denki
linetrace
Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 49:178dcafb4f0e
- Parent:
- 48:3003ea51c619
- Child:
- 50:8843bee40df5
--- a/main.cpp Mon Aug 31 01:22:48 2020 +0000
+++ b/main.cpp Tue Sep 01 01:43:17 2020 +0000
@@ -196,7 +196,7 @@
deco_thread -> set_priority(osPriorityRealtime);
motor_thread = new Thread(motor);
motor_thread -> set_priority(osPriorityHigh);
-// wifi_thread -> set_priority(osPriorityRealtime);
+ wifi_thread -> set_priority(osPriorityRealtime);
display();
}
@@ -775,33 +775,52 @@
getreply();
esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
startserver();
-
+
while(1) {
if(DataRX==1) {
+ pc.printf("\f\n\r------------ main while > if --------------\n\r");
click_flag = 1;
ReadWebData();
- if (servreq == 1 && weberror == 0) { // ページ表示のリクエストがあったとき
+ pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
+ //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
+ if (servreq == 1 && weberror == 0) {
+ pc.printf("\f\n\r------------ befor send page --------------\n\r");
sendpage();
}
+ pc.printf("\f\n\r------------ send_check begin --------------\n\r");
+
+ //sendcheck();
+ pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
+
esp.attach(&callback);
+ pc.printf(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
+ pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
+ pc.printf(" Web Characters sent : %d\n\n", bufl);
+ pc.printf(" -------------------------------------\n\n");
servreq=0;
}
- run = beforeRun;
ThisThread::sleep_for(100);
- beforeRun = run;
- run = STOP;
}
}
// Static WEB page
void sendpage()
{
// WEB page data
+
strcpy(webbuff, "<!DOCTYPE html>");
strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
+ //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}.load{ width: 50px; height: 30px;font-size:10px}</style>");
strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
- strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
+ if(b > 30) { //残電量表示
+ sprintf(webbuff, "%s%3d", webbuff, b);
+ } else { //30%より下の場合残電量を赤文字
+ strcat(webbuff, "<font color=\"red\">");
+ sprintf(webbuff, "%s%3d", webbuff, b);
+ strcat(webbuff, "</font>");
+ }
+ strcat(webbuff, "%</strong>");
strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>");
strcat(webbuff, "</td></p>");
strcat(webbuff, "<br>");
@@ -972,47 +991,34 @@
break;
}
strcat(webbuff, "</button></td></tr></table>");
+
strcat(webbuff, "</center>");
strcat(webbuff, "</body>");
strcat(webbuff, "</html>");
+
strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
+
strcat(webbuff, "function rel(){");
strcat(webbuff, "location.reload();");
strcat(webbuff, "}");
+
+ strcat(webbuff, "var button_9 = document.getElementsByTagName(\"button\");");
+
+//ボタン入力時それぞれの関数から呼び出されサーバーとの通信を行う
strcat(webbuff, "function htmlacs(url) {");
- strcat(webbuff, "var xhr = new XMLHttpRequest();");
- strcat(webbuff, "xhr.open(\"GET\", url);");
- strcat(webbuff, "xhr.send(\"\");");
+ strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=true;}");
+ strcat(webbuff, "var xhr = new XMLHttpRequest();");
+ strcat(webbuff, "xhr.open(\"GET\", url);");
+ strcat(webbuff, "xhr.onreadystatechange = function(){");
+ //strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
+ strcat(webbuff, "if(this.readyState == 4){");
+ strcat(webbuff, "for(var m=0;m<10;m++){button_9[m].disabled=false;}");
+ strcat(webbuff, "}");
+ strcat(webbuff, "};");
+ strcat(webbuff, "xhr.send(\"\");");
strcat(webbuff, "}");
-//0825
-//0824 battery update auto
- strcat(webbuff, "function battery_update() {");
- strcat(webbuff, "var url1 = \"http://\" + window.location.hostname+ \"/cargo?a=responseBattery\";");
- strcat(webbuff, "var xhr1 = new XMLHttpRequest();");
- strcat(webbuff, "xhr1.open(\"GET\", url1);");
-//0820
- strcat(webbuff, "xhr1.onreadystatechange = function(){");
- strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
- strcat(webbuff, "var res1 = xhr1.responseText;");
-//color
- strcat(webbuff, "var battery_num=res1;");
- strcat(webbuff, "if(battery_num>0 && battery_num<31){");
- strcat(webbuff, "document.getElementById('leftms').style.color=\"red\";");
- strcat(webbuff, "}");
- strcat(webbuff, "if(battery_num>39 && battery_num<61){");
- strcat(webbuff, "document.getElementById('leftms').style.color=\"orange\";");
- strcat(webbuff, "}");
- strcat(webbuff, "if(battery_num>69 && battery_num<101){");
- strcat(webbuff, "document.getElementById('leftms').style.color=\"blue\";");
- strcat(webbuff, "}");
-//color
- strcat(webbuff, "document.getElementById('leftms').value=res1;}};");
-//0820
- strcat(webbuff, "xhr1.send();");
- strcat(webbuff, "}");
- strcat(webbuff, "setInterval(battery_update,15000);");
-//0824 battery update auto
-//0825
+
+//mode変更ボタン入力時動作
strcat(webbuff, "function send_mes(btnmes,btnval){"); //mode変更ボタン入力時の点灯消灯判定
strcat(webbuff, "console.log(btnval);");
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
@@ -1027,6 +1033,7 @@
strcat(webbuff, "}");
strcat(webbuff, "}");
strcat(webbuff, "}");
+
strcat(webbuff, "function send_mes_spe(btnmes,btnval){"); //speed変更ボタン入力時の点灯消灯判定
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
strcat(webbuff, "htmlacs(url);");
@@ -1041,16 +1048,26 @@
strcat(webbuff, "}");
strcat(webbuff, "}");
strcat(webbuff, "</script>");
+
+
// end of WEB page data
bufl = strlen(webbuff); // get total page buffer length
+ //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
timeout=500;
getcount=40;
SendCMD();
getreply();
+ pc.printf(replybuff);
+ //pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
+
+ pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
+
//pastthrough mode
SendWEB(); // send web page
+ pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
+
memset(webbuff, '\0', sizeof(webbuff));
sendcheck();
}
@@ -1062,45 +1079,30 @@
if(esp.writeable()) {
while(webbuff[i]!='\0') {
esp.putc(webbuff[i]);
+
//****
//output at command when 2000
if(((i%2047)==0) && (i>0)) {
- run = beforeRun;
+ //wait_ms(10);
ThisThread::sleep_for(100);
- beforeRun = run;
- run = STOP;
- sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048*(i/2047))>2048?2048:(bufl-2048*(i/2047))); // send IPD link channel and buffer character length.
+ sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
+ //pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
timeout=600;
getcount=50;
SendCMD();
getreply();
+ //pc.printf(replybuff);
+ //pc.printf("\r\n+++++++++++++++++++\r\n");
}
//****
i++;
+ //pc.printf("%c",webbuff[i]);
}
}
+ pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
}
-void sendpage2()
-{
-// WEB page data
- sprintf(battery_ch,"%d",b);
- strcpy(webbuff, battery_ch);
-// end of WEB page data
- bufl = strlen(webbuff); // get total page buffer length
-
- sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
- timeout=500;
- getcount=40;
- SendCMD();
- getreply();
- //pastthrough mode
- SendWEB(); // send web page
- memset(webbuff, '\0', sizeof(webbuff));
- sendcheck();
-}
-
void sendcheck()
{
weberror=1;
@@ -1109,21 +1111,32 @@
time2.reset();
time2.start();
+ /*
+ while(weberror==1 && time2.read() <5) {
+ getreply();
+ if (strstr(replybuff, "SEND OK") != NULL) {
+ weberror=0; // wait for valid SEND OK
+ }
+ }
+ */
if(weberror==1) { // restart connection
strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
timeout=500;
getcount=10;
SendCMD();
getreply();
+ pc.printf(replybuff);
sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
timeout=500;
getcount=10;
SendCMD();
getreply();
+ pc.printf(replybuff);
} else {
sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
SendCMD();
getreply();
+ pc.printf(replybuff);
}
time2.reset();
}
@@ -1131,10 +1144,8 @@
// Reads and processes GET and POST web data
void ReadWebData()
{
- run = beforeRun;
+ pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
ThisThread::sleep_for(200);
- beforeRun = run;
- run = STOP;
esp.attach(NULL);
ount=0;
DataRX=0;
@@ -1145,22 +1156,24 @@
strcpy(webdata, webbuff + x);
weberror=0;
int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
- if( strstr(webdata, "responseBattery") != NULL ) {
- click_flag = 0;
- led4=!led4;
- sendpage2();
- }
+ //int i=0;
+ pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
+ pc.printf("%s",webdata);
+ pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
if( strstr(webdata, "Normal") != NULL ) {
+ pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
mode = SPEED; // スピードモード
flag_sp = 0;
display(); // ディスプレイ表示
mode = beforeMode; // 現在のモードに前回のモードを設定
}else if( strstr(webdata, "VeryFast") != NULL ) {
+ pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
mode = SPEED; // スピードモード
flag_sp = 2;
display(); // ディスプレイ表示
mode = beforeMode; // 現在のモードに前回のモードを設定
}else if( strstr(webdata, "Fast") != NULL ) {
+ pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
mode = SPEED; // スピードモード
flag_sp = 1;
display(); // ディスプレイ表示
@@ -1169,14 +1182,16 @@
beforeMode = mode;
}
if( strstr(webdata, "GO") != NULL ) {
+ pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
//delete avoi_thread; //障害物回避スレッド停止
//delete trace_thread; //ライントレーススレッド停止
run = ADVANCE; // 前進
mode = ADVANCE; // モード変更
display(); // ディスプレイ表示
}
-
+
if( strstr(webdata, "LEFT") != NULL ) {
+ pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
//delete avoi_thread; //障害物回避スレッド停止
//delete trace_thread; //ライントレーススレッド停止
run = LEFT; // 左折
@@ -1185,6 +1200,7 @@
}
if( strstr(webdata, "STOP") != NULL ) {
+ pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
//delete avoi_thread; //障害物回避スレッド停止
//delete trace_thread; //ライントレーススレッド停止
run = STOP; // 停止
@@ -1193,6 +1209,7 @@
}
if( strstr(webdata, "RIGHT") != NULL ) {
+ pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
//delete avoi_thread; //障害物回避スレッド停止
//delete trace_thread; //ライントレーススレッド停止
run = RIGHT; // 右折
@@ -1201,14 +1218,17 @@
}
if( strstr(webdata, "BACK") != NULL ) {
+ pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
//delete avoi_thread; //障害物回避スレッド停止
//delete trace_thread; //ライントレーススレッド停止
run = BACK; // 後進
mode = BACK; // モード変更
display(); // ディスプレイ表示
}
+ pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
if( strstr(webdata, "AVOIDANCE") != NULL ) {
+ pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
if(avoi_thread->get_state() == Thread::Deleted) {
delete avoi_thread; //障害物回避スレッド停止
avoi_thread = new Thread(avoidance);
@@ -1219,6 +1239,8 @@
display(); // ディスプレイ表示
}
if( strstr(webdata, "LINE_TRACE") != NULL ) {
+ pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
+ pc.printf("mode = LINE_TRACE\r\n");
if(trace_thread->get_state() == Thread::Deleted) {
delete trace_thread; //ライントレーススレッド停止
trace_thread = new Thread(trace);
@@ -1296,10 +1318,12 @@
pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
replybuff[strlen(replybuff)-1] = '\0';
+ //char* IP = replybuff + 5;
sprintf(webdata,"%s", replybuff);
pc.printf(webdata);
led2=1;
bufflen=200;
+ //bufflen=100;
ount=0;
pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
setup();
@@ -1345,9 +1369,9 @@
/* mainスレッド */
int main() {
/* 初期設定 */
-// wifi_thread = new Thread(wifi);
-// wifi_thread -> set_priority(osPriorityHigh);
- setup();
+ wifi_thread = new Thread(wifi);
+ wifi_thread -> set_priority(osPriorityHigh);
+// setup();
avoi_thread = new Thread(avoidance);
avoi_thread->terminate();
trace_thread = new Thread(trace);
@@ -1359,7 +1383,7 @@
lcd.setBacklight(TextLCD::LightOn); // バックライトON
lcd.setAddress(0,1);
lcd.printf("Mode:SetUp");
- display(); // ディスプレイ表示
+// display(); // ディスプレイ表示
while(1){
bChange(); // バッテリー残量更新