mbed_robotcar / Mbed 2 deprecated ESP8266-wifi-sucess

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Dependencies:   mbed

main.cpp@9:e458213a7afd, 2020-08-03 (annotated)

Committer:
molberry
Date:
Mon Aug 03 06:49:33 2020 +0000
Revision:
9:e458213a7afd
Parent:
8:d8e164130860 
change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
star297 0:e2a155f50119 1 // ESP8266 Static page WEB server to control Mbed
star297 0:e2a155f50119 2
star297 0:e2a155f50119 3 #include "mbed.h"
4180_1 4:40dd020463ea 4 //#include "DS18B20.h"
star297 0:e2a155f50119 5
star297 0:e2a155f50119 6 Serial pc(USBTX, USBRX);
molberry 9:e458213a7afd 7 Serial esp(p13, p14); // tx, rx
faker_71 6:7c9cc335b762 8 //Serial esp(p9, p10); // tx, rx
molberry 9:e458213a7afd 9 //Resetpin使用せず
4180_1 4:40dd020463ea 10 //DS18B20 thermom(A0, DS18B20::RES_12_BIT);
star297 2:d4c6bc0f2dc4 11
star297 0:e2a155f50119 12 // Standard Mbed LED definitions
4180_1 4:40dd020463ea 13 DigitalOut led1(LED1); // (PTB18)
4180_1 4:40dd020463ea 14 DigitalOut led2(LED2); // (PTB19)
4180_1 4:40dd020463ea 15 DigitalOut led3(LED3); // (PTD1)
star297 0:e2a155f50119 16
star297 0:e2a155f50119 17 // Digital Out and In pins, can be configured to any suitable pin depending on Platform
molberry 9:e458213a7afd 18 AnalogIn Ain1(p18);//battery
star297 0:e2a155f50119 19
star297 0:e2a155f50119 20 Timer t1;
star297 1:71ed1afbf344 21 Timer t2;
star297 1:71ed1afbf344 22
star297 1:71ed1afbf344 23 struct tm t;
star297 0:e2a155f50119 24
star297 3:f7febfa77784 25 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
star297 2:d4c6bc0f2dc4 26 int bufl, ipdLen, linkID, weberror, webcounter;
4180_1 4:40dd020463ea 27 float temperature, AdcIn, Ht;
star297 0:e2a155f50119 28 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
star297 0:e2a155f50119 29 char Vcc[10];
star297 0:e2a155f50119 30 char Temp[10];
star297 0:e2a155f50119 31 char temp[10];
star297 2:d4c6bc0f2dc4 32 char webcount[8];
star297 3:f7febfa77784 33 char lasthit[30];
star297 0:e2a155f50119 34 char timebuf[30];
star297 0:e2a155f50119 35 char type[16];
star297 0:e2a155f50119 36 char type1[16];
star297 0:e2a155f50119 37 char channel[2];
star297 3:f7febfa77784 38 char cmdbuff[32];
4180_1 4:40dd020463ea 39 char replybuff[1024];
faker_71 5:dfea6fd1abba 40
faker_71 6:7c9cc335b762 41 char webdata[1024]; // This may need to be bigger depending on WEB browser used
faker_71 6:7c9cc335b762 42 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
faker_71 5:dfea6fd1abba 43
faker_71 6:7c9cc335b762 44 //char webdata[4096]; // This may need to be bigger depending on WEB browser used
faker_71 6:7c9cc335b762 45 //char webbuff[4096*4]; // Currently using 1986 characters, Increase this if more web page data added
faker_71 5:dfea6fd1abba 46
faker_71 6:7c9cc335b762 47 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
star297 2:d4c6bc0f2dc4 48 void gettime(),gettemp(),getbattery(),setRTC(),beep();
star297 0:e2a155f50119 49
star297 1:71ed1afbf344 50 // manual set RTC values
4180_1 4:40dd020463ea 51 int minute =00; // 0-59
4180_1 4:40dd020463ea 52 int hour =12; // 2-23
4180_1 4:40dd020463ea 53 int dayofmonth =26; // 1-31
4180_1 4:40dd020463ea 54 int month =8; // 1-12
star297 1:71ed1afbf344 55 int year =15; // last 2 digits
star297 2:d4c6bc0f2dc4 56
4180_1 4:40dd020463ea 57 int port =80; // set server port
4180_1 4:40dd020463ea 58 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
4180_1 4:40dd020463ea 59
molberry 9:e458213a7afd 60 char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
molberry 9:e458213a7afd 61 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
molberry 9:e458213a7afd 62
star297 0:e2a155f50119 63 // Serial Interrupt read ESP data
4180_1 4:40dd020463ea 64 void callback()
4180_1 4:40dd020463ea 65 {
faker_71 5:dfea6fd1abba 66 //pc.printf("\n\r------------ callback is being called --------------\n\r");
4180_1 4:40dd020463ea 67 led3=1;
4180_1 4:40dd020463ea 68 while (esp.readable()) {
4180_1 4:40dd020463ea 69 webbuff[count] = esp.getc();
4180_1 4:40dd020463ea 70 count++;
4180_1 4:40dd020463ea 71 }
4180_1 4:40dd020463ea 72 if(strlen(webbuff)>bufflen) {
faker_71 5:dfea6fd1abba 73 pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
4180_1 4:40dd020463ea 74 DataRX=1;
4180_1 4:40dd020463ea 75 led3=0;
4180_1 4:40dd020463ea 76 }
star297 0:e2a155f50119 77 }
star297 0:e2a155f50119 78
4180_1 4:40dd020463ea 79 int main()
4180_1 4:40dd020463ea 80 {
4180_1 4:40dd020463ea 81 reset=0;
star297 0:e2a155f50119 82 pc.baud(115200);
4180_1 4:40dd020463ea 83
faker_71 5:dfea6fd1abba 84 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
4180_1 4:40dd020463ea 85 wait(0.5);
4180_1 4:40dd020463ea 86 reset=1;
4180_1 4:40dd020463ea 87 led1=1,led2=0,led3=0;
4180_1 4:40dd020463ea 88 timeout=6000;
4180_1 4:40dd020463ea 89 getcount=500;
4180_1 4:40dd020463ea 90 getreply();
star297 3:f7febfa77784 91 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
4180_1 4:40dd020463ea 92 if (time(NULL) < 1420070400) {
4180_1 4:40dd020463ea 93 setRTC();
4180_1 4:40dd020463ea 94 }
star297 2:d4c6bc0f2dc4 95 beep();
star297 0:e2a155f50119 96 startserver();
molberry 9:e458213a7afd 97
4180_1 4:40dd020463ea 98 while(1) {
4180_1 4:40dd020463ea 99 if(DataRX==1) {
faker_71 5:dfea6fd1abba 100 pc.printf("\f\n\r------------ main while > if --------------\n\r");
molberry 9:e458213a7afd 101
star297 0:e2a155f50119 102 ReadWebData();
star297 2:d4c6bc0f2dc4 103 beep();
4180_1 4:40dd020463ea 104 if (servreq == 1 && weberror == 0) {
molberry 9:e458213a7afd 105 pc.printf("\f\n\r------------ befor send page --------------\n\r");
4180_1 4:40dd020463ea 106 sendpage();
4180_1 4:40dd020463ea 107 }
4180_1 4:40dd020463ea 108 esp.attach(&callback);
4180_1 4:40dd020463ea 109 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);
4180_1 4:40dd020463ea 110 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
star297 0:e2a155f50119 111 pc.printf(" Web Characters sent : %d\n\n", bufl);
star297 0:e2a155f50119 112 pc.printf(" -------------------------------------\n\n");
star297 2:d4c6bc0f2dc4 113 strcpy(lasthit, timebuf);
4180_1 4:40dd020463ea 114 servreq=0;
4180_1 4:40dd020463ea 115 }
star297 0:e2a155f50119 116 }
4180_1 4:40dd020463ea 117 }
4180_1 4:40dd020463ea 118 // Static WEB page
star297 0:e2a155f50119 119 void sendpage()
4180_1 4:40dd020463ea 120 {
star297 3:f7febfa77784 121 gettemp();
4180_1 4:40dd020463ea 122 getbattery();
4180_1 4:40dd020463ea 123 gettime();
4180_1 4:40dd020463ea 124
4180_1 4:40dd020463ea 125 // WEB page data
faker_71 5:dfea6fd1abba 126
molberry 9:e458213a7afd 127 strcpy(webbuff, "<!DOCTYPE html>");
molberry 9:e458213a7afd 128 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
molberry 9:e458213a7afd 129 strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:00ff66;}</style>");
molberry 9:e458213a7afd 130 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remot Controller");
molberry 9:e458213a7afd 131 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
molberry 9:e458213a7afd 132 strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
molberry 9:e458213a7afd 133 strcat(webbuff, "</td></p>");
molberry 9:e458213a7afd 134 strcat(webbuff, "<br>");
molberry 9:e458213a7afd 135 strcat(webbuff, "<table><tr><td></td><td>");
faker_71 6:7c9cc335b762 136
molberry 9:e458213a7afd 137 switch(mode) {
molberry 9:e458213a7afd 138 case ADVANCE:
molberry 9:e458213a7afd 139 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 140 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 141 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 142 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 143 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 144 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 145 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 146 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 147 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 148 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
molberry 9:e458213a7afd 149 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 150 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 151 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 152 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 153 break;
molberry 9:e458213a7afd 154 case LEFT:
molberry 9:e458213a7afd 155 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 156 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 157 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 158 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 159 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 160 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 161 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 162 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 163 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 164 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
molberry 9:e458213a7afd 165 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 166 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 167 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 168 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 169 break;
molberry 9:e458213a7afd 170 case STOP:
molberry 9:e458213a7afd 171 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 172 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 173 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 174 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 175 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 176 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 177 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 178 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 179 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 180 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
molberry 9:e458213a7afd 181 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 182 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 183 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 184 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 185 break;
molberry 9:e458213a7afd 186 case RIGHT:
molberry 9:e458213a7afd 187 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 188 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 189 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 190 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 191 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 192 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 193 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 194 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 195 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 196 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
molberry 9:e458213a7afd 197 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 198 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 199 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 200 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 201 break;
molberry 9:e458213a7afd 202 case BACK:
molberry 9:e458213a7afd 203 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 204 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 205 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 206 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 207 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 208 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 209 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 210 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 211 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 212 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
molberry 9:e458213a7afd 213 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 214 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 215 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 216 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 217 break;
molberry 9:e458213a7afd 218 case AVOIDANCE:
molberry 9:e458213a7afd 219 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 220 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 221 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 222 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 223 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 224 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 225 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 226 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 227 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 228 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
molberry 9:e458213a7afd 229 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 230 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 231 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 232 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 233 break;
molberry 9:e458213a7afd 234 case LINE_TRACE:
molberry 9:e458213a7afd 235 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 236 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 237 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 238 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 239 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 240 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 241 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 242 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 243 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 244 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
molberry 9:e458213a7afd 245 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 246 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 247 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 248 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 249 break;
molberry 9:e458213a7afd 250 case default:
molberry 9:e458213a7afd 251 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
molberry 9:e458213a7afd 252 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
molberry 9:e458213a7afd 253 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
molberry 9:e458213a7afd 254 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 255 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
molberry 9:e458213a7afd 256 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 257 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
molberry 9:e458213a7afd 258 strcat(webbuff, "</button></td></tr><td></td><td>");
molberry 9:e458213a7afd 259 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
molberry 9:e458213a7afd 260 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
molberry 9:e458213a7afd 261 strcat(webbuff, "<strong>Mode</strong>");
molberry 9:e458213a7afd 262 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
molberry 9:e458213a7afd 263 strcat(webbuff, "AVOIDANCE</button></td><td>");
molberry 9:e458213a7afd 264 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
molberry 9:e458213a7afd 265 break;
molberry 9:e458213a7afd 266 }
molberry 9:e458213a7afd 267 strcat(webbuff, "</button></td></tr></table>");
molberry 9:e458213a7afd 268 strcat(webbuff, "<strong>Speed</strong>");
molberry 9:e458213a7afd 269 strcat(webbuff, "<table><tr><td>");
molberry 9:e458213a7afd 270 //ready示速度だけ点灯
molberry 9:e458213a7afd 271 switch (flag_sp%3) {
molberry 9:e458213a7afd 272 case 0:
molberry 9:e458213a7afd 273 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
molberry 9:e458213a7afd 274 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 275 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
molberry 9:e458213a7afd 276 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 277 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
molberry 9:e458213a7afd 278 case 1:
molberry 9:e458213a7afd 279 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
molberry 9:e458213a7afd 280 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 281 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
molberry 9:e458213a7afd 282 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 283 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
molberry 9:e458213a7afd 284 case 2:
molberry 9:e458213a7afd 285 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
molberry 9:e458213a7afd 286 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 287 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
molberry 9:e458213a7afd 288 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 289 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
molberry 9:e458213a7afd 290 default:
molberry 9:e458213a7afd 291 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
molberry 9:e458213a7afd 292 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 293 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
molberry 9:e458213a7afd 294 strcat(webbuff, "</button></td><td>");
molberry 9:e458213a7afd 295 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
molberry 9:e458213a7afd 296 }
molberry 9:e458213a7afd 297 strcat(webbuff, "</button></td></tr></table>");
faker_71 6:7c9cc335b762 298
molberry 9:e458213a7afd 299 strcat(webbuff, "</center>");
molberry 9:e458213a7afd 300 strcat(webbuff, "</body>");
molberry 9:e458213a7afd 301 strcat(webbuff, "</html>");
molberry 9:e458213a7afd 302 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
molberry 9:e458213a7afd 303 strcat(webbuff, "function htmlacs(url) {");
molberry 9:e458213a7afd 304 strcat(webbuff, "var xhr = new XMLHttpRequest();");
molberry 9:e458213a7afd 305 strcat(webbuff, "xhr.open(\"GET\", url);");
molberry 9:e458213a7afd 306 strcat(webbuff, "xhr.send(\"\");");
molberry 9:e458213a7afd 307 strcat(webbuff, "}");
molberry 9:e458213a7afd 308 strcat(webbuff, "function send_mes(btnmes,btnval){");
molberry 9:e458213a7afd 309 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
molberry 9:e458213a7afd 310 strcat(webbuff, "htmlacs(url);");
molberry 9:e458213a7afd 311 strcat(webbuff, "console.log(url);");
molberry 9:e458213a7afd 312 strcat(webbuff, "}");
molberry 9:e458213a7afd 313 strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
molberry 9:e458213a7afd 314 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
molberry 9:e458213a7afd 315 strcat(webbuff, "htmlacs(url);");
molberry 9:e458213a7afd 316 strcat(webbuff, "console.log(url);");
molberry 9:e458213a7afd 317 strcat(webbuff, "}");
molberry 9:e458213a7afd 318 strcat(webbuff, "}");
molberry 9:e458213a7afd 319 strcat(webbuff, "function send_mes_fun(btnmes,btnval){");
molberry 9:e458213a7afd 320 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
molberry 9:e458213a7afd 321 strcat(webbuff, "htmlacs(url);");
molberry 9:e458213a7afd 322 strcat(webbuff, "console.log(url);");
molberry 9:e458213a7afd 323 strcat(webbuff, "}");
molberry 9:e458213a7afd 324 strcat(webbuff, "}");
molberry 9:e458213a7afd 325 strcat(webbuff, "</script>");
4180_1 4:40dd020463ea 326 // end of WEB page data
4180_1 4:40dd020463ea 327 bufl = strlen(webbuff); // get total page buffer length
faker_71 6:7c9cc335b762 328 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
molberry 9:e458213a7afd 329
faker_71 8:d8e164130860 330 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, 1500); // send IPD link channel and buffer character length.
faker_71 6:7c9cc335b762 331 timeout=500;
faker_71 6:7c9cc335b762 332 getcount=40;
star297 3:f7febfa77784 333 SendCMD();
4180_1 4:40dd020463ea 334 getreply();
faker_71 6:7c9cc335b762 335 pc.printf(replybuff);
faker_71 8:d8e164130860 336 pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, 1500);
molberry 9:e458213a7afd 337
faker_71 5:dfea6fd1abba 338 pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
molberry 9:e458213a7afd 339
faker_71 6:7c9cc335b762 340 //pastthrough mode
star297 0:e2a155f50119 341 SendWEB(); // send web page
molberry 9:e458213a7afd 342
star297 3:f7febfa77784 343 memset(webbuff, '\0', sizeof(webbuff));
4180_1 4:40dd020463ea 344 sendcheck();
star297 0:e2a155f50119 345 }
star297 0:e2a155f50119 346
faker_71 6:7c9cc335b762 347 // Large WEB buffer data send
faker_71 6:7c9cc335b762 348 void SendWEB()
faker_71 6:7c9cc335b762 349 {
faker_71 6:7c9cc335b762 350 int i=0;
faker_71 6:7c9cc335b762 351 if(esp.writeable()) {
faker_71 6:7c9cc335b762 352 while(webbuff[i]!='\0') {
faker_71 6:7c9cc335b762 353 esp.putc(webbuff[i]);
molberry 9:e458213a7afd 354
molberry 9:e458213a7afd 355 //****
molberry 9:e458213a7afd 356 //output at command when 2000
molberry 9:e458213a7afd 357 if(i==1499) {
molberry 9:e458213a7afd 358 wait_ms(10);
molberry 9:e458213a7afd 359 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, bufl-1500); // send IPD link channel and buffer character length.
molberry 9:e458213a7afd 360 pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, bufl-1500);
molberry 9:e458213a7afd 361 timeout=600;
molberry 9:e458213a7afd 362 getcount=50;
molberry 9:e458213a7afd 363 SendCMD();
molberry 9:e458213a7afd 364 getreply();
molberry 9:e458213a7afd 365 pc.printf(replybuff);
molberry 9:e458213a7afd 366 pc.printf("\r\n+++++++++++++++++++\r\n");
molberry 9:e458213a7afd 367
molberry 9:e458213a7afd 368 }
molberry 9:e458213a7afd 369
molberry 9:e458213a7afd 370 //****
molberry 9:e458213a7afd 371 i++;
faker_71 6:7c9cc335b762 372 pc.printf("%c",webbuff[i]);
faker_71 6:7c9cc335b762 373 }
faker_71 6:7c9cc335b762 374 }
molberry 9:e458213a7afd 375
molberry 9:e458213a7afd 376
faker_71 6:7c9cc335b762 377 //****
faker_71 6:7c9cc335b762 378 /*
molberry 9:e458213a7afd 379 sprintf(cmdbuff,"AT+CIPCLOSE\r\n"); // send IPD link channel and buffer character length.
faker_71 6:7c9cc335b762 380 SendCMD();
faker_71 6:7c9cc335b762 381 */
faker_71 6:7c9cc335b762 382 //*****
molberry 9:e458213a7afd 383
molberry 9:e458213a7afd 384 pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
faker_71 6:7c9cc335b762 385 }
faker_71 6:7c9cc335b762 386
faker_71 6:7c9cc335b762 387
star297 3:f7febfa77784 388 // wait for ESP "SEND OK" reply, then close IP to load web page
faker_71 6:7c9cc335b762 389
faker_71 6:7c9cc335b762 390 //touchuan mode
molberry 9:e458213a7afd 391 void touchuan()
molberry 9:e458213a7afd 392 {
faker_71 6:7c9cc335b762 393 strcpy(cmdbuff, "AT+CIPMUX=0\r\n");
faker_71 6:7c9cc335b762 394 pc.printf("\n++++++++++ AT+CIPMUX=0\r\n+++++++++");
faker_71 6:7c9cc335b762 395 timeout=500;
faker_71 6:7c9cc335b762 396 getcount=40;
faker_71 6:7c9cc335b762 397 SendCMD();
faker_71 6:7c9cc335b762 398 getreply();
faker_71 6:7c9cc335b762 399 pc.printf(replybuff);
faker_71 6:7c9cc335b762 400 strcpy(cmdbuff, "AT+CIPSTART=\"TCP\",\"192.168.4.2\",8080\r\n"); // send IPD link channel and buffer character length.
faker_71 6:7c9cc335b762 401 pc.printf("\n++++++++++ AT+CIPSTART=0\r\n+++++++++");
faker_71 6:7c9cc335b762 402 timeout=500;
faker_71 6:7c9cc335b762 403 getcount=40;
faker_71 6:7c9cc335b762 404 SendCMD();
faker_71 6:7c9cc335b762 405 getreply();
faker_71 6:7c9cc335b762 406 pc.printf(replybuff);
faker_71 6:7c9cc335b762 407 strcpy(cmdbuff, "AT+CIPMODE=1\r\n"); // send IPD link channel and buffer character length.
faker_71 6:7c9cc335b762 408 pc.printf("\n++++++++++ AT+CIPMODE=1\r\n+++++++++");
faker_71 6:7c9cc335b762 409 timeout=500;
faker_71 6:7c9cc335b762 410 getcount=40;
faker_71 6:7c9cc335b762 411 SendCMD();
faker_71 6:7c9cc335b762 412 getreply();
faker_71 6:7c9cc335b762 413 pc.printf(replybuff);
faker_71 6:7c9cc335b762 414 strcpy(cmdbuff, "AT+CIPSEND\r\n"); // send IPD link channel and buffer character length.
faker_71 6:7c9cc335b762 415 pc.printf("\n++++++++++ AT+CIPSEND\r\n+++++++++");
faker_71 6:7c9cc335b762 416 timeout=500;
faker_71 6:7c9cc335b762 417 getcount=40;
faker_71 6:7c9cc335b762 418 SendCMD();
faker_71 6:7c9cc335b762 419 getreply();
faker_71 6:7c9cc335b762 420 pc.printf(replybuff);
faker_71 6:7c9cc335b762 421 }
molberry 9:e458213a7afd 422
star297 0:e2a155f50119 423 void sendcheck()
star297 0:e2a155f50119 424 {
4180_1 4:40dd020463ea 425 weberror=1;
4180_1 4:40dd020463ea 426 timeout=500;
4180_1 4:40dd020463ea 427 getcount=24;
4180_1 4:40dd020463ea 428 t2.reset();
4180_1 4:40dd020463ea 429 t2.start();
4180_1 4:40dd020463ea 430 while(weberror==1 && t2.read() <5) {
star297 0:e2a155f50119 431 getreply();
4180_1 4:40dd020463ea 432 if (strstr(replybuff, "SEND OK") != NULL) {
4180_1 4:40dd020463ea 433 weberror=0; // wait for valid SEND OK
star297 0:e2a155f50119 434 }
4180_1 4:40dd020463ea 435 }
4180_1 4:40dd020463ea 436 if(weberror==1) { // restart connection
4180_1 4:40dd020463ea 437 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
4180_1 4:40dd020463ea 438 timeout=500;
4180_1 4:40dd020463ea 439 getcount=10;
4180_1 4:40dd020463ea 440 SendCMD();
4180_1 4:40dd020463ea 441 getreply();
4180_1 4:40dd020463ea 442 pc.printf(replybuff);
star297 3:f7febfa77784 443 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
4180_1 4:40dd020463ea 444 timeout=500;
4180_1 4:40dd020463ea 445 getcount=10;
4180_1 4:40dd020463ea 446 SendCMD();
4180_1 4:40dd020463ea 447 getreply();
4180_1 4:40dd020463ea 448 pc.printf(replybuff);
4180_1 4:40dd020463ea 449 } else {
4180_1 4:40dd020463ea 450 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
4180_1 4:40dd020463ea 451 SendCMD();
4180_1 4:40dd020463ea 452 getreply();
4180_1 4:40dd020463ea 453 pc.printf(replybuff);
4180_1 4:40dd020463ea 454 }
4180_1 4:40dd020463ea 455 t2.reset();
4180_1 4:40dd020463ea 456 }
star297 0:e2a155f50119 457
4180_1 4:40dd020463ea 458 // Reads and processes GET and POST web data
star297 0:e2a155f50119 459 void ReadWebData()
4180_1 4:40dd020463ea 460 {
4180_1 4:40dd020463ea 461 wait_ms(200);
star297 3:f7febfa77784 462 esp.attach(NULL);
4180_1 4:40dd020463ea 463 count=0;
4180_1 4:40dd020463ea 464 DataRX=0;
4180_1 4:40dd020463ea 465 weberror=0;
4180_1 4:40dd020463ea 466 memset(webdata, '\0', sizeof(webdata));
star297 3:f7febfa77784 467 int x = strcspn (webbuff,"+");
4180_1 4:40dd020463ea 468 if(x) {
4180_1 4:40dd020463ea 469 strcpy(webdata, webbuff + x);
4180_1 4:40dd020463ea 470 weberror=0;
4180_1 4:40dd020463ea 471 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
faker_71 6:7c9cc335b762 472 //int i=0;
faker_71 5:dfea6fd1abba 473 pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
faker_71 5:dfea6fd1abba 474 pc.printf("%s",webdata);
molberry 9:e458213a7afd 475
molberry 9:e458213a7afd 476
molberry 9:e458213a7afd 477
molberry 9:e458213a7afd 478 if( strstr(webdata, "GO") != NULL ) {
molberry 9:e458213a7afd 479 pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry 9:e458213a7afd 480 avoi_thread.stop(); // avoidanceスレッド停止
molberry 9:e458213a7afd 481 trace_thread.stop(); // traceスレッド停止
molberry 9:e458213a7afd 482 run = ADVANCE; // 前進
molberry 9:e458213a7afd 483 mode = READY; // モードs変更
molberry 9:e458213a7afd 484 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 485 display(); // ディスプレイ表示
molberry 9:e458213a7afd 486
molberry 9:e458213a7afd 487 }
molberry 9:e458213a7afd 488
faker_71 5:dfea6fd1abba 489 if( strstr(webdata, "LEFT") != NULL ) {
molberry 9:e458213a7afd 490 pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry 9:e458213a7afd 491 avoi_thread.stop(); // avoidanceスレッド停止
molberry 9:e458213a7afd 492 trace_thread.stop(); // traceスレッド停止
molberry 9:e458213a7afd 493 run = LEFT;
molberry 9:e458213a7afd 494 mode = READY;
molberry 9:e458213a7afd 495 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 496 display(); // ディスプレイ表示
molberry 9:e458213a7afd 497 }
molberry 9:e458213a7afd 498
molberry 9:e458213a7afd 499 if( strstr(webdata, "STOP") != NULL ) {
molberry 9:e458213a7afd 500 pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry 9:e458213a7afd 501 avoi_thread.stop(); // avoidanceスレッド停止
molberry 9:e458213a7afd 502 trace_thread.stop(); // traceスレッド停止
molberry 9:e458213a7afd 503 run = STOP;
molberry 9:e458213a7afd 504 mode = READY;
molberry 9:e458213a7afd 505 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 506 display(); // ディスプレイ表示
faker_71 5:dfea6fd1abba 507 }
molberry 9:e458213a7afd 508
faker_71 5:dfea6fd1abba 509 if( strstr(webdata, "RIGHT") != NULL ) {
molberry 9:e458213a7afd 510 pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry 9:e458213a7afd 511 avoi_thread.stop(); // avoidanceスレッド停止
molberry 9:e458213a7afd 512 trace_thread.stop(); // traceスレッド停止
molberry 9:e458213a7afd 513 run = RIGHT;
molberry 9:e458213a7afd 514 mode = READY;
molberry 9:e458213a7afd 515 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 516 display(); // ディスプレイ表示
molberry 9:e458213a7afd 517 }
molberry 9:e458213a7afd 518
molberry 9:e458213a7afd 519 if( strstr(webdata, "BACK") != NULL ) {
molberry 9:e458213a7afd 520 pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry 9:e458213a7afd 521 avoi_thread.stop(); // avoidanceスレッド停止
molberry 9:e458213a7afd 522 trace_thread.stop(); // traceスレッド停止
molberry 9:e458213a7afd 523 run = BACK;
molberry 9:e458213a7afd 524 mode = READY;
molberry 9:e458213a7afd 525 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 526 display(); // ディスプレイ表示
faker_71 5:dfea6fd1abba 527 }
faker_71 5:dfea6fd1abba 528 pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
molberry 9:e458213a7afd 529
molberry 9:e458213a7afd 530 if( strstr(webdata, "AVOIDANCE") != NULL ) {
molberry 9:e458213a7afd 531 pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
molberry 9:e458213a7afd 532 trace_thread.stop(); // traceスレッド停止
molberry 9:e458213a7afd 533 avoi_thread.start(); // avoidanceスレッド再開
molberry 9:e458213a7afd 534 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 535 mode=AVOIDANCE;
molberry 9:e458213a7afd 536 run = ADVANCE;
molberry 9:e458213a7afd 537 display(); // ディスプレイ表示
faker_71 5:dfea6fd1abba 538 }
molberry 9:e458213a7afd 539 if( strstr(webdata, "LINE TRACE") != NULL ) {
molberry 9:e458213a7afd 540 pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
molberry 9:e458213a7afd 541 avoi_thread.stop(); // avoidanceスレッド再開
molberry 9:e458213a7afd 542 trace_thread.start(); // traceスレッド停止
molberry 9:e458213a7afd 543 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 544 mode=LINE_TRACE;
molberry 9:e458213a7afd 545 display(); // ディスプレイ表示
4180_1 4:40dd020463ea 546 }
molberry 9:e458213a7afd 547 if( strstr(webdata, "DEFAULT") != NULL ) {//プログラムなくね
molberry 9:e458213a7afd 548 pc.printf("+++++++++++++++++DEFAULT+++++++++++++++++++++");
molberry 9:e458213a7afd 549 avoi_thread.stop(); // avoidanceスレッド再開
molberry 9:e458213a7afd 550 trace_thread.stop(); // traceスレッド停止
molberry 9:e458213a7afd 551 run = STOP;
molberry 9:e458213a7afd 552 mode = READY;
molberry 9:e458213a7afd 553 motor_thread.start(); // motorスレッド再開
molberry 9:e458213a7afd 554 display(); // ディスプレイ表示
molberry 9:e458213a7afd 555
4180_1 4:40dd020463ea 556 }
molberry 9:e458213a7afd 557 if( strstr(webdata, "SLOW") != NULL ) {
molberry 9:e458213a7afd 558 pc.printf("++++++++++++++++++SLOW++++++++++++++++++++");
molberry 9:e458213a7afd 559 mode = SPEED; // スピードモード
molberry 9:e458213a7afd 560 flag_sp = 0;
molberry 9:e458213a7afd 561 display(); // ディスプレイ表示
molberry 9:e458213a7afd 562 mode = beforeMode; // 現在のモードに前回のモードを設定
4180_1 4:40dd020463ea 563 }
molberry 9:e458213a7afd 564 if( strstr(webdata, "FAST") != NULL ) {
molberry 9:e458213a7afd 565 pc.printf("++++++++++++++++++++FAST++++++++++++++++++");
molberry 9:e458213a7afd 566 mode = SPEED; // スピードモード
molberry 9:e458213a7afd 567 flag_sp = 1;
molberry 9:e458213a7afd 568 display(); // ディスプレイ表示
molberry 9:e458213a7afd 569 mode = beforeMode; // 現在のモードに前回のモードを設定
4180_1 4:40dd020463ea 570 }
molberry 9:e458213a7afd 571 if( strstr(webdata, "FLY") != NULL ) {
molberry 9:e458213a7afd 572 pc.printf("+++++++++++++++++++BERYFAST+++++++++++++++++++");
molberry 9:e458213a7afd 573 mode = SPEED; // スピードモード d
molberry 9:e458213a7afd 574 flag_sp = 2;
molberry 9:e458213a7afd 575 display(); // ディスプレイ表示
molberry 9:e458213a7afd 576 mode = beforeMode; // 現在のモードに前回のモードを設定
4180_1 4:40dd020463ea 577 }
4180_1 4:40dd020463ea 578 sprintf(channel, "%d",linkID);
4180_1 4:40dd020463ea 579 if (strstr(webdata, "GET") != NULL) {
4180_1 4:40dd020463ea 580 servreq=1;
4180_1 4:40dd020463ea 581 }
4180_1 4:40dd020463ea 582 if (strstr(webdata, "POST") != NULL) {
4180_1 4:40dd020463ea 583 servreq=1;
4180_1 4:40dd020463ea 584 }
star297 2:d4c6bc0f2dc4 585 webcounter++;
star297 2:d4c6bc0f2dc4 586 sprintf(webcount, "%d",webcounter);
4180_1 4:40dd020463ea 587 } else {
4180_1 4:40dd020463ea 588 memset(webbuff, '\0', sizeof(webbuff));
4180_1 4:40dd020463ea 589 esp.attach(&callback);
4180_1 4:40dd020463ea 590 weberror=1;
4180_1 4:40dd020463ea 591 }
star297 0:e2a155f50119 592 }
star297 0:e2a155f50119 593 // Starts and restarts webserver if errors detected.
star297 0:e2a155f50119 594 void startserver()
star297 0:e2a155f50119 595 {
4180_1 4:40dd020463ea 596 gettemp();
4180_1 4:40dd020463ea 597 gettime();
star297 1:71ed1afbf344 598 pc.printf("\n\n RTC time %s\r\n\n",timebuf);
4180_1 4:40dd020463ea 599 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
star297 3:f7febfa77784 600 strcpy(cmdbuff,"AT+RST\r\n");
4180_1 4:40dd020463ea 601 timeout=8000;
4180_1 4:40dd020463ea 602 getcount=1000;
star297 0:e2a155f50119 603 SendCMD();
star297 1:71ed1afbf344 604 getreply();
star297 3:f7febfa77784 605 pc.printf(replybuff);
star297 3:f7febfa77784 606 pc.printf("%d",count);
star297 3:f7febfa77784 607 if (strstr(replybuff, "OK") != NULL) {
star297 1:71ed1afbf344 608 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
4180_1 4:40dd020463ea 609 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
4180_1 4:40dd020463ea 610 timeout=500;
4180_1 4:40dd020463ea 611 getcount=20;
star297 1:71ed1afbf344 612 SendCMD();
star297 2:d4c6bc0f2dc4 613 getreply();
4180_1 4:40dd020463ea 614 pc.printf(replybuff);
star297 3:f7febfa77784 615 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
4180_1 4:40dd020463ea 616 timeout=500;
4180_1 4:40dd020463ea 617 getcount=20;
star297 1:71ed1afbf344 618 SendCMD();
star297 3:f7febfa77784 619 getreply();
4180_1 4:40dd020463ea 620 pc.printf(replybuff);
4180_1 4:40dd020463ea 621 wait(1);
star297 3:f7febfa77784 622 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
4180_1 4:40dd020463ea 623 timeout=500;
4180_1 4:40dd020463ea 624 getcount=50;
star297 3:f7febfa77784 625 SendCMD();
star297 2:d4c6bc0f2dc4 626 getreply();
4180_1 4:40dd020463ea 627 pc.printf(replybuff);
4180_1 4:40dd020463ea 628 wait(5);
4180_1 4:40dd020463ea 629 pc.printf("\n Getting Server IP \r\n");
star297 3:f7febfa77784 630 strcpy(cmdbuff, "AT+CIFSR\r\n");
4180_1 4:40dd020463ea 631 timeout=2500;
4180_1 4:40dd020463ea 632 getcount=200;
4180_1 4:40dd020463ea 633 while(weberror==0) {
4180_1 4:40dd020463ea 634 SendCMD();
4180_1 4:40dd020463ea 635 getreply();
4180_1 4:40dd020463ea 636 if (strstr(replybuff, "0.0.0.0") == NULL) {
4180_1 4:40dd020463ea 637 weberror=1; // wait for valid IP
star297 1:71ed1afbf344 638 }
4180_1 4:40dd020463ea 639 }
4180_1 4:40dd020463ea 640 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
4180_1 4:40dd020463ea 641 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
4180_1 4:40dd020463ea 642 replybuff[strlen(replybuff)-1] = '\0';
4180_1 4:40dd020463ea 643 //char* IP = replybuff + 5;
4180_1 4:40dd020463ea 644 sprintf(webdata,"%s", replybuff);
4180_1 4:40dd020463ea 645 pc.printf(webdata);
4180_1 4:40dd020463ea 646 led2=1;
4180_1 4:40dd020463ea 647 bufflen=200;
4180_1 4:40dd020463ea 648 count=0;
star297 1:71ed1afbf344 649 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
star297 1:71ed1afbf344 650 esp.attach(&callback);
4180_1 4:40dd020463ea 651 } else {
4180_1 4:40dd020463ea 652 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
4180_1 4:40dd020463ea 653 while(1) {}
4180_1 4:40dd020463ea 654 }
4180_1 4:40dd020463ea 655 t2.reset();
4180_1 4:40dd020463ea 656 t2.start();
4180_1 4:40dd020463ea 657 beep();
4180_1 4:40dd020463ea 658 }
star297 0:e2a155f50119 659 // ESP Command data send
star297 0:e2a155f50119 660 void SendCMD()
star297 0:e2a155f50119 661 {
4180_1 4:40dd020463ea 662 esp.printf("%s", cmdbuff);
4180_1 4:40dd020463ea 663 }
4180_1 4:40dd020463ea 664 // Get Command and ESP status replies
star297 0:e2a155f50119 665 void getreply()
4180_1 4:40dd020463ea 666 {
star297 3:f7febfa77784 667 memset(replybuff, '\0', sizeof(replybuff));
4180_1 4:40dd020463ea 668 t1.reset();
4180_1 4:40dd020463ea 669 t1.start();
4180_1 4:40dd020463ea 670 replycount=0;
star297 3:f7febfa77784 671 while(t1.read_ms()< timeout && replycount < getcount) {
star297 0:e2a155f50119 672 if(esp.readable()) {
4180_1 4:40dd020463ea 673 replybuff[replycount] = esp.getc();
4180_1 4:40dd020463ea 674 replycount++;
star297 2:d4c6bc0f2dc4 675 }
4180_1 4:40dd020463ea 676 }
4180_1 4:40dd020463ea 677 t1.stop();
star297 0:e2a155f50119 678 }
star297 0:e2a155f50119 679 // Analog in example
star297 0:e2a155f50119 680 void getbattery()
star297 0:e2a155f50119 681 {
4180_1 4:40dd020463ea 682 AdcIn=Ain1.read();
4180_1 4:40dd020463ea 683 Ht = (AdcIn*3.3); // set the numeric to the exact MCU analog reference voltage for greater accuracy
4180_1 4:40dd020463ea 684 sprintf(Vcc,"%2.3f",Ht);
star297 0:e2a155f50119 685 }
molberry 9:e458213a7afd 686
4180_1 4:40dd020463ea 687 // Get RTC time
star297 0:e2a155f50119 688 void gettime()
star297 0:e2a155f50119 689 {
star297 0:e2a155f50119 690 time_t seconds = time(NULL);
4180_1 4:40dd020463ea 691 strftime(timebuf,50,"%H:%M:%S %a %d %b %y", localtime(&seconds));
star297 0:e2a155f50119 692 }
star297 0:e2a155f50119 693
star297 1:71ed1afbf344 694 void setRTC()
star297 1:71ed1afbf344 695 {
4180_1 4:40dd020463ea 696 t.tm_sec = (0); // 0-59
4180_1 4:40dd020463ea 697 t.tm_min = (minute); // 0-59
4180_1 4:40dd020463ea 698 t.tm_hour = (hour); // 0-23
4180_1 4:40dd020463ea 699 t.tm_mday = (dayofmonth); // 1-31
4180_1 4:40dd020463ea 700 t.tm_mon = (month-1); // 0-11 "0" = Jan, -1 added for Mbed RCT clock format
4180_1 4:40dd020463ea 701 t.tm_year = ((year)+100); // year since 1900, current DCF year + 100 + 1900 = correct year
4180_1 4:40dd020463ea 702 set_time(mktime(&t)); // set RTC clock
4180_1 4:40dd020463ea 703 }