Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

ESP8266/Server.h

Committer:
edy05
Date:
2018-02-25
Branch:
DistanceRegulation
Revision:
34:5dca557e982f
Parent:
33:a2f9fea05cb9
Child:
37:76bfd4e9c383

File content as of revision 34:5dca557e982f:

#include "mbed.h"
#include "rtos.h"
#include "hardware.h"


RawSerial esp(p13, p14); // tx, rx
DigitalOut  reset(p11);

// Standard Mbed LED definitions
DigitalOut  led1(LED1);      // (PTB18)
DigitalOut  led3(LED3);     // (PTD1)

Timer t1;
Timer t2;

char cmdbuff[32];
char replybuff[1024];
char webcount[8];
char webdata[2048]; // This may need to be bigger depending on WEB browser used
char webbuff[8192];     // Currently using 1986 characters, Increase this if more web page data added
char type[16];
char channel[2];
char ip_address[20];
int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
int bufl, ipdLen, linkID, weberror, webcounter;

void getreply(); void SendCMD();
void startserver();
void ReadWebData();
void sendpage();
void sendcheck();
void get_ip_address(char web_data[1024]);
void SendWEB();

void serverRun();
void serverMain();
void serverLoop();
void callback();

int port        = 80;  // set server port
int SERVtimeout = 8;    // set server timeout in seconds in case link breaks.



//serverThread.start(serverRun);

void callback(){
    ////pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
    led3 = 1;
    while (esp.readable()) {
        webbuff[count] = esp.getc();
        count++;
    }
    if(strlen(webbuff)>bufflen) {
        DataRX=1;
        led3=0;
    }
}


void serverRun(){
    reset=0;
    
    //pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
    //wait(0.5);
    reset=1;
    timeout=6000;
    getcount=500;
    getreply();
    esp.baud(115200);   // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
    startserver();
    webcounter = 0;
    Timer timer;
    bool pageWasSent = false;
    while(1){
        if(DataRX==1) {
            timer.reset();
            timer.start();
            ReadWebData();
            // Save data to configFile
            //writeSettingsToConfig();
            if ((servreq == 1 && weberror == 0) && pageWasSent == false) {
                    //////pc.printf("Send page \n\r");
                    // send HTTP Response
                    sendpage();
                    pageWasSent = true;
                    
            }
            else{
                ////pc.printf("Page was not sent \n\r");    
            }
            esp.attach(&callback);
            ////pc.printf(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
            ////pc.printf("HTTP Packet: \n\n%s", webdata);
            ////pc.printf("Web Characters sent : %d\n\n", bufl);
            ////pc.printf("-------------------------------------\n\n");
            servreq=0;
            memset(_serverMessage, '\0', sizeof(_serverMessage));
        }
        if(timer.read_ms() > 3000){
            pageWasSent = false;
            ////pc.printf("starting reading new configuration in server task\n\r");
            // when stop sending answers
            timer.stop();
            timer.reset();
            if(_newP == _P && _newI == _I && _newD == _D){
                _onlyDistanChanged = true;      
            }
            _P = _newP;
            _I = _newI;
            _D = _newD;
            // Save data to configFile
            writeSettingsToConfig();
            // notification that config of pid was changed
            _configChanges = true;
            // start or stop ground regulation
            //_groundRegulation = _tempGroundRegulation;
            if(_groundRegulation != _tempGroundRegulation){
                _groundRegulation = _tempGroundRegulation;
                _groundDistance->resetError();
            }
            
        }
        
        Thread::wait(100);
    }
}


// Static WEB page
void sendpage(){
    strcpy(webbuff, "<!DOCTYPE html>");
    strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
    strcat(webbuff, "<body>");
    //strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
    //strcat(webbuff, "Hit Count - ");
    //strcat(webbuff, webcount);
    //strcat(webbuff, "</div><br /><hr>");
    //server message (mostly errors)
    //strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
    //strcat(webbuff, _serverMessage);
    //strcat(webbuff, "</div><br><hr>");
    strcat(webbuff, "<form method=\"POST\">");
    //if(led1==0) {
    //    strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked>  LED 1 off");
    //    strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" >  LED 1 on<br>");
    //} else {
    //    strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" >  LED 1 off");
    //    strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked>  LED 1 on<br>");
    //}
    // ground regulation
    if(_tempGroundRegulation) {
        strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked>  Ground regulation ON");
        strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" >  Ground regulation OFF<br>");
    } else {
        strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" >  Ground regulation ON");
        strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked>  Ground regulation OFF<br>");
    }
    // pid ground min output
    strcat(webbuff, "pid min Output: <input type=\"text\" name=\"groundPidMinOutput\" size=6 value=\"");
    ConvertToCharArray(_groundPidMinOutput);
    strcat(webbuff, _str);
    strcat(webbuff, "\"><br>");
    //pid ground max output
    strcat(webbuff, "pid max Output: <input type=\"text\" name=\"groundPidMaxOutput\" size=6 value=\"");
    ConvertToCharArray(_groundPidMaxOutput);
    strcat(webbuff, _str);
    strcat(webbuff, "\"><br>");
    //ground regulation bias
    strcat(webbuff, "Bias: <input type=\"text\" name=\"bias\" size=6 value=\"");
    ConvertToCharArray(_bias);
    strcat(webbuff, _str);
    strcat(webbuff, "\"><br>");
    strcat(webbuff, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
    ConvertToCharArray(_newP);
    strcat(webbuff, _str);
    strcat(webbuff, "\"><br>");
    strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
    ConvertToCharArray(_newI);
    strcat(webbuff, _str);
    strcat(webbuff, "\"><br>");
    strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
    ConvertToCharArray(_newD);
    strcat(webbuff, _str);
    strcat(webbuff, "\"><br>");
    //Ground set Point
    strcat(webbuff, "Ground setPoint: <input type=\"text\" name=\"groundSetPoint\" size=6 value=\"");
    ConvertToCharArray(_groundSetPoint);
    strcat(webbuff, _str);
    strcat(webbuff, "\"><br>");
    strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked></p>");
    strcat(webbuff, "<p><input type=\"submit\"></p>");
    strcat(webbuff, "</form>");
    strcat(webbuff, "</body></html>");
// end of WEB page data
    bufl = strlen(webbuff); // get total page buffer length
    sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
    pc.printf("%s \n\r", cmdbuff);
    timeout=200;
    getcount=7;
    SendCMD();
    Thread::wait(1000);
    getreply();
    pc.printf("%s \n\r", replybuff);
    SendWEB();  // send web page
    memset(webbuff, '\0', sizeof(webbuff));
    sendcheck();
   
}

void sendcheck(){
    weberror=1;
    timeout= 1000;
    getcount = 50;
    t2.reset();
    t2.start();
    while(weberror==1 && t2.read() <5) {
        getreply();
        if (strstr(replybuff, "SEND OK") != NULL) {
            weberror=0;   // wait for valid SEND OK
        }
    }
    if(weberror==1) { // restart connection
        //pc.printf("sendcheck - restarting connection \n\r");
        strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
        timeout=500;
        getcount=10;
        SendCMD();
        getreply();
        //pc.printf(replybuff);
        sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
        timeout=500;
        getcount=10;
        SendCMD();
        getreply();
        //pc.printf(replybuff);
        sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
        timeout=500;
        getcount=10;
        SendCMD();
        getreply();
        //pc.printf(replybuff);
    } else {
        //pc.printf("sendcheck ok \n\r");
        sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
        SendCMD();
        getreply();
        //pc.printf(replybuff);
    }
    t2.reset();
}

// Large WEB buffer data send
void SendWEB()
{
    int i=0;
    if(esp.writeable()) {
        while(webbuff[i]!='\0') {
            esp.putc(webbuff[i]);
            i++;
        }
    }
}

// Reads and processes GET and POST web data
void ReadWebData(){
    wait_ms(200);
    esp.attach(NULL);
    count=0;
    DataRX=0;
    weberror=0;
    memset(webdata, '\0', sizeof(webdata));
    int x = strcspn (webbuff,"+");
    if(x) {
        strcpy(webdata, webbuff + x);
        //////pc.printf("webdata received: %s", webdata);
        weberror=0;
        int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
        if (strstr(webdata, "led1=1") != NULL ) {
            led1=1;
        }
        if (strstr(webdata, "led1=0") != NULL ) {
            led1=0;
        }
        //ground regulation
        if (strstr(webdata, "groundRegulation=1") != NULL )
            _tempGroundRegulation = true;
        if (strstr(webdata, "groundRegulation=0") != NULL )
            _tempGroundRegulation = false;
        // pid min Output
        if (strstr(webdata, "groundPidMinOutput") != NULL ){
            //////pc.printf("\n\r looking for data \n\r");
            char* p_webdata = strstr(webdata, "groundPidMinOutput");
            p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
            int i = 0;
            while(*p_webdata != '&'){
                ////pc.printf("%c", *p_webdata);
                _str[i] = *p_webdata;
                p_webdata += 1;   
                i++; 
            }
            ////pc.printf("\n\r");
            _str[i] = '\0';
            //////pc.printf("groundPidMinOutput: %s", _str);
            _groundPidMinOutput = atof(_str);
            //////pc.printf("\n\r end of looking for data \n\r");
        }
        //pid max output
        if (strstr(webdata, "groundPidMaxOutput") != NULL ){
            //////pc.printf("\n\r looking for data \n\r");
            char* p_webdata = strstr(webdata, "groundPidMaxOutput");
            p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
            int i = 0;
            while(*p_webdata != '&'){
                ////pc.printf("%c", *p_webdata);
                _str[i] = *p_webdata;
                p_webdata += 1;   
                i++; 
            }
            //////pc.printf("\n\r");
            _str[i] = '\0';
            //////pc.printf("groundPidMaxOutput: %s", _str);
            _groundPidMaxOutput = atof(_str);
            //////pc.printf("\n\r end of looking for data \n\r");
        }
        //bias
        if (strstr(webdata, "bias") != NULL ){
            //////pc.printf("\n\r looking for data \n\r");
            char* p_webdata = strstr(webdata, "bias");
            p_webdata = p_webdata + strlen("bias") + 1;
            int i = 0;
            while(*p_webdata != '&'){
                ////pc.printf("%c", *p_webdata);
                _str[i] = *p_webdata;
                p_webdata += 1;   
                i++; 
            }
            //////pc.printf("\n\r");
            _str[i] = '\0';
            //////pc.printf("bias: %s", _str);
            _bias = atof(_str);
            //////pc.printf("\n\r end of looking for data \n\r");
        }
        // PID values
        if (strstr(webdata, "proportional") != NULL ){
            //////pc.printf("\n\r looking for data \n\r");
            char* p_webdata = strstr(webdata, "proportional");
            p_webdata = p_webdata + strlen("proportional") + 1;
            int i = 0;
            while(*p_webdata != '&'){
                ////pc.printf("%c", *p_webdata);
                _str[i] = *p_webdata;
                p_webdata += 1;   
                i++; 
            }
            //////pc.printf("\n\r");
            _str[i] = '\0';
            //////pc.printf("proportional: %s", _str);
            _newP = atof(_str);
            //////pc.printf("\n\r end of looking for data \n\r");
        }
        if (strstr(webdata, "integral") != NULL){
            //////pc.printf("\n\r looking for data \n\r");
            char* p_webdata = strstr(webdata, "integral");
            p_webdata = p_webdata + strlen("integral") + 1;
            int i = 0;
            while(*p_webdata != '&'){
                ////pc.printf("%c", *p_webdata);
                _str[i] = *p_webdata;
                p_webdata += 1;   
                i++; 
            }
            //////pc.printf("\n\r");
            _str[i] = '\0';
            //////pc.printf("integral: %s", _str);
            _newI = atof(_str);
            //////pc.printf("\n\r end of looking for data \n\r");    
            
        }
        if (strstr(webdata, "derivative") != NULL){
            //////pc.printf("\n\r looking for data \n\r");
            char* p_webdata = strstr(webdata, "derivative");
            p_webdata = p_webdata + strlen("derivative") + 1;
            int i = 0;
            while(*p_webdata != '&'){
                ////pc.printf("%c", *p_webdata);
                _str[i] = *p_webdata;
                p_webdata += 1;   
                i++; 
            }
            //////pc.printf("\n\r");
            _str[i] = '\0';
            //////pc.printf("derivative: %s", _str);
            _newD = atof(_str);
            //////pc.printf("\n\r end of looking for data \n\r");       
        }
        if (strstr(webdata, "groundSetPoint") != NULL){
            //////pc.printf("\n\r looking for data \n\r");
            char* p_webdata = strstr(webdata, "groundSetPoint");
            p_webdata = p_webdata + strlen("groundSetPoint") + 1;
            int i = 0;
            while(*p_webdata != '&'){
                ////pc.printf("%c", *p_webdata);
                _str[i] = *p_webdata;
                p_webdata += 1;   
                i++; 
            }
            //////pc.printf("\n\r");
            _str[i] = '\0';
            //////pc.printf("groundSetPoint: %s", _str);
            _groundSetPoint = atof(_str);
            //////pc.printf("\n\r end of looking for data \n\r");       
        }
        sprintf(channel, "%d",linkID);
        if (strstr(webdata, "GET") != NULL) {
            servreq=1;
        }
        if (strstr(webdata, "POST") != NULL) {
            servreq=1;
        }
        webcounter++;
        sprintf(webcount, "%d",webcounter);
    }else{
        memset(webbuff, '\0', sizeof(webbuff));
        esp.attach(&callback);
        weberror=1;        
    }    
    
}

void startserver(){
    //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
    strcpy(cmdbuff,"AT+RST\r\n");
    timeout=8000;
    getcount=1000;
    SendCMD();
    getreply();  
    //pc.printf(replybuff);
    //pc.printf("%d",count);
    if (strstr(replybuff, "OK") != NULL) {
        //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
        strcpy(cmdbuff, "AT+CIPMUX=1\r\n");  // set multiple connections.
        timeout=500;
        getcount=20;
        SendCMD();
        getreply();
        //pc.printf(replybuff);
        sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
        timeout=500;
        getcount=20;
        SendCMD();
        getreply();
        //pc.printf(replybuff);
        wait(1);
        sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
        timeout=500;
        getcount=50;
        SendCMD();
        getreply();
        //pc.printf(replybuff);
        wait(5);
        //pc.printf("\n Getting Server IP \r\n");
        strcpy(cmdbuff, "AT+CIFSR\r\n");
        timeout=2500;
        getcount=200;  
        while(weberror==0) {
            SendCMD();
            getreply();
            if (strstr(replybuff, "0.0.0.0") == NULL) {
                weberror=1;   // wait for valid IP
            }
        }
        //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
        //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
        replybuff[strlen(replybuff)-1] = '\0';
        //char* IP = replybuff + 5;
        sprintf(webdata,"%s", replybuff);
        //SAVE IP ADDRESS
        get_ip_address(webdata);
        //pc.printf("ip_address: %s\n\r",ip_address);
        //pc.printf(webdata);
        //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
        esp.attach(&callback);
    } else {
        //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
        while(1) {}
    }
    t2.reset();
    t2.start();
}

void SendCMD()
{
    esp.printf("%s", cmdbuff);
}

void getreply()
{
    memset(replybuff, '\0', sizeof(replybuff));
    t1.reset();
    t1.start();
    replycount=0;
    while(t1.read_ms()< timeout && replycount < getcount) {
        if(esp.readable()) {
            replybuff[replycount] = esp.getc();
            replycount++;
        }
    }
    t1.stop();
}

void get_ip_address(char web_data[1024]){
    char pre_text[] = "+CIFSR:STAIP,\"";
    char* p_text = strstr(webdata, pre_text);
    p_text = p_text+strlen(pre_text);
    char* p_text2 = strstr(p_text, "\"");
    for(int i = 0;;i++){
        if(*(p_text+i) == *p_text2){
            ip_address[i] = '\0';
            break;
        }
        ip_address[i] = *(p_text+i);
            
    }
}