saikyo-0903 - 高速wifiついてる

mbed_robotcar » Code » saikyo-0903

高速wifiついてる

main.cpp@61:2dd366002e23, 2020-09-07 (annotated)

Committer:: tomotsugu
Date:: Mon Sep 07 00:56:52 2020 +0000
Revision:: 61:2dd366002e23
Parent:: 60:3cc7986484b7

saikyo-0903

Who changed what in which revision?

User	Revision	Line number	New contents of line
yangtzuli	0:0d0037aabe41	1	/* mbed Microcontroller Library
yangtzuli	0:0d0037aabe41	2	* Copyright (c) 2019 ARM Limited
yangtzuli	0:0d0037aabe41	3	* SPDX-License-Identifier: Apache-2.0
yangtzuli	0:0d0037aabe41	4	*/
yangtzuli	0:0d0037aabe41	5
yangtzuli	0:0d0037aabe41	6	#include "mbed.h"
yangtzuli	0:0d0037aabe41	7	#include "ReceiverIR.h"
yangtzuli	0:0d0037aabe41	8	#include "rtos.h"
yangtzuli	0:0d0037aabe41	9	#include <stdint.h>
yangtzuli	0:0d0037aabe41	10	#include "platform/mbed_thread.h"
yangtzuli	2:38825726cb1b	11	#include "TextLCD.h"
yangtzuli	0:0d0037aabe41	12
nishimura_taku_pet	27:90962c01bfeb	13	RawSerial pc(USBTX, USBRX);
yangtzuli	0:0d0037aabe41	14
yangtzuli	3:2ae6218973be	15	/* マクロ定義、列挙型定義 */
takuminomura	48:3003ea51c619	16	#define MIN_V 2.0 // 電圧の最小値
takuminomura	48:3003ea51c619	17	#define MAX_V 2.67 // 電圧の最大値
takuminomura	48:3003ea51c619	18	#define LOW 0 // モーターOFF
takuminomura	48:3003ea51c619	19	#define HIGH 1 // モーターON
takuminomura	48:3003ea51c619	20	#define NORMAL 0 // 普通
takuminomura	48:3003ea51c619	21	#define FAST 1 // 速い
takuminomura	48:3003ea51c619	22	#define VERYFAST 2 // とても速い
takuminomura	48:3003ea51c619	23
takuminomura	49:7224132f4b0e	24
takuminomura	49:7224132f4b0e	25
takuminomura	49:7224132f4b0e	26	/* // 右回り37.21[s]
takuminomura	49:7224132f4b0e	27	#define S 0.9
takuminomura	49:7224132f4b0e	28	#define VF 1.2
takuminomura	48:3003ea51c619	29	#define REVERSE 0.5
takuminomura	48:3003ea51c619	30
takuminomura	48:3003ea51c619	31	#define MBED04 0.781//Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura	48:3003ea51c619	32	#define MBED05 0.953//Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura	49:7224132f4b0e	33	#define MBED07 1
takuminomura	49:7224132f4b0e	34	// MSR = Motor Speed Right
takuminomura	49:7224132f4b0e	35	// MSL = Motor Speed Left
takuminomura	49:7224132f4b0e	36	#define MSR0 0.5 // 基準速度Normal
takuminomura	49:7224132f4b0e	37	#define MSR1 0.6 // 基準速度Fast
takuminomura	49:7224132f4b0e	38	#define MSR2 0.7 // 基準速度VeryFast
takuminomura	49:7224132f4b0e	39	*/
takuminomura	49:7224132f4b0e	40
takuminomura	49:7224132f4b0e	41
takuminomura	49:7224132f4b0e	42
takuminomura	49:7224132f4b0e	43	#define S 0.9
takuminomura	49:7224132f4b0e	44	#define VF 1
takuminomura	49:7224132f4b0e	45	#define REVERSE 0.5
takuminomura	49:7224132f4b0e	46
nishimura_taku_pet	51:1baf4407f384	47	#define MBED02 0.719 //Mbed02号機の左右のモーター速度比(R:L = 1: 0.719)
takuminomura	49:7224132f4b0e	48	#define MBED04 0.781 //Mbed04号機の左右のモーター速度比(R:L = 1: 0.781)
takuminomura	49:7224132f4b0e	49	#define MBED05 0.953 //Mbed05号機の左右のモーター速度比(R:L = 1: 0.953)
takuminomura	49:7224132f4b0e	50	#define MBED07 1
takuminomura	49:7224132f4b0e	51	// MSR = Motor Speed Right
takuminomura	49:7224132f4b0e	52	// MSL = Motor Speed Left
tomotsugu	61:2dd366002e23	53	#define MSR0 0.55 // 基準速度Normal
takuminomura	49:7224132f4b0e	54	#define MSR1 0.6 // 基準速度Fast
tomotsugu	61:2dd366002e23	55	#define MSR2 0.65 // 基準速度VeryFast
takuminomura	49:7224132f4b0e	56
takuminomura	49:7224132f4b0e	57	#define MSR3 MSR0*S // 低速旋回(Normalの時)
takuminomura	49:7224132f4b0e	58	#define MSR4 MSR1SS // 低速旋回(Fastの時)
takuminomura	49:7224132f4b0e	59	#define MSR5 MSR2SS*S // 低速旋回(VeryFastの時)
takuminomura	49:7224132f4b0e	60	#define MSR6 MSR0*VF // 高速(Normalの時)
takuminomura	49:7224132f4b0e	61	#define MSR7 MSR1*VF // 高速(Fastの時)
takuminomura	49:7224132f4b0e	62	#define MSR8 MSR2*VF // 高速(VeryFastの時)
tomotsugu	60:3cc7986484b7	63	#define MSL0 MSR0*MBED05
tomotsugu	60:3cc7986484b7	64	#define MSL1 MSR1*MBED05
tomotsugu	60:3cc7986484b7	65	#define MSL2 MSR2*MBED05
tomotsugu	60:3cc7986484b7	66	#define MSL3 MSR3*MBED05
tomotsugu	60:3cc7986484b7	67	#define MSL4 MSR4*MBED05
tomotsugu	60:3cc7986484b7	68	#define MSL5 MSR5*MBED05
tomotsugu	60:3cc7986484b7	69	#define MSL6 MSR6*MBED05
tomotsugu	60:3cc7986484b7	70	#define MSL7 MSR7*MBED05
tomotsugu	60:3cc7986484b7	71	#define MSL8 MSR8*MBED05
yangtzuli	2:38825726cb1b	72
tomotsugu	8:a47dbf4fa455	73	/* 操作モード定義 */
yangtzuli	3:2ae6218973be	74	enum MODE{
tomotsugu	8:a47dbf4fa455	75	READY = -1, // -1：待ち
tomotsugu	8:a47dbf4fa455	76	ADVANCE = 1, // 1：前進
tomotsugu	8:a47dbf4fa455	77	RIGHT, // 2：右折
tomotsugu	8:a47dbf4fa455	78	LEFT, // 3：左折
tomotsugu	8:a47dbf4fa455	79	BACK, // 4：後退
tomotsugu	8:a47dbf4fa455	80	STOP, // 5：停止
tomotsugu	8:a47dbf4fa455	81	LINE_TRACE, // 6：ライントレース
tomotsugu	8:a47dbf4fa455	82	AVOIDANCE, // 7：障害物回避
tomotsugu	8:a47dbf4fa455	83	SPEED, // 8：スピード制御
takuminomura	49:7224132f4b0e	84	LT_R, // 9:低速右折(ライントレース時)
nishimura_taku_pet	56:d02c62149a19	85	LT_L, // 10:低速左折(ライントレース時)
tomotsugu	53:debc8879ba5d	86	A1RIGHT,
tomotsugu	53:debc8879ba5d	87	A1LEFT,
tomotsugu	53:debc8879ba5d	88	A2RIGHT,
tomotsugu	53:debc8879ba5d	89	A2LEFT,
yangtzuli	2:38825726cb1b	90	};
yangtzuli	2:38825726cb1b	91
yangtzuli	3:2ae6218973be	92	/* ピン配置 */
yangtzuli	3:2ae6218973be	93	ReceiverIR ir(p5); // リモコン操作
yangtzuli	3:2ae6218973be	94	DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli	5:3fffb364744b	95	DigitalIn echo(p7); // 超音波センサecho
yangtzuli	3:2ae6218973be	96	DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli	3:2ae6218973be	97	DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli	3:2ae6218973be	98	DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli	3:2ae6218973be	99	DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli	3:2ae6218973be	100	DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet	24:9481c8f56a49	101	RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli	3:2ae6218973be	102	AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
takuminomura	48:3003ea51c619	103	PwmOut motorR2(p22); // 右モーター後退
takuminomura	48:3003ea51c619	104	PwmOut motorR1(p21); // 右モーター前進
yangtzuli	3:2ae6218973be	105	PwmOut motorL2(p23); // 左モーター後退
yangtzuli	3:2ae6218973be	106	PwmOut motorL1(p24); // 左モーター前進
yangtzuli	3:2ae6218973be	107	PwmOut servo(p25); // サーボ
yangtzuli	3:2ae6218973be	108	I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli	2:38825726cb1b	109
yangtzuli	3:2ae6218973be	110	/* 変数宣言 */
nishimura_taku_pet	51:1baf4407f384	111	MODE mode; // 操作モード
yangtzuli	3:2ae6218973be	112	int run; // 走行状態
nishimura_taku_pet	51:1baf4407f384	113	MODE beforeMode; // 前回のモード
tomotsugu	8:a47dbf4fa455	114	int flag_sp = 0; // スピード変化フラグ
tomotsugu	8:a47dbf4fa455	115	Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
takuminomura	48:3003ea51c619	116
takuminomura	48:3003ea51c619	117	float motorSpeedR1[9] = {MSR0, MSR1, MSR2, MSR3 , MSR4 , MSR5 , MSR6 , MSR7 , MSR8 };
takuminomura	48:3003ea51c619	118	//float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3REVERSE, MSR4REVERSE, MSR5REVERSE, MSR6REVERSE, MSR7REVERSE, MSR8REVERSE};
takuminomura	48:3003ea51c619	119	float motorSpeedR2[9] = {MSR0, MSR1, MSR2, MSR3REVERSE, MSR4REVERSE, MSR5*REVERSE, MSR6, MSR7, MSR8};
takuminomura	48:3003ea51c619	120	float motorSpeedL1[9] = {MSL0, MSL1, MSL2, MSL3 , MSL4 , MSL5 , MSL6 , MSL7 , MSL8 };
takuminomura	48:3003ea51c619	121	//float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3REVERSE, MSL4REVERSE, MSL5REVERSE, MSL6REVERSE, MSL7REVERSE, MSL8REVERSE};
takuminomura	48:3003ea51c619	122	float motorSpeedL2[9] = {MSL0, MSL1, MSL2, MSL3REVERSE, MSL4REVERSE, MSL5*REVERSE, MSL6, MSL7, MSL8};
yangtzuli	3:2ae6218973be	123	// モーター速度設定(後半はライントレース用)
takuminomura	48:3003ea51c619	124	// 0,1,2:基準速度
takuminomura	48:3003ea51c619	125	// 3,4,5:低速
takuminomura	48:3003ea51c619	126	// 6,7,8:高速
takuminomura	48:3003ea51c619	127	// R1 : 右前, R2 : 右後, L1 : 左前, L2 : 左後
tomotsugu	8:a47dbf4fa455	128
tomotsugu	8:a47dbf4fa455	129	Mutex mutex; // ミューテックス
takuminomura	48:3003ea51c619	130
tomotsugu	8:a47dbf4fa455	131	/* decodeIR用変数 */
yangtzuli	3:2ae6218973be	132	RemoteIR::Format format;
yangtzuli	3:2ae6218973be	133	uint8_t buf[32];
yangtzuli	3:2ae6218973be	134	uint32_t bitcount;
yangtzuli	3:2ae6218973be	135	uint32_t code;
yangtzuli	3:2ae6218973be	136
tomotsugu	8:a47dbf4fa455	137	/* bChange, lcdbacklight用変数 */
yangtzuli	3:2ae6218973be	138	TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu	8:a47dbf4fa455	139	int b = 0; // バッテリー残量
tomotsugu	8:a47dbf4fa455	140	int flag_b = 0; // バックライト点滅フラグ
tomotsugu	8:a47dbf4fa455	141	int flag_t = 0; // バックライトタイマーフラグ
yangtzuli	3:2ae6218973be	142
tomotsugu	8:a47dbf4fa455	143	/* trace用変数 */
takuminomura	49:7224132f4b0e	144	int sensArray[32] = {0,6,2,4,1,4,2,4, // ライントレースセンサパターン
takuminomura	49:7224132f4b0e	145	3,4,1,6,3,1,1,6, // 0:前回動作継続
takuminomura	49:7224132f4b0e	146	7,1,5,1,5,1,1,1, // 1:高速前進
takuminomura	48:3003ea51c619	147	5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura	48:3003ea51c619	148	// 3:低速左折
takuminomura	48:3003ea51c619	149	// 4:中速右折
takuminomura	48:3003ea51c619	150	// 5:中速左折
takuminomura	48:3003ea51c619	151	// 6:高速右折
takuminomura	48:3003ea51c619	152	// 7:高速左折
takuminomura	48:3003ea51c619	153
takuminomura	48:3003ea51c619	154	//int sensArray[32] = {0,6,0,4,1,0,1,4, // ライントレースセンサパターン
takuminomura	48:3003ea51c619	155	// 0,6,1,6,1,1,1,6, // 0:前回動作継続
takuminomura	48:3003ea51c619	156	// 7,1,7,1,0,1,1,1, // 1:高速前進
takuminomura	48:3003ea51c619	157	// 5,1,7,1,5,1,7,1}; // 2:低速右折
takuminomura	48:3003ea51c619	158	// // 3:低速左折
takuminomura	48:3003ea51c619	159	// // 4:中速右折
takuminomura	48:3003ea51c619	160	// // 5:中速左折
takuminomura	48:3003ea51c619	161	// // 6:高速右折
takuminomura	48:3003ea51c619	162	// // 7:高速左折
yangtzuli	0:0d0037aabe41	163
tomotsugu	8:a47dbf4fa455	164	/* avoidance用変数 */
yangtzuli	3:2ae6218973be	165	Timer timer; // 距離計測用タイマ
yangtzuli	3:2ae6218973be	166	int DT; // 距離
takuminomura	48:3003ea51c619	167	int SC; // 正面
yangtzuli	2:38825726cb1b	168	int SL; // 左
yangtzuli	2:38825726cb1b	169	int SR; // 右
yangtzuli	2:38825726cb1b	170	int SLD; // 左前
yangtzuli	2:38825726cb1b	171	int SRD; // 右前
tomotsugu	8:a47dbf4fa455	172	int flag_a = 0; // 障害物有無のフラグ
yangtzuli	2:38825726cb1b	173	const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli	3:2ae6218973be	174	int far; // 最も遠い距離
yangtzuli	2:38825726cb1b	175	int houkou; // 進行方向(1:前 2:左 3:右)
nishimura_taku_pet	29:600e4b9b5c5b	176	int t1 = 0;
yangtzuli	2:38825726cb1b	177
nishimura_taku_pet	24:9481c8f56a49	178	/WiFi用変数/
nishimura_taku_pet	24:9481c8f56a49	179	Timer time1;
nishimura_taku_pet	24:9481c8f56a49	180	Timer time2;
nishimura_taku_pet	24:9481c8f56a49	181	int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet	24:9481c8f56a49	182	int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet	24:9481c8f56a49	183	float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet	24:9481c8f56a49	184	char webcount[8];
nishimura_taku_pet	24:9481c8f56a49	185	char type[16];
nishimura_taku_pet	24:9481c8f56a49	186	char channel[2];
nishimura_taku_pet	24:9481c8f56a49	187	char cmdbuff[32];
nishimura_taku_pet	24:9481c8f56a49	188	char replybuff[1024];
nishimura_taku_pet	24:9481c8f56a49	189	char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet	27:90962c01bfeb	190	char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet	24:9481c8f56a49	191	int port =80; // set server port
nishimura_taku_pet	24:9481c8f56a49	192	int SERVtimeout =5; // set server timeout in seconds in case link breaks.
takuminomura	48:3003ea51c619	193	char ssid[32] = "mbed05"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet	24:9481c8f56a49	194	char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
faker_71	57:65dd71a6ce72	195	bool click_log = false;
faker_71	57:65dd71a6ce72	196	DigitalOut pred(p16);
faker_71	57:65dd71a6ce72	197	DigitalOut pblue(p19);
yangtzuli	3:2ae6218973be	198
yangtzuli	3:2ae6218973be	199	/* プロトタイプ宣言 */
nishimura_taku_pet	33:a6f1090e0174	200	void decodeIR(/void const argument*/);
nishimura_taku_pet	33:a6f1090e0174	201	void motor(/void const argument*/);
yangtzuli	3:2ae6218973be	202	void changeSpeed();
nishimura_taku_pet	16:ffc732a3cf92	203	void avoidance(/void const argument*/);
nishimura_taku_pet	16:ffc732a3cf92	204	void trace(/void const argument*/);
nishimura_taku_pet	40:75e1ad7c27e4	205	void watchsurrounding3();
nishimura_taku_pet	40:75e1ad7c27e4	206	void watchsurrounding5();
yangtzuli	2:38825726cb1b	207	int watch();
takuminomura	48:3003ea51c619	208	char battery_ch[8];
yangtzuli	5:3fffb364744b	209	void bChange();
yangtzuli	3:2ae6218973be	210	void display();
yangtzuli	3:2ae6218973be	211	void lcdBacklight(void const *argument);
nishimura_taku_pet	45:76e8c07d76ef	212	void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck();
nishimura_taku_pet	43:243c1455f88a	213	void wifi(/void const argument*/);
takuminomura	48:3003ea51c619	214	Thread *deco_thread; // decodeIRをスレッド化：+3
nishimura_taku_pet	43:243c1455f88a	215	Thread *wifi_thread;
takuminomura	48:3003ea51c619	216	Thread *motor_thread; // motorをスレッド化：+2
takuminomura	48:3003ea51c619	217	RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
takuminomura	48:3003ea51c619	218	Thread *avoi_thread; // avoidanceをスレッド化：+2
takuminomura	48:3003ea51c619	219	Thread *trace_thread; // traceをスレッド化：+2
yangtzuli	2:38825726cb1b	220
nishimura_taku_pet	24:9481c8f56a49	221	DigitalOut led1(LED1);
nishimura_taku_pet	24:9481c8f56a49	222	DigitalOut led2(LED2);
nishimura_taku_pet	24:9481c8f56a49	223	DigitalOut led3(LED3);
nishimura_taku_pet	24:9481c8f56a49	224	DigitalOut led4(LED4);
yangtzuli	3:2ae6218973be	225
nishimura_taku_pet	33:a6f1090e0174	226	void setup(){
nishimura_taku_pet	33:a6f1090e0174	227	deco_thread = new Thread(decodeIR);
nishimura_taku_pet	33:a6f1090e0174	228	deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	229	motor_thread = new Thread(motor);
nishimura_taku_pet	33:a6f1090e0174	230	motor_thread -> set_priority(osPriorityHigh);
mori2020	50:ee78382fd399	231	wifi_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	232	display();
nishimura_taku_pet	33:a6f1090e0174	233	}
nishimura_taku_pet	33:a6f1090e0174	234
tomotsugu	8:a47dbf4fa455	235	/* リモコン受信スレッド */
takuminomura	48:3003ea51c619	236	void decodeIR(/void const argument*/){
takuminomura	48:3003ea51c619	237	while(1){
yangtzuli	0:0d0037aabe41	238	// 受信待ち
tomotsugu	8:a47dbf4fa455	239	if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli	3:2ae6218973be	240	bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu	8:a47dbf4fa455	241	if(bitcount > 1){ // 受信成功
yangtzuli	1:5bb497a38344	242	code=0;
tomotsugu	15:5eef1955f6c2	243	for(int j = 0; j < 4; j++){
yangtzuli	1:5bb497a38344	244	code+=(buf[j]<<(8*(3-j)));
yangtzuli	1:5bb497a38344	245	}
tomotsugu	8:a47dbf4fa455	246	if(mode != SPEED){ // スピードモード以外なら
takuminomura	48:3003ea51c619	247	beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli	3:2ae6218973be	248	}
yangtzuli	0:0d0037aabe41	249	switch(code){
tomotsugu	8:a47dbf4fa455	250	case 0x40bf27d8: // クイック
yangtzuli	17:f7259ab2fe86	251	//pc.printf("mode = SPEED\r\n");
takuminomura	48:3003ea51c619	252	mode = SPEED; // スピードモード
tomotsugu	8:a47dbf4fa455	253	changeSpeed(); // 速度変更
tomotsugu	8:a47dbf4fa455	254	display(); // ディスプレイ表示
tomotsugu	8:a47dbf4fa455	255	mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli	1:5bb497a38344	256	break;
tomotsugu	8:a47dbf4fa455	257	case 0x40be34cb: // レグザリンク
yangtzuli	17:f7259ab2fe86	258	//pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	259	if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	260	delete trace_thread;
nishimura_taku_pet	16:ffc732a3cf92	261	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	262	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	263	}
tomotsugu	8:a47dbf4fa455	264	mode=LINE_TRACE; // ライントレースモード
tomotsugu	8:a47dbf4fa455	265	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	266	break;
tomotsugu	8:a47dbf4fa455	267	case 0x40bf6e91: // 番組表
yangtzuli	17:f7259ab2fe86	268	//pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	269	if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	270	delete avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	271	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	272	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	273	}
tomotsugu	18:6cca64c7dbc3	274	flag_a = 0;
tomotsugu	8:a47dbf4fa455	275	mode=AVOIDANCE; // 障害物回避モード
tomotsugu	13:1a7667d0aa78	276	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	277	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	278	break;
takuminomura	48:3003ea51c619	279	case 0x40bf3ec1: // ↑
yangtzuli	17:f7259ab2fe86	280	//pc.printf("mode = ADVANCE\r\n");
tomotsugu	8:a47dbf4fa455	281	mode = ADVANCE; // 前進モード
tomotsugu	8:a47dbf4fa455	282	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	283	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	284	break;
takuminomura	48:3003ea51c619	285	case 0x40bf3fc0: // ↓
yangtzuli	17:f7259ab2fe86	286	//pc.printf("mode = BACK\r\n");
tomotsugu	8:a47dbf4fa455	287	mode = BACK; // 後退モード
tomotsugu	8:a47dbf4fa455	288	run = BACK; // 後退
tomotsugu	8:a47dbf4fa455	289	display(); // ディスプレイ表示
yangtzuli	0:0d0037aabe41	290	break;
takuminomura	48:3003ea51c619	291	case 0x40bf5fa0: // ←
yangtzuli	17:f7259ab2fe86	292	//pc.printf("mode = LEFT\r\n");
tomotsugu	8:a47dbf4fa455	293	mode = LEFT; // 左折モード
tomotsugu	8:a47dbf4fa455	294	run = LEFT; // 左折
tomotsugu	8:a47dbf4fa455	295	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	296	break;
takuminomura	48:3003ea51c619	297	case 0x40bf5ba4: // →
yangtzuli	17:f7259ab2fe86	298	//pc.printf("mode = RIGHT\r\n");
tomotsugu	8:a47dbf4fa455	299	mode = RIGHT; // 右折モード
tomotsugu	8:a47dbf4fa455	300	run = RIGHT; // 右折
tomotsugu	8:a47dbf4fa455	301	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	302	break;
takuminomura	48:3003ea51c619	303	case 0x40bf3dc2: // 決定
yangtzuli	17:f7259ab2fe86	304	//pc.printf("mode = STOP\r\n");
tomotsugu	8:a47dbf4fa455	305	mode = STOP; // 停止モード
tomotsugu	8:a47dbf4fa455	306	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	307	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	308	break;
yangtzuli	0:0d0037aabe41	309	default:
yangtzuli	0:0d0037aabe41	310	;
yangtzuli	0:0d0037aabe41	311	}
nishimura_taku_pet	16:ffc732a3cf92	312	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	313	trace_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	314	}
nishimura_taku_pet	16:ffc732a3cf92	315	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	316	avoi_thread->terminate();
nishimura_taku_pet	28:cb51cafca490	317	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	16:ffc732a3cf92	318	}
yangtzuli	0:0d0037aabe41	319	}
yangtzuli	0:0d0037aabe41	320	}
takuminomura	48:3003ea51c619	321	if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
takuminomura	48:3003ea51c619	322	viewTimer.stop(); // タイマーストップ
takuminomura	48:3003ea51c619	323	viewTimer.reset(); // タイマーリセット
takuminomura	48:3003ea51c619	324	display(); // ディスプレイ表示
yangtzuli	4:3f80c0180e2f	325	}
takuminomura	48:3003ea51c619	326	ThisThread::sleep_for(90); // 90ms待つ
takuminomura	48:3003ea51c619	327	}
yangtzuli	2:38825726cb1b	328	}
tomotsugu	8:a47dbf4fa455	329
tomotsugu	8:a47dbf4fa455	330	/* モーター制御スレッド */
nishimura_taku_pet	33:a6f1090e0174	331	void motor(/void const argument*/){
tomotsugu	8:a47dbf4fa455	332	while(1){
tomotsugu	8:a47dbf4fa455	333	/* 走行状態の場合分け */
nishimura_taku_pet	51:1baf4407f384	334	if(mode != LINE_TRACE){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet	51:1baf4407f384	335	flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet	51:1baf4407f384	336	}
yangtzuli	3:2ae6218973be	337	switch(run){
tomotsugu	8:a47dbf4fa455	338	/* 前進 */
yangtzuli	3:2ae6218973be	339	case ADVANCE:
takuminomura	48:3003ea51c619	340	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020	50:ee78382fd399	341	motorR2 = LOW; // 右後退モーターOFF
takuminomura	48:3003ea51c619	342	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020	50:ee78382fd399	343	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	344	break;
tomotsugu	8:a47dbf4fa455	345	/* 右折 */
yangtzuli	3:2ae6218973be	346	case RIGHT:
mori2020	50:ee78382fd399	347	motorR1 = LOW; // 右前進モーターOFF
takuminomura	48:3003ea51c619	348	motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
takuminomura	48:3003ea51c619	349	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
mori2020	50:ee78382fd399	350	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	351	break;
tomotsugu	8:a47dbf4fa455	352	/* 左折 */
yangtzuli	3:2ae6218973be	353	case LEFT:
takuminomura	48:3003ea51c619	354	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
mori2020	50:ee78382fd399	355	motorR2 = LOW; // 右後退モーターOFF
mori2020	50:ee78382fd399	356	motorL1 = LOW; // 左前進モーターOFF
takuminomura	48:3003ea51c619	357	motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	358	break;
tomotsugu	8:a47dbf4fa455	359	/* 後退 */
yangtzuli	3:2ae6218973be	360	case BACK:
mori2020	50:ee78382fd399	361	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	52:c868403753e8	362	motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON
mori2020	50:ee78382fd399	363	motorL1 = LOW; // 左前進モーターOFF
takuminomura	48:3003ea51c619	364	motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	365	break;
tomotsugu	8:a47dbf4fa455	366	/* 停止 */
yangtzuli	3:2ae6218973be	367	case STOP:
tomotsugu	8:a47dbf4fa455	368	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	369	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	370	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	371	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	372	break;
tomotsugu	52:c868403753e8	373	case A1RIGHT:
mori2020	50:ee78382fd399	374	motorR1 = LOW;
tomotsugu	52:c868403753e8	375	motorR2 = 0.55;
tomotsugu	52:c868403753e8	376	motorL1 = 0.57;
mori2020	50:ee78382fd399	377	motorL2 = LOW;
takuminomura	49:7224132f4b0e	378	break;
tomotsugu	53:debc8879ba5d	379	case A1LEFT:
tomotsugu	52:c868403753e8	380	motorR1 = 0.57;
mori2020	50:ee78382fd399	381	motorR2 = LOW;
mori2020	50:ee78382fd399	382	motorL1 = LOW;
tomotsugu	52:c868403753e8	383	motorL2 = 0.55;
tomotsugu	52:c868403753e8	384	break;
tomotsugu	52:c868403753e8	385	case A2RIGHT:
tomotsugu	52:c868403753e8	386	motorR1 = LOW;
tomotsugu	52:c868403753e8	387	motorR2 = 0.33;
tomotsugu	52:c868403753e8	388	motorL1 = 0.35;
tomotsugu	52:c868403753e8	389	motorL2 = LOW;
tomotsugu	52:c868403753e8	390	break;
tomotsugu	52:c868403753e8	391	case A2LEFT:
tomotsugu	52:c868403753e8	392	motorR1 = 0.35;
tomotsugu	52:c868403753e8	393	motorR2 = LOW;
tomotsugu	52:c868403753e8	394	motorL1 = LOW;
tomotsugu	52:c868403753e8	395	motorL2 = 0.33;
takuminomura	49:7224132f4b0e	396	break;
nishimura_taku_pet	54:f862caf08a7f	397	/* 低速右折 */
nishimura_taku_pet	54:f862caf08a7f	398	case LT_R:
nishimura_taku_pet	54:f862caf08a7f	399	motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON
nishimura_taku_pet	54:f862caf08a7f	400	motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	401	motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON
nishimura_taku_pet	54:f862caf08a7f	402	motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	403	break;
nishimura_taku_pet	54:f862caf08a7f	404	/* 低速左折 */
nishimura_taku_pet	54:f862caf08a7f	405	case LT_L:
nishimura_taku_pet	54:f862caf08a7f	406	motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON
nishimura_taku_pet	54:f862caf08a7f	407	motorR2 = LOW; // 右後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	408	motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON
nishimura_taku_pet	54:f862caf08a7f	409	motorL2 = LOW; // 左後退モーターOFF
nishimura_taku_pet	54:f862caf08a7f	410	break;
yangtzuli	3:2ae6218973be	411	}
nishimura_taku_pet	51:1baf4407f384	412	/*if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
nishimura_taku_pet	47:8a5a4275480a	413	flag_sp %= 3; // スピード変更フラグ調整
nishimura_taku_pet	51:1baf4407f384	414	}*/
takuminomura	48:3003ea51c619	415	ThisThread::sleep_for(3); // 30ms待つ
yangtzuli	2:38825726cb1b	416	}
yangtzuli	2:38825726cb1b	417	}
tomotsugu	8:a47dbf4fa455	418
tomotsugu	8:a47dbf4fa455	419	/* スピード変更関数 */
yangtzuli	3:2ae6218973be	420	void changeSpeed(){
tomotsugu	8:a47dbf4fa455	421	if(flag_sp%3 == 2){ // スピード変更フラグを3で割った余りが2なら
takuminomura	48:3003ea51c619	422	flag_sp = 0; // スピード変更フラグを0にする
tomotsugu	8:a47dbf4fa455	423	}else{ // それ以外
takuminomura	48:3003ea51c619	424	flag_sp = flag_sp + 1; // スピード変更フラグを+1
takuminomura	48:3003ea51c619	425	}
yangtzuli	3:2ae6218973be	426	}
tomotsugu	8:a47dbf4fa455	427
tomotsugu	8:a47dbf4fa455	428	/* ライントレーススレッド */
takuminomura	49:7224132f4b0e	429	//void trace(){
takuminomura	49:7224132f4b0e	430	// // PID用
takuminomura	49:7224132f4b0e	431	// while(1){
takuminomura	49:7224132f4b0e	432	// ThisThread::sleep_for(3);
takuminomura	49:7224132f4b0e	433	// }
takuminomura	49:7224132f4b0e	434	//}
tomotsugu	20:02bb875a9b13	435	void trace(){
takuminomura	48:3003ea51c619	436	while(1){
takuminomura	48:3003ea51c619	437	/* 各センサー値読み取り */
takuminomura	48:3003ea51c619	438	int sensor1 = ss1;
takuminomura	48:3003ea51c619	439	int sensor2 = ss2;
takuminomura	48:3003ea51c619	440	int sensor3 = ss3;
takuminomura	48:3003ea51c619	441	int sensor4 = ss4;
takuminomura	48:3003ea51c619	442	int sensor5 = ss5;
takuminomura	48:3003ea51c619	443	int sensD = 0;
takuminomura	48:3003ea51c619	444
takuminomura	48:3003ea51c619	445	/* センサー値の決定 */
takuminomura	48:3003ea51c619	446	if(sensor1 > 0) sensD \|= 0x10;
takuminomura	48:3003ea51c619	447	if(sensor2 > 0) sensD \|= 0x08;
takuminomura	48:3003ea51c619	448	if(sensor3 > 0) sensD \|= 0x04;
takuminomura	48:3003ea51c619	449	if(sensor4 > 0) sensD \|= 0x02;
takuminomura	48:3003ea51c619	450	if(sensor5 > 0) sensD \|= 0x01;
takuminomura	48:3003ea51c619	451
takuminomura	48:3003ea51c619	452	/* センサー値によって場合分け */
takuminomura	48:3003ea51c619	453	switch(sensArray[sensD]){
takuminomura	48:3003ea51c619	454	case 1:
takuminomura	48:3003ea51c619	455	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	456	run = ADVANCE; // 高速で前進
takuminomura	48:3003ea51c619	457	break;
takuminomura	48:3003ea51c619	458	case 2:
takuminomura	48:3003ea51c619	459	flag_sp = flag_sp % 3 + 3;
takuminomura	49:7224132f4b0e	460	// run = RIGHT; // 低速で右折
takuminomura	49:7224132f4b0e	461	run = LT_R; // 低速で右折
takuminomura	48:3003ea51c619	462	break;
takuminomura	48:3003ea51c619	463	case 3:
takuminomura	48:3003ea51c619	464	flag_sp = flag_sp % 3 + 3;
takuminomura	49:7224132f4b0e	465	// run = LEFT; // 低速で左折
takuminomura	49:7224132f4b0e	466	run = LT_L; // 低速で左折
takuminomura	48:3003ea51c619	467	break;
takuminomura	48:3003ea51c619	468	case 4:
takuminomura	48:3003ea51c619	469	flag_sp = flag_sp % 3;
takuminomura	48:3003ea51c619	470	run = RIGHT; // 中速で右折
takuminomura	48:3003ea51c619	471	break;
takuminomura	48:3003ea51c619	472	case 5:
takuminomura	48:3003ea51c619	473	flag_sp = flag_sp % 3;
takuminomura	48:3003ea51c619	474	run = LEFT; // 中速で左折
takuminomura	48:3003ea51c619	475	break;
takuminomura	48:3003ea51c619	476	case 6:
takuminomura	48:3003ea51c619	477	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	478	run = RIGHT; // 高速で右折
takuminomura	48:3003ea51c619	479	break;
takuminomura	48:3003ea51c619	480	case 7:
takuminomura	48:3003ea51c619	481	flag_sp = flag_sp % 3 + 6;
takuminomura	48:3003ea51c619	482	run = LEFT; // 高速で左折
takuminomura	48:3003ea51c619	483	break;
takuminomura	48:3003ea51c619	484	default:
takuminomura	48:3003ea51c619	485	break; // 前回動作を継続
tomotsugu	18:6cca64c7dbc3	486	}
takuminomura	48:3003ea51c619	487	// ThisThread::sleep_for(30); // 30ms待つ
takuminomura	48:3003ea51c619	488	ThisThread::sleep_for(3);
takuminomura	48:3003ea51c619	489	}
yangtzuli	3:2ae6218973be	490	}
yangtzuli	3:2ae6218973be	491
tomotsugu	8:a47dbf4fa455	492	/* 障害物回避走行スレッド */
tomotsugu	20:02bb875a9b13	493	void avoidance(){
nishimura_taku_pet	46:c6deb699160b	494	int i;
yangtzuli	3:2ae6218973be	495	while(1){
nishimura_taku_pet	40:75e1ad7c27e4	496	watchsurrounding3();
mori2020	50:ee78382fd399	497	if(flag_a == 0){ // 障害物がない場合
mori2020	50:ee78382fd399	498	run = ADVANCE; // 前進
mori2020	50:ee78382fd399	499	// if(SLD < 25){ // 正面15cm以内に障害物が現れた場合
mori2020	50:ee78382fd399	500	// run = RIGHT; // 右折
mori2020	50:ee78382fd399	501	// ThisThread::sleep_for(100); // 100ms待つ
mori2020	50:ee78382fd399	502	// run = STOP; // 停止
mori2020	50:ee78382fd399	503	// }else if(SRD < 25){
mori2020	50:ee78382fd399	504	// run = LEFT; // 左折
mori2020	50:ee78382fd399	505	// ThisThread::sleep_for(100); // 100ms待つ
mori2020	50:ee78382fd399	506	// run = STOP; // 停止
mori2020	50:ee78382fd399	507	// }
mori2020	50:ee78382fd399	508	}else{ // 障害物がある場合
tomotsugu	18:6cca64c7dbc3	509	i = 0;
mori2020	50:ee78382fd399	510	int cnt_kyori;
mori2020	50:ee78382fd399	511	int kyori;
mori2020	50:ee78382fd399	512	if(SC < 15){
tomotsugu	60:3cc7986484b7	513	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	41:3c58a4be1199	514	ThisThread::sleep_for(100); // 100ms待つ
mori2020	50:ee78382fd399	515	run = STOP;
mori2020	50:ee78382fd399	516	ThisThread::sleep_for(80);
mori2020	50:ee78382fd399	517	run = BACK;
mori2020	50:ee78382fd399	518	// switch(flag_sp){
mori2020	50:ee78382fd399	519	// case 0:
mori2020	50:ee78382fd399	520	// ThisThread::sleep_for(200);
mori2020	50:ee78382fd399	521	// break;
mori2020	50:ee78382fd399	522	// case 1:
mori2020	50:ee78382fd399	523	// ThisThread::sleep_for(150);
mori2020	50:ee78382fd399	524	// break;
mori2020	50:ee78382fd399	525	// case 2:
mori2020	50:ee78382fd399	526	// ThisThread::sleep_for(120);
mori2020	50:ee78382fd399	527	// break;
mori2020	50:ee78382fd399	528	// default:
mori2020	50:ee78382fd399	529	// break;
mori2020	50:ee78382fd399	530	// }
mori2020	50:ee78382fd399	531	cnt_kyori = 0;
mori2020	50:ee78382fd399	532	kyori = watch();
mori2020	50:ee78382fd399	533	while(kyori < limit){ // 正面20cm以内に障害物がある間
mori2020	50:ee78382fd399	534	if(kyori == -1){
nishimura_taku_pet	40:75e1ad7c27e4	535	cnt_kyori++;
mori2020	50:ee78382fd399	536	if(cnt_kyori > 15){
mori2020	50:ee78382fd399	537	cnt_kyori = 0;
nishimura_taku_pet	40:75e1ad7c27e4	538	break;
nishimura_taku_pet	40:75e1ad7c27e4	539	}
nishimura_taku_pet	40:75e1ad7c27e4	540	}
nishimura_taku_pet	40:75e1ad7c27e4	541	kyori = watch();
tomotsugu	18:6cca64c7dbc3	542	}
mori2020	50:ee78382fd399	543	run = STOP;
mori2020	50:ee78382fd399	544	}
nishimura_taku_pet	40:75e1ad7c27e4	545	watchsurrounding5();
takuminomura	48:3003ea51c619	546	if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
tomotsugu	52:c868403753e8	547	run = A1LEFT; // 左折
tomotsugu	52:c868403753e8	548	while(i < 15){ // 進行方向確認
tomotsugu	18:6cca64c7dbc3	549	if(watch() > limit){
mori2020	50:ee78382fd399	550	break;
nishimura_taku_pet	28:cb51cafca490	551	}else{
mori2020	50:ee78382fd399	552	i++;
yangtzuli	2:38825726cb1b	553	}
yangtzuli	2:38825726cb1b	554	}
nishimura_taku_pet	28:cb51cafca490	555	run = STOP; // 停止
mori2020	50:ee78382fd399	556	}else { // 全方向以外
nishimura_taku_pet	28:cb51cafca490	557	far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	558	houkou = 1; // 進行方向を前に設定
tomotsugu	60:3cc7986484b7	559	if(SC < limit+5){
mori2020	50:ee78382fd399	560	if(far < SLD \|\| far < SL){ // 左または左前がより遠い場合
mori2020	50:ee78382fd399	561	if(SL < SLD){ // 左前が左より遠い場合
mori2020	50:ee78382fd399	562	far = SLD; // 左前を最も遠い距離に設定
mori2020	50:ee78382fd399	563	}else{ // 左が左前より遠い場合
mori2020	50:ee78382fd399	564	far = SL; // 左を最も遠い距離に設定
mori2020	50:ee78382fd399	565	}
mori2020	50:ee78382fd399	566	houkou = 2; // 進行方向を左に設定
nishimura_taku_pet	28:cb51cafca490	567	}
mori2020	50:ee78382fd399	568	if(far < SRD \|\| far < SR){ // 右または右前がより遠い場合
mori2020	50:ee78382fd399	569	if(SR < SRD){ // 右前が右より遠い場合
mori2020	50:ee78382fd399	570	far = SRD; // 右前を最も遠い距離に設定
mori2020	50:ee78382fd399	571	}else{ // 右が右前よりも遠い場合
mori2020	50:ee78382fd399	572	far = SR; // 右を最も遠い距離に設定
mori2020	50:ee78382fd399	573	}
mori2020	50:ee78382fd399	574	houkou = 3; // 進行方向を右に設定
nishimura_taku_pet	28:cb51cafca490	575	}
nishimura_taku_pet	28:cb51cafca490	576	}
nishimura_taku_pet	28:cb51cafca490	577	switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet	28:cb51cafca490	578	case 1: // 前の場合
nishimura_taku_pet	28:cb51cafca490	579	run = ADVANCE; // 前進
mori2020	50:ee78382fd399	580	switch(flag_sp){
mori2020	50:ee78382fd399	581	case 0:
mori2020	50:ee78382fd399	582	ThisThread::sleep_for(300); // 0.5秒待つ
mori2020	50:ee78382fd399	583	break;
mori2020	50:ee78382fd399	584	case 1:
mori2020	50:ee78382fd399	585	ThisThread::sleep_for(200);
mori2020	50:ee78382fd399	586	break;
mori2020	50:ee78382fd399	587	case 2:
mori2020	50:ee78382fd399	588	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	589	break;
mori2020	50:ee78382fd399	590	}
nishimura_taku_pet	28:cb51cafca490	591	break;
mori2020	50:ee78382fd399	592	case 2: // 左の場合
tomotsugu	52:c868403753e8	593	run = A1LEFT; // 左折
mori2020	50:ee78382fd399	594	while(i < 15){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	595	if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
mori2020	50:ee78382fd399	596	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	597	}else{
nishimura_taku_pet	40:75e1ad7c27e4	598	i++;
nishimura_taku_pet	28:cb51cafca490	599	}
nishimura_taku_pet	28:cb51cafca490	600	}
mori2020	50:ee78382fd399	601	run = ADVANCE; // 停止
nishimura_taku_pet	28:cb51cafca490	602	break;
mori2020	50:ee78382fd399	603	case 3: // 右の場合
tomotsugu	52:c868403753e8	604	run = A1RIGHT; // 右折
mori2020	50:ee78382fd399	605	while(i < 15){ // 進行方向確認
mori2020	50:ee78382fd399	606	if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
nishimura_taku_pet	40:75e1ad7c27e4	607	break; // ループ+
nishimura_taku_pet	28:cb51cafca490	608	}else{
nishimura_taku_pet	40:75e1ad7c27e4	609	i++;
nishimura_taku_pet	28:cb51cafca490	610	}
nishimura_taku_pet	28:cb51cafca490	611	}
mori2020	50:ee78382fd399	612	run = ADVANCE; // 停止
nishimura_taku_pet	28:cb51cafca490	613	break;
nishimura_taku_pet	28:cb51cafca490	614	}
yangtzuli	5:3fffb364744b	615	}
nishimura_taku_pet	28:cb51cafca490	616	}
nishimura_taku_pet	28:cb51cafca490	617	flag_a = 0; // 障害物有無フラグを0にセット
mori2020	50:ee78382fd399	618	if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合
tomotsugu	52:c868403753e8	619	run = A2RIGHT; // 右折
tomotsugu	52:c868403753e8	620	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	621	run = ADVANCE;
mori2020	50:ee78382fd399	622	}else if(SRD < 30 && SLD > 30){
tomotsugu	52:c868403753e8	623	run = A2LEFT; // 左折
tomotsugu	52:c868403753e8	624	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	625	run = ADVANCE;
mori2020	50:ee78382fd399	626	}
mori2020	50:ee78382fd399	627	}
mori2020	50:ee78382fd399	628	}
mori2020	50:ee78382fd399	629
tomotsugu	8:a47dbf4fa455	630	/* 距離計測関数 */
yangtzuli	2:38825726cb1b	631	int watch(){
mori2020	50:ee78382fd399	632	do{
mori2020	50:ee78382fd399	633	do{
mori2020	50:ee78382fd399	634	trig = 0;
mori2020	50:ee78382fd399	635	ThisThread::sleep_for(5); // 5ms待つ
mori2020	50:ee78382fd399	636	trig = 1;
mori2020	50:ee78382fd399	637	ThisThread::sleep_for(15); // 15ms待つ
mori2020	50:ee78382fd399	638	trig = 0;
mori2020	50:ee78382fd399	639	timer.start();
tomotsugu	21:68d38e8f64b5	640	t1=timer.read_ms();
mori2020	50:ee78382fd399	641	while(echo.read() == 0 && t1<10){
mori2020	50:ee78382fd399	642	t1=timer.read_ms();
mori2020	50:ee78382fd399	643	led1 = 1;
mori2020	50:ee78382fd399	644	}
mori2020	50:ee78382fd399	645	timer.stop();
mori2020	50:ee78382fd399	646	timer.reset();
mori2020	50:ee78382fd399	647	}while(t1 >= 10);
mori2020	50:ee78382fd399	648	timer.start(); // 距離計測タイマースタート
mori2020	50:ee78382fd399	649	while(echo.read() == 1){
tomotsugu	21:68d38e8f64b5	650	}
mori2020	50:ee78382fd399	651	timer.stop(); // 距離計測タイマーストップ
mori2020	50:ee78382fd399	652	DT = (int)(timer.read_us()*0.01657); // 距離計算
mori2020	50:ee78382fd399	653	if(timer.read_ms() > 1000){
mori2020	50:ee78382fd399	654	DT = -1;
mori2020	50:ee78382fd399	655	break;
mori2020	50:ee78382fd399	656	}
mori2020	50:ee78382fd399	657	}while(DT > 1000);
mori2020	50:ee78382fd399	658	if(DT > 400){
mori2020	50:ee78382fd399	659	DT = 400;
mori2020	50:ee78382fd399	660	}
tomotsugu	21:68d38e8f64b5	661	timer.reset();
mori2020	50:ee78382fd399	662	led1 = 0;
mori2020	50:ee78382fd399	663	return DT;
yangtzuli	0:0d0037aabe41	664	}
mori2020	50:ee78382fd399	665
tomotsugu	8:a47dbf4fa455	666	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	667	void watchsurrounding3(){
yangtzuli	2:38825726cb1b	668	SC = watch();
nishimura_taku_pet	28:cb51cafca490	669	if(SC < limit){ // 正面20cm以内に障害物がある場合
mori2020	50:ee78382fd399	670	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	671	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	672	flag_a = 1;
nishimura_taku_pet	40:75e1ad7c27e4	673	return;
nishimura_taku_pet	28:cb51cafca490	674	}
yangtzuli	2:38825726cb1b	675	}
mori2020	50:ee78382fd399	676	servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet	28:cb51cafca490	677	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	678	SLD = watch();
mori2020	50:ee78382fd399	679	if(SLD < 18){ // 左前20cm以内に障害物がある場合
mori2020	50:ee78382fd399	680	run = STOP;
mori2020	50:ee78382fd399	681	ThisThread::sleep_for(90);
mori2020	50:ee78382fd399	682	run = BACK;
tomotsugu	60:3cc7986484b7	683	switch(flag_sp){
tomotsugu	60:3cc7986484b7	684	case 0:
tomotsugu	60:3cc7986484b7	685	ThisThread::sleep_for(200);
tomotsugu	60:3cc7986484b7	686	break;
tomotsugu	60:3cc7986484b7	687	case 1:
tomotsugu	60:3cc7986484b7	688	ThisThread::sleep_for(170);
tomotsugu	60:3cc7986484b7	689	break;
tomotsugu	60:3cc7986484b7	690	case 2:
tomotsugu	60:3cc7986484b7	691	ThisThread::sleep_for(150);
tomotsugu	60:3cc7986484b7	692	break;
tomotsugu	60:3cc7986484b7	693	}
tomotsugu	52:c868403753e8	694	run = A2RIGHT;
tomotsugu	60:3cc7986484b7	695	ThisThread::sleep_for(150);
mori2020	50:ee78382fd399	696	return;
yangtzuli	2:38825726cb1b	697	}
tomotsugu	60:3cc7986484b7	698	servo.pulsewidth_us(1450);
mori2020	50:ee78382fd399	699	ThisThread::sleep_for(100);
tomotsugu	19:c6f9f010bd9e	700	SC = watch();
tomotsugu	19:c6f9f010bd9e	701	if(SC < limit){
mori2020	50:ee78382fd399	702	if(SC != -1){
mori2020	50:ee78382fd399	703	run = STOP; // 停止
nishimura_taku_pet	40:75e1ad7c27e4	704	flag_a = 1;
takuminomura	48:3003ea51c619	705	return;
mori2020	50:ee78382fd399	706	}
tomotsugu	19:c6f9f010bd9e	707	}
tomotsugu	60:3cc7986484b7	708	servo.pulsewidth_us(920); // サーボを右に40度回転
nishimura_taku_pet	28:cb51cafca490	709	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	710	SRD = watch();
mori2020	50:ee78382fd399	711	if(SRD < 18){ // 右前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	712	run = STOP; // 停止
mori2020	50:ee78382fd399	713	ThisThread::sleep_for(90);
mori2020	50:ee78382fd399	714	run = BACK;
tomotsugu	60:3cc7986484b7	715	switch(flag_sp){
tomotsugu	60:3cc7986484b7	716	case 0:
tomotsugu	60:3cc7986484b7	717	ThisThread::sleep_for(200);
tomotsugu	60:3cc7986484b7	718	break;
tomotsugu	60:3cc7986484b7	719	case 1:
tomotsugu	60:3cc7986484b7	720	ThisThread::sleep_for(170);
tomotsugu	60:3cc7986484b7	721	break;
tomotsugu	60:3cc7986484b7	722	case 2:
tomotsugu	60:3cc7986484b7	723	ThisThread::sleep_for(150);
tomotsugu	60:3cc7986484b7	724	break;
tomotsugu	60:3cc7986484b7	725	}
tomotsugu	52:c868403753e8	726	run = A2LEFT;
tomotsugu	60:3cc7986484b7	727	ThisThread::sleep_for(150);
mori2020	50:ee78382fd399	728	return;
yangtzuli	2:38825726cb1b	729	}
tomotsugu	60:3cc7986484b7	730	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	40:75e1ad7c27e4	731	ThisThread::sleep_for(100); // 100ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	732	}
mori2020	50:ee78382fd399	733
nishimura_taku_pet	40:75e1ad7c27e4	734	/* 障害物検知関数 */
nishimura_taku_pet	40:75e1ad7c27e4	735	void watchsurrounding5(){
nishimura_taku_pet	40:75e1ad7c27e4	736	SC = watch();
mori2020	50:ee78382fd399	737	servo.pulsewidth_us(1927); // サーボを左に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	738	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	739	SLD = watch();
nishimura_taku_pet	40:75e1ad7c27e4	740	servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet	40:75e1ad7c27e4	741	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	742	SL = watch();
tomotsugu	60:3cc7986484b7	743	servo.pulsewidth_us(1450);
nishimura_taku_pet	40:75e1ad7c27e4	744	ThisThread::sleep_for(250);
nishimura_taku_pet	40:75e1ad7c27e4	745	SC = watch();
mori2020	50:ee78382fd399	746	servo.pulsewidth_us(923); // サーボを右に40度回転
nishimura_taku_pet	40:75e1ad7c27e4	747	ThisThread::sleep_for(100); // 250ms待つ
nishimura_taku_pet	40:75e1ad7c27e4	748	SRD = watch();
yangtzuli	2:38825726cb1b	749	servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet	28:cb51cafca490	750	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	751	SR = watch();
tomotsugu	60:3cc7986484b7	752	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	753	ThisThread::sleep_for(250); // 100ms待つ
yangtzuli	3:2ae6218973be	754	}
yangtzuli	3:2ae6218973be	755
tomotsugu	8:a47dbf4fa455	756	/* ディスプレイ表示関数 */
yangtzuli	3:2ae6218973be	757	void display(){
faker_71	57:65dd71a6ce72	758	// pblue=!pblue;
tomotsugu	8:a47dbf4fa455	759	mutex.lock(); // ミューテックスロック
yangtzuli	3:2ae6218973be	760	lcd.setAddress(0,1);
tomotsugu	8:a47dbf4fa455	761
tomotsugu	8:a47dbf4fa455	762	/* 操作モードによる場合分け */
yangtzuli	3:2ae6218973be	763	switch(mode){
tomotsugu	8:a47dbf4fa455	764	/* 前進 */
yangtzuli	3:2ae6218973be	765	case ADVANCE:
yangtzuli	3:2ae6218973be	766	lcd.printf("Mode:Advance ");
yangtzuli	3:2ae6218973be	767	break;
tomotsugu	8:a47dbf4fa455	768	/* 右折 */
yangtzuli	3:2ae6218973be	769	case RIGHT:
yangtzuli	5:3fffb364744b	770	lcd.printf("Mode:TurnRight ");
yangtzuli	3:2ae6218973be	771	break;
tomotsugu	8:a47dbf4fa455	772	/* 左折 */
yangtzuli	3:2ae6218973be	773	case LEFT:
yangtzuli	5:3fffb364744b	774	lcd.printf("Mode:TurnLeft ");
yangtzuli	3:2ae6218973be	775	break;
tomotsugu	8:a47dbf4fa455	776	/* 後退 */
yangtzuli	3:2ae6218973be	777	case BACK:
yangtzuli	3:2ae6218973be	778	lcd.printf("Mode:Back ");
yangtzuli	3:2ae6218973be	779	break;
tomotsugu	8:a47dbf4fa455	780	/* 停止 */
yangtzuli	3:2ae6218973be	781	case STOP:
yangtzuli	3:2ae6218973be	782	lcd.printf("Mode:Stop ");
yangtzuli	3:2ae6218973be	783	break;
tomotsugu	8:a47dbf4fa455	784	/* 待ち */
yangtzuli	3:2ae6218973be	785	case READY:
yangtzuli	3:2ae6218973be	786	lcd.printf("Mode:Ready ");
yangtzuli	3:2ae6218973be	787	break;
tomotsugu	8:a47dbf4fa455	788	/* ライントレース */
yangtzuli	3:2ae6218973be	789	case LINE_TRACE:
yangtzuli	3:2ae6218973be	790	lcd.printf("Mode:LineTrace ");
yangtzuli	3:2ae6218973be	791	break;
tomotsugu	8:a47dbf4fa455	792	/* 障害物回避 */
yangtzuli	3:2ae6218973be	793	case AVOIDANCE:
yangtzuli	3:2ae6218973be	794	lcd.printf("Mode:Avoidance ");
yangtzuli	3:2ae6218973be	795	break;
tomotsugu	8:a47dbf4fa455	796	/* スピード制御 */
yangtzuli	3:2ae6218973be	797	case SPEED:
tomotsugu	8:a47dbf4fa455	798	/* スピードの状態で場合分け */
takuminomura	48:3003ea51c619	799	switch(flag_sp % 3){
tomotsugu	8:a47dbf4fa455	800	/* 普通 */
yangtzuli	3:2ae6218973be	801	case(NORMAL):
yangtzuli	3:2ae6218973be	802	lcd.printf("Speed:Normal ");
yangtzuli	3:2ae6218973be	803	break;
tomotsugu	8:a47dbf4fa455	804	/* 速い */
yangtzuli	3:2ae6218973be	805	case(FAST):
yangtzuli	3:2ae6218973be	806	lcd.printf("Speed:Fast ");
yangtzuli	3:2ae6218973be	807	break;
tomotsugu	8:a47dbf4fa455	808	/* とても速い */
yangtzuli	3:2ae6218973be	809	case(VERYFAST):
yangtzuli	3:2ae6218973be	810	lcd.printf("Speed:VeryFast ");
yangtzuli	3:2ae6218973be	811	break;
yangtzuli	3:2ae6218973be	812	}
tomotsugu	8:a47dbf4fa455	813	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	814	viewTimer.start(); // タイマースタート
takuminomura	48:3003ea51c619	815	break;
nishimura_taku_pet	56:d02c62149a19	816	default:
nishimura_taku_pet	56:d02c62149a19	817	lcd.printf("Mode:ModeError ");
nishimura_taku_pet	56:d02c62149a19	818	break;
yangtzuli	3:2ae6218973be	819	}
tomotsugu	8:a47dbf4fa455	820	mutex.unlock(); // ミューテックスアンロック
faker_71	57:65dd71a6ce72	821	// pblue=!pblue;
faker_71	57:65dd71a6ce72	822
yangtzuli	3:2ae6218973be	823	}
yangtzuli	3:2ae6218973be	824
tomotsugu	8:a47dbf4fa455	825	/* バックライト点滅 */
yangtzuli	3:2ae6218973be	826	void lcdBacklight(void const *argument){
tomotsugu	8:a47dbf4fa455	827	if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu	8:a47dbf4fa455	828	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	829	}else{ // バックライト点滅フラグが0なら
tomotsugu	8:a47dbf4fa455	830	lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli	3:2ae6218973be	831	}
tomotsugu	8:a47dbf4fa455	832	flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli	3:2ae6218973be	833	}
yangtzuli	2:38825726cb1b	834
tomotsugu	8:a47dbf4fa455	835	/* バッテリー残量更新関数 */
yangtzuli	5:3fffb364744b	836	void bChange(){
yangtzuli	17:f7259ab2fe86	837	//pc.printf(" bChange1\r\n");
nishimura_taku_pet	51:1baf4407f384	838	if(run == STOP){
nishimura_taku_pet	54:f862caf08a7f	839	b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)10+0.5)10;
nishimura_taku_pet	51:1baf4407f384	840	}
tomotsugu	10:d193030ce672	841	if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu	10:d193030ce672	842	b = 0;
tomotsugu	10:d193030ce672	843	//lcd.setBacklight(TextLCD::LightOff);
tomotsugu	10:d193030ce672	844	//run = STOP;
tomotsugu	10:d193030ce672	845	//exit(1); // 電池残量が5%未満の時、LCDを消灯し、モーターを停止し、プログラムを終了する。
tomotsugu	10:d193030ce672	846	}
tomotsugu	10:d193030ce672	847	mutex.lock(); // ミューテックスロック
tomotsugu	10:d193030ce672	848	lcd.setAddress(0,0);
tomotsugu	10:d193030ce672	849	lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
takuminomura	48:3003ea51c619	850	mutex.unlock(); // ミューテックスアンロック
tomotsugu	10:d193030ce672	851	if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu	10:d193030ce672	852	if(flag_t == 0){ // バックライトタイマーフラグが0なら
nishimura_taku_pet	43:243c1455f88a	853	//bTimer.attach(lcdBacklight,0.5);
tomotsugu	10:d193030ce672	854	bTimer.start(500); // 0.5秒周期でバックライトタイマー割り込み
tomotsugu	10:d193030ce672	855	flag_t = 1; // バックライトタイマーフラグを1に切り替え
yangtzuli	3:2ae6218973be	856	}
tomotsugu	10:d193030ce672	857	}else{
tomotsugu	10:d193030ce672	858	if(flag_t == 1){ // バックライトタイマーフラグが1なら
nishimura_taku_pet	43:243c1455f88a	859	//bTimer.detach();
tomotsugu	10:d193030ce672	860	bTimer.stop(); // バックライトタイマーストップ
tomotsugu	10:d193030ce672	861	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	10:d193030ce672	862	flag_t = 0; // バックライトタイマーフラグを0に切り替え
yangtzuli	3:2ae6218973be	863	}
tomotsugu	10:d193030ce672	864	}
yangtzuli	2:38825726cb1b	865	}
mori2020	50:ee78382fd399	866
mori2020	50:ee78382fd399	867
nishimura_taku_pet	24:9481c8f56a49	868	// Serial Interrupt read ESP data
nishimura_taku_pet	24:9481c8f56a49	869	void callback()
nishimura_taku_pet	24:9481c8f56a49	870	{
nishimura_taku_pet	59:9e35200f52ea	871	//--*-5("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	872	led3=1;
nishimura_taku_pet	24:9481c8f56a49	873	while (esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	874	webbuff[ount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	875	ount++;
nishimura_taku_pet	24:9481c8f56a49	876	}
nishimura_taku_pet	24:9481c8f56a49	877	if(strlen(webbuff)>bufflen) {
mori2020	50:ee78382fd399	878	// //--*-5("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	879	DataRX=1;
nishimura_taku_pet	59:9e35200f52ea	880	led3=0;
nishimura_taku_pet	24:9481c8f56a49	881	}
nishimura_taku_pet	24:9481c8f56a49	882	}
mori2020	50:ee78382fd399	883
nishimura_taku_pet	43:243c1455f88a	884	void wifi(/void const argument*/)
nishimura_taku_pet	24:9481c8f56a49	885	{
mori2020	50:ee78382fd399	886	//--*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet	33:a6f1090e0174	887	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	888	led1=1,led2=0,led3=0;
nishimura_taku_pet	24:9481c8f56a49	889	timeout=6000;
nishimura_taku_pet	24:9481c8f56a49	890	getcount=500;
nishimura_taku_pet	24:9481c8f56a49	891	getreply();
nishimura_taku_pet	24:9481c8f56a49	892	esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet	24:9481c8f56a49	893	startserver();
mori2020	50:ee78382fd399	894
nishimura_taku_pet	24:9481c8f56a49	895	while(1) {
nishimura_taku_pet	24:9481c8f56a49	896	if(DataRX==1) {
mori2020	50:ee78382fd399	897	//--*-5("\f\n\r------------ main while > if --------------\n\r");
faker_71	57:65dd71a6ce72	898	// click_flag = 1;
faker_71	57:65dd71a6ce72	899	click_log=false;
nishimura_taku_pet	24:9481c8f56a49	900	ReadWebData();
mori2020	50:ee78382fd399	901	//--*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
mori2020	50:ee78382fd399	902	//if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71	57:65dd71a6ce72	903	if (servreq == 1 && weberror == 0 && click_log == false) {
mori2020	50:ee78382fd399	904	//--*-5("\f\n\r------------ befor send page --------------\n\r");
faker_71	57:65dd71a6ce72	905	sendpage(); }
mori2020	50:ee78382fd399	906	//--*-5("\f\n\r------------ send_check begin --------------\n\r");
mori2020	50:ee78382fd399	907
mori2020	50:ee78382fd399	908	//sendcheck();
mori2020	50:ee78382fd399	909	//--*-5("\f\n\r------------ ssend_check end--------------\n\r");
faker_71	57:65dd71a6ce72	910	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	911	esp.attach(&callback);
mori2020	50:ee78382fd399	912	//--*-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);
mori2020	50:ee78382fd399	913	//--*-5("\n\n HTTP Packet: \n\n%s\n", webdata);
mori2020	50:ee78382fd399	914	//--*-5(" Web Characters sent : %d\n\n", bufl);
mori2020	50:ee78382fd399	915	//--*-5(" -------------------------------------\n\n");
nishimura_taku_pet	24:9481c8f56a49	916	servreq=0;
nishimura_taku_pet	24:9481c8f56a49	917	}
nishimura_taku_pet	24:9481c8f56a49	918	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	919	}
nishimura_taku_pet	24:9481c8f56a49	920	}
nishimura_taku_pet	24:9481c8f56a49	921	// Static WEB page
nishimura_taku_pet	24:9481c8f56a49	922	void sendpage()
nishimura_taku_pet	24:9481c8f56a49	923	{
nishimura_taku_pet	24:9481c8f56a49	924	// WEB page data
mori2020	50:ee78382fd399	925
nishimura_taku_pet	58:d60f9b0d564d	926	strcpy(webbuff, "HTTP/1.1 200 OK\nDate: Thu, 03 Sep 2020 07:43:28 GMT\nContent-Type: text/html\nContent-Length: 2843\nConnection: keep-alive\n\n");
nishimura_taku_pet	58:d60f9b0d564d	927	strcat(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet	24:9481c8f56a49	928	strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
mori2020	50:ee78382fd399	929	//strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >");
molberry	38:39db3f7450c2	930	strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}.load{ width: 50px; height: 30px;font-size:10px}</style>");
nishimura_taku_pet	24:9481c8f56a49	931	strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet	24:9481c8f56a49	932	strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
molberry	55:d3c19efa1ef9	933	if(b >= 70) { //残電量表示
molberry	55:d3c19efa1ef9	934	strcat(webbuff, "<font color=\"blue\">");
mori2020	50:ee78382fd399	935	sprintf(webbuff, "%s%3d", webbuff, b);
molberry	55:d3c19efa1ef9	936	strcat(webbuff, "</font>");
molberry	55:d3c19efa1ef9	937	}
molberry	55:d3c19efa1ef9	938	else if(b >= 40) {
molberry	55:d3c19efa1ef9	939	strcat(webbuff, "<font color=\"orange\">");
molberry	55:d3c19efa1ef9	940	sprintf(webbuff, "%s%3d", webbuff, b);
molberry	55:d3c19efa1ef9	941	strcat(webbuff, "</font>");
mori2020	50:ee78382fd399	942	} else { //30%より下の場合残電量を赤文字
mori2020	50:ee78382fd399	943	strcat(webbuff, "<font color=\"red\">");
mori2020	50:ee78382fd399	944	sprintf(webbuff, "%s%3d", webbuff, b);
mori2020	50:ee78382fd399	945	strcat(webbuff, "</font>");
mori2020	50:ee78382fd399	946	}
mori2020	50:ee78382fd399	947	strcat(webbuff, "%</strong>");
mori2020	50:ee78382fd399	948	strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>");
nishimura_taku_pet	24:9481c8f56a49	949	strcat(webbuff, "</td></p>");
nishimura_taku_pet	24:9481c8f56a49	950	strcat(webbuff, "<br>");
nishimura_taku_pet	24:9481c8f56a49	951	strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	952
molberry	35:4cda290bdb87	953	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
molberry	35:4cda290bdb87	954	case ADVANCE: //前進
mori2020	50:ee78382fd399	955	strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	956	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	957	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	958	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	959	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	960	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	961	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	962	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	963	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	964	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	965	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	966	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	967	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	968	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	969	break;
molberry	35:4cda290bdb87	970	case LEFT: //左折
mori2020	50:ee78382fd399	971	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	972	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	973	strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	974	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	975	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	976	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	977	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	978	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	979	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	980	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	981	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	982	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	983	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	984	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	985	break;
molberry	35:4cda290bdb87	986	case STOP: //停止
mori2020	50:ee78382fd399	987	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	988	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	989	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	990	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	991	strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	992	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	993	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	994	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	995	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	996	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	997	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	998	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	999	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1000	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1001	break;
molberry	35:4cda290bdb87	1002	case RIGHT: //右折
mori2020	50:ee78382fd399	1003	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1004	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1005	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1006	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1007	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1008	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1009	strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1010	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1011	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1012	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1013	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1014	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1015	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1016	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1017	break;
molberry	35:4cda290bdb87	1018	case BACK: //後進
mori2020	50:ee78382fd399	1019	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1020	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1021	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1022	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1023	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1024	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1025	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1026	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1027	strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1028	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet	24:9481c8f56a49	1029	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1030	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1031	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1032	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1033	break;
molberry	35:4cda290bdb87	1034	case AVOIDANCE: //障害物回避
mori2020	50:ee78382fd399	1035	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1036	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1037	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1038	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1039	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1040	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1041	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1042	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1043	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1044	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1045	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1046	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1047	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1048	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1049	break;
molberry	35:4cda290bdb87	1050	case LINE_TRACE: //ライントレース
mori2020	50:ee78382fd399	1051	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1052	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1053	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1054	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1055	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1056	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1057	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1058	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1059	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1060	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1061	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1062	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1063	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1064	strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1065	break;
molberry	35:4cda290bdb87	1066	default: //その他
mori2020	50:ee78382fd399	1067	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	1068	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
mori2020	50:ee78382fd399	1069	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	1070	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1071	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	1072	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1073	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	1074	strcat(webbuff, "</button></td></tr><td></td><td>");
mori2020	50:ee78382fd399	1075	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	1076	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1077	strcat(webbuff, "<strong>Mode</strong>");
mori2020	50:ee78382fd399	1078	strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >");
nishimura_taku_pet	24:9481c8f56a49	1079	strcat(webbuff, "AVOIDANCE</button></td><td>");
mori2020	50:ee78382fd399	1080	strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE");
nishimura_taku_pet	24:9481c8f56a49	1081	break;
nishimura_taku_pet	24:9481c8f56a49	1082	}
nishimura_taku_pet	24:9481c8f56a49	1083	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	1084	strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet	24:9481c8f56a49	1085	strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	1086	//ready示速度だけ点灯
molberry	35:4cda290bdb87	1087	switch (flag_sp) { //現在の速度のボタン表示
molberry	35:4cda290bdb87	1088	case 0: //ノーマル
mori2020	50:ee78382fd399	1089	strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1090	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1091	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1092	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1093	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1094	break;
molberry	35:4cda290bdb87	1095	case 1: //ファスト
mori2020	50:ee78382fd399	1096	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1097	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1098	strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1099	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1100	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1101	break;
molberry	35:4cda290bdb87	1102	case 2: //ベリーファスト
mori2020	50:ee78382fd399	1103	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1104	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1105	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1106	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1107	strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1108	break;
molberry	35:4cda290bdb87	1109	default: //その他
mori2020	50:ee78382fd399	1110	strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal");
nishimura_taku_pet	24:9481c8f56a49	1111	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1112	strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast");
nishimura_taku_pet	24:9481c8f56a49	1113	strcat(webbuff, "</button></td><td>");
mori2020	50:ee78382fd399	1114	strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast");
nishimura_taku_pet	24:9481c8f56a49	1115	break;
nishimura_taku_pet	24:9481c8f56a49	1116	}
nishimura_taku_pet	24:9481c8f56a49	1117	strcat(webbuff, "</button></td></tr></table>");
mori2020	50:ee78382fd399	1118
nishimura_taku_pet	24:9481c8f56a49	1119	strcat(webbuff, "</center>");
nishimura_taku_pet	24:9481c8f56a49	1120	strcat(webbuff, "</body>");
nishimura_taku_pet	24:9481c8f56a49	1121	strcat(webbuff, "</html>");
mori2020	50:ee78382fd399	1122
molberry	35:4cda290bdb87	1123	strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能
faker_71	57:65dd71a6ce72	1124
mori2020	50:ee78382fd399	1125	//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
faker_71	57:65dd71a6ce72	1126	strcat(webbuff, "function htmlacs(url) {");
faker_71	57:65dd71a6ce72	1127	strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71	57:65dd71a6ce72	1128	strcat(webbuff, "xhr.open(\"GET\", url, true);");
faker_71	57:65dd71a6ce72	1129	strcat(webbuff, "xhr.send();");
faker_71	57:65dd71a6ce72	1130	strcat(webbuff, "setTimeout(function(){xhr.abort();},100);");
nishimura_taku_pet	24:9481c8f56a49	1131	strcat(webbuff, "}");
mori2020	50:ee78382fd399	1132
mori2020	50:ee78382fd399	1133	//mode変更ボタン入力時動作 //sendmes
mori2020	50:ee78382fd399	1134	strcat(webbuff, "function send_mes(btnval){"); //mode変更ボタン入力時の点灯消灯判定
nishimura_taku_pet	24:9481c8f56a49	1135	strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet	24:9481c8f56a49	1136	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1137	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1138	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1139	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1140	strcat(webbuff, "for(var i=1;i<8;i++){");
nishimura_taku_pet	24:9481c8f56a49	1141	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1142	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1143	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1144	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1145	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1146	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1147	strcat(webbuff, "}");
mori2020	50:ee78382fd399	1148
mori2020	50:ee78382fd399	1149	strcat(webbuff, "function send_mes_spe(btnval){"); //speed変更ボタン入力時の点灯消灯判定
nishimura_taku_pet	24:9481c8f56a49	1150	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	1151	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	1152	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	1153	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	43:243c1455f88a	1154	strcat(webbuff, "for(var i=8;i<11;i++){");
nishimura_taku_pet	24:9481c8f56a49	1155	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	1156	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	1157	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	1158	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	1159	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1160	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1161	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	1162	strcat(webbuff, "</script>");
mori2020	50:ee78382fd399	1163
mori2020	50:ee78382fd399	1164
nishimura_taku_pet	24:9481c8f56a49	1165	// end of WEB page data
nishimura_taku_pet	24:9481c8f56a49	1166	bufl = strlen(webbuff); // get total page buffer length
mori2020	50:ee78382fd399	1167	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	1168
nishimura_taku_pet	24:9481c8f56a49	1169	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	1170	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1171	getcount=40;
nishimura_taku_pet	24:9481c8f56a49	1172	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1173	getreply();
mori2020	50:ee78382fd399	1174	//--*-5(replybuff);
mori2020	50:ee78382fd399	1175	////--*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
mori2020	50:ee78382fd399	1176
mori2020	50:ee78382fd399	1177	//--*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
mori2020	50:ee78382fd399	1178
nishimura_taku_pet	24:9481c8f56a49	1179	//pastthrough mode
nishimura_taku_pet	24:9481c8f56a49	1180	SendWEB(); // send web page
mori2020	50:ee78382fd399	1181	//--*-5("\n++++++++++ webbuff clear ++++++++++\r\n");
mori2020	50:ee78382fd399	1182
nishimura_taku_pet	24:9481c8f56a49	1183	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1184	sendcheck();
nishimura_taku_pet	24:9481c8f56a49	1185	}
nishimura_taku_pet	24:9481c8f56a49	1186
nishimura_taku_pet	24:9481c8f56a49	1187	// Large WEB buffer data send
nishimura_taku_pet	24:9481c8f56a49	1188	void SendWEB()
nishimura_taku_pet	24:9481c8f56a49	1189	{
nishimura_taku_pet	24:9481c8f56a49	1190	int i=0;
nishimura_taku_pet	24:9481c8f56a49	1191	if(esp.writeable()) {
nishimura_taku_pet	24:9481c8f56a49	1192	while(webbuff[i]!='\0') {
nishimura_taku_pet	24:9481c8f56a49	1193	esp.putc(webbuff[i]);
mori2020	50:ee78382fd399	1194
nishimura_taku_pet	24:9481c8f56a49	1195	//****
nishimura_taku_pet	24:9481c8f56a49	1196	//output at command when 2000
nishimura_taku_pet	24:9481c8f56a49	1197	if(((i%2047)==0) && (i>0)) {
mori2020	50:ee78382fd399	1198	//wait_ms(10);
takuminomura	48:3003ea51c619	1199	ThisThread::sleep_for(100);
mori2020	50:ee78382fd399	1200	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
mori2020	50:ee78382fd399	1201	////--*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet	24:9481c8f56a49	1202	timeout=600;
nishimura_taku_pet	24:9481c8f56a49	1203	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1204	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1205	getreply();
mori2020	50:ee78382fd399	1206	////--*-5(replybuff);
mori2020	50:ee78382fd399	1207	////--*-5("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1208	}
nishimura_taku_pet	24:9481c8f56a49	1209	//****
nishimura_taku_pet	24:9481c8f56a49	1210	i++;
mori2020	50:ee78382fd399	1211	////--*-5("%c",webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	1212	}
nishimura_taku_pet	24:9481c8f56a49	1213	}
mori2020	50:ee78382fd399	1214	//--*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet	24:9481c8f56a49	1215	}
nishimura_taku_pet	24:9481c8f56a49	1216
nishimura_taku_pet	24:9481c8f56a49	1217
nishimura_taku_pet	24:9481c8f56a49	1218	void sendcheck()
nishimura_taku_pet	24:9481c8f56a49	1219	{
nishimura_taku_pet	24:9481c8f56a49	1220	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1221	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1222	getcount=24;
nishimura_taku_pet	24:9481c8f56a49	1223	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1224	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1225
mori2020	50:ee78382fd399	1226	/*
mori2020	50:ee78382fd399	1227	while(weberror==1 && time2.read() <5) {
mori2020	50:ee78382fd399	1228	getreply();
mori2020	50:ee78382fd399	1229	if (strstr(replybuff, "SEND OK") != NULL) {
mori2020	50:ee78382fd399	1230	weberror=0; // wait for valid SEND OK
mori2020	50:ee78382fd399	1231	}
mori2020	50:ee78382fd399	1232	}
mori2020	50:ee78382fd399	1233	*/
nishimura_taku_pet	24:9481c8f56a49	1234	if(weberror==1) { // restart connection
nishimura_taku_pet	24:9481c8f56a49	1235	strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet	24:9481c8f56a49	1236	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1237	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1238	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1239	getreply();
mori2020	50:ee78382fd399	1240	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1241	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1242	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1243	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	1244	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1245	getreply();
mori2020	50:ee78382fd399	1246	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1247	} else {
nishimura_taku_pet	24:9481c8f56a49	1248	sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet	24:9481c8f56a49	1249	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1250	getreply();
mori2020	50:ee78382fd399	1251	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1252	}
nishimura_taku_pet	24:9481c8f56a49	1253	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1254	}
nishimura_taku_pet	24:9481c8f56a49	1255
nishimura_taku_pet	24:9481c8f56a49	1256	// Reads and processes GET and POST web data
nishimura_taku_pet	24:9481c8f56a49	1257	void ReadWebData()
nishimura_taku_pet	24:9481c8f56a49	1258	{
mori2020	50:ee78382fd399	1259	//--*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet	30:c80da0ecc260	1260	ThisThread::sleep_for(200);
nishimura_taku_pet	24:9481c8f56a49	1261	esp.attach(NULL);
nishimura_taku_pet	24:9481c8f56a49	1262	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1263	DataRX=0;
nishimura_taku_pet	24:9481c8f56a49	1264	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1265	memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet	24:9481c8f56a49	1266	int x = strcspn (webbuff,"+");
nishimura_taku_pet	24:9481c8f56a49	1267	if(x) {
nishimura_taku_pet	24:9481c8f56a49	1268	strcpy(webdata, webbuff + x);
nishimura_taku_pet	24:9481c8f56a49	1269	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1270	int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
mori2020	50:ee78382fd399	1271	//int i=0;
mori2020	50:ee78382fd399	1272	//--*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
mori2020	50:ee78382fd399	1273	//--*-5("%s",webdata);
mori2020	50:ee78382fd399	1274	//--*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet	51:1baf4407f384	1275	beforeMode = mode;
nishimura_taku_pet	43:243c1455f88a	1276	if( strstr(webdata, "Normal") != NULL ) {
faker_71	57:65dd71a6ce72	1277	click_log=true;
mori2020	50:ee78382fd399	1278	//--*-5("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1279	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1280	flag_sp = 0;
nishimura_taku_pet	43:243c1455f88a	1281	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1282	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1283	}else if( strstr(webdata, "VeryFast") != NULL ) {
faker_71	57:65dd71a6ce72	1284	click_log=true;
mori2020	50:ee78382fd399	1285	//--*-5("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1286	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1287	flag_sp = 2;
nishimura_taku_pet	43:243c1455f88a	1288	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1289	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1290	}else if( strstr(webdata, "Fast") != NULL ) {
faker_71	57:65dd71a6ce72	1291	click_log=true;
mori2020	50:ee78382fd399	1292	//--*-5("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet	43:243c1455f88a	1293	mode = SPEED; // スピードモード
nishimura_taku_pet	43:243c1455f88a	1294	flag_sp = 1;
nishimura_taku_pet	43:243c1455f88a	1295	display(); // ディスプレイ表示
nishimura_taku_pet	43:243c1455f88a	1296	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	43:243c1455f88a	1297	}
nishimura_taku_pet	24:9481c8f56a49	1298	if( strstr(webdata, "GO") != NULL ) {
faker_71	57:65dd71a6ce72	1299	pred=!pred;
faker_71	57:65dd71a6ce72	1300	click_log=true;
mori2020	50:ee78382fd399	1301	//--*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1302	run = ADVANCE; // 前進
molberry	35:4cda290bdb87	1303	mode = ADVANCE; // モード変更
molberry	35:4cda290bdb87	1304	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1305	}
takuminomura	48:3003ea51c619	1306
nishimura_taku_pet	24:9481c8f56a49	1307	if( strstr(webdata, "LEFT") != NULL ) {
faker_71	57:65dd71a6ce72	1308	click_log=true;
mori2020	50:ee78382fd399	1309	//--*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1310	run = LEFT; // 左折
molberry	35:4cda290bdb87	1311	mode = LEFT; // モード変更
molberry	35:4cda290bdb87	1312	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1313	}
nishimura_taku_pet	24:9481c8f56a49	1314
nishimura_taku_pet	24:9481c8f56a49	1315	if( strstr(webdata, "STOP") != NULL ) {
faker_71	57:65dd71a6ce72	1316	click_log=true;
mori2020	50:ee78382fd399	1317	//--*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1318	run = STOP; // 停止
molberry	35:4cda290bdb87	1319	mode = STOP; // モード変更
molberry	35:4cda290bdb87	1320	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1321	}
nishimura_taku_pet	24:9481c8f56a49	1322
nishimura_taku_pet	24:9481c8f56a49	1323	if( strstr(webdata, "RIGHT") != NULL ) {
faker_71	57:65dd71a6ce72	1324	click_log=true;
mori2020	50:ee78382fd399	1325	//--*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1326	run = RIGHT; // 右折
molberry	35:4cda290bdb87	1327	mode = RIGHT; // モード変更
molberry	35:4cda290bdb87	1328	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1329	}
nishimura_taku_pet	24:9481c8f56a49	1330
nishimura_taku_pet	24:9481c8f56a49	1331	if( strstr(webdata, "BACK") != NULL ) {
faker_71	57:65dd71a6ce72	1332	click_log=true;
mori2020	50:ee78382fd399	1333	//--*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n");
molberry	35:4cda290bdb87	1334	run = BACK; // 後進
molberry	35:4cda290bdb87	1335	mode = BACK; // モード変更
molberry	35:4cda290bdb87	1336	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1337	}
mori2020	50:ee78382fd399	1338	//--*-5("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1339
nishimura_taku_pet	24:9481c8f56a49	1340	if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71	57:65dd71a6ce72	1341	click_log=true;
mori2020	50:ee78382fd399	1342	//--*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1343	if(avoi_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1344	delete avoi_thread; //障害物回避スレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1345	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	26:0badbc9f9cb3	1346	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1347	}
nishimura_taku_pet	24:9481c8f56a49	1348	mode=AVOIDANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1349	run = ADVANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1350	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1351	}
nishimura_taku_pet	24:9481c8f56a49	1352	if( strstr(webdata, "LINE_TRACE") != NULL ) {
faker_71	57:65dd71a6ce72	1353	click_log=true;
mori2020	50:ee78382fd399	1354	//--*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++");
mori2020	50:ee78382fd399	1355	//--*-5("mode = LINE_TRACE\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1356	if(trace_thread->get_state() == Thread::Deleted) {
molberry	35:4cda290bdb87	1357	delete trace_thread; //ライントレーススレッド停止
nishimura_taku_pet	26:0badbc9f9cb3	1358	trace_thread = new Thread(trace);
nishimura_taku_pet	26:0badbc9f9cb3	1359	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1360	}
nishimura_taku_pet	24:9481c8f56a49	1361	mode=LINE_TRACE;
nishimura_taku_pet	26:0badbc9f9cb3	1362	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1363	}
nishimura_taku_pet	26:0badbc9f9cb3	1364	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1365	trace_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1366	}
nishimura_taku_pet	26:0badbc9f9cb3	1367	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1368	avoi_thread->terminate();
nishimura_taku_pet	31:3665282561d6	1369	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	26:0badbc9f9cb3	1370	}
nishimura_taku_pet	24:9481c8f56a49	1371	sprintf(channel, "%d",linkID);
nishimura_taku_pet	24:9481c8f56a49	1372	if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1373	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1374	}
nishimura_taku_pet	24:9481c8f56a49	1375	if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1376	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1377	}
nishimura_taku_pet	24:9481c8f56a49	1378	webcounter++;
nishimura_taku_pet	24:9481c8f56a49	1379	sprintf(webcount, "%d",webcounter);
nishimura_taku_pet	24:9481c8f56a49	1380	} else {
nishimura_taku_pet	24:9481c8f56a49	1381	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1382	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1383	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1384	}
nishimura_taku_pet	24:9481c8f56a49	1385	}
nishimura_taku_pet	24:9481c8f56a49	1386	// Starts and restarts webserver if errors detected.
nishimura_taku_pet	24:9481c8f56a49	1387	void startserver()
nishimura_taku_pet	24:9481c8f56a49	1388	{
mori2020	50:ee78382fd399	1389	//--*-5("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1390	strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet	24:9481c8f56a49	1391	timeout=8000;
nishimura_taku_pet	24:9481c8f56a49	1392	getcount=1000;
nishimura_taku_pet	24:9481c8f56a49	1393	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1394	getreply();
mori2020	50:ee78382fd399	1395	//--*-5(replybuff);
mori2020	50:ee78382fd399	1396	//--*-5("%d",ount);
nishimura_taku_pet	24:9481c8f56a49	1397	if (strstr(replybuff, "OK") != NULL) {
mori2020	50:ee78382fd399	1398	//--*-5("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1399	strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet	24:9481c8f56a49	1400	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1401	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1402	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1403	getreply();
mori2020	50:ee78382fd399	1404	//--*-5(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1405	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1406	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1407	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1408	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1409	getreply();
mori2020	50:ee78382fd399	1410	//--*-5(replybuff);
nishimura_taku_pet	33:a6f1090e0174	1411	ThisThread::sleep_for(500);
nishimura_taku_pet	24:9481c8f56a49	1412	sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet	24:9481c8f56a49	1413	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1414	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1415	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1416	getreply();
mori2020	50:ee78382fd399	1417	//--*-5(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1418	ThisThread::sleep_for(5000);
mori2020	50:ee78382fd399	1419	//--*-5("\n Getting Server IP \r\n");
nishimura_taku_pet	24:9481c8f56a49	1420	strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet	24:9481c8f56a49	1421	timeout=2500;
nishimura_taku_pet	24:9481c8f56a49	1422	getcount=200;
nishimura_taku_pet	24:9481c8f56a49	1423	while(weberror==0) {
nishimura_taku_pet	24:9481c8f56a49	1424	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1425	getreply();
nishimura_taku_pet	24:9481c8f56a49	1426	if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet	24:9481c8f56a49	1427	weberror=1; // wait for valid IP
nishimura_taku_pet	24:9481c8f56a49	1428	}
nishimura_taku_pet	24:9481c8f56a49	1429	}
mori2020	50:ee78382fd399	1430	//--*-5("\n Enter WEB address (IP) found below in your browser \r\n\n");
mori2020	50:ee78382fd399	1431	//--*-5("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1432	replybuff[strlen(replybuff)-1] = '\0';
mori2020	50:ee78382fd399	1433	//char* IP = replybuff + 5;
nishimura_taku_pet	24:9481c8f56a49	1434	sprintf(webdata,"%s", replybuff);
mori2020	50:ee78382fd399	1435	//--*-5(webdata);
nishimura_taku_pet	24:9481c8f56a49	1436	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1437	bufflen=200;
mori2020	50:ee78382fd399	1438	//bufflen=100;
nishimura_taku_pet	24:9481c8f56a49	1439	ount=0;
mori2020	50:ee78382fd399	1440	//--*-5("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet	33:a6f1090e0174	1441	setup();
nishimura_taku_pet	24:9481c8f56a49	1442	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1443	} else {
mori2020	50:ee78382fd399	1444	//--*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1445	led1=1;
nishimura_taku_pet	24:9481c8f56a49	1446	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1447	led3=1;
nishimura_taku_pet	24:9481c8f56a49	1448	led4=1;
nishimura_taku_pet	24:9481c8f56a49	1449	while(1) {
nishimura_taku_pet	24:9481c8f56a49	1450	led1=!led1;
nishimura_taku_pet	24:9481c8f56a49	1451	led2=!led2;
nishimura_taku_pet	24:9481c8f56a49	1452	led3=!led3;
nishimura_taku_pet	24:9481c8f56a49	1453	led4=!led4;
nishimura_taku_pet	56:d02c62149a19	1454	mutex.lock(); // ミューテックスロック
nishimura_taku_pet	56:d02c62149a19	1455	lcd.setAddress(0,1);
nishimura_taku_pet	56:d02c62149a19	1456	lcd.printf("Mode:WiFiError ");
nishimura_taku_pet	56:d02c62149a19	1457	mutex.unlock();
nishimura_taku_pet	25:8ed98982faa7	1458	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1459	}
nishimura_taku_pet	24:9481c8f56a49	1460	}
nishimura_taku_pet	24:9481c8f56a49	1461	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1462	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1463	}
mori2020	50:ee78382fd399	1464
nishimura_taku_pet	24:9481c8f56a49	1465	// ESP Command data send
nishimura_taku_pet	24:9481c8f56a49	1466	void SendCMD()
nishimura_taku_pet	24:9481c8f56a49	1467	{
nishimura_taku_pet	24:9481c8f56a49	1468	esp.printf("%s", cmdbuff);
nishimura_taku_pet	24:9481c8f56a49	1469	}
nishimura_taku_pet	24:9481c8f56a49	1470	// Get Command and ESP status replies
nishimura_taku_pet	24:9481c8f56a49	1471	void getreply()
nishimura_taku_pet	24:9481c8f56a49	1472	{
nishimura_taku_pet	24:9481c8f56a49	1473	memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet	24:9481c8f56a49	1474	time1.reset();
nishimura_taku_pet	24:9481c8f56a49	1475	time1.start();
nishimura_taku_pet	24:9481c8f56a49	1476	replycount=0;
nishimura_taku_pet	24:9481c8f56a49	1477	while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet	24:9481c8f56a49	1478	if(esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	1479	replybuff[replycount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	1480	replycount++;
nishimura_taku_pet	24:9481c8f56a49	1481	}
nishimura_taku_pet	24:9481c8f56a49	1482	}
nishimura_taku_pet	24:9481c8f56a49	1483	time1.stop();
nishimura_taku_pet	24:9481c8f56a49	1484	}
takuminomura	48:3003ea51c619	1485
tomotsugu	8:a47dbf4fa455	1486	/* mainスレッド */
yangtzuli	0:0d0037aabe41	1487	int main() {
tomotsugu	8:a47dbf4fa455	1488	/* 初期設定 */
mori2020	50:ee78382fd399	1489	wifi_thread = new Thread(wifi);
mori2020	50:ee78382fd399	1490	wifi_thread -> set_priority(osPriorityHigh);
mori2020	50:ee78382fd399	1491	// setup();
nishimura_taku_pet	16:ffc732a3cf92	1492	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	1493	avoi_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	1494	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	1495	trace_thread->terminate();
tomotsugu	8:a47dbf4fa455	1496	mode = READY; // 現在待ちモード
tomotsugu	8:a47dbf4fa455	1497	beforeMode = READY; // 前回待ちモード
tomotsugu	8:a47dbf4fa455	1498	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	1499	flag_sp = NORMAL; // スピード(普通)
tomotsugu	10:d193030ce672	1500	lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet	33:a6f1090e0174	1501	lcd.setAddress(0,1);
nishimura_taku_pet	33:a6f1090e0174	1502	lcd.printf("Mode:SetUp");
nishimura_taku_pet	51:1baf4407f384	1503	//display(); // ディスプレイ表示
yangtzuli	2:38825726cb1b	1504
yangtzuli	0:0d0037aabe41	1505	while(1){
tomotsugu	8:a47dbf4fa455	1506	bChange(); // バッテリー残量更新
yangtzuli	0:0d0037aabe41	1507	}
yangtzuli	0:0d0037aabe41	1508	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	03 Sep 2020
Imports:	9
Forks:	0
Commits:	62
Dependents:	0
Dependencies:	2
Followers:	9

main.cpp@61:2dd366002e23, 2020-09-07 (annotated)

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