fix merge

Arduino/CocktailJam/CocktailJam.ino

@@ -0,0 +1,255 @@
+
+/*
+ * This Arduino code manages glass moving carrier, led animation and glass infill.
+ * Raspberry Pi sends commands through serial and Arduino do the rest.
+ *
+ * For hardware connection, see schematic: https://github.com/fablabs-ch/bar-o-matic/blob/master/hardware/bar-o-matic_bb.png
+ *
+ * Ensure to set the correct parameters according to the hardware you have choosen. All constant below marked with * have to be customized to avoid bad behavior.
+ *
+ * FabLabs-CH for swiss fablabs
+ * Copyright (C) 2018  Christophe Cachin & Gaétan Collaud
+ */
+#include <Arduino.h>
+#include <Servo.h>
+#include <Adafruit_NeoPixel.h>
+#include <BasicStepperDriver.h>
+#include <HX711.h>
+#ifdef __AVR__
+#include <avr/power.h>
+#endif
+#include "cocktail-serial.h";
+#include "pressure.h"
+#include "status.h"
+
+// === MAIN CONFIGURATION =================================================================================================================================
+
+// Homing
+//#define PIN_HOME 53      // Switch pin for homing (endstop)
+#define PIN_HOME 12      // Switch pin for homing (endstop)
+#define MAXPOSITION 1000 // Maximum carrier travel in millimeter. *Depending on machine size
+
+// Stepper
+#define MOTOR_STEPS 200 // Number of steps for choosen motor stepper. *Read the motor datasheet to set it properly
+#define RPM 120
+#define MICROSTEPS 16                                                             // Define microstep. *Depends on your hardware configuration. 1, 8 or 16. 16 is maybe to fine for this machine has to be tested
+#define BELT_PITCH 2                                                              // Distance between two teeth on the belt. *Read the belt datasheet for correct parameter
+#define TEETHPULLEY 20                                                            // Number of teeth on the pulley. *Read the pulley datasheet for correct parameter
+const int STEPS_PER_MM = (MOTOR_STEPS * MICROSTEPS) / (BELT_PITCH * TEETHPULLEY); // Number of step to get 1mm
+
+#define MOTOR_RPM 100
+#define MOTOR_ACCEL_SPEED 500 // Set acceleration speed
+#define MOTOR_DECEL_SPEED 500 // Set deceleration speed
+
+#define PIN_DIR A2 // Pin on Pololu 4988
+#define PIN_STEP A1
+#define PIN_ENABLE A3
+
+// Servo
+#define NBSERVOS 6
+#define SERVO_OPEN_DEGR 40    // Servo angle for open state. *set the correct angle to get correct flow
+#define SERVO_CLOSE_DEGR 180 // Servo angle for close state. *set the correct angle to close the flow properly
+
+// Ledstrip
+#define PIN_GLASS_LED 44  // Data IN circular neopixel
+#define NBPIXELS_GLASS 16 // LED Quantity on circular neopixel
+#define PIN_FRAME_LED 45  // Data IN neopixel strip
+#define NBPIXELS_FRAME 40 // LED Quantity on neopixel strip
+
+// LoadCell
+#define LOAD_CELL_DOUT A4
+#define LOAD_CELL_CLK A5
+
+//Pump
+#define PIN_PUMP 9
+#define PIN_PRESSURE_SENSOR A0
+
+int currentPosition = 0;
+int steps_to_do = 0;
+int endstop = 0;
+int servo_pins[NBSERVOS] = { 3, 4, 5, 6, 7, 8}; // Define servo pins in an array
+float CALIBRATION_FACTOR = 1980;                    // Change this calibration factor as per your load cell once it is found you may need to vary it in thousands
+int targetWeight = 0;                                    // Weight initialization
+int currentWeight = 0;
+int infill_purcentage = 0;
+int pixelGlassToDisplay = 0;
+int pixelFrameToDisplay = 0; // TODO: Review why needed as global?
+
+BasicStepperDriver stepper(MOTOR_STEPS, PIN_DIR, PIN_STEP, PIN_ENABLE);
+Servo servo[NBSERVOS];                      //Servo object in an array
+HX711 scale(LOAD_CELL_DOUT, LOAD_CELL_CLK); // Initialize loadcell on I2C pins
+Adafruit_NeoPixel pixels_glass = Adafruit_NeoPixel(NBPIXELS_GLASS, PIN_GLASS_LED, NEO_GRB + NEO_KHZ800);
+Adafruit_NeoPixel pixels_frame = Adafruit_NeoPixel(NBPIXELS_FRAME, PIN_FRAME_LED, NEO_GRB + NEO_KHZ800);
+CocktailSerial cocktailSerial(&Serial);
+Pressure pressure(PIN_PRESSURE_SENSOR, PIN_PUMP, 500);
+Status status(&Serial, &currentWeight, &currentPosition, &pressure);
+
+//=== CARRIER =================================================================================================================================
+void moveCarrierToHome()
+{ // Initialize carrier position
+    Serial.println("i:home called");
+    //stepper.move(50 * MICROSTEPS);
+
+    int j = 0;
+    int endstop = digitalRead(PIN_HOME);
+
+    stepper.enable();
+    stepper.setRPM(MOTOR_RPM);
+    //stepper.startMove(200);
+      stepper.startMove(-100000 * MOTOR_STEPS * MICROSTEPS);
+
+    while (endstop == LOW)
+    {
+      stepper.nextAction();
+      endstop = digitalRead(PIN_HOME);                                                             //Show glass animation
+      loop();
+
+        //stepper.move(MICROSTEPS);
+        // While home switch is not activated move stepper back to it.
+        //moveCarrierToHome();
+    }
+    stepper.startBrake();
+
+    while(stepper.getCurrentState() != stepper.STOPPED){
+      stepper.nextAction();                                                             //Show glass animation
+      loop();
+    }
+
+    stepper.stop();
+    stepper.disable();
+    currentPosition = 0;
+    Serial.println("i:ok"); // Send position confirmation
+}
+
+void moveCarrierToPosition(int distMm)
+{
+    Serial.println("i:move called");
+
+    int targetPosition = distMm;
+
+    pixelFrameToDisplay = (targetPosition / MAXPOSITION) / NBPIXELS_FRAME; // Calculate until which pixel the leds have to be turned on according to sent position.
+
+    // TODO review: We need to also clear old pixels?
+    for (int i = 0; i < pixelFrameToDisplay; i++)
+    {
+        pixels_frame.setPixelColor(i, pixels_frame.Color(0, 150, 0)); // Set green color
+    }
+    pixels_frame.show();
+
+    steps_to_do = (targetPosition - currentPosition) * STEPS_PER_MM;
+
+    stepper.enable();
+    stepper.startMove(steps_to_do);
+    while(stepper.getCurrentState() != stepper.STOPPED){
+      stepper.nextAction();
+      loop();
+    }
+    stepper.disable();
+    currentPosition = targetPosition;
+    //fill(); // TODO: review why fill? since it is send by server after we send OK
+    Serial.println("i:ok");
+    // TODO: review do we not need cocktailSerial.run() ?
+}
+
+//=== WEIGHT & FILL============================================================================================================================
+void tareScale()
+{
+    Serial.println("i:tare called");
+    scale.tare();         // Reset the scale to zero
+    Serial.println("i:ok"); // Send tare confirmation
+}
+
+float computeCurrentWeight()
+{ //Check glass weight and return it
+    scale.set_scale(CALIBRATION_FACTOR);
+    currentWeight = scale.get_units();
+    return currentWeight;
+}
+
+void servoAperture(int servoId, int apertureInPercent){
+    //TODO convert percentage in degree
+    servo[servoId].write(apertureInPercent);
+}
+
+void fillGlass(int distMm, int nServo, int weightGr)
+{ //Open Servo x while weight is not equal target weight including glass animation
+    Serial.print("i:fill called, dist=");
+    Serial.print(distMm);
+    Serial.print(", servo=");
+    Serial.print(nServo);
+    Serial.print(", weight=");
+    Serial.println(weightGr);
+
+    // TODO: review why do we move at the end of fill? the moveShouldbe called by server/management code to have function isolation
+    moveCarrierToPosition(distMm);
+
+    servo[nServo].write(SERVO_OPEN_DEGR);
+
+    targetWeight = weightGr;
+
+    do
+    {
+        currentWeight = computeCurrentWeight();
+        //servo[nServo].write(SERVO_OPEN_DEGR);                                             //Fill glass
+        pixelGlassToDisplay = NBPIXELS_GLASS * currentWeight / targetWeight;              //Calculate which pixel to display according to current weight
+        pixels_glass.setPixelColor(pixelGlassToDisplay, pixels_glass.Color(50, 90, 255)); //Set dark blue color
+        pixels_glass.show();                                                              //Show glass animation
+        loop();
+    } while (currentWeight < targetWeight);
+
+    servo[nServo].write(SERVO_CLOSE_DEGR);
+}
+
+void closeAllServos()
+{
+    for (int s = 0; s < NBSERVOS; s++)
+    {
+        servo[s].write(SERVO_CLOSE_DEGR);
+    }
+}
+
+void setup()
+{
+    Serial.begin(115200);
+
+    pinMode(PIN_HOME, INPUT);
+    digitalWrite(PIN_HOME, HIGH); // Activate pullup home pin
+
+    pinMode(PIN_PUMP, OUTPUT);
+    digitalWrite(PIN_PUMP, LOW);
+
+    stepper.begin(RPM, MICROSTEPS);
+    stepper.disable();
+    stepper.setSpeedProfile(stepper.LINEAR_SPEED, MOTOR_ACCEL_SPEED, MOTOR_DECEL_SPEED);
+
+    int i = 0;
+    int j = 4;
+
+    for (int i = 0; i < NBSERVOS; i++)
+    {
+        servo[i].attach(servo_pins[i]);
+    }
+
+    closeAllServos();
+//    tareScale();
+
+    cocktailSerial.registerFunctions((void *) moveCarrierToHome, (void *)tareScale, (void *)fillGlass, (void *)moveCarrierToPosition, (void *)servoAperture);
+    Serial.println("i:ready");
+ }
+
+unsigned long lastLoop = 0;
+void loop()
+{
+    unsigned long now = millis();
+    unsigned long dtMs = 0;
+    if (lastLoop < now) {
+        //or else overflow, keep one as delta
+        dtMs = now - lastLoop;
+    }
+    lastLoop = now;
+
+    cocktailSerial.run();
+    pressure.run(dtMs);
+    status.run(dtMs);
+
+}

backend/src/main/java/ch/fablabs/fabjam/cocktail/api/SeverSentEventWS.java

@@ -2,11 +2,13 @@
 
 import ch.fablabs.fabjam.cocktail.data.serial.SerialStatus;
 import ch.fablabs.fabjam.cocktail.service.serial.SerialService;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 import org.springframework.web.servlet.mvc.method.annotation.SseEmitter;
 
+@Slf4j
 @RestController
 @RequestMapping("/api/sse")
 public class SeverSentEventWS {

backend/src/main/java/ch/fablabs/fabjam/cocktail/boot/ConnexionChecker.java

@@ -5,7 +5,8 @@
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.boot.CommandLineRunner;
 import org.springframework.stereotype.Component;
-import org.springframework.stereotype.Service;
+
+import java.util.concurrent.Executor;
 
 @Slf4j
 @Component
@@ -14,9 +15,13 @@ public class ConnexionChecker implements CommandLineRunner {
 	@Autowired
 	private SerialService serialService;
 
+	@Autowired
+	private Executor threadPoolTaskExecutor;
+
 	@Override
 	public void run(String... strings) throws Exception {
-		new Thread(() -> {
+		threadPoolTaskExecutor.execute(() -> {
+			Thread.currentThread().setName("ConnexionChecker");
 			try {
 				while (!Thread.interrupted()) {
 					serialService.checkConnexionStatus();
@@ -25,6 +30,6 @@ public void run(String... strings) throws Exception {
 			} catch (Exception ex) {
 				LOG.error("Error in connexion checker", ex);
 			}
-		}).start();
+		});
 	}
 }

backend/src/main/java/ch/fablabs/fabjam/cocktail/boot/WebConfig.java

@@ -17,29 +17,29 @@
 @EnableWebSecurity
 public class WebConfig extends WebSecurityConfigurerAdapter {
 
-	@Bean
-	public FilterRegistrationBean httpFilter() {
-		return new FilterRegistrationBean(new Filter() {
-			@Override
-			public void init(FilterConfig filterConfig) throws ServletException {
-
-			}
-
-			@Override
-			public void doFilter(ServletRequest req, ServletResponse res, FilterChain filterChain) throws IOException, ServletException {
-				HttpServletRequest request = (HttpServletRequest) req;
-				HttpServletResponse response = (HttpServletResponse) res;
-				response.setHeader("Access-Control-Allow-Origin", "*");
-				response.setHeader("Access-Control-Allow-Methods", "POST, PUT, DELETE, GET, OPTIONS");
-				filterChain.doFilter(req, res);
-			}
-
-			@Override
-			public void destroy() {
-
-			}
-		});
-	}
+//	@Bean
+//	public FilterRegistrationBean httpFilter() {
+//		return new FilterRegistrationBean(new Filter() {
+//			@Override
+//			public void init(FilterConfig filterConfig) throws ServletException {
+//
+//			}
+//
+//			@Override
+//			public void doFilter(ServletRequest req, ServletResponse res, FilterChain filterChain) throws IOException, ServletException {
+//				HttpServletRequest request = (HttpServletRequest) req;
+//				HttpServletResponse response = (HttpServletResponse) res;
+//				response.setHeader("Access-Control-Allow-Origin", "*");
+//				response.setHeader("Access-Control-Allow-Methods", "POST, PUT, DELETE, GET, OPTIONS");
+//				filterChain.doFilter(req, res);
+//			}
+//
+//			@Override
+//			public void destroy() {
+//
+//			}
+//		});
+//	}
 
 
 	@Override

backend/src/main/java/ch/fablabs/fabjam/cocktail/service/serial/SerialConnection.java

@@ -33,6 +33,7 @@ public SerialConnection(String port) {
 
 	@Override
 	public void run() {
+		Thread.currentThread().setName("SerialConnection");
 
 		while (running) {
 			try {

backend/src/main/java/ch/fablabs/fabjam/cocktail/service/serial/SerialConnectionStarter.java

@@ -31,6 +31,13 @@ public void run(String... strings) throws Exception {
 		serialConnection = Optional.of(new SerialConnection(port));
 		autowireCapableBeanFactory.autowireBean(serialConnection.get());
 		threadPoolTaskExecutor.execute(serialConnection.get());
+
+		threadPoolTaskExecutor.execute(() -> {
+			Thread.currentThread().setName("Serial connection starter");
+			serialConnection.ifPresent(() -> {
+
+			});
+		});
 	}
 
 	@PreDestroy