node-red-STM32/OZE_Main/Core/Src/mqtt_client.c

/*
 * mqtt_client.c
 *
 *  Created on: Jun 10, 2024
 *      Author: jakubski
 */
#include <stdio.h>
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

#include <string.h>
#include "lwip.h"
#include "lwip/api.h"
#include "MQTTClient.h"
#include "MQTTInterface.h"
#include "node-red-config.h"
#include "measurements.h"
#include "cJSON.h"
#include "interprocess_data.h"
#include "uart_tasks.h"

#define MQTT_BUFSIZE	1024

char* const subscribeTopicNames[MASTER_BOARD + SLAVES_COUNT] = { "Set/0", "Set/1", "Set/2", "Set/3", "Set/4" };
#define MAX_COMMANDS_IN_MQTT_PAYLOAD 17
char* const topicCommands[MAX_COMMANDS_IN_MQTT_PAYLOAD] = { "fanSpeed", "motorXon", "motorYon", "diode", "motorXMaxCurrent", "motorYMaxCurrent", "clearPeakElectricalMeasurements", "mainBoardRelay",
    "setEncoderXValue", "setEncoderYValue", "setVoltageMeasGains", "setVoltageMeasOffsets", "setCurrentMeasGains", "setCurrentMeasOffsets", "resetSystem", "setPositionX", "setPositionY" };

enum _Topics
{
	fanSpeedTopic = 0,
	motorXonTopic,
	motorYonTopic,
	diodeTopic,
	motorXMaxCurrentTopic,
	motorYMaxCurrentTopic,
	clearPeakElectricalMeasurementsTopic,
	mainBoardRelayTopic,
	setEncoderXValue,
	setEncoderYValue,
	setVoltageMeasGains,
	setVoltageMeasOffsets,
	setCurrentMeasGains,
	setCurrentMeasOffsets,
	resetSystem,
	setPositionX,
	setPositionY
};

enum _BoardNoOverTopic
{
	main_board = 0,
	board_1,
	board_2,
	board_3,
	board_4,
	unknownBoard
};

typedef enum _BoardNoOverTopic BoardNoOverTopic;

extern struct netif gnetif; //extern gnetif

extern UartTaskData uart1TaskData;  // Board 1
extern UartTaskData uart3TaskData;  // Board 2
extern UartTaskData uart6TaskData;  // Board 3
extern UartTaskData uart2TaskData;  // Board 4
extern UartTaskData uart8TaskData;  // Debug

extern osTimerId_t relay1TimerHandle;
extern osTimerId_t relay2TimerHandle;
extern osTimerId_t relay3TimerHandle;
extern osTimerId_t relay4TimerHandle;

const osThreadAttr_t mqttClientSubTaskAttr =
{ .name = "mqttClientSubTask", .stack_size = configMINIMAL_STACK_SIZE * 6,
		.priority = (osPriority_t) osPriorityNormal, };

const osThreadAttr_t mqttClientPubTaskAttr =
{ .name = "mqttClientPsubTask", .stack_size = configMINIMAL_STACK_SIZE * 6,
		.priority = (osPriority_t) osPriorityNormal, };

osThreadId mqttClientSubTaskHandle;  //mqtt client task handle
osThreadId mqttClientPubTaskHandle;  //mqtt client task handle

Network net; //mqtt network
MQTTClient mqttClient; //mqtt client

uint8_t sndBuffer[MQTT_BUFSIZE]; //mqtt send buffer
uint8_t rcvBuffer[MQTT_BUFSIZE]; //mqtt receive buffer

void RelayCtrl(int32_t relayNumber, int32_t relayTimeOn);
void MqttClientSubTask (void* argument);    // mqtt client subscribe task function
void MqttClientPubTask (void* argument);    // mqtt client publish task function
uint32_t MqttConnectBroker (void);          // mqtt broker connect function
void MqttMessageArrived (MessageData* msg); // mqtt message callback function

void MqttClientSubTask (void* argument) {
    uint8_t connectionTryCounter = 0;
    while (1) {
        // waiting for valid ip address
        if (gnetif.ip_addr.addr == 0 || gnetif.netmask.addr == 0 || gnetif.gw.addr == 0) // system has no valid ip address
        {
            osDelay (pdMS_TO_TICKS (1000));
            continue;
        } else {
            printf ("DHCP/Static IP O.K.\n");
            break;
        }
    }

    while (1) {
        if (!mqttClient.isconnected) {
            // try to connect to the broker
            if (MqttConnectBroker () != MQTT_SUCCESS) {
                osDelay (pdMS_TO_TICKS (1000));
                connectionTryCounter++;
                if (connectionTryCounter > 10) {
                    __disable_irq ();
                    NVIC_SystemReset ();
                }
            }
        } else {
            connectionTryCounter = 0;
            MQTTYield (&mqttClient, 500); // handle timer
            osDelay (pdMS_TO_TICKS (100));
        }
    }
}

void MqttClientPubTask (void* argument) {
    char messageBuffer[MQTT_BUFSIZE]  = { 0x00 };
    char topicTextBuffer[32] = { 0x00 };
    uint32_t bytesInBuffer   = 0;
    uint8_t boardNumber      = 0;
    MQTTMessage message;

    while (1) {
        if (mqttClient.isconnected) {
            if (is_link_up ()) {
                for (boardNumber = 0; boardNumber < SLAVES_COUNT; boardNumber++) {
                    osMutexAcquire (resMeasurementsMutex, osWaitForever);
                    RESMeasurements* resMeas = &resMeasurements[boardNumber];
                    sprintf (topicTextBuffer, "RESmeasurments/%d", boardNumber + 1);
                    bytesInBuffer = sprintf (messageBuffer, "{\"voltageRMS\":[%.2f, %.2f, %.2f], ", resMeas->voltageRMS[0], resMeas->voltageRMS[1], resMeas->voltageRMS[2]);
                    bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"voltagePeak\":[%.2f, %.2f, %.2f], ", resMeas->voltagePeak[0], resMeas->voltagePeak[1], resMeas->voltagePeak[2]);
                    bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"currentRMS\":[%.3f, %.3f, %.3f], ", resMeas->currentRMS[0], resMeas->currentRMS[1], resMeas->currentRMS[2]);
                    bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"currentPeak\":[%.3f, %.3f, %.3f], ", resMeas->currentPeak[0], resMeas->currentPeak[1], resMeas->currentPeak[2]);
                    bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"power\":[%.2f, %.2f, %.2f], ", resMeas->power[0], resMeas->power[1], resMeas->power[2]);
                    bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"lastSeen\": %ld}", slaveLastSeen[boardNumber]);
                    osMutexRelease (resMeasurementsMutex);
                    message.payload    = (void*)messageBuffer;
                    message.payloadlen = strlen (messageBuffer);
                    MQTTPublish (&mqttClient, topicTextBuffer, &message); // publish a message
                }

                for (boardNumber = 0; boardNumber < SLAVES_COUNT + 1; boardNumber++) {
                    if (boardNumber > 0) {
                        osMutexAcquire (sensorsInfoMutex, osWaitForever);
                        SesnorsInfo* sensors = &sensorsInfo[boardNumber - 1];
                        sprintf (topicTextBuffer, "Sensors/%d", boardNumber);
                        bytesInBuffer = sprintf (messageBuffer, "{\"pvTemperature\":[%.1f, %.1f], ", sensors->pvTemperature[0], sensors->pvTemperature[1]);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"fanVoltage\":%.2f, ", sensors->fanVoltage);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"pvEncoderX\":%.2f, ", sensors->currentXPosition);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"pvEncoderY\":%.2f, ", sensors->currentYPosition);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"pvEncoderXraw\":%ld, ", sensors->pvEncoderXraw);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"pvEncoderYraw\":%ld, ", sensors->pvEncoderYraw);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"motorXStatus\":%d, ", sensors->motorXStatus);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"motorYStatus\":%d, ", sensors->motorYStatus);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"motorXAveCurrent\":%.3f, ", sensors->motorXAveCurrent);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"motorYAveCurrent\":%.3f, ", sensors->motorYAveCurrent);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"motorXPeakCurrent\":%.3f, ", sensors->motorXPeakCurrent);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"motorYPeakCurrent\":%.3f, ", sensors->motorYPeakCurrent);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"limitXSwitchUp\":%d, ", sensors->limitXSwitchUp);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"limitXSwitchDown\":%d, ", sensors->limitXSwitchDown);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"limitXSwitchCenter\":%d, ", sensors->limitXSwitchCenter);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"limitYSwitchUp\":%d, ", sensors->limitYSwitchUp);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"limitYSwitchDown\":%d, ", sensors->limitYSwitchDown);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"limitYSwitchCenter\":%d, ", sensors->limitYSwitchCenter);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"currentXPosition\":%.2f, ", sensors->currentXPosition + sensors->positionXOffset);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"currentYPosition\":%.2f, ", sensors->currentYPosition + sensors->positionYOffset);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"positionXWeak\":%d, ", sensors->positionXWeak);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"positionYWeak\":%d, ", sensors->positionYWeak);
                        bytesInBuffer += sprintf (&messageBuffer[bytesInBuffer], "\"powerSupplyFailMask\":%d}", sensors->powerSupplyFailMask);
                        osMutexRelease (sensorsInfoMutex);
                    } else {
                        sprintf (topicTextBuffer, "Sensors/%d", boardNumber);
                        uint8_t mainBoardPowerSupplyFailMask = ~((HAL_GPIO_ReadPin (GPIOD, GPIO_PIN_4) << 1) | HAL_GPIO_ReadPin (GPIOD, GPIO_PIN_2)) & 0x3;
                        bytesInBuffer = sprintf (messageBuffer, "{\"powerSupplyFailMask\":%d}", mainBoardPowerSupplyFailMask);
                    }
                    message.payload    = (void*)messageBuffer;
                    message.payloadlen = strlen (messageBuffer);
                    MQTTPublish (&mqttClient, topicTextBuffer, &message); // publish a message
                }
            }
        }

        osDelay (pdMS_TO_TICKS (1000));
    }
}

uint32_t MqttConnectBroker () {
    uint8_t boardNumber = 0;
    int ret;

    NewNetwork (&net);
    ret = ConnectNetwork (&net, BROKER_IP, MQTT_PORT);
    if (ret != MQTT_SUCCESS) {
        printf ("ConnectNetwork failed.\n");
        return -1;
    }

    MQTTClientInit (&mqttClient, &net, 1000, sndBuffer, sizeof (sndBuffer), rcvBuffer, sizeof (rcvBuffer));

    MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
    data.willFlag               = 0;
    data.MQTTVersion            = 3;
    data.clientID.cstring       = "test_user1";
    data.username.cstring       = "test_user1";
    data.password.cstring       = "1234";
    data.keepAliveInterval      = 100;
    data.cleansession           = 1;

    ret = MQTTConnect (&mqttClient, &data);
    if (ret != MQTT_SUCCESS) {
        net_disconnect (&net);
        printf ("MQTTConnect failed. Code %d\n", ret);
        return ret;
    }

    for (boardNumber = 0; boardNumber < SLAVES_COUNT; boardNumber++) {
        ret = MQTTSubscribe (&mqttClient, subscribeTopicNames[boardNumber], QOS0, MqttMessageArrived);
        if (ret != MQTT_SUCCESS) {
            net_disconnect (&net);
            printf ("MQTTSubscribe failed.\n");
            return ret;
        }
    }
    printf ("MQTT_ConnectBroker O.K.\n");

    return MQTT_SUCCESS;
}

void RelayCtrl (int32_t relayNumber, int32_t relayTimeOn) {
    switch (relayNumber) {
    case 1:
        if (relayTimeOn > 0) {
            osTimerStart (relay1TimerHandle, relayTimeOn * 1000);
        } else {
            osTimerStop (relay1TimerHandle);
        }
        if (relayTimeOn != 0) {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_5, GPIO_PIN_SET);
        } else {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_5, GPIO_PIN_RESET);
        }
        break;
    case 2:
        if (relayTimeOn > 0) {
            osTimerStart (relay2TimerHandle, relayTimeOn * 1000);
        } else {
            osTimerStop (relay2TimerHandle);
        }
        if (relayTimeOn != 0) {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_3, GPIO_PIN_SET);
        } else {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_3, GPIO_PIN_RESET);
        }
        break;
    case 3:
        if (relayTimeOn > 0) {
            osTimerStart (relay3TimerHandle, relayTimeOn * 1000);
        } else {
            osTimerStop (relay3TimerHandle);
        }
        if (relayTimeOn != 0) {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_4, GPIO_PIN_SET);
        } else {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_4, GPIO_PIN_RESET);
        }
        break;
    case 4:
        if (relayTimeOn > 0) {
            osTimerStart (relay4TimerHandle, relayTimeOn * 1000);
        } else {
            osTimerStop (relay4TimerHandle);
        }
        if (relayTimeOn != 0) {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_2, GPIO_PIN_SET);
        } else {
            HAL_GPIO_WritePin (GPIOE, GPIO_PIN_2, GPIO_PIN_RESET);
        }
        break;
    default: break;
    }
}

void MqttMessageArrived (MessageData* msg) {
    SerialProtocolCommands spCommand = spUnknown;
    BoardNoOverTopic topicForBoard   = unknownBoard;
    uint8_t boardNumber              = 0;
    MQTTMessage* message             = msg->message;
    char topicName[32]               = { 0 };
    memcpy (topicName, msg->topicName->lenstring.data, msg->topicName->lenstring.len);

    for (boardNumber = 0; boardNumber < SLAVES_COUNT; boardNumber++) {
        if (strcmp (topicName, subscribeTopicNames[boardNumber]) == 0) {
            topicForBoard = (BoardNoOverTopic)(boardNumber);
            break;
        }
    }
    if (topicForBoard == unknownBoard) {
        return;
    }

    cJSON* json             = cJSON_Parse (message->payload);
    const cJSON* objectItem = NULL;
    InterProcessData data   = { 0 };
    uint32_t arraySize      = 0;
    if (topicForBoard != main_board) {
        for (int topicCmdNumber = 0; topicCmdNumber < MAX_COMMANDS_IN_MQTT_PAYLOAD; topicCmdNumber++) {
            spCommand  = spUnknown;
            objectItem = cJSON_GetObjectItemCaseSensitive (json, topicCommands[topicCmdNumber]);
            if (objectItem != NULL) {
                switch (topicCmdNumber) {
                case fanSpeedTopic: spCommand = spSetFanSpeed;
                case motorXonTopic:
                    if (spCommand == spUnknown) {
                        spCommand = spSetMotorXOn;
                    }
                case motorYonTopic:
                    if (spCommand == spUnknown) {
                        spCommand = spSetMotorYOn;
                    }
                    if (cJSON_IsArray (objectItem)) {
                        data.spCommand = spCommand;
                        arraySize      = cJSON_GetArraySize (objectItem);
                        if (arraySize == 2) {
                            for (int i = 0; i < arraySize; i++) {
                                cJSON* item = cJSON_GetArrayItem (objectItem, i);
                                if (cJSON_IsNumber (item)) {
                                    data.values.integerValues.value[i] = item->valueint;
                                }
                            }
                        }
                    }
                    break;
                case diodeTopic:
                    if (cJSON_IsNumber (objectItem)) {
                        data.spCommand                     = spSetDiodeOn;
                        data.values.integerValues.value[0] = objectItem->valueint;
                    }
                    break;
                case motorXMaxCurrentTopic: spCommand = spSetmotorXMaxCurrent;
                case motorYMaxCurrentTopic:
                    if (cJSON_IsNumber (objectItem)) {
                        if (spCommand == spUnknown) {
                            spCommand = spSetmotorYMaxCurrent;
                        }
                        data.spCommand                   = spCommand;
                        data.values.flaotValues.value[0] = objectItem->valuedouble;
                    }
                    break;
                case clearPeakElectricalMeasurementsTopic:
                    if (cJSON_IsNumber (objectItem)) {
                        if (objectItem->valueint == 1) {
                            data.spCommand = spClearPeakMeasurments;
                        }
                    }
                    break;
                case mainBoardRelayTopic:
                    if (cJSON_IsArray (objectItem)) {
                        arraySize = cJSON_GetArraySize (objectItem);
                        if (arraySize == 2) {
                            int32_t relayNumber = -1;
                            cJSON* item         = cJSON_GetArrayItem (objectItem, 0);
                            if (cJSON_IsNumber (item)) {
                                relayNumber = item->valueint;
                            }
                            int32_t relayTimeOn = 0;
                            item                = cJSON_GetArrayItem (objectItem, 1);
                            if (cJSON_IsNumber (item)) {
                                relayTimeOn = item->valueint;
                            }
                            RelayCtrl (relayNumber, relayTimeOn);
                        }
                    }
                    break;
                case setEncoderXValue:
                    if (cJSON_IsNumber (objectItem)) {
                        data.spCommand                   = spSetEncoderXValue;
                        data.values.flaotValues.value[0] = objectItem->valuedouble;
                    }
                    break;
                case setEncoderYValue:
                    if (cJSON_IsNumber (objectItem)) {
                        data.spCommand                   = spSetEncoderYValue;
                        data.values.flaotValues.value[0] = objectItem->valuedouble;
                    }
                    break;
                case setVoltageMeasGains: spCommand = spSetVoltageMeasGains;
                case setVoltageMeasOffsets:
                    if (spCommand == spUnknown) {
                        spCommand = spSetVoltageMeasOffsets;
                    }
                case setCurrentMeasGains:
                    if (spCommand == spUnknown) {
                        spCommand = spSetCurrentMeasGains;
                    }
                case setCurrentMeasOffsets:
                    if (spCommand == spUnknown) {
                        spCommand = spSetCurrentMeasOffsets;
                    }
                    if (cJSON_IsArray (objectItem)) {
                        data.spCommand = spCommand;
                        arraySize      = cJSON_GetArraySize (objectItem);
                        if (arraySize == 3) {
                            for (int i = 0; i < arraySize; i++) {
                                cJSON* item = cJSON_GetArrayItem (objectItem, i);
                                if (cJSON_IsNumber (item)) {
                                    data.values.flaotValues.value[i] = item->valuedouble;
                                }
                            }
                        }
                    }
                    break;
                case resetSystem:
                    if (cJSON_IsNumber (objectItem)) {
                        if (objectItem->valueint == 1) {
                            data.spCommand = spResetSystem;
                            break;
                        }
                    }
                    break;
                case setPositionX:
                    if (cJSON_IsNumber (objectItem)) {
                        data.spCommand                   = spSetPositonX;
                        data.values.flaotValues.value[0] = objectItem->valuedouble;
                    }
                	break;
                case setPositionY:
                    if (cJSON_IsNumber (objectItem)) {
                        data.spCommand                   = spSetPositonY;
                        data.values.flaotValues.value[0] = objectItem->valuedouble;
                    }
                	break;
                default: break;
                }
            }
        }
    } else {
        for (int topicCmdNumber = 0; topicCmdNumber < MAX_COMMANDS_IN_MQTT_PAYLOAD; topicCmdNumber++) {
            objectItem = cJSON_GetObjectItemCaseSensitive (json, topicCommands[topicCmdNumber]);
            if (objectItem != NULL) {
                if (topicCmdNumber == resetSystem) {
                    __disable_irq ();
                    NVIC_SystemReset ();
                    break;
                }
            }
        }
    }

    switch (topicForBoard) {
    case main_board: break;
    case board_1:
#ifdef USE_UART8_INSTEAD_UART1
        if (uart8TaskData.sendCmdToSlaveQueue != NULL) {
            osMessageQueuePut (uart8TaskData.sendCmdToSlaveQueue, &data, 0, (TickType_t)100);
        }
#else
        if (uart1TaskData.sendCmdToSlaveQueue != NULL) {
            osMessageQueuePut (uart1TaskData.sendCmdToSlaveQueue, &data, 0, (TickType_t)100);
        }
#endif
        printf ("Send cmd to board 1\n");
        break;
    case board_2:
        if (uart3TaskData.sendCmdToSlaveQueue != NULL) {
            osMessageQueuePut (uart3TaskData.sendCmdToSlaveQueue, &data, 0, (TickType_t)100);
        }
        printf ("Send cmd to board 2\n");
        break;
    case board_3:
        if (uart6TaskData.sendCmdToSlaveQueue != NULL) {
            osMessageQueuePut (uart6TaskData.sendCmdToSlaveQueue, &data, 0, (TickType_t)100);
        }
        printf ("Send cmd to board 3\n");
        break;
    case board_4:
        if (uart2TaskData.sendCmdToSlaveQueue != NULL) {
            osMessageQueuePut (uart2TaskData.sendCmdToSlaveQueue, &data, 0, (TickType_t)100);
        }
        printf ("Send cmd to board 4\n");
        break;
    default: break;
    }

    cJSON_Delete (json);
    printf ("MQTT Topic:%s, MSG[%d]:%s\n", topicName, (int)message->payloadlen, (char*)message->payload);
}

void mqtt_cli_init (void) {
    mqttClientSubTaskHandle = osThreadNew (MqttClientSubTask, NULL, &mqttClientSubTaskAttr); // subscribe task
    mqttClientPubTaskHandle = osThreadNew (MqttClientPubTask, NULL, &mqttClientPubTaskAttr); // publish task
}