File content as of revision 0:3bde34c58439:

// ESP8266 Static page WEB server to control Mbed

#include "mbed.h"
#include "ISL29125.h"
#include "Motor.h"


Serial pc(USBTX, USBRX);
Serial esp(p9, p10); // tx, rx

ISL29125 RGBsensor(p28, p27);
//PwmOut m(p23);
Motor m(p23, p5, p6);

// Standard Mbed LED definitions
DigitalOut  led1(LED1);
DigitalOut  led2(LED2);
DigitalOut  led3(LED3);
DigitalOut  led4(LED4);

//Solenoids
DigitalOut  sol1(p11);
DigitalOut  sol2(p12);
DigitalOut  sol3(p13);
DigitalOut  sol4(p14);

//Sensors
AnalogIn    sen1(p17);
AnalogIn    sen2(p18);
AnalogIn    sen3(p19);
AnalogIn    sen4(p20);




char ssid[32] = "WifiRouter";     // enter WiFi router ssid inside the quotes
char pwd [32] = "password"; // enter WiFi router password inside the quotes



bool correct = false;
int color;
int sensorValue;
int direction;
Ticker als;
uint16_t GRBdata[3];
bool data_present;

float temperature, AdcIn, Ht;
float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
char Vcc[10];
char Temp[10];

// things for sending/receiving data over serial
volatile int tx_in=0;
volatile int tx_out=0;
volatile int rx_in=0;
volatile int rx_out=0;
const int buffer_size = 4095;
char tx_buffer[buffer_size+1];
char rx_buffer[buffer_size+1];
void Tx_interrupt();
void Rx_interrupt();
void send_line();
void read_line();

int DataRX;
int update;
int count;
char cmdbuff[1024];
char replybuff[4096];
char webdata[4096]; // This may need to be bigger depending on WEB browser used
char webbuff[4096];     // Currently using 1986 characters, Increase this if more web page data added
char timebuf[30];
void SendCMD(),getreply(),ReadWebData(),startserver();
void gettime(),setRTC();  //,gettemp(),getbattery();
char rx_line[1024];
int port        =80;  // set server port
int SERVtimeout =5;    // set server timeout in seconds in case link breaks.
struct tm t;
// manual set RTC values
int minute      =00;    // 0-59
int hour        =12;    // 2-23
int dayofmonth  =26;    // 1-31
int month       =8;     // 1-12
int year        =15;    // last 2 digits


int checkColorSensor() {
    while (1) { 
        data_present = RGBsensor.Read(ISL29125_RGB, GRBdata);
        if(data_present) printf("RGB : %04X-%04X-%04X\r\n", GRBdata[1], GRBdata[0], GRBdata[2]);  
//        if (GRBdata[1] < 0x02F0 && GRBdata[1] > 0x0210 && GRBdata[0] > 0x0120 && GRBdata[0] < 0x01F0 && GRBdata[2] < 0x0180 && GRBdata[2] > 0x00D0) {
//            return 1; //red
//        }
//        if (GRBdata[1] < 0x0210 && GRBdata[1] > 0x0100 && GRBdata[0] > 0x0100 && GRBdata[0] < 0x0200 && GRBdata[2] < 0x0190 && GRBdata[2] > 0x00CF) {
//            return 3; //blue
//        }
        if (GRBdata[1] < 0x00E0 && GRBdata[1] > 0x0060 && GRBdata[0] < 0x00F0 && GRBdata[0] > 0x0020 && GRBdata[2] < 0x00B0 && GRBdata[0] > 0x0040) {
            return 3; //blue
        } 
        if (GRBdata[1] < 0x0170 && GRBdata[1] > 0x00D0 && GRBdata[0] < 0x0120 && GRBdata[0] > 0x0040 && GRBdata[2] > 0x0030 && GRBdata[2] < 0x00A0) {
            return 1; //red
        }
    }
}


int main()
{ 
    pc.baud(9600);
    esp.baud(9600);
    led1=1,led2=0,led3=0, led4=0;
    m.speed(.7);
    //m = .5;
    // Setup a serial interrupt function to receive data
    esp.attach(&Rx_interrupt, Serial::RxIrq);
    // Setup a serial interrupt function to transmit data
    esp.attach(&Tx_interrupt, Serial::TxIrq);
    if (time(NULL) < 1420070400) {
        setRTC();
    }
    startserver();
    DataRX=0;
    count=0;
    while(1) {
        if(DataRX==1) {
            ReadWebData();
            esp.attach(&Rx_interrupt, Serial::RxIrq);
        }
        if(update==1) // update time, hit count, and analog levels in the HUZZAH chip
        {
            // get new values
            gettime();
            count++;
            // send new values
            sprintf(cmdbuff, "count,time,analog1,analog2=%d,\"%s\",\"%s\",\"%s\"\r\n",count,timebuf,Temp,Vcc);
            SendCMD();
            getreply();
            update=0;   
        }
        if (color != 0 && direction != 0) {
            while(!correct){
                sensorValue = checkColorSensor();
                if (sensorValue == color) {
                    correct = true;
                    color = 0;
                }
            } 
            while(correct) {
                printf("percentage Sensor1: %3.3f%%\r\n", sen1.read());
                printf("percentage Sensor2: %3.3f%%\r\n", sen2.read());
                printf("percentage Sensor3: %3.3f%%\r\n", sen3.read());
                printf("percentage Sensor4: %3.3f%%\r\n", sen4.read());
                printf("direction: %d\r\n", direction);
                if (direction == 1 && sen1.read() < .82) {
                    sol4 = 1;
                    wait(1);
                    correct = false;
                } 
                if (direction == 2 && sen2.read() < .83) {
                    sol3 = 1;
                    wait(1);
                    correct = false;
                }
                if (direction == 3 && sen3.read() < .815) {
                    sol2 = 1;
                    wait(1);
                    correct = false;
                }
                if (direction == 4 && sen4.read() < .81) {
                    sol1 = 1;
                    wait(1);
                    correct = false;
                }
            }
        }
            sol1 = 0;
            sol2 = 0;
            sol3 = 0;
            sol4 = 0;
            direction = 0;
    }
}

// Reads and processes GET and POST web data
void ReadWebData()
{
    wait_ms(200);
    esp.attach(NULL,Serial::RxIrq);
    DataRX=0;
    memset(webdata, '\0', sizeof(webdata));
    strcpy(webdata, rx_buffer);
    memset(rx_buffer, '\0', sizeof(rx_buffer));
    rx_in = 0;
    rx_out = 0;
    // check web data for form information
    if( strstr(webdata, "box=r") != NULL ) {
        //check for red
        color = 1;
       // while(!correct) {
//            color = checkColorSensor();
//            if (color == 1) correct = true;
//        }
        //correct = true;
        led1=!led1;
    }
//    if( strstr(webdata, "box=g") != NULL ) {
//        color = 2;
////        while(!correct) {
////            color = checkColorSensor();
////            if (color == 2) correct = true;
////        }       
//        //check for green
//        led2=!led2;
//    }
    if( strstr(webdata, "box=b") != NULL ) {
        //check for blue
        color = 3;
//        while(!correct) {
//            color = checkColorSensor();
//            if (color == 3) correct = true;
//        }
        led3=!led3;
    }
    if( strstr(webdata, "direction=north") != NULL ) {
        led4=!led4;
        direction = 1;
//        while(correct) {
//            if (sen1.read() < .8) {
//                //wait(.2);
//                sol1 = 1;
//                correct = false;
//            }
//        }
//        sol1 = false;
    }
    if( strstr(webdata, "direction=south") != NULL ) {
        led4=!led4;
        direction = 2;
//        while(correct) {
//            if (sen2.read() < .8) {
//                //wait(.2);
//                sol2 = 1;
//                correct = false;
//            }
//        }
//        sol2 = false;
    }
    if( strstr(webdata, "direction=east") != NULL ) {
        led4=!led4;
        direction = 3;
//        while(correct) {
//            if (sen3.read() < .8) {
//                //wait(.2);
//                sol3 = 1;
//                correct = false;
//            }
//        }
    }
    if( strstr(webdata, "direction=west") != NULL ) {
        led4=!led4;
        direction = 4;
//        while(correct) {
//            if (sen4.read() < .8) {
//                //wait(.2);
//                sol4 = 1;
//                correct = false;
//            }
//        }
//        sol4 = 0;
    }
    if( strstr(webdata, "POST") != NULL ) { // set update flag if POST request
        update=1;
    }
    if( strstr(webdata, "GET") != NULL && strstr(webdata, "favicon") == NULL ) { // set update flag for GET request but do not want to update for favicon requests
        update=1;
    }
}
// Starts webserver
void startserver()
{
    gettime();
    //gettemp();
    //getbattery();
    pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
    strcpy(cmdbuff,"node.restart()\r\n");
    SendCMD();
    wait(2);
    getreply();
    
    pc.printf("\n++++++++++ Starting Server ++++++++++\r\n> ");

    // initial values
    sprintf(cmdbuff, "count,time,analog1,analog2=0,\"%s\",\"%s\",\"%s\"\r\n",timebuf,Temp,Vcc);
    SendCMD();
    getreply();
    wait(0.5);

    //create server
    sprintf(cmdbuff, "srv=net.createServer(net.TCP,%d)\r\n",SERVtimeout);
    SendCMD();
    getreply();
    wait(0.5);
    strcpy(cmdbuff,"srv:listen(80,function(conn)\r\n");
    SendCMD();
    getreply();
    wait(0.3);
        strcpy(cmdbuff,"conn:on(\"receive\",function(conn,payload) \r\n");
        SendCMD();
        getreply();
        wait(0.3);
        
        //print data to mbed
        strcpy(cmdbuff,"print(payload)\r\n");
        SendCMD();
        getreply();
        wait(0.2);
       
        //web page data
        strcpy(cmdbuff,"conn:send('<!DOCTYPE html><html><body><h1>Checkout</h1>')\r\n");
        SendCMD();
        getreply();
        wait(0.4);
        strcpy(cmdbuff,"conn:send('Hit count: '..count..'')\r\n");
        SendCMD();
        getreply();
        wait(0.2);
        strcpy(cmdbuff,"conn:send('<br>Last hit (based on mbed RTC time): '..time..'<br><hr>')\r\n");
        SendCMD();
        getreply();
        wait(0.4);
        strcpy(cmdbuff, "conn:send('<p><h2>Choose a Package Option</h2><ul>')\r\n");
        SendCMD();
        getreply();
        wait(0.5); 
        strcpy(cmdbuff,"conn:send('<form method=\"POST\"')\r\n");
        SendCMD();
        getreply();
        wait(0.3);


//Package Options
        strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"box\" value=\"r\" checked>  Red')\r\n");
        SendCMD();
        getreply();
        wait(0.3);
        strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"box\" value=\"b\" >  Blue')\r\n");
        SendCMD();
        getreply();
        wait(0.3);
//        strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"box\" value=\"g\" >  Green')\r\n");
//        SendCMD();
//        getreply();
//        wait(0.3);

        
        
//Direction Options
        strcpy(cmdbuff, "conn:send('<br><p><h2>What direction?</h2><ul>')\r\n");
        SendCMD();
        getreply();
        wait(0.5); 

        strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"north\" checked>  North')\r\n");
        SendCMD();
        getreply();
        wait(0.3);
        strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"south\" >  South')\r\n");
        SendCMD();
        getreply();
        wait(0.3);
        strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"east\" >  East')\r\n");
        SendCMD();
        getreply();
        wait(0.3);
        strcpy(cmdbuff, "conn:send('<p><input type=\"radio\" name=\"direction\" value=\"west\" >  West')\r\n");
        SendCMD();
        getreply();
        wait(0.3);
        
 
 //Submit button       
        strcpy(cmdbuff,"conn:send('<p><input type=\"submit\" value=\"send-refresh\"></form>')\r\n");
        SendCMD();
        getreply();
        wait(0.3);
        

// End web page data
        strcpy(cmdbuff, "conn:on(\"sent\",function(conn) conn:close() end)\r\n"); // close current connection
        SendCMD();
        getreply();
        wait(0.3);
        strcpy(cmdbuff, "end)\r\n");
        SendCMD();
        getreply();
        wait(0.2);
    strcpy(cmdbuff, "end)\r\n");
    SendCMD();
    getreply();
    wait(0.2);

    strcpy(cmdbuff, "tmr.alarm(0, 1000, 1, function()\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff, "if wifi.sta.getip() == nil then\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff, "print(\"Connecting to AP...\\n\")\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff, "else\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff, "ip, nm, gw=wifi.sta.getip()\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff,"print(\"IP Address: \",ip)\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff,"tmr.stop(0)\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff,"end\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    strcpy(cmdbuff,"end)\r\n");
    SendCMD();
    getreply();
    wait(0.2);
    
    pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
}


// ESP Command data send
void SendCMD()
{
    int i;
    char temp_char;
    bool empty;
    i = 0;
// Start Critical Section - don't interrupt while changing global buffer variables
    NVIC_DisableIRQ(UART1_IRQn);
    empty = (tx_in == tx_out);
    while ((i==0) || (cmdbuff[i-1] != '\n')) {
// Wait if buffer full
        if (((tx_in + 1) % buffer_size) == tx_out) {
// End Critical Section - need to let interrupt routine empty buffer by sending
            NVIC_EnableIRQ(UART1_IRQn);
            while (((tx_in + 1) % buffer_size) == tx_out) {
            }
// Start Critical Section - don't interrupt while changing global buffer variables
            NVIC_DisableIRQ(UART1_IRQn);
        }
        tx_buffer[tx_in] = cmdbuff[i];
        i++;
        tx_in = (tx_in + 1) % buffer_size;
    }
    if (esp.writeable() && (empty)) {
        temp_char = tx_buffer[tx_out];
        tx_out = (tx_out + 1) % buffer_size;
// Send first character to start tx interrupts, if stopped
        esp.putc(temp_char);
    }
// End Critical Section
    NVIC_EnableIRQ(UART1_IRQn);
    return;
}

// Get Command and ESP status replies
void getreply()
{
    read_line();
    sscanf(rx_line,replybuff);
}
 
// Read a line from the large rx buffer from rx interrupt routine
void read_line() {
    int i;
    i = 0;
// Start Critical Section - don't interrupt while changing global buffer variables
    NVIC_DisableIRQ(UART1_IRQn);
// Loop reading rx buffer characters until end of line character
    while ((i==0) || (rx_line[i-1] != '\r')) {
// Wait if buffer empty
        if (rx_in == rx_out) {
// End Critical Section - need to allow rx interrupt to get new characters for buffer
            NVIC_EnableIRQ(UART1_IRQn);
            while (rx_in == rx_out) {
            }
// Start Critical Section - don't interrupt while changing global buffer variables
            NVIC_DisableIRQ(UART1_IRQn);
        }
        rx_line[i] = rx_buffer[rx_out];
        i++;
        rx_out = (rx_out + 1) % buffer_size;
    }
// End Critical Section
    NVIC_EnableIRQ(UART1_IRQn);
    rx_line[i-1] = 0;
    return;
}
 
 
// Interupt Routine to read in data from serial port
void Rx_interrupt() {
    DataRX=1;
    //led3=1;
// Loop just in case more than one character is in UART's receive FIFO buffer
// Stop if buffer full
    while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
        rx_buffer[rx_in] = esp.getc();
// Uncomment to Echo to USB serial to watch data flow
        pc.putc(rx_buffer[rx_in]);
        rx_in = (rx_in + 1) % buffer_size;
    }
    //led3=0;
    return;
}
 
 
// Interupt Routine to write out data to serial port
void Tx_interrupt() {
    //led2=1;
// Loop to fill more than one character in UART's transmit FIFO buffer
// Stop if buffer empty
    while ((esp.writeable()) && (tx_in != tx_out)) {
        esp.putc(tx_buffer[tx_out]);
        tx_out = (tx_out + 1) % buffer_size;
    }
    //led2=0;
    return;
}

void gettime()
{
    time_t seconds = time(NULL);
    strftime(timebuf,50,"%H:%M:%S %a %d %b %y", localtime(&seconds));
}

void setRTC()
{
    t.tm_sec = (0);             // 0-59
    t.tm_min = (minute);        // 0-59
    t.tm_hour = (hour);         // 0-23
    t.tm_mday = (dayofmonth);   // 1-31
    t.tm_mon = (month-1);       // 0-11  "0" = Jan, -1 added for Mbed RCT clock format
    t.tm_year = ((year)+100);   // year since 1900,  current DCF year + 100 + 1900 = correct year
    set_time(mktime(&t));       // set RTC clock
}

//void ALSread()
//{
//    data_present = RGBsensor.Read(ISL29125_RGB, GRBdata);
//    if(data_present) printf("RGB : %04X-%04X-%04X\r\n", GRBdata[1], GRBdata[0], GRBdata[2]);
//    if(Overflow)
//    {
//        printf("\r\nIRQ : %d\r\n",Overflow);
//        myled = !myled;
//        Overflow = 0;
//    }
//}