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Yuzz1eYuzz1e
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Merge pull request #12 from Rione/send-image
Send image
2 parents a80c1a7 + 203782f commit 68c1e96

6 files changed

Lines changed: 338 additions & 157 deletions

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‎api.go‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -215,11 +215,11 @@ func HandleRequest(conn net.Conn) {
215215
// JSON形式で返す
216216

217217
// 左から1ビットだけを取り出す
218-
detectPhotoSensor := 0b10000000&recvdata.SensorInformation != 0
218+
detectPhotoSensor := 0b00000001&recvdata.SensorInformation != 0
219219
// 左から2ビット目だけを取り出す
220-
detectDribblerSensor := 0b01000000&recvdata.SensorInformation != 0
220+
detectDribblerSensor := 0b00000010&recvdata.SensorInformation != 0
221221
// 左から3ビット目だけを取り出す
222-
isNewDribbler := 0b00100000&recvdata.SensorInformation != 0
222+
isNewDribbler := 0b00000100&recvdata.SensorInformation != 0
223223

224224
response := fmt.Sprintf(`{
225225
"VOLT": %f,

‎main.go‎

Lines changed: 109 additions & 48 deletions
Original file line numberDiff line numberDiff line change
@@ -46,6 +46,115 @@ func kickCheck(chkicker chan bool) {
4646

4747
func main() {
4848

49+
err := rpio.Open()
50+
if err != nil {
51+
log.Fatal("Error: ", err)
52+
}
53+
54+
//button が押されているか確認
55+
button1 := rpio.Pin(22)
56+
button1.Input()
57+
button1.PullUp()
58+
59+
if button1.Read()^1 == rpio.High {
60+
log.Println("Button1 is pressed. Start Robot Control Mode")
61+
isControlByRobotMode = true
62+
}
63+
64+
rpio.Close()
65+
66+
//Hostnameを取得する
67+
cmd := exec.Command("hostname")
68+
out, err := cmd.Output()
69+
if err != nil {
70+
panic(err)
71+
}
72+
fmt.Println(string(out))
73+
74+
//もし初期値のraspberrypiだったら
75+
if string(out) == "raspberrypi\n" {
76+
//UNIX時間の下5桁を取得する
77+
unixtime := time.Now().UnixNano()
78+
log.Println("Unixtime is " + fmt.Sprintf("%d", unixtime))
79+
unixtime = unixtime % 100000
80+
81+
//Hostnameをracoon-XXXXXに変更する
82+
hostname := "racoon-" + fmt.Sprintf("%05d", unixtime)
83+
84+
log.Println("Change Hostname To " + hostname)
85+
//Change Hostname
86+
//hostnamectl set-hostname raspberrypi コマンド実行
87+
cmd = exec.Command("hostnamectl", "set-hostname", hostname)
88+
cmd.Run()
89+
90+
//hostsの変更
91+
cmd = exec.Command("sudo", "sed", "-i", "/etc/hosts", "-e", "s/raspberrypi/"+hostname+"/g", "/etc/hosts")
92+
cmd.Run()
93+
94+
//再起動
95+
log.Println("=====Reboot=====")
96+
97+
buzzer := rpio.Pin(12)
98+
buzzer.Mode(rpio.Pwm)
99+
buzzer.Freq(1175 * 64)
100+
buzzer.DutyCycle(16, 32)
101+
time.Sleep(500 * time.Millisecond)
102+
buzzer.DutyCycle(0, 32)
103+
buzzer.Freq(1396 * 64)
104+
buzzer.DutyCycle(16, 32)
105+
time.Sleep(500 * time.Millisecond)
106+
buzzer.DutyCycle(0, 32)
107+
buzzer.Freq(1760 * 64)
108+
buzzer.DutyCycle(16, 32)
109+
time.Sleep(500 * time.Millisecond)
110+
buzzer.DutyCycle(0, 32)
111+
112+
//reboot コマンド実行
113+
cmd = exec.Command("reboot")
114+
cmd.Run()
115+
116+
}
117+
118+
if isControlByRobotMode {
119+
log.Println("Robot Control Mode is ON")
120+
out = []byte("localuser\n")
121+
}
122+
123+
if string(out) == "localuser\n" {
124+
//ラズパイのGPIOのメモリを確保
125+
err := rpio.Open()
126+
CheckError(err)
127+
buzzer := rpio.Pin(13)
128+
buzzer.Mode(rpio.Pwm)
129+
buzzer.Freq(1175 * 64)
130+
buzzer.DutyCycle(16, 32)
131+
time.Sleep(1000 * time.Millisecond)
132+
buzzer.DutyCycle(0, 32)
133+
time.Sleep(1000 * time.Millisecond)
134+
135+
button1 := rpio.Pin(22)
136+
button1.Input()
137+
button1.PullUp()
138+
139+
if button1.Read()^1 == rpio.High {
140+
isControlByRobotMode = true
141+
log.Println("Robot Control Mode is ON")
142+
buzzer.Freq(1244 * 64)
143+
buzzer.DutyCycle(16, 32)
144+
time.Sleep(100 * time.Millisecond)
145+
buzzer.DutyCycle(0, 32)
146+
time.Sleep(100 * time.Millisecond)
147+
buzzer.Freq(1244 * 64)
148+
buzzer.DutyCycle(16, 32)
149+
time.Sleep(100 * time.Millisecond)
150+
buzzer.DutyCycle(0, 32)
151+
time.Sleep(100 * time.Millisecond)
152+
153+
} else {
154+
os.Exit(0)
155+
}
156+
}
157+
49158
//自動アップデート
50159
go confirmAndSelfUpdate()
51160
//GPIOの初期化
@@ -101,54 +210,6 @@ func main() {
101210
}
102211
}()
103212

104-
//Hostnameを取得する
105-
cmd := exec.Command("hostname")
106-
out, err := cmd.Output()
107-
if err != nil {
108-
panic(err)
109-
}
110-
fmt.Println(string(out))
111-
112-
//もし初期値のraspberrypiだったら
113-
if string(out) == "raspberrypi\n" {
114-
//UNIX時間の下5桁を取得する
115-
unixtime := time.Now().UnixNano()
116-
log.Println("Unixtime is " + fmt.Sprintf("%d", unixtime))
117-
unixtime = unixtime % 100000
118-
119-
//Hostnameをracoon-XXXXXに変更する
120-
hostname := "racoon-" + fmt.Sprintf("%05d", unixtime)
121-
122-
log.Println("Change Hostname To " + hostname)
123-
//Change Hostname
124-
//hostnamectl set-hostname raspberrypi コマンド実行
125-
cmd = exec.Command("hostnamectl", "set-hostname", hostname)
126-
cmd.Run()
127-
128-
//再起動
129-
log.Println("=====Reboot=====")
130-
131-
buzzer := rpio.Pin(12)
132-
buzzer.Mode(rpio.Pwm)
133-
buzzer.Freq(1175 * 64)
134-
buzzer.DutyCycle(16, 32)
135-
time.Sleep(500 * time.Millisecond)
136-
buzzer.DutyCycle(0, 32)
137-
buzzer.Freq(1396 * 64)
138-
buzzer.DutyCycle(16, 32)
139-
time.Sleep(500 * time.Millisecond)
140-
buzzer.DutyCycle(0, 32)
141-
buzzer.Freq(1760 * 64)
142-
buzzer.DutyCycle(16, 32)
143-
time.Sleep(500 * time.Millisecond)
144-
buzzer.DutyCycle(0, 32)
145-
146-
//reboot コマンド実行
147-
cmd = exec.Command("reboot")
148-
cmd.Run()
149-
150-
}
151-
152213
//MyIDで指定したロボットIDを取得
153214
var MyID uint32 = uint32(diptoid)
154215

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