Server.h

00001 #include "mbed.h"
00002 #include "rtos.h"
00003 #include "hardware.h"
00004 
00005 
00006 RawSerial esp(p13, p14); // tx, rx
00007 DigitalOut  reset(p11);
00008 DigitalOut  chd_dp(p10);
00009 
00010 // Standard Mbed LED definitions
00011 DigitalOut  led1(LED1);      // (PTB18)
00012 DigitalOut  led3(LED3);     // (PTD1)
00013 
00014 Timer t1;
00015 Timer t2;
00016 
00017 char cmdbuff[32];
00018 char replybuff[1024];
00019 char webcount[8];
00020 char webdata[2048]; // This may need to be bigger depending on WEB browser used
00021 char webbuff[8192];     // Currently using 1986 characters, Increase this if more web page data added
00022 char type[16];
00023 char channel[2];
00024 char ip_address[20];
00025 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
00026 int bufl, ipdLen, linkID, weberror, webcounter;
00027 
00028 void getreply(); void SendCMD();
00029 void startserver();
00030 void ReadWebData();
00031 void sendpage();
00032 void sendcheck();
00033 void get_ip_address(char web_data[1024]);
00034 void SendWEB();
00035 
00036 void serverRun();
00037 void serverMain();
00038 void serverLoop();
00039 void callback();
00040 
00041 int port        = 80;  // set server port
00042 int SERVtimeout = 8;    // set server timeout in seconds in case link breaks.
00043 
00044 
00045 
00046 //serverThread.start(serverRun);
00047 
00048 void callback(){
00049     ////pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
00050     led3 = 1;
00051     while (esp.readable()) {
00052         webbuff[count] = esp.getc();
00053         count++;
00054     }
00055     if(strlen(webbuff)>bufflen) {
00056         //printf("bufflen %d \n\r");
00057         DataRX=1;
00058         led3=0;
00059     }
00060 }
00061 
00062 
00063 void serverRun(){
00064     chd_dp = 1;
00065     reset=0;
00066     
00067     //pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
00068     wait(0.5);
00069     reset=1;
00070     timeout=6000;
00071     getcount=500;
00072     getreply();
00073     esp.baud(115200);   // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
00074     startserver();
00075     webcounter = 0;
00076     Timer timer;
00077     bool pageWasSent = false;
00078     while(1){
00079         if(DataRX==1) {
00080             timer.start();
00081             ReadWebData();
00082             // Save data to configFile
00083             if ((servreq == 1 && weberror == 0) && pageWasSent == false) {
00084                     // send HTTP Response
00085                     sendpage();
00086                     pageWasSent = true;
00087                     timer.reset();
00088                     
00089             }
00090             else{
00091                 pc.printf("Page was not sent \n\r");    
00092             }
00093             esp.attach(&callback);
00094             ////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);
00095             ////pc.printf("HTTP Packet: \n\n%s", webdata);
00096             ////pc.printf("Web Characters sent : %d\n\n", bufl);
00097             ////pc.printf("-------------------------------------\n\n");
00098             servreq=0;
00099             memset(_serverMessage, '\0', sizeof(_serverMessage));
00100         }
00101         if(timer.read_ms() > 3000){
00102             pageWasSent = false;
00103             ////pc.printf("starting reading new configuration in server task\n\r");
00104             // when stop sending answers
00105             timer.stop();
00106             timer.reset();
00107             if(_newP == _P && _newI == _I && _newD == _D){
00108                 _onlyDistanChanged = true;      
00109             }
00110             _groundSetPoint = _newGroundSetPoint;
00111             _P = _newP;
00112             _I = _newI;
00113             _D = _newD;
00114             // Save data to configFile
00115             writeSettingsToConfig();
00116             // notification that config of pid was changed
00117             _configChanges = true;
00118             // start or stop ground regulation
00119             //_groundRegulation = _tempGroundRegulation;
00120             if(_groundRegulation != _tempGroundRegulation){
00121                 _groundRegulation = _tempGroundRegulation;
00122                 _groundDistance->resetError();
00123             }
00124             
00125         }
00126         
00127         Thread::wait(100);
00128     }
00129 }
00130 
00131 
00132 // Static WEB page
00133 void sendpage(){
00134     strcpy(webbuff, "<!DOCTYPE html>");
00135     strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
00136     strcat(webbuff, "<body>");
00137     //strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
00138     //strcat(webbuff, "Hit Count - ");
00139     //strcat(webbuff, webcount);
00140     //strcat(webbuff, "</div><br /><hr>");
00141     //server message (mostly errors)
00142     //strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
00143     //strcat(webbuff, _serverMessage);
00144     //strcat(webbuff, "</div><br><hr>");
00145     strcat(webbuff, "<form method=\"POST\">");
00146     //if(led1==0) {
00147     //    strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked>  LED 1 off");
00148     //    strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" >  LED 1 on<br>");
00149     //} else {
00150     //    strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" >  LED 1 off");
00151     //    strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked>  LED 1 on<br>");
00152     //}
00153     // pid ground min output
00154     strcat(webbuff, "<table><tr>");
00155     strcat(webbuff, "<td>PID min: </td> <td><input type=\"text\" name=\"groundPidMinOutput\" size=\"4\" value=\"");
00156     ConvertToCharArray(_groundPidMinOutput);
00157     strcat(webbuff, _str);
00158     strcat(webbuff, "\">");
00159     strcat(webbuff, "</td></tr>");
00160     strcat(webbuff, "<tr>");
00161     //pid ground max output
00162     strcat(webbuff, "<td>PID max: </td><td> <input type=\"text\" name=\"groundPidMaxOutput\" size=\"4\" value=\"");
00163     ConvertToCharArray(_groundPidMaxOutput);
00164     strcat(webbuff, _str);
00165     strcat(webbuff, "\">");
00166     strcat(webbuff, "</td></tr>");
00167     //ground regulation bias
00168     strcat(webbuff, "<tr>");
00169     strcat(webbuff, "<td>Bias: </td><td><input type=\"text\" name=\"bias\" size=\"4\" value=\"");
00170     ConvertToCharArray(_bias);
00171     strcat(webbuff, _str);
00172     strcat(webbuff, "\">");
00173     strcat(webbuff, "</td></tr>");
00174     strcat(webbuff, "<tr>");
00175     strcat(webbuff, "<td>P:</td><td> <input type=\"text\" name=\"proportional\" size=\"4\" value=\"");
00176     ConvertToCharArray(_newP);
00177     strcat(webbuff, _str);
00178     strcat(webbuff, "\"></td></tr>");
00179     strcat(webbuff, "<tr>");
00180     strcat(webbuff, "<td>I: </td><td><input type=\"text\" name=\"integral\" size=\"4\" value=\"");
00181     ConvertToCharArray(_newI);
00182     strcat(webbuff, _str);
00183     strcat(webbuff, "\"></td></tr>");
00184     strcat(webbuff, "<tr>");
00185     strcat(webbuff, "<td>D: </td><td><input type=\"text\" name=\"derivative\" size=\"4\" value=\"");
00186     ConvertToCharArray(_newD);
00187     strcat(webbuff, _str);
00188     strcat(webbuff, "\"></td></tr>");
00189     strcat(webbuff, "</table><br>");
00190     //Ground set Point
00191     strcat(webbuff, "Regulovana vyska: <input type=\"text\" name=\"groundSetPoint\" size=\"4\" value=\"");
00192     ConvertToCharArray(_newGroundSetPoint);
00193     strcat(webbuff, _str);
00194     strcat(webbuff, "\"><br>");
00195     // ground regulation
00196     if(_tempGroundRegulation) {
00197         strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked>  Regulace vysky - zapnout");
00198         strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" >  Regulace vysky - vypnout</p>");
00199     } else {
00200         strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" >  Regulace vysky - zapnout");
00201         strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked>  Regulace vysky - vypnout<p>");
00202     }
00203     if(_goAhead == false) {
00204         strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"1\" >  Autonomni pohyb - zapnout");
00205         strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"0\" checked>  Autonomni pohyb - vypnout</p>");
00206     } else {
00207         strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"1\" checked>  Autonomni pohyb - zapnout");
00208         strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"0\"> Autonomni pohyb - vypnout</p>");
00209     }
00210     strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" style=\"display:none\" checked></p>");
00211     strcat(webbuff, "<p><input type=\"submit\"></p>");
00212     strcat(webbuff, "</form>");
00213     strcat(webbuff, "</body></html>");
00214 // end of WEB page data
00215     bufl = strlen(webbuff); // get total page buffer length
00216     sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
00217     pc.printf("%s \n\r", cmdbuff);
00218     timeout=200;
00219     getcount=7;
00220     SendCMD();
00221     Thread::wait(1000);
00222     getreply();
00223     pc.printf("%s \n\r", replybuff);
00224     SendWEB();  // send web page
00225     memset(webbuff, '\0', sizeof(webbuff));
00226     sendcheck();
00227    
00228 }
00229 
00230 void sendcheck(){
00231     weberror=1;
00232     timeout= 1000;
00233     getcount = 50;
00234     t2.reset();
00235     t2.start();
00236     while(weberror==1 && t2.read() <5) {
00237         getreply();
00238         if (strstr(replybuff, "SEND OK") != NULL) {
00239             weberror=0;   // wait for valid SEND OK
00240         }
00241     }
00242     if(weberror==1) { // restart connection
00243         pc.printf("sendcheck - restarting connection \n\r");
00244         strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
00245         timeout=500;
00246         getcount=10;
00247         SendCMD();
00248         getreply();
00249         //pc.printf(replybuff);
00250         sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
00251         timeout=500;
00252         getcount=10;
00253         SendCMD();
00254         getreply();
00255         //pc.printf(replybuff);
00256         sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
00257         timeout=500;
00258         getcount=10;
00259         SendCMD();
00260         getreply();
00261         //pc.printf(replybuff);
00262     } else {
00263         //pc.printf("sendcheck ok \n\r");
00264         sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
00265         SendCMD();
00266         getreply();
00267         //pc.printf(replybuff);
00268     }
00269     t2.reset();
00270 }
00271 
00272 // Large WEB buffer data send
00273 void SendWEB()
00274 {
00275     int i=0;
00276     if(esp.writeable()) {
00277         while(webbuff[i]!='\0') {
00278             esp.putc(webbuff[i]);
00279             i++;
00280         }
00281     }
00282 }
00283 
00284 // Reads and processes GET and POST web data
00285 void ReadWebData(){
00286     wait_ms(200);
00287     esp.attach(NULL);
00288     count=0;
00289     DataRX=0;
00290     weberror=0;
00291     memset(webdata, '\0', sizeof(webdata));
00292     int x = strcspn (webbuff,"+");
00293     if(x) {
00294         strcpy(webdata, webbuff + x);
00295         //////pc.printf("webdata received: %s", webdata);
00296         weberror=0;
00297         int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
00298         if (strstr(webdata, "led1=1") != NULL ) {
00299             led1=1;
00300         }
00301         if (strstr(webdata, "led1=0") != NULL ) {
00302             led1=0;
00303         }
00304         //ground regulation
00305         if (strstr(webdata, "groundRegulation=1") != NULL )
00306             _tempGroundRegulation = true;
00307         if (strstr(webdata, "groundRegulation=0") != NULL )
00308             _tempGroundRegulation = false;
00309         // pid min Output
00310         if (strstr(webdata, "groundPidMinOutput") != NULL ){
00311             //////pc.printf("\n\r looking for data \n\r");
00312             char* p_webdata = strstr(webdata, "groundPidMinOutput");
00313             p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
00314             int i = 0;
00315             while(*p_webdata != '&'){
00316                 ////pc.printf("%c", *p_webdata);
00317                 _str[i] = *p_webdata;
00318                 p_webdata += 1;   
00319                 i++; 
00320             }
00321             ////pc.printf("\n\r");
00322             _str[i] = '\0';
00323             //////pc.printf("groundPidMinOutput: %s", _str);
00324             _groundPidMinOutput = atof(_str);
00325             //////pc.printf("\n\r end of looking for data \n\r");
00326         }
00327         //pid max output
00328         if (strstr(webdata, "groundPidMaxOutput") != NULL ){
00329             //////pc.printf("\n\r looking for data \n\r");
00330             char* p_webdata = strstr(webdata, "groundPidMaxOutput");
00331             p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
00332             int i = 0;
00333             while(*p_webdata != '&'){
00334                 ////pc.printf("%c", *p_webdata);
00335                 _str[i] = *p_webdata;
00336                 p_webdata += 1;   
00337                 i++; 
00338             }
00339             //////pc.printf("\n\r");
00340             _str[i] = '\0';
00341             //////pc.printf("groundPidMaxOutput: %s", _str);
00342             _groundPidMaxOutput = atof(_str);
00343             //////pc.printf("\n\r end of looking for data \n\r");
00344         }
00345         //bias
00346         if (strstr(webdata, "bias") != NULL ){
00347             //////pc.printf("\n\r looking for data \n\r");
00348             char* p_webdata = strstr(webdata, "bias");
00349             p_webdata = p_webdata + strlen("bias") + 1;
00350             int i = 0;
00351             while(*p_webdata != '&'){
00352                 ////pc.printf("%c", *p_webdata);
00353                 _str[i] = *p_webdata;
00354                 p_webdata += 1;   
00355                 i++; 
00356             }
00357             //////pc.printf("\n\r");
00358             _str[i] = '\0';
00359             //////pc.printf("bias: %s", _str);
00360             _bias = atof(_str);
00361             //////pc.printf("\n\r end of looking for data \n\r");
00362         }
00363         // PID values
00364         if (strstr(webdata, "proportional") != NULL ){
00365             //////pc.printf("\n\r looking for data \n\r");
00366             char* p_webdata = strstr(webdata, "proportional");
00367             p_webdata = p_webdata + strlen("proportional") + 1;
00368             int i = 0;
00369             while(*p_webdata != '&'){
00370                 ////pc.printf("%c", *p_webdata);
00371                 _str[i] = *p_webdata;
00372                 p_webdata += 1;   
00373                 i++; 
00374             }
00375             //////pc.printf("\n\r");
00376             _str[i] = '\0';
00377             //////pc.printf("proportional: %s", _str);
00378             _newP = atof(_str);
00379             //////pc.printf("\n\r end of looking for data \n\r");
00380         }
00381         if (strstr(webdata, "integral") != NULL){
00382             //////pc.printf("\n\r looking for data \n\r");
00383             char* p_webdata = strstr(webdata, "integral");
00384             p_webdata = p_webdata + strlen("integral") + 1;
00385             int i = 0;
00386             while(*p_webdata != '&'){
00387                 ////pc.printf("%c", *p_webdata);
00388                 _str[i] = *p_webdata;
00389                 p_webdata += 1;   
00390                 i++; 
00391             }
00392             //////pc.printf("\n\r");
00393             _str[i] = '\0';
00394             //////pc.printf("integral: %s", _str);
00395             _newI = atof(_str);
00396             //////pc.printf("\n\r end of looking for data \n\r");    
00397             
00398         }
00399         if (strstr(webdata, "derivative") != NULL){
00400             //////pc.printf("\n\r looking for data \n\r");
00401             char* p_webdata = strstr(webdata, "derivative");
00402             p_webdata = p_webdata + strlen("derivative") + 1;
00403             int i = 0;
00404             while(*p_webdata != '&'){
00405                 ////pc.printf("%c", *p_webdata);
00406                 _str[i] = *p_webdata;
00407                 p_webdata += 1;   
00408                 i++; 
00409             }
00410             //////pc.printf("\n\r");
00411             _str[i] = '\0';
00412             //////pc.printf("derivative: %s", _str);
00413             _newD = atof(_str);
00414             //////pc.printf("\n\r end of looking for data \n\r");       
00415         }
00416         if (strstr(webdata, "groundSetPoint") != NULL){
00417             //////pc.printf("\n\r looking for data \n\r");
00418             char* p_webdata = strstr(webdata, "groundSetPoint");
00419             p_webdata = p_webdata + strlen("groundSetPoint") + 1;
00420             int i = 0;
00421             while(*p_webdata != '&'){
00422                 ////pc.printf("%c", *p_webdata);
00423                 _str[i] = *p_webdata;
00424                 p_webdata += 1;   
00425                 i++; 
00426             }
00427             //////pc.printf("\n\r");
00428             _str[i] = '\0';
00429             //////pc.printf("groundSetPoint: %s", _str);
00430             _newGroundSetPoint = atof(_str);
00431             //////pc.printf("\n\r end of looking for data \n\r"); 
00432         }
00433         //Go ahead
00434         if (strstr(webdata, "goAhead=1") != NULL ){
00435             pc.printf("go agead ON \n\r");   
00436             _goAhead = true;
00437         }
00438         if (strstr(webdata, "goAhead=0") != NULL ){
00439             pc.printf("go agead OFF \n\r");
00440             _goAhead = false;
00441         }
00442         pc.printf("test \n\r");
00443         sprintf(channel, "%d",linkID);
00444         if (strstr(webdata, "GET") != NULL) {
00445             pc.printf("GET \n\r");
00446             servreq=1;
00447         }
00448         if (strstr(webdata, "POST") != NULL) {
00449             pc.printf("POST \n\r");
00450             servreq=1;
00451         }
00452         webcounter++;
00453         sprintf(webcount, "%d",webcounter);
00454     }else{
00455         pc.printf("no + \n\r");
00456         memset(webbuff, '\0', sizeof(webbuff));
00457         esp.attach(&callback);
00458         weberror=1;        
00459     }    
00460     
00461 }
00462 
00463 void startserver(){
00464     //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
00465     strcpy(cmdbuff,"AT+RST\r\n");
00466     timeout=8000;
00467     getcount=1000;
00468     SendCMD();
00469     getreply();  
00470     //pc.printf(replybuff);
00471     //pc.printf("%d",count);
00472     if (strstr(replybuff, "OK") != NULL) {
00473         //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
00474         strcpy(cmdbuff, "AT+CIPMUX=1\r\n");  // set multiple connections.
00475         timeout=500;
00476         getcount=20;
00477         SendCMD();
00478         getreply();
00479         //pc.printf(replybuff);
00480         sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
00481         timeout=500;
00482         getcount=20;
00483         SendCMD();
00484         getreply();
00485         //pc.printf(replybuff);
00486         wait(1);
00487         sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
00488         timeout=500;
00489         getcount=50;
00490         SendCMD();
00491         getreply();
00492         //pc.printf(replybuff);
00493         wait(5);
00494         //pc.printf("\n Getting Server IP \r\n");
00495         strcpy(cmdbuff, "AT+CIFSR\r\n");
00496         timeout=2500;
00497         getcount=200;  
00498         while(weberror==0) {
00499             SendCMD();
00500             getreply();
00501             if (strstr(replybuff, "0.0.0.0") == NULL) {
00502                 weberror=1;   // wait for valid IP
00503             }
00504         }
00505         //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
00506         //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
00507         replybuff[strlen(replybuff)-1] = '\0';
00508         //char* IP = replybuff + 5;
00509         sprintf(webdata,"%s", replybuff);
00510         //SAVE IP ADDRESS
00511         get_ip_address(webdata);
00512         //pc.printf("ip_address: %s\n\r",ip_address);
00513         //pc.printf(webdata);
00514         //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
00515         esp.attach(&callback);
00516     } else {
00517         //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
00518         while(1) {}
00519     }
00520     t2.reset();
00521     t2.start();
00522 }
00523 
00524 void SendCMD()
00525 {
00526     esp.printf("%s", cmdbuff);
00527 }
00528 
00529 void getreply()
00530 {
00531     memset(replybuff, '\0', sizeof(replybuff));
00532     t1.reset();
00533     t1.start();
00534     replycount=0;
00535     while(t1.read_ms()< timeout && replycount < getcount) {
00536         if(esp.readable()) {
00537             replybuff[replycount] = esp.getc();
00538             replycount++;
00539         }
00540     }
00541     t1.stop();
00542 }
00543 
00544 void get_ip_address(char web_data[1024]){
00545     char pre_text[] = "+CIFSR:STAIP,\"";
00546     char* p_text = strstr(webdata, pre_text);
00547     p_text = p_text+strlen(pre_text);
00548     char* p_text2 = strstr(p_text, "\"");
00549     for(int i = 0;;i++){
00550         if(*(p_text+i) == *p_text2){
00551             ip_address[i] = '\0';
00552             break;
00553         }
00554         ip_address[i] = *(p_text+i);
00555             
00556     }
00557 }