re-subscribe and refactor
Vastly simpler. Better code. Now resubscribes on reconnect, and wifi and mutt subscriptions are discrete
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jameswood
parent
fa2d558a51
commit
2c2d327de8
172
PrawnBot-ESP.ino
172
PrawnBot-ESP.ino
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@ -1,122 +1,98 @@
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#include <Bounce2.h>
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#include <SPI.h>
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#include <ESP8266WiFi.h>
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#include <PubSubClient.h>
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#include "secrets.h"
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const int feedButtonPin = 0;
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const int motorPin = 14;
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const int motorSwitchPin = 12;
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const int dispenseTimeout = 2000;
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const int debounce = 100;
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boolean motorJammed = false;
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char clientName[] = "PrawnBot-ESP";
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boolean somethingToSay = false;
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String messageToReport;
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long modeStartTime = 0;
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unsigned int lastAnnounced = 5;
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int botMode = 0; // 0: Listening; 1: Dispensing; 2: Jam
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void callback(char* topic, byte* incoming, unsigned int length);
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Bounce motorSwitchDebounced = Bounce();
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const unsigned int motorPin = 14;
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const unsigned int feedButtonPin = 0;
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const unsigned int motorSwitchPin = 12;
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Bounce feedButtonDebounced = Bounce();
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Bounce motorSwitchDebounced = Bounce();
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const unsigned int jamTimeout = 2000;
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const unsigned int networkTimeout = 5000;
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const unsigned int debounce = 50;
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const char myName[] = "PrawnBot-ESP";
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long modeStartTime = 0;
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long lastWifiConnectAttempt = 0;
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long lastMQTTConnectAttempt = 0;
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int botMode = 0; // 0: Listening; 1: Dispensing; 2: Jam
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//void callback(char* topic, byte* incoming, unsigned int length);
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WiFiClient wifiClient;
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PubSubClient mqttclient(server, 1883, callback, wifiClient);
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PubSubClient mqttclient(server, 1883, MQTTReceived, wifiClient);
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void callback(char* theTopic, byte* incoming, unsigned int length) {
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String incomingMessage = String((char *)incoming);
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incomingMessage = incomingMessage.substring(0, length);
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Serial.print(String(theTopic));
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Serial.print(": ");
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Serial.println(incomingMessage);
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if (incomingMessage == "feed" && botMode != 2) botMode = 1; //if not jammed
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else if (incomingMessage == "ping") mqttclient.publish(topic, (char*)("pong"));
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void MQTTReceived(char* incomingTopic, byte* incomingPayload, unsigned int payloadLength){
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String incomingString = String((char *)incomingPayload);
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incomingString = incomingString.substring(0, payloadLength);
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Serial.println(String(incomingTopic) + ": " + incomingString);
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if(incomingString == "ping") mqttclient.publish(incomingTopic, (char*)("pong"));
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if(incomingString == "feed" && botMode != 2) botMode = 1; //if not jammed
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}
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void setup() {
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void setup(){
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pinMode(motorPin, OUTPUT);
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pinMode(feedButtonPin, INPUT_PULLUP);
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pinMode(motorSwitchPin, INPUT_PULLUP);
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motorSwitchDebounced.attach(motorSwitchPin);
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feedButtonDebounced.attach(feedButtonPin);
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motorSwitchDebounced.interval(50);
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feedButtonDebounced.interval(50);
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motorSwitchDebounced.interval(debounce);
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feedButtonDebounced.interval(debounce);
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Serial.begin(115200);
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delay(10);
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delay(10); //wait for serial
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}
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void connectWifi(){
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WiFi.begin(ssid, password);
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while (WiFi.status() != WL_CONNECTED){
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delay(250);
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Serial.print("-");
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}
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Serial.println("WiFi OK. IP: " + WiFi.localIP());
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}
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void getOnline(){
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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Serial.print(":) ");
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}
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Serial.println("");
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Serial.println("WiFi connected");
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Serial.println("IP address: ");
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Serial.println(WiFi.localIP());
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if (mqttclient.connect(clientName)) {
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mqttclient.publish(topic, (char*)("WiFi GO"));
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mqttclient.subscribe(topic);
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boolean connectMQTT(){
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if(mqttclient.connect(myName, statusTopic, 2, true, (char*)("offline"))){
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mqttclient.publish(statusTopic, (char*)("online"));
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mqttclient.subscribe(controlTopic);
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}
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}
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void loop() {
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if(WiFi.status() != WL_CONNECTED) getOnline();
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if (!mqttclient.connected()) mqttclient.connect(clientName);
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feedButtonDebounced.update();
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motorSwitchDebounced.update();
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mqttclient.loop();
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switch (botMode) {
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case 0: // Listening
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if(lastAnnounced != 0) {
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Serial.println("Listening");
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lastAnnounced = 0;
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}
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if (feedButtonDebounced.fell()){
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Serial.println("Button pressed");
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botMode = 1;
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modeStartTime = 0;
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}
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break;
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case 1: // Dispensing
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modeStartTime=millis();
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if(lastAnnounced != 1) {
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Serial.println("Dispensing");
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lastAnnounced = 1;
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}
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digitalWrite(motorPin, HIGH);
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if (motorSwitchDebounced.fell()){
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digitalWrite(motorPin, LOW);
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botMode = 0;
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modeStartTime = 0;
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somethingToSay = true;
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messageToReport="fed";
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}
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else if (millis() - modeStartTime > dispenseTimeout) {
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botMode = 2; //jammed
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modeStartTime = 0;
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}
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break;
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case 2: // Jammed
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if(lastAnnounced != 2) {
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Serial.println("Jammed");
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lastAnnounced = 2;
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}
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if (messageToReport != "jam") somethingToSay = true;
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motorJammed = true;
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messageToReport="jam";
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break;
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}
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if (somethingToSay) {
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Serial.println("Send MQTT");
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int messageLength = messageToReport.length() + 1;
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char messageChar[messageLength];
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messageToReport.toCharArray(messageChar, messageLength);
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mqttclient.publish(topic, messageChar);
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somethingToSay = false;
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void loop(){
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if(WiFi.status() != WL_CONNECTED){
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if(millis() - lastWifiConnectAttempt > networkTimeout){
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lastWifiConnectAttempt=millis();
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connectWifi();
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}
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} else if(!mqttclient.loop()){
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if(millis() - lastMQTTConnectAttempt > networkTimeout){
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lastMQTTConnectAttempt=millis();
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connectMQTT();
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}
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} else {
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feedButtonDebounced.update();
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motorSwitchDebounced.update();
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switch (botMode){
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case 0: // Listening
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if(feedButtonDebounced.fell()){
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Serial.println("Button pressed");
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botMode = 1;
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}
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break;
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case 1: // Dispensing
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modeStartTime=millis();
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digitalWrite(motorPin, HIGH);
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if(motorSwitchDebounced.fell()){
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digitalWrite(motorPin, LOW);
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botMode = 0;
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modeStartTime = 0;
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Serial.println("Fed");
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mqttclient.publish(controlTopic, (byte*)("fed"), 3, true); //3 is length
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}
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else if(millis() - modeStartTime > jamTimeout){
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botMode = 2; //jammed
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Serial.println("Jammed");
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mqttclient.publish(statusTopic, (byte*)("jam"), 3, true); //3 is length
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}
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break;
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}
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}
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}
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