqttPort);
client.setCallback(callback);
}

void _on_WiFi_disconnect(const WiFiEventStationModeDisconnected &event)
void loop()
{
debugln("Disconnected from Wi-Fi.");
_mqtt_reconnect_timer.detach(); // ensure we don't reconnect to MQTT while reconnecting to Wi-Fi
_wifi_reconnect_timer.once(2, _connect_to_WiFi);
ArduinoOTA.handle();
if (!client.connected())
{
connectToMQTT();
}
client.loop();
}

void _on_MQTT_connect(bool sessionPresent)
void connectToWiFi()
{
debugln("Connected to MQTT.");
debug("Session present: ");
debugln(sessionPresent);
uint16_t packetIdSub = _mqtt_client.subscribe(MQTT_TOPIC, 2);
debug("Subscribing at QoS 2, packetId: ");
debugln(packetIdSub);
}
int n = WiFi.scanNetworks();
Serial.println("scan done");
if (n == 0)
{
Serial.println("no networks found");
}
else
{
Serial.print(n);
Serial.println(" networks found");
for (int i = 0; i < n; ++i)
{
Serial.print(i + 1);
Serial.print(": ");
Serial.print(WiFi.SSID(i));
Serial.print(" (");
Serial.print(WiFi.RSSI(i));
Serial.print(")");
Serial.println((WiFi.encryptionType(i) == WIFI_AUTH_OPEN) ? " " : "*");
delay(10);
}
}
Serial.println("");

void onMqttDisconnect(AsyncMqttClientDisconnectReason reason)
{
debugf("Disconnected from MQTT: %u.\n", static_cast<uint8_t>(reason));
delay(2000);

if (WiFi.isConnected())
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
Serial.println("Connecting to WiFi ..");
while (WiFi.status() != WL_CONNECTED)
{
_mqtt_reconnect_timer.once(2, _connect_to_MQTT);
Serial.println("Connection Failed! Rebooting...");
delay(2000);
}
}

void onMqttSubscribe(uint16_t packetId, uint8_t qos)
{
debugln("Subscribe acknowledged.");
debug(" packetId: ");
debugln(packetId);
}

void onMqttUnsubscribe(uint16_t packetId)
{
debugln("Unsubscribe acknowledged.");
debug(" packetId: ");
debugln(packetId);
Serial.println();
Serial.print("Connected to WiFi. IP address: ");
Serial.println(WiFi.localIP());
}

void SendData(char *string_data)
void connectToMQTT()
{
Data data;
StaticJsonDocument<256> doc;
DeserializationError error = deserializeJson(doc, string_data);
if (error)
{
return;
}
data.pitch = doc["pitch"];
data.yaw = doc["yaw"];
String pitch = String(data.pitch, 1);
String yaw = String(data.yaw);
String senddata = pitch + yaw;
if (_esp_serial.available() > 0)
Serial.println("Connecting to MQTT...");
while (!client.connected())
{
_serial_transfer.txObj(senddata, _send_size);
_serial_transfer.sendData(_send_size);
if (client.connect("omicron-wificlient", mqttUser, mqttPassword))
{
Serial.println("Connected to MQTT.");
client.subscribe(mqttTopic);
}
else
{
Serial.print("Failed to connect to MQTT. Error code: ");
Serial.println(client.state());
delay(2000);
}
}
}

void onMqttMessage(char *topic, char *payload, AsyncMqttClientMessageProperties properties, size_t len, size_t index, size_t total)
void setupOTA()
{
debugln("Publish received.");
debug(" topic: ");
debugln(topic);
SendData(payload);
ArduinoOTA.setPort(3232);
ArduinoOTA.setHostname("omicron-wificlient");
ArduinoOTA
.onStart([]()
{
String type;
if (ArduinoOTA.getCommand() == U_FLASH)
type = "sketch";
else // U_SPIFFS
type = "filesystem";

// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
Serial.println("Start updating " + type); })
.onEnd([]()
{ Serial.println("\nEnd"); })
.onProgress([](unsigned int progress, unsigned int total)
{ Serial.printf("Progress: %u%%\r", (progress / (total / 100))); })
.onError([](ota_error_t error)
{
Serial.printf("Error[%u]: ", error);
if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed");
else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed");
else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed");
else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed");
else if (error == OTA_END_ERROR) Serial.println("End Failed"); });

ArduinoOTA.begin();
Serial.println("Ready");
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
}

void setup()
void callback(char *topic, byte *payload, unsigned int length)
{
pinMode(RX_PIN, INPUT);
pinMode(TX_PIN, OUTPUT);
_esp_serial.begin(UART_BAUDRATE);
_serial_transfer.begin(_esp_serial);

Serial.begin(SERIAL_BAUDRATE);

_wifi_connect_handler = WiFi.onStationModeGotIP(_on_WiFi_connect);
_wifi_disconnect_handler = WiFi.onStationModeDisconnected(_on_WiFi_disconnect);

_mqtt_client.onConnect(_on_MQTT_connect);
_mqtt_client.onDisconnect(onMqttDisconnect);
_mqtt_client.onSubscribe(onMqttSubscribe);
_mqtt_client.onUnsubscribe(onMqttUnsubscribe);
_mqtt_client.onMessage(onMqttMessage);
_mqtt_client.setServer(MQTT_HOST, MQTT_PORT);
_connect_to_WiFi();
String spayload = (char *)payload;
const size_t capacity = JSON_ARRAY_SIZE(2) + JSON_OBJECT_SIZE(3) + JSON_OBJECT_SIZE(4) + 90;
DynamicJsonBuffer jsonBuffer(capacity);
JsonArray &root = jsonBuffer.parseArray(spayload);
JsonObject &root_0 = root[0];
JsonObject &root_1 = root[1];
float pitch = root_0["v"];
int yaw = root_1["v"];
// mainmcuserial.print("pitch:");
mainmcuserial.print(pitch, 2);
mainmcuserial.print(":");
mainmcuserial.println(format_yaw(yaw));
Serial.print("pitch:");
Serial.print(pitch, 2);
Serial.print("yaw:");
Serial.println(format_yaw(yaw));
}

void loop()
String format_yaw(int yaw)
{
String zeros = "";
if (yaw < 100)
zeros += "0";
if (yaw < 10)
zeros += "0";
zeros += yaw;
return zeros;
}

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