Smart Coop - door

1#include "arduino_secrets.h"
2#include <ESP32Servo.h>
3#include <LinkedList.h>
4#include <TimeLib.h>
5#include <ESPDateTime.h>
6
7
8/*
9  Sketch generated by the Arduino IoT Cloud Thing "Untitled"
10  https://create.arduino.cc/cloud/things/4112e99c-79b3-4482-9968-b32a3349c579
11
12  Arduino IoT Cloud Variables description
13
14  The following variables are automatically generated and updated when changes are made to the Thing
15
16  int servo_degree;
17
18  Variables which are marked as READ/WRITE in the Cloud Thing will also have functions
19  which are called when their values are changed from the Dashboard.
20  These functions are generated with the Thing and added at the end of this sketch.
21*/
22
23#include "thingProperties.h"
24
25#define PIN_PWN 11
26#define PIN_DIRECION 10
27#define PIN_TRIGGER 9
28#define PIN_INNER_SERVO 8
29#define PIN_OUTER_SERVO 7
30#define PIN_MOTOR_POSITION A0
31#define CHECK_MOTOR_DURATION 200
32
33struct Task {
34  int id;
35  int func;
36  int time;  //unit: s
37};
38String last_version = "";
39String circular_command = "";
40bool hasTime = false;
41int currentDay = 0;
42bool isWifiConnected = false;
43Servo innerServo;
44Servo outerServo;
45LinkedList<Task> taskList = LinkedList<Task>();
46int currentStatus = 0;
47long last_check_time = 0;
48int motor_pwm = 0;
49bool isCleaning = false;
50int statusBeforeCleaning = 0;
51
52void setup() {
53  pinMode(PIN_PWN, OUTPUT);
54  pinMode(PIN_DIRECION, OUTPUT);
55  pinMode(PIN_TRIGGER, INPUT_PULLUP);
56  pinMode(PIN_MOTOR_POSITION, INPUT);
57  stopMotor();
58  // Initialize serial and wait for port to open:
59  Serial.begin(9600);
60  // This delay gives the chance to wait for a Serial Monitor without blocking if none is found
61  delay(1500);
62
63  // Defined in thingProperties.h
64  initProperties();
65
66  // Connect to Arduino IoT Cloud
67  ArduinoCloud.begin(ArduinoIoTPreferredConnection);
68
69  /*
70     The following function allows you to obtain more information
71     related to the state of network and IoT Cloud connection and errors
72     the higher number the more granular information you’ll get.
73     The default is 0 (only errors).
74     Maximum is 4
75  */
76  setDebugMessageLevel(2);
77  ArduinoCloud.printDebugInfo();
78  innerServo.attach(PIN_INNER_SERVO);
79  outerServo.attach(PIN_OUTER_SERVO);
80}
81
82void loop() {
83  ArduinoCloud.update();
84  // Your code here
85  setRemoteTime();
86  // If can't connect internet, just set local time through serial input
87  setLocalTime();
88  scheduleTask();
89  checkCurrentMotorState();
90}
91
92void checkCurrentMotorState() {
93  if (ArduinoCloud.connected() != 1) {
94    return;
95  }
96  long current = millis();
97  if (current - last_check_time > CHECK_MOTOR_DURATION) {
98    last_check_time = current;
99    // change the resolution to 12 bits and read A0
100    analogReadResolution(12);
101    int sensorValue = analogRead(PIN_MOTOR_POSITION);
102    // Map the analog value to 0, 1, or 2
103    switch (sensorValue) {
104      case 0 ... 299:
105        currentStatus = 0;
106        break;
107      case 1000 ... 1999:
108        currentStatus = 1;
109        break;
110      case 2000 ... 2999:
111        currentStatus = 2;
112        break;
113      case 3899 ... 4095:
114        currentStatus = 3;
115        break;
116      default:
117        Serial.println("motor position occurs exception!");
118        break;
119    }
120    Serial.printf("Device value:%d, status: %d, remote status %d.\n", sensorValue, currentStatus, motor_status);
121    if (motor_status != currentStatus) {
122      moveMotor();
123    } else {
124      stopMotor();
125      revertFloor();
126    }
127  }
128}
129
130void moveMotor() {
131  if (motor_status > currentStatus) {
132    // 逆时针旋转
133    digitalWrite(PIN_DIRECION, 1);
134  } else {
135    // 顺时针旋转
136    digitalWrite(PIN_DIRECION, 0);
137  }
138  if (motor_pwm != 0) {
139    motor_pwm = 0;
140    analogWrite(PIN_PWN, motor_pwm);
141  }
142}
143
144void stopMotor() {
145  // todo: stop motor, better using a power switch avoid motor works when reset.
146  if (motor_pwm != 255) {
147    motor_pwm = 255;
148    analogWrite(PIN_PWN, 255);
149  }
150}
151
152void setLocalTime() {
153  if (!hasTime && Serial.available() > 0) {
154    Serial.print("Please enter date at first to schedule task ==> ");
155    String date = Serial.readString();
156    Serial.println(date);
157    resetTime(date);
158    hasTime = true;
159  }
160}
161
162void setRemoteTime() {
163  // can alse use ArduinoCloud.getLocalTime()
164  if (!isWifiConnected && ArduinoCloud.connected() == 1) {
165    // setup this after wifi connected
166    // you can use custom timeZone,server and timeout
167    // DateTime.setTimeZone("CST-8");
168    // DateTime.setServer("asia.pool.ntp.org");
169    // DateTime.begin(15 * 1000);
170    DateTime.setTimeZone("CST-8");
171    // this method config ntp and wait for time sync
172    // default timeout is 10 seconds
173    DateTime.begin(60 * 1000);
174    if (DateTime.isTimeValid()) {
175      hasTime = true;
176      Serial.print("remote time : ");
177      Serial.println(DateTime.toUTCString());
178      time_t now = DateTime.now();
179      resetTime(localtime(&now));
180    } else {
181      Serial.println("Failed to get time from server.");
182    }
183    isWifiConnected = true;
184  }
185}
186
187void scheduleTask() {
188  if (hasTime) {
189    if (taskList.size() > 0) {
190      Task todo = taskList.get(0);
191      if (todo.time <= getTime(hour(), minute(), second())) {
192        taskList.remove(0);
193        Serial.printf("do task[%d,%d] at %d:%d:%d.\n", todo.id, todo.func, hour(), minute(), second());
194        switch (todo.id) {
195          case 10:
196            scheduleDoor(todo.func);
197            break;
198          case 20:
199            scheduleFloor(todo.func);
200            break;
201          default:
202            break;
203        }
204      }
205    } else {
206      // add task list next day.
207      if (currentDay != day()) {
208        currentDay = day();
209        addTaskByCommand(circular_command);
210      }
211    }
212  }
213}
214
215void scheduleDoor(int func) {
216  // sync servo degree in cloud after invoke ArduinoCloud.update()
217  switch (func) {
218    case 3:
219      // can in and out
220      inner_latch_degree = 90;
221      outer_latch_degree = 90;
222      openFloor();
223      break;
224    case 2:
225      // only in
226      inner_latch_degree = 0;
227      outer_latch_degree = 90;
228      break;
229    case 1:
230      // only out
231      inner_latch_degree = 90;
232      outer_latch_degree = 0;
233      break;
234    default:
235      // close
236      inner_latch_degree = 0;
237      outer_latch_degree = 0;
238      break;
239  }
240  innerServo.write(inner_latch_degree);
241  outerServo.write(outer_latch_degree);
242}
243
244void scheduleFloor(int func) {
245  switch (func) {
246    case 3:
247      cleanFloor();
248      break;
249    case 2:
250      forbidFeeding();
251      break;
252    case 1:
253      // open
254      openFloor();
255      break;
256    default:
257      // close
258      closeFloor();
259      break;
260  }
261}
262
263void cleanFloor() {
264  isCleaning = true;
265  statusBeforeCleaning = motor_status;
266  if (motor_status == 0) {
267    openFloor();
268  } else {
269    closeFloor();
270  }
271}
272
273void revertFloor() {
274  if (isCleaning) {
275    isCleaning = false;
276    motor_status = statusBeforeCleaning;
277  }
278}
279
280void forbidFeeding() {
281  motor_status = 1;
282}
283
284void openFloor() {
285  motor_status = 3;
286}
287
288void closeFloor() {
289  motor_status = 0;
290}
291
292/*
293  Since ServoDegree is READ_WRITE variable, onServoDegreeChange() is
294  executed every time a new value is received from IoT Cloud.
295*/
296void onInnerLatchDegreeChange() {
297  // Add your code here to act upon ServoDegree change
298  Serial.printf("change inner latch degree to %d.\n", inner_latch_degree);
299  innerServo.write(inner_latch_degree);
300}
301
302void onOuterLatchDegreeChange() {
303  // Add your code here to act upon ServoDegree change
304  Serial.printf("change outer latch degree to %d.\n", outer_latch_degree);
305  outerServo.write(outer_latch_degree);
306}
307
308/*
309  Since MotorStatus is READ_WRITE variable, onMotorStatusChange() is
310  executed every time a new value is received from IoT Cloud.
311*/
312void onMotorStatusChange() {
313  // Add your code here to act upon MotorStatus change
314  Serial.printf("change motor status to %d.\n", motor_status);
315}
316
317/*
318  Since TaskCommand is READ_WRITE variable, onTaskCommandChange() is
319  executed every time a new value is received from IoT Cloud.
320*/
321void onTaskCommandChange() {
322  // Parse command, like: 2023-10-19-01-0:103-06:00:00/101-06:30:00/203-08:00:00/103-11:30:00/201-12:00:00/102-17:00:00/100-18:30:00;
323  String version = task_command.substring(0, 13);
324  Serial.printf("task command version[%s].\n", version);
325  if (last_version == "" || version > last_version) {
326    last_version = version;
327    char taskType = task_command.charAt(14);
328    String command = task_command.substring(16, task_command.length());
329    if (taskType == '0') {
330      currentDay = day();
331      Serial.printf("get circular command at day[%d]\n.", currentDay);
332      circular_command = command;
333    } else {
334      Serial.println("get oneshot command.");
335    }
336    addTaskByCommand(command);
337    Serial.println("onTaskCommandChange done!");
338  }
339}
340
341void addTaskByCommand(String command) {
342  Serial.print("add task by command: ");
343  Serial.println(command);
344  int length = command.length();
345  // split by /
346  int startIndex = 0;
347  for (int i = 0; i < length; i++) {
348    char currentChar = command.charAt(i);
349    if (currentChar == '/' || currentChar == ';' || i == length - 1) {
350      String taskStr = command.substring(startIndex, i);
351      Serial.printf("get task string[%s].\n", taskStr);
352      enqueueTaskAtTime(getTask(taskStr));
353      startIndex = i + 1;
354    }
355  }
356}
357
358/*
359  103-06:00:00
360*/
361Task getTask(String taskStr) {
362  int id = taskStr.substring(0, 2).toInt();
363  int func = taskStr.substring(2, 3).toInt();
364  int hh = taskStr.substring(4, 6).toInt();
365  int mm = taskStr.substring(7, 9).toInt();
366  int ss = taskStr.substring(10, 12).toInt();
367  Serial.printf("get task[%d,%d,%d,%d,%d].\n", id, func, hh, mm, ss);
368  Task task;
369  task.id = id;
370  task.func = func;
371  task.time = getTime(hh, mm, ss);
372  return task;
373}
374
375int getTime(int hh, int mm, int ss) {
376  return hh * 3600 + mm * 60 + ss;
377}
378
379/*
380  reset time by dateTime like 2023/10/02 20:49:08
381*/
382void resetTime(String time) {
383  int year = time.substring(0, 4).toInt();
384  int month = time.substring(5, 7).toInt();
385  int day = time.substring(8, 10).toInt();
386  int hh = time.substring(11, 13).toInt();
387  int mm = time.substring(14, 16).toInt();
388  int ss = time.substring(17, 19).toInt();
389  setTime(hh, mm, ss, day, month, year);
390}
391
392void resetTime(tm* dt) {
393  int year = dt->tm_year + 1900;
394  int month = dt->tm_mon;
395  int day = dt->tm_mday;
396  int hh = dt->tm_hour;
397  int mm = dt->tm_min;
398  int ss = dt->tm_sec;
399  Serial.printf("%04d/%02d/%02d %02d:%02d:%02d\n", year, month, day, hh, mm, ss);
400  setTime(hh, mm, ss, day, month, year);
401}
402
403/*
404  enqueue task at time
405*/
406void enqueueTaskAtTime(Task task) {
407  int i = 0;
408  for (; i < taskList.size(); i++) {
409    Task item = taskList.get(i);
410    if (item.time > task.time) {
411      break;
412    }
413  }
414  taskList.add(i, task);
415}