mbed_robotcar
/
WiFi_Finish
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Dependencies: mbed
main.cpp
- Committer:
- molberry
- Date:
- 2020-08-04
- Revision:
- 2:4d51edb0a6c9
- Parent:
- 1:479303f0e488
- Child:
- 3:2472790818a9
File content as of revision 2:4d51edb0a6c9:
#include "mbed.h"
Serial pc(USBTX, USBRX);
Serial esp(p13, p14); // tx, rx
enum MODE {
READY = -1,
ADVANCE = 1,
RIGHT,
LEFT,
BACK,
STOP,
LINE_TRACE, // 6：ライントレース
AVOIDANCE, // 7：障害物回避
SPEED, // 8：スピード制御
};
// Standard Mbed LED definitions
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
Timer t1;
Timer t2;
struct tm t;
int flag_sp = 0;
int mode = ADVANCE;
int beforeMode = mode;
int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
float temperature, AdcIn, Ht;
float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
char Vcc[10];
char webcount[8];
char type[16];
char type1[16];
char channel[2];
char cmdbuff[32];
char replybuff[1024];
char webdata[1024]; // This may need to be bigger depending on WEB browser used
char webbuff[4096*4]; // Currently using 1986 characters, Increase this if more web page data added
void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
int port =80; // set server port
int SERVtimeout =5; // set server timeout in seconds in case link breaks.
char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
// Serial Interrupt read ESP data
void callback()
{
//pc.printf("\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");
DataRX=1;
led3=0;
}
}
int main()
{
pc.baud(115200);
pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
wait(0.5);
led1=1,led2=0,led3=0;
timeout=6000;
getcount=500;
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();
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;
}
}
}
// 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, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}</style>");
strcat(webbuff, "</head><body><center><p><strong>Robot Car Remot 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>");
strcat(webbuff, "</td></p>");
strcat(webbuff, "<br>");
strcat(webbuff, "<table><tr><td></td><td>");
switch(mode) {
case ADVANCE:
strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
case LEFT:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
case STOP:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
case RIGHT:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
case BACK:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
case AVOIDANCE:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
case LINE_TRACE:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
default:
strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,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></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,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></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></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_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE TRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
break;
}
strcat(webbuff, "</button></td></tr></table>");
strcat(webbuff, "<strong>Speed</strong>");
strcat(webbuff, "<table><tr><td>");
//ready示速度だけ点灯
switch (flag_sp) {
case 0:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
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></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
break;
case 1:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
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></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
break;
case 2:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
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></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
break;
default:
strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
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></td><td>");
strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"FLY\" onClick='send_mes_spe(this.id,this.value)' >FLY");
break;
}
strcat(webbuff, "</button></td></tr></table>");
strcat(webbuff, "</center>");
strcat(webbuff, "</body>");
strcat(webbuff, "</html>");
strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
strcat(webbuff, "function htmlacs(url) {");
strcat(webbuff, "var xhr = new XMLHttpRequest();");
strcat(webbuff, "xhr.open(\"GET\", url);");
strcat(webbuff, "xhr.send(\"\");");
strcat(webbuff, "}");
strcat(webbuff, "function send_mes(btnmes,btnval){");
strcat(webbuff, "console.log(btnval);");
strcat(webbuff, "switch(btnval){");
strcat(webbuff, "case \"GO\"):");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"light\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"noselect\";");
strcat(webbuff, "break;");
strcat(webbuff, "case \"LEFT\"):");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"light\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"noselect\";");
strcat(webbuff, "break;");
strcat(webbuff, "case \"STOP\"):");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"light\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"noselect\";");
strcat(webbuff, "break;");
strcat(webbuff, "case \"RIGHT\"):");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"light\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"noselect\";");
strcat(webbuff, "break;");
strcat(webbuff, "case \"BACK\"):");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"light\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"noselect\";");
strcat(webbuff, "break;");
strcat(webbuff, "case \"AVOIDANCE\"):");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"light\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"noselect\";");
strcat(webbuff, "break;");
strcat(webbuff, "case \"LINE_TRACE\"):");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"light\";");
strcat(webbuff, "break;");
strcat(webbuff, "}");*/
strcat(webbuff, "default :");
strcat(webbuff, "document.getElementById(\"gobtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"leftbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"stopbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"rightbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"backbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"avoidbtn\").className=\"noselect\";");
strcat(webbuff, "document.getElementById(\"tracebtn\").className=\"noselect\";");
strcat(webbuff, "break;");
strcat(webbuff, "}");*/
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
strcat(webbuff, "htmlacs(url);");
strcat(webbuff, "console.log(url);");
strcat(webbuff, "}");
strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
strcat(webbuff, "htmlacs(url);");
strcat(webbuff, "console.log(url);");
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();
}
// Large WEB buffer data send
void SendWEB()
{
int i=0;
if(esp.writeable()) {
while(webbuff[i]!='\0') {
esp.putc(webbuff[i]);
//****
//output at command when 2000
if(((i%2047)==0) && (i>0)){
//wait_ms(10);
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 sendcheck()
{
weberror=1;
timeout=500;
getcount=24;
t2.reset();
t2.start();
/*
while(weberror==1 && t2.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);
}
t2.reset();
}
// Reads and processes GET and POST web data
void ReadWebData()
{
pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
wait_ms(200);
esp.attach(NULL);
ount=0;
DataRX=0;
weberror=0;
memset(webdata, '\0', sizeof(webdata));
int x = strcspn (webbuff,"+");
if(x) {
strcpy(webdata, webbuff + x);
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");
if( strstr(webdata, "GO") != NULL ) {
pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
//run = ADVANCE; // 前進
mode = READY; // モードs変更
// display(); // ディスプレイ表示
}
if( strstr(webdata, "LEFT") != NULL ) {
pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
//run = LEFT;
mode = READY;
// display(); // ディスプレイ表示
}
if( strstr(webdata, "STOP") != NULL ) {
pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
// run = STOP;
mode = READY;
// display(); // ディスプレイ表示
}
if( strstr(webdata, "RIGHT") != NULL ) {
pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
// run = RIGHT;
mode = READY;
// display(); // ディスプレイ表示
}
if( strstr(webdata, "BACK") != NULL ) {
pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
// run = BACK;
mode = READY;
// display(); // ディスプレイ表示
}
pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
if( strstr(webdata, "AVOIDANCE") != NULL ) {
pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
mode=AVOIDANCE;
// run = ADVANCE;
// display(); // ディスプレイ表示
}
if( strstr(webdata, "LINE_TRACE") != NULL ) {
pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mode=LINE_TRACE;
// display(); // ディスプレイ表示
}
if( strstr(webdata, "DEFAULT") != NULL ) {//プログラムなくね
pc.printf("+++++++++++++++++DEFAULT+++++++++++++++++++++");
// run = STOP;
mode = READY;
// display(); // ディスプレイ表示
}
if( strstr(webdata, "SLOW") != NULL ) {
pc.printf("++++++++++++++++++SLOW++++++++++++++++++++");
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
}
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
mode = beforeMode; // 現在のモードに前回のモードを設定
}
if( strstr(webdata, "FLY") != NULL ) {
pc.printf("+++++++++++++++++++BERYFAST+++++++++++++++++++");
mode = SPEED; // スピードモード d
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
}
sprintf(channel, "%d",linkID);
if (strstr(webdata, "GET") != NULL) {
servreq=1;
}
if (strstr(webdata, "POST") != NULL) {
servreq=1;
}
webcounter++;
sprintf(webcount, "%d",webcounter);
} else {
memset(webbuff, '\0', sizeof(webbuff));
esp.attach(&callback);
weberror=1;
}
}
// Starts and restarts webserver if errors detected.
void startserver()
{
pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
strcpy(cmdbuff,"AT+RST\r\n");
timeout=8000;
getcount=1000;
SendCMD();
getreply();
pc.printf(replybuff);
pc.printf("%d",ount);
if (strstr(replybuff, "OK") != NULL) {
pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
timeout=500;
getcount=20;
SendCMD();
getreply();
pc.printf(replybuff);
sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
timeout=500;
getcount=20;
SendCMD();
getreply();
pc.printf(replybuff);
wait(1);
sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
timeout=500;
getcount=50;
SendCMD();
getreply();
pc.printf(replybuff);
wait(5);
pc.printf("\n Getting Server IP \r\n");
strcpy(cmdbuff, "AT+CIFSR\r\n");
timeout=2500;
getcount=200;
while(weberror==0) {
SendCMD();
getreply();
if (strstr(replybuff, "0.0.0.0") == NULL) {
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");
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");
esp.attach(&callback);
} else {
pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
led1=1;
led2=1;
led3=1;
led4=1;
while(1) {
led1=!led1;
led2=!led2;
led3=!led3;
led4=!led4;
wait(1);
}
}
t2.reset();
t2.start();
}
// ESP Command data send
void SendCMD()
{
esp.printf("%s", cmdbuff);
}
// Get Command and ESP status replies
void getreply()
{
memset(replybuff, '\0', sizeof(replybuff));
t1.reset();
t1.start();
replycount=0;
while(t1.read_ms()< timeout && replycount < getcount) {
if(esp.readable()) {
replybuff[replycount] = esp.getc();
replycount++;
}
}
t1.stop();
}