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Commit 59f310b

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Yuzz1eYuzz1e
committed
🎉 separate files to avoid confusing
1 parent 94d5a71 commit 59f310b

7 files changed

Lines changed: 845 additions & 799 deletions

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‎api.go‎

Lines changed: 140 additions & 0 deletions
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package main
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import (
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"fmt"
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"log"
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"net"
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"strconv"
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"strings"
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"time"
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)
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func RunApi(chapi chan bool, MyID uint32) {
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//ポートを開く
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listener, err := net.Listen("tcp", PORT)
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if err != nil {
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log.Fatal(err)
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}
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defer listener.Close()
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//接続を待つ
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for {
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conn, err := listener.Accept()
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if err != nil {
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log.Fatal(err)
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}
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// log
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log.Println("Remote API Connected by ", conn.RemoteAddr())
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//接続があったら処理を行う
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go HandleRequest(conn)
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}
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}
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// 接続があったときの処理
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func HandleRequest(conn net.Conn) {
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defer conn.Close()
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//リクエストを解析
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buf := make([]byte, 1024)
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_, err := conn.Read(buf)
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if err != nil {
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log.Println(err)
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return
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}
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// リクエストを解析
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// リクエストヘッダーの1行目を取得
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request := string(buf)
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// リクエストヘッダーの1行目をスペースで区切る
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requests := strings.Split(request, " ")
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// リクエストヘッダーの1行目からリクエストの種類を取得
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requestType := requests[0]
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// リクエストの種類がGETでなければエラーを返す
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if requestType != "GET" {
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fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "400 Bad Request\r\n")
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return
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}
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// リクエストのパスが"/buzzer"の場合
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if strings.Split(requests[1], "/")[1] == "buzzer" {
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// tone が指定されていない場合
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if len(requests) < 3 {
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fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "400 Bad Request\r\n")
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return
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}
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// buzzer/ の後に tone が指定されている場合
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log.Println(strings.Split(requests[1], "/")[1])
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tone, err := strconv.Atoi(strings.Split(requests[1], "/")[3])
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if err != nil {
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fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "400 Bad Request\r\n")
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return
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}
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duration, err := strconv.Atoi(strings.Split(requests[1], "/")[4])
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if err != nil {
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fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "400 Bad Request\r\n")
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return
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}
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// tone が 0 から 12 でない場合
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if tone < 0 || tone > 15 {
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fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "400 Bad Request\r\n")
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return
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}
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// duration が 50 から 3000 でない場合
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if duration < 50 || duration > 3000 {
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fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "400 Bad Request\r\n")
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return
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}
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// OK と表示
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fmt.Fprintf(conn, "HTTP/1.1 200 OK\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "BUZZER OK\r\n")
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//ブザーを1秒鳴らす
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doBuzzer = true
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buzzerTone = tone
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buzzerTime = time.Duration(duration) * time.Millisecond
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return
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}
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if strings.Split(requests[1], "/")[1] == "ignorebatterylow" {
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// OK と表示
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fmt.Fprintf(conn, "HTTP/1.1 200 OK\r\n")
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fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
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fmt.Fprintf(conn, "IGNORE BATTERY LOW OK\r\n")
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//アラーム無視をセットする
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alarmIgnore = true
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return
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}
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// 200 OKを返す
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fmt.Fprintf(conn, "HTTP/1.1 200 OK\r\n")
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// UTF-8指定
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fmt.Fprintf(conn, "Content-Type: application/json; charset=utf-8\r\n\r\n")
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// JSON形式で返す
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response := fmt.Sprintf(`{
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"VOLT": %f,
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"PHOTOSENSOR": %d,
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"ISHOLDBALL": %t,
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"IMUDIR": %d,
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"ERROR": %t,
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"ERRORCODE": %d,
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"ERRORMESSAGE": "%s"
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}`, float32(recvdata.Volt)/10.0, recvdata.PhotoSensor, recvdata.IsHoldBall, recvdata.ImuDir, isRobotError, RobotErrorCode, RobotErrorMessage)
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fmt.Fprint(conn, response)
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}

‎gpio.go‎

Lines changed: 148 additions & 0 deletions
Original file line numberDiff line numberDiff line change
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package main
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import (
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"fmt"
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"log"
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"math"
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"time"
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"github.com/stianeikeland/go-rpio/v4"
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)
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// GPIO処理部分
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func RunGPIO(chgpio chan bool) {
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//ラズパイのGPIOのメモリを確保
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err := rpio.Open()
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CheckError(err)
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//GPIO18をLED1に設定。出力
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led := rpio.Pin(18)
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led.Output()
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//GPIO27をLED2に設定。出力
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led2 := rpio.Pin(27)
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led.Output()
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//GPIO22をbutton1に設定。入力(S2)
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button1 := rpio.Pin(22)
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button1.Input()
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button1.PullUp()
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//GPIO 24をbutton2に設定。入力(S3)
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button2 := rpio.Pin(24)
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button2.Input()
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button2.PullUp()
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//GPIO12をブザーPWMに設定。出力
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buzzer := rpio.Pin(12)
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buzzer.Mode(rpio.Pwm)
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buzzer.Freq(64000)
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buzzer.DutyCycle(0, 32)
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// ここで音楽を鳴らす
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buzzer.Freq(1244 * 64)
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buzzer.DutyCycle(16, 32)
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time.Sleep(time.Millisecond * 100)
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buzzer.Freq(1108 * 64)
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time.Sleep(time.Millisecond * 100)
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buzzer.Freq(739 * 64)
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time.Sleep(time.Millisecond * 150)
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buzzer.DutyCycle(0, 32)
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time.Sleep(time.Millisecond * 100)
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buzzer.Freq(1479 * 64)
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buzzer.DutyCycle(16, 32)
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time.Sleep(time.Millisecond * 100)
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buzzer.DutyCycle(0, 32)
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time.Sleep(time.Millisecond * 100)
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buzzer.DutyCycle(16, 32)
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time.Sleep(time.Millisecond * 100)
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buzzer.DutyCycle(0, 32)
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//GPIO 6, 25, 4, 5 を DIP 1, 2, 3, 4 に設定。入力
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dip1 := rpio.Pin(6)
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dip1.Input()
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dip1.PullUp()
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dip2 := rpio.Pin(25)
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dip2.Input()
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dip2.PullUp()
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dip3 := rpio.Pin(4)
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dip3.Input()
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dip3.PullUp()
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dip4 := rpio.Pin(5)
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dip4.Input()
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dip4.PullUp()
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// DIP1, 2, 3 ,4 の状態を出力
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fmt.Println("DIP1:", dip1.Read()^1)
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fmt.Println("DIP2:", dip2.Read()^1)
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fmt.Println("DIP3:", dip3.Read()^1)
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fmt.Println("DIP4:", dip4.Read()^1)
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//DIP 1, 2, 3, 4からhexを作成
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hex := dip1.Read() ^ 1 + (dip2.Read()^1)*2 + (dip3.Read()^1)*4 + (dip4.Read()^1)*8
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//hexを表示
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fmt.Println("HEX:", int(hex))
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//Lチカ速度
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ledsec := 500 * time.Millisecond
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alarmVoltage := BATTERY_LOW_THRESHOULD
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for {
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//電圧降下検知
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if recvdata.Volt <= uint8(alarmVoltage) {
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for {
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buzzer.Freq(1200 * 64)
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buzzer.DutyCycle(16, 32)
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//高速チカチカ
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led2.High()
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time.Sleep(100 * time.Millisecond)
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buzzer.Freq(760 * 64)
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led2.Low()
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time.Sleep(150 * time.Millisecond)
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if button1.Read()^1 == rpio.High || alarmIgnore {
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//一時的にアラーム解除する
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log.Println("BATTERY ALARM IGNORED")
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alarmVoltage = BATTERY_CRITICAL_THRESHOULD
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break
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}
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}
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} else {
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//通常チカチカ。ボタンが押されたら高速チカチカ
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//ボタンが押されたら、imuをリセットする
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buzzer.Freq(1479 * 64)
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time.Sleep(ledsec)
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led.Write(rpio.High)
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if button1.Read()^1 == rpio.High {
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imuReset = true
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ledsec = 100 * time.Millisecond
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buzzer.DutyCycle(16, 32)
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} else {
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imuReset = false
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ledsec = 500 * time.Millisecond
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}
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if button2.Read()^1 == rpio.High {
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//kickする
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buzzer.DutyCycle(16, 32)
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time.Sleep(500 * time.Millisecond)
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buzzer.DutyCycle(0, 32)
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kicker_enable = true
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kicker_val = 100
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}
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time.Sleep(ledsec)
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led.Write(rpio.Low)
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buzzer.DutyCycle(0, 32)
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if doBuzzer {
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buzzer.Freq(int(440*math.Pow(1.0595, float64(buzzerTone))) * 64)
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buzzer.DutyCycle(16, 32)
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time.Sleep(buzzerTime)
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buzzer.DutyCycle(0, 32)
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doBuzzer = false
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}
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}
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}
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}

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