denki
linetrace
Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 50:8843bee40df5
- Parent:
- 49:178dcafb4f0e
- Child:
- 51:2d35f207d217
--- a/main.cpp Tue Sep 01 01:43:17 2020 +0000
+++ b/main.cpp Tue Sep 01 05:38:46 2020 +0000
@@ -216,14 +216,14 @@
}
switch(code){
case 0x40bf27d8: // クイック
- //pc.printf("mode = SPEED\r\n");
+ ////*-*-*-5("mode = SPEED\r\n");
mode = SPEED; // スピードモード
changeSpeed(); // 速度変更
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
break;
case 0x40be34cb: // レグザリンク
- //pc.printf("mode = LINE_TRACE\r\n");
+ ////*-*-*-5("mode = LINE_TRACE\r\n");
if(trace_thread->get_state() == Thread::Deleted){
delete trace_thread;
trace_thread = new Thread(trace);
@@ -233,7 +233,7 @@
display(); // ディスプレイ表示
break;
case 0x40bf6e91: // 番組表
- //pc.printf("mode = AVOIDANCE\r\n");
+ ////*-*-*-5("mode = AVOIDANCE\r\n");
if(avoi_thread->get_state() == Thread::Deleted){
delete avoi_thread;
avoi_thread = new Thread(avoidance);
@@ -245,31 +245,31 @@
display(); // ディスプレイ表示
break;
case 0x40bf3ec1: // ↑
- //pc.printf("mode = ADVANCE\r\n");
+ ////*-*-*-5("mode = ADVANCE\r\n");
mode = ADVANCE; // 前進モード
run = ADVANCE; // 前進
display(); // ディスプレイ表示
break;
case 0x40bf3fc0: // ↓
- //pc.printf("mode = BACK\r\n");
+ ////*-*-*-5("mode = BACK\r\n");
mode = BACK; // 後退モード
run = BACK; // 後退
display(); // ディスプレイ表示
break;
case 0x40bf5fa0: // ←
- //pc.printf("mode = LEFT\r\n");
+ ////*-*-*-5("mode = LEFT\r\n");
mode = LEFT; // 左折モード
run = LEFT; // 左折
display(); // ディスプレイ表示
break;
case 0x40bf5ba4: // →
- //pc.printf("mode = RIGHT\r\n");
+ ////*-*-*-5("mode = RIGHT\r\n");
mode = RIGHT; // 右折モード
run = RIGHT; // 右折
display(); // ディスプレイ表示
break;
case 0x40bf3dc2: // 決定
- //pc.printf("mode = STOP\r\n");
+ ////*-*-*-5("mode = STOP\r\n");
mode = STOP; // 停止モード
run = STOP; // 停止
display(); // ディスプレイ表示
@@ -361,7 +361,7 @@
int sensor3 = ss3;
int sensor4 = ss4;
int sensor5 = ss5;
- //pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
+ ////*-*-*-5("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
int sensD = 0;
/* センサー値の決定 */
@@ -421,7 +421,7 @@
int i;
while(1){
watchsurrounding3();
-// pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
+// //*-*-*-5("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
if(flag_a == 0){ // 障害物がない場合
run = ADVANCE; // 前進
}else{ // 障害物がある場合
@@ -722,7 +722,7 @@
/* バッテリー残量更新関数 */
void bChange(){
- //pc.printf(" bChange1\r\n");
+ ////*-*-*-5(" bChange1\r\n");
b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
if(b <= 0){ // バッテリー残量0%なら全ての機能停止
b = 0;
@@ -752,14 +752,14 @@
// Serial Interrupt read ESP data
void callback()
{
- //pc.printf("\n\r------------ callback is being called --------------\n\r");
+ ////*-*-*-5("\n\r------------ callback is being called --------------\n\r");
led3=1;
while (esp.readable()) {
webbuff[ount] = esp.getc();
ount++;
}
if(strlen(webbuff)>bufflen) {
-// pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
+// //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
DataRX=1;
led3=0;
}
@@ -767,7 +767,7 @@
void wifi(/*void const *argument*/)
{
- pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
+ //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
ThisThread::sleep_for(100);
led1=1,led2=0,led3=0;
timeout=6000;
@@ -778,25 +778,25 @@
while(1) {
if(DataRX==1) {
- pc.printf("\f\n\r------------ main while > if --------------\n\r");
+ //*-*-*-5("\f\n\r------------ main while > if --------------\n\r");
click_flag = 1;
ReadWebData();
- pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
+ //*-*-*-5("\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");
+ //*-*-*-5("\f\n\r------------ befor send page --------------\n\r");
sendpage();
}
- pc.printf("\f\n\r------------ send_check begin --------------\n\r");
+ //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r");
//sendcheck();
- pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
+ //*-*-*-5("\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");
+ //*-*-*-5(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
+ //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
+ //*-*-*-5(" Web Characters sent : %d\n\n", bufl);
+ //*-*-*-5(" -------------------------------------\n\n");
servreq=0;
}
ThisThread::sleep_for(100);
@@ -821,139 +821,139 @@
strcat(webbuff, "</font>");
}
strcat(webbuff, "%</strong>");
- strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>");
+ strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
strcat(webbuff, "</td></p>");
strcat(webbuff, "<br>");
strcat(webbuff, "<table><tr><td></td><td>");
switch(mode) { //ブラウザ更新時の現在の車の状態からボタンの点灯判定
case ADVANCE: //前進
- strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
case LEFT: //左折
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
case STOP: //停止
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
case RIGHT: //右折
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
case BACK: //後進
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
case AVOIDANCE: //障害物回避
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
case LINE_TRACE: //ライントレース
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
default: //その他
- strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
strcat(webbuff, "</button></td><td></td></tr><tr><td>");
- strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
strcat(webbuff, "</button></td></tr><td></td><td>");
- strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
strcat(webbuff, "<strong>Mode</strong>");
- strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
- strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
break;
}
strcat(webbuff, "</button></td></tr></table>");
@@ -962,32 +962,32 @@
//ready示速度だけ点灯
switch (flag_sp) { //現在の速度のボタン表示
case 0: //ノーマル
- strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
break;
case 1: //ファスト
- strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
break;
case 2: //ベリーファスト
- strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
break;
default: //その他
- strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
strcat(webbuff, "</button></td><td>");
- strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
break;
}
strcat(webbuff, "</button></td></tr></table>");
@@ -998,10 +998,6 @@
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
@@ -1012,14 +1008,14 @@
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, "for(var m=0;m<11;m++){button_9[m].disabled=false;}");
strcat(webbuff, "}");
strcat(webbuff, "};");
strcat(webbuff, "xhr.send(\"\");");
strcat(webbuff, "}");
-//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
+//mode変更ボタン入力時動作 //sendmes
+ strcat(webbuff, "function send_mes(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;");
strcat(webbuff, "htmlacs(url);");
@@ -1034,7 +1030,7 @@
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, "function send_mes_spe(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);");
strcat(webbuff, "console.log(url);");
@@ -1059,14 +1055,14 @@
getcount=40;
SendCMD();
getreply();
- pc.printf(replybuff);
- //pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
+ //*-*-*-5(replybuff);
+ ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
- pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
+ //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
//pastthrough mode
SendWEB(); // send web page
- pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
+ //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
memset(webbuff, '\0', sizeof(webbuff));
sendcheck();
@@ -1086,20 +1082,20 @@
//wait_ms(10);
ThisThread::sleep_for(100);
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));
+ ////*-*-*-5("\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");
+ ////*-*-*-5(replybuff);
+ ////*-*-*-5("\r\n+++++++++++++++++++\r\n");
}
//****
i++;
- //pc.printf("%c",webbuff[i]);
+ ////*-*-*-5("%c",webbuff[i]);
}
}
- pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
+ //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
}
@@ -1125,18 +1121,18 @@
getcount=10;
SendCMD();
getreply();
- pc.printf(replybuff);
+ //*-*-*-5(replybuff);
sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
timeout=500;
getcount=10;
SendCMD();
getreply();
- pc.printf(replybuff);
+ //*-*-*-5(replybuff);
} else {
sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
SendCMD();
getreply();
- pc.printf(replybuff);
+ //*-*-*-5(replybuff);
}
time2.reset();
}
@@ -1144,7 +1140,7 @@
// Reads and processes GET and POST web data
void ReadWebData()
{
- pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
+ //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
ThisThread::sleep_for(200);
esp.attach(NULL);
ount=0;
@@ -1157,23 +1153,23 @@
weberror=0;
int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
//int i=0;
- pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
- pc.printf("%s",webdata);
- pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
+ //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
+ //*-*-*-5("%s",webdata);
+ //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
if( strstr(webdata, "Normal") != NULL ) {
- pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
+ //*-*-*-5("++++++++++++++++++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+++++++++++++++++++");
+ //*-*-*-5("+++++++++++++++++++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++++++++++++++++++");
+ //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++");
mode = SPEED; // スピードモード
flag_sp = 1;
display(); // ディスプレイ表示
@@ -1182,7 +1178,7 @@
beforeMode = mode;
}
if( strstr(webdata, "GO") != NULL ) {
- pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
+ //*-*-*-5("+++++++++++++++++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
@@ -1191,7 +1187,7 @@
}
if( strstr(webdata, "LEFT") != NULL ) {
- pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
+ //*-*-*-5("+++++++++++++++++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
@@ -1200,7 +1196,7 @@
}
if( strstr(webdata, "STOP") != NULL ) {
- pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
+ //*-*-*-5("+++++++++++++++++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
@@ -1209,7 +1205,7 @@
}
if( strstr(webdata, "RIGHT") != NULL ) {
- pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
+ //*-*-*-5("+++++++++++++++++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
@@ -1218,17 +1214,17 @@
}
if( strstr(webdata, "BACK") != NULL ) {
- pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
+ //*-*-*-5("+++++++++++++++++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+++++++++++++++++++++");
+ //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++");
if( strstr(webdata, "AVOIDANCE") != NULL ) {
- pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
+ //*-*-*-5("+++++++++++++++++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);
@@ -1239,8 +1235,8 @@
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");
+ //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
+ //*-*-*-5("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);
@@ -1274,37 +1270,37 @@
// Starts and restarts webserver if errors detected.
void startserver()
{
- pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
+ //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n");
strcpy(cmdbuff,"AT+RST\r\n");
timeout=8000;
getcount=1000;
SendCMD();
getreply();
- pc.printf(replybuff);
- pc.printf("%d",ount);
+ //*-*-*-5(replybuff);
+ //*-*-*-5("%d",ount);
if (strstr(replybuff, "OK") != NULL) {
- pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
+ //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n");
strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
timeout=500;
getcount=20;
SendCMD();
getreply();
- pc.printf(replybuff);
+ //*-*-*-5(replybuff);
sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
timeout=500;
getcount=20;
SendCMD();
getreply();
- pc.printf(replybuff);
+ //*-*-*-5(replybuff);
ThisThread::sleep_for(500);
sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
timeout=500;
getcount=50;
SendCMD();
getreply();
- pc.printf(replybuff);
+ //*-*-*-5(replybuff);
ThisThread::sleep_for(5000);
- pc.printf("\n Getting Server IP \r\n");
+ //*-*-*-5("\n Getting Server IP \r\n");
strcpy(cmdbuff, "AT+CIFSR\r\n");
timeout=2500;
getcount=200;
@@ -1315,21 +1311,21 @@
weberror=1; // wait for valid IP
}
}
- 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");
+ //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
+ //*-*-*-5("\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);
+ //*-*-*-5(webdata);
led2=1;
bufflen=200;
//bufflen=100;
ount=0;
- pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
+ //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
setup();
esp.attach(&callback);
} else {
- pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
+ //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
led1=1;
led2=1;
led3=1;
@@ -1345,6 +1341,7 @@
time2.reset();
time2.start();
}
+
// ESP Command data send
void SendCMD()
{