2
Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 50:ee78382fd399
- Parent:
- 49:7224132f4b0e
- Child:
- 51:1baf4407f384
--- a/main.cpp Wed Sep 02 05:35:17 2020 +0000 +++ b/main.cpp Wed Sep 02 06:14:47 2020 +0000 @@ -81,7 +81,9 @@ AVOIDANCE, // 7:障害物回避 SPEED, // 8:スピード制御 LT_R, // 9:低速右折(ライントレース時) - LT_L // 10:低速左折(ライントレース時) + LT_L, // 10:低速左折(ライントレース時) + ARIGHT, + ALEFT, }; /* ピン配置 */ @@ -206,7 +208,6 @@ void wifi(/*void const *argument*/); Thread *deco_thread; // decodeIRをスレッド化 :+3 Thread *wifi_thread; -//wifi_thread(wifi,NULL,osPriorityHigh); // wifiをスレッド化 Thread *motor_thread; // motorをスレッド化 :+2 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定 Thread *avoi_thread; // avoidanceをスレッド化:+2 @@ -222,7 +223,7 @@ deco_thread -> set_priority(osPriorityRealtime); motor_thread = new Thread(motor); motor_thread -> set_priority(osPriorityHigh); -// wifi_thread -> set_priority(osPriorityRealtime); + wifi_thread -> set_priority(osPriorityRealtime); display(); } @@ -329,29 +330,29 @@ /* 前進 */ case ADVANCE: motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON - motorR2 = LOW; // 右後退モーターOFF + motorR2 = LOW; // 右後退モーターOFF motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON - motorL2 = LOW; // 左後退モーターOFF + motorL2 = LOW; // 左後退モーターOFF break; /* 右折 */ case RIGHT: - motorR1 = LOW; // 右前進モーターOFF + motorR1 = LOW; // 右前進モーターOFF motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON - motorL2 = LOW; // 左後退モーターOFF + motorL2 = LOW; // 左後退モーターOFF break; /* 左折 */ case LEFT: motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON - motorR2 = LOW; // 右後退モーターOFF - motorL1 = LOW; // 左前進モーターOFF + motorR2 = LOW; // 右後退モーターOFF + motorL1 = LOW; // 左前進モーターOFF motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON break; /* 後退 */ case BACK: - motorR1 = LOW; // 右前進モーターOFF - motorR2 = motorSpeedR2[flag_sp]; // 右後退モーターON - motorL1 = LOW; // 左前進モーターOFF + motorR1 = LOW; // 右前進モーターOFF + motorR2 = motorSpeedR2[flag_sp] + 0.02; // 右後退モーターON + motorL1 = LOW; // 左前進モーターOFF motorL2 = motorSpeedL2[flag_sp]; // 左後退モーターON break; /* 停止 */ @@ -361,19 +362,17 @@ motorL1 = LOW; // 左前進モーターOFF motorL2 = LOW; // 左後退モーターOFF break; - /* 低速右折 */ - case LT_R: - motorR1 = motorSpeedR2[flag_sp]; // 右前進モーターON - motorR2 = LOW; // 右後退モーターOFF - motorL1 = motorSpeedL1[flag_sp]; // 左前進モーターON - motorL2 = LOW; // 左後退モーターOFF + case ARIGHT: + motorR1 = LOW; + motorR2 = 0.38; + motorL1 = 0.36; + motorL2 = LOW; break; - /* 低速左折 */ - case LT_L: - motorR1 = motorSpeedR1[flag_sp]; // 右前進モーターON - motorR2 = LOW; // 右後退モーターOFF - motorL1 = motorSpeedL2[flag_sp]; // 左前進モーターON - motorL2 = LOW; // 左後退モーターOFF + case ALEFT: + motorR1 = 0.38; + motorR2 = LOW; + motorL1 = LOW; + motorL2 = 0.36; break; } if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら @@ -468,229 +467,242 @@ int i; while(1){ watchsurrounding3(); -// pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR); - if(flag_a == 0){ // 障害物がない場合 - run = ADVANCE; // 前進 - }else{ // 障害物がある場合 + if(flag_a == 0){ // 障害物がない場合 + run = ADVANCE; // 前進 +// if(SLD < 25){ // 正面15cm以内に障害物が現れた場合 +// run = RIGHT; // 右折 +// ThisThread::sleep_for(100); // 100ms待つ +// run = STOP; // 停止 +// }else if(SRD < 25){ +// run = LEFT; // 左折 +// ThisThread::sleep_for(100); // 100ms待つ +// run = STOP; // 停止 +// } + }else{ // 障害物がある場合 i = 0; - if(SC < 15){ // 正面15cm以内に障害物が現れた場合 - servo.pulsewidth_us(1450); // サーボを中央位置に戻す + int cnt_kyori; + int kyori; + if(SC < 15){ + servo.pulsewidth_us(1425); // サーボを中央位置に戻す ThisThread::sleep_for(100); // 100ms待つ - run = BACK; // 後退 - int cnt_kyori=0; - int kyori = watch(); - while(kyori < limit){ // 正面20cm以内に障害物がある間 - if(kyori==-1){ + run = STOP; + ThisThread::sleep_for(80); + run = BACK; +// switch(flag_sp){ +// case 0: +// ThisThread::sleep_for(200); +// break; +// case 1: +// ThisThread::sleep_for(150); +// break; +// case 2: +// ThisThread::sleep_for(120); +// break; +// default: +// break; +// } + cnt_kyori = 0; + kyori = watch(); + while(kyori < limit){ // 正面20cm以内に障害物がある間 + if(kyori == -1){ cnt_kyori++; - if(cnt_kyori>15){ - cnt_kyori=0; + if(cnt_kyori > 15){ + cnt_kyori = 0; break; } } kyori = watch(); } - /*while(i < 30){ // 正面20cm以内に障害物がある間 - if(watch() < limit){ - break; - } - i++; - } - i = 0;*/ - run = STOP; // 停止 - } + run = STOP; + } watchsurrounding5(); if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合 - run = LEFT; // 左折 - while(i < 1){ // 進行方向確認 + run = ALEFT; // 左折 + while(i < 20){ // 進行方向確認 if(watch() > limit){ - i++; + break; }else{ - i = 0; + i++; } } run = STOP; // 停止 - }else { // 全方向以外 + }else { // 全方向以外 far = SC; // 正面を最も遠い距離に設定 houkou = 1; // 進行方向を前に設定 - if(far < SLD || far < SL){ // 左または左前がより遠い場合 - if(SL < SLD){ // 左前が左より遠い場合 - far = SLD; // 左前を最も遠い距離に設定 - }else{ // 左が左前より遠い場合 - far = SL; // 左を最も遠い距離に設定 + if(SC < limit){ + if(far < SLD || far < SL){ // 左または左前がより遠い場合 + if(SL < SLD){ // 左前が左より遠い場合 + far = SLD; // 左前を最も遠い距離に設定 + }else{ // 左が左前より遠い場合 + far = SL; // 左を最も遠い距離に設定 + } + houkou = 2; // 進行方向を左に設定 } - houkou = 2; // 進行方向を左に設定 - } - if(far < SRD || far < SR){ // 右または右前がより遠い場合 - if(SR < SRD){ // 右前が右より遠い場合 - far = SRD; // 右前を最も遠い距離に設定 - }else{ // 右が右前よりも遠い場合 - far = SR; // 右を最も遠い距離に設定 + if(far < SRD || far < SR){ // 右または右前がより遠い場合 + if(SR < SRD){ // 右前が右より遠い場合 + far = SRD; // 右前を最も遠い距離に設定 + }else{ // 右が右前よりも遠い場合 + far = SR; // 右を最も遠い距離に設定 + } + houkou = 3; // 進行方向を右に設定 } - houkou = 3; // 進行方向を右に設定 } switch(houkou){ // 進行方向の場合分け case 1: // 前の場合 run = ADVANCE; // 前進 - ThisThread::sleep_for(500); // 0.5秒待つ + switch(flag_sp){ + case 0: + ThisThread::sleep_for(300); // 0.5秒待つ + break; + case 1: + ThisThread::sleep_for(200); + break; + case 2: + ThisThread::sleep_for(100); + break; + } break; - case 2: // 左の場合 - run = LEFT; // 左折 - //int kyori = watch(); - //int kyori_f=0; - while(i < 20){ // 進行方向確認 - /*if(kyori > (far - 2) || kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm) - break; // ループ+ - }else if(kyori==-1){ - kyori_f++; - }else{ - kyori_f = 0; - i++; - }*/ + case 2: // 左の場合 + run = ALEFT; // 左折 + while(i < 15){ // 進行方向確認 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) - break; // ループ+ + break; // ループ+ }else{ i++; } } - run = STOP; // 停止 + run = ADVANCE; // 停止 break; - case 3: // 右の場合 - run = RIGHT; // 右折 - //int kyori = watch(); - //int kyori_f=0; - while(i < 20){ // 進行方向確認 - /*if(kyori > (far - 2) || kyori_f == 2){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm) + case 3: // 右の場合 + run = ARIGHT; // 右折 + while(i < 15){ // 進行方向確認 + 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) break; // ループ+ - }else if(kyori==-1){ - kyori_f++; - }else{ - kyori_f = 0; - i++; - }*/ - 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) - break; // ループ+ }else{ i++; } } - run = STOP; // 停止 + run = ADVANCE; // 停止 break; } } } flag_a = 0; // 障害物有無フラグを0にセット - if(SLD < 29){ // 正面15cm以内に障害物が現れた場合 - run = RIGHT; // 右折 - ThisThread::sleep_for(200); // 100ms待つ - run = STOP; // 停止 - }else if(SRD < 29){ - run = LEFT; // 左折 - ThisThread::sleep_for(200); // 100ms待つ - run = STOP; // 停止 - } - } -} - + if(SLD < 30 && SRD > 30){ // 正面15cm以内に障害物が現れた場合 + run = ARIGHT; // 右折 + ThisThread::sleep_for(110); + run = ADVANCE; + }else if(SRD < 30 && SLD > 30){ + run = ALEFT; // 左折 + ThisThread::sleep_for(110); + run = ADVANCE; + } + } +} + /* 距離計測関数 */ int watch(){ - do{ - trig = 0; - ThisThread::sleep_for(5); // 5ms待つ - trig = 1; - ThisThread::sleep_for(15); // 15ms待つ - trig = 0; - timer.start(); - t1=timer.read_ms(); - while(echo.read() == 0 && t1<10){ + do{ + do{ + trig = 0; + ThisThread::sleep_for(5); // 5ms待つ + trig = 1; + ThisThread::sleep_for(15); // 15ms待つ + trig = 0; + timer.start(); t1=timer.read_ms(); - led1 = 1; + while(echo.read() == 0 && t1<10){ + t1=timer.read_ms(); + led1 = 1; + } + timer.stop(); + timer.reset(); + }while(t1 >= 10); + timer.start(); // 距離計測タイマースタート + while(echo.read() == 1){ } - timer.stop(); + timer.stop(); // 距離計測タイマーストップ + DT = (int)(timer.read_us()*0.01657); // 距離計算 + if(timer.read_ms() > 1000){ + DT = -1; + break; + } + }while(DT > 1000); + if(DT > 400){ + DT = 400; + } timer.reset(); - /*if((t1-t2) >= 10){ - run = STOP;*/ - }while(t1 >= 10); - timer.start(); // 距離計測タイマースタート - while(echo.read() == 1){ - } - timer.stop(); // 距離計測タイマーストップ - DT = (int)(timer.read_us()*0.01657); // 距離計算 - if(DT > 1000){ - DT = -1; - }else if(DT > 150){ // 検知範囲外なら100cmに設定 - DT = 150; - } - timer.reset(); // 距離計測タイマーリセット - led1 = 0; - return DT; + led1 = 0; + return DT; } - + /* 障害物検知関数 */ void watchsurrounding3(){ - //servo.pulsewidth_us(1450); // サーボを中央位置に戻す - //ThisThread::sleep_for(200); // 100ms待つ SC = watch(); if(SC < limit){ // 正面20cm以内に障害物がある場合 - if(SC!=-1){ + if(SC!=-1){ run = STOP; // 停止 flag_a = 1; return; } } - servo.pulsewidth_us(1925); // サーボを左に40度回転 + servo.pulsewidth_us(1927); // サーボを左に40度回転 ThisThread::sleep_for(100); // 250ms待つ SLD = watch(); - if(SLD < limit){ // 左前20cm以内に障害物がある場合 - run = STOP; // 停止 - flag_a = 1; - return; + if(SLD < 18){ // 左前20cm以内に障害物がある場合 + run = STOP; + ThisThread::sleep_for(90); + run = BACK; + ThisThread::sleep_for(150); + run = ARIGHT; + ThisThread::sleep_for(120); + return; } - servo.pulsewidth_us(1450); - ThisThread::sleep_for(150); + servo.pulsewidth_us(1425); + ThisThread::sleep_for(100); SC = watch(); if(SC < limit){ - if(SC!=-1){ - run = STOP; // 停止 + if(SC != -1){ + run = STOP; // 停止 flag_a = 1; return; - } + } } - servo.pulsewidth_us(925); // サーボを右に40度回転 + servo.pulsewidth_us(923); // サーボを右に40度回転 ThisThread::sleep_for(100); // 250ms待つ SRD = watch(); - if(SRD < limit){ // 右前20cm以内に障害物がある場合 + if(SRD < 18){ // 右前20cm以内に障害物がある場合 run = STOP; // 停止 - flag_a = 1; - return; + ThisThread::sleep_for(90); + run = BACK; + ThisThread::sleep_for(150); + run = ALEFT; + ThisThread::sleep_for(120); + return; } - servo.pulsewidth_us(1450); // サーボを中央位置に戻す + servo.pulsewidth_us(1425); // サーボを中央位置に戻す ThisThread::sleep_for(100); // 100ms待つ - /*if(SC < limit || SLD < limit || SL < limit || SRD < limit || SR < limit){ // 20cm以内に障害物を検知した場合 - flag_a = 1; // 障害物有無フラグに1をセット - }*/ } - + /* 障害物検知関数 */ void watchsurrounding5(){ - //servo.pulsewidth_us(1450); // サーボを中央位置に戻す - //ThisThread::sleep_for(200); // 100ms待つ SC = watch(); - servo.pulsewidth_us(1925); // サーボを左に40度回転 + servo.pulsewidth_us(1927); // サーボを左に40度回転 ThisThread::sleep_for(100); // 250ms待つ SLD = watch(); servo.pulsewidth_us(2400); // サーボを左に90度回転 ThisThread::sleep_for(100); // 250ms待つ SL = watch(); - servo.pulsewidth_us(1450); + servo.pulsewidth_us(1425); ThisThread::sleep_for(250); SC = watch(); - servo.pulsewidth_us(925); // サーボを右に40度回転 + servo.pulsewidth_us(923); // サーボを右に40度回転 ThisThread::sleep_for(100); // 250ms待つ SRD = watch(); servo.pulsewidth_us(500); // サーボを右に90度回転 ThisThread::sleep_for(100); // 250ms待つ SR = watch(); - servo.pulsewidth_us(1450); // サーボを中央位置に戻す + servo.pulsewidth_us(1425); // サーボを中央位置に戻す ThisThread::sleep_for(250); // 100ms待つ } @@ -796,25 +808,27 @@ } } } + + // Serial Interrupt read ESP data void callback() { - //pc.printf("\n\r------------ callback is being called --------------\n\r"); + ////*-*-*-5("\n\r------------ callback is being called --------------\n\r"); led3=1; while (esp.readable()) { webbuff[ount] = esp.getc(); ount++; } if(strlen(webbuff)>bufflen) { -// pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r"); +// //*-*-*-5("\f\n\r------------ webbuff over bufflen --------------\n\r"); DataRX=1; led3=0; } } - + void wifi(/*void const *argument*/) { - pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r"); + //*-*-*-5("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r"); ThisThread::sleep_for(100); led1=1,led2=0,led3=0; timeout=6000; @@ -822,15 +836,28 @@ getreply(); esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F startserver(); - + while(1) { if(DataRX==1) { + //*-*-*-5("\f\n\r------------ main while > if --------------\n\r"); click_flag = 1; ReadWebData(); - if (servreq == 1 && weberror == 0) { // ページ表示のリクエストがあったとき + //*-*-*-5("\f\n\r------------ click_flag=%d --------------\n\r",click_flag); + //if ((servreq == 1 && weberror == 0) && click_flag == 1) { + if (servreq == 1 && weberror == 0) { + //*-*-*-5("\f\n\r------------ befor send page --------------\n\r"); sendpage(); } + //*-*-*-5("\f\n\r------------ send_check begin --------------\n\r"); + + //sendcheck(); + //*-*-*-5("\f\n\r------------ ssend_check end--------------\n\r"); + esp.attach(&callback); + //*-*-*-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); + //*-*-*-5("\n\n HTTP Packet: \n\n%s\n", webdata); + //*-*-*-5(" Web Characters sent : %d\n\n", bufl); + //*-*-*-5(" -------------------------------------\n\n"); servreq=0; } ThisThread::sleep_for(100); @@ -840,145 +867,154 @@ void sendpage() { // WEB page data + strcpy(webbuff, "<!DOCTYPE html>"); strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>"); + //strcat(webbuff, "<meta http-equiv=\"refresh\" content=\"5\"; >"); 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>"); strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller"); strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level "); - strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>"); - strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"rel()\">RELOAD</button>"); + if(b > 30) { //残電量表示 + sprintf(webbuff, "%s%3d", webbuff, b); + } else { //30%より下の場合残電量を赤文字 + strcat(webbuff, "<font color=\"red\">"); + sprintf(webbuff, "%s%3d", webbuff, b); + strcat(webbuff, "</font>"); + } + strcat(webbuff, "%</strong>"); + strcat(webbuff, "<button id=\"reloadbtn\" type=\"button\" class=\"load\" onclick=\"location.reload()\">RELOAD</button>"); strcat(webbuff, "</td></p>"); strcat(webbuff, "<br>"); strcat(webbuff, "<table><tr><td></td><td>"); 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 case ADVANCE: //前進 - strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; case LEFT: //左折 - strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; case STOP: //停止 - strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; case RIGHT: //右折 - strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; case BACK: //後進 - strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; case AVOIDANCE: //障害物回避 - strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; case LINE_TRACE: //ライントレース - strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; default: //その他 - strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO"); + strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.value)'>GO"); strcat(webbuff, "</button></td><td></td></tr><tr><td>"); - strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT"); + strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.value)' >LEFT"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP"); + strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.value)' >STOP"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT"); + strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.value)' >RIGHT"); strcat(webbuff, "</button></td></tr><td></td><td>"); - strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK"); + strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.value)' >BACK"); strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>"); strcat(webbuff, "<strong>Mode</strong>"); - strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >"); + strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.value)' >"); strcat(webbuff, "AVOIDANCE</button></td><td>"); - strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE"); + strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.value)' >LINE_TRACE"); break; } strcat(webbuff, "</button></td></tr></table>"); @@ -987,77 +1023,59 @@ //ready示速度だけ点灯 switch (flag_sp) { //現在の速度のボタン表示 case 0: //ノーマル - strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal"); + strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast"); + strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast"); + strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast"); break; case 1: //ファスト - strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal"); + strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast"); + strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast"); + strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast"); break; case 2: //ベリーファスト - strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal"); + strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast"); + strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast"); + strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast"); break; default: //その他 - strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal"); + strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.value)' >Normal"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast"); + strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.value)' >Fast"); strcat(webbuff, "</button></td><td>"); - strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast"); + strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.value)' >VeryFast"); break; } strcat(webbuff, "</button></td></tr></table>"); + strcat(webbuff, "</center>"); strcat(webbuff, "</body>"); strcat(webbuff, "</html>"); + strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">"); //機能 - strcat(webbuff, "function rel(){"); - strcat(webbuff, "location.reload();"); - strcat(webbuff, "}"); + + strcat(webbuff, "var button_9 = document.getElementsByTagName(\"button\");"); + +//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 strcat(webbuff, "function htmlacs(url) {"); - strcat(webbuff, "var xhr = new XMLHttpRequest();"); - strcat(webbuff, "xhr.open(\"GET\", url);"); - strcat(webbuff, "xhr.send(\"\");"); + strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=true;}"); + strcat(webbuff, "var xhr = new XMLHttpRequest();"); + strcat(webbuff, "xhr.open(\"GET\", url);"); + strcat(webbuff, "xhr.onreadystatechange = function(){"); + strcat(webbuff, "if(this.readyState == 4 || this.status == 200){"); + strcat(webbuff, "for(var m=0;m<11;m++){button_9[m].disabled=false;}"); + strcat(webbuff, "}"); + strcat(webbuff, "};"); + strcat(webbuff, "xhr.send(\"\");"); strcat(webbuff, "}"); -//0825 -//0824 battery update auto - strcat(webbuff, "function battery_update() {"); - strcat(webbuff, "var url1 = \"http://\" + window.location.hostname+ \"/cargo?a=responseBattery\";"); - strcat(webbuff, "var xhr1 = new XMLHttpRequest();"); - strcat(webbuff, "xhr1.open(\"GET\", url1);"); -//0820 - strcat(webbuff, "xhr1.onreadystatechange = function(){"); - strcat(webbuff, "if(this.readyState == 4 && this.status == 200){"); - strcat(webbuff, "var res1 = xhr1.responseText;"); -//color - strcat(webbuff, "var battery_num=res1;"); - strcat(webbuff, "if(battery_num>0 && battery_num<31){"); - strcat(webbuff, "document.getElementById('leftms').style.color=\"red\";"); - strcat(webbuff, "}"); - strcat(webbuff, "if(battery_num>39 && battery_num<61){"); - strcat(webbuff, "document.getElementById('leftms').style.color=\"orange\";"); - strcat(webbuff, "}"); - strcat(webbuff, "if(battery_num>69 && battery_num<101){"); - strcat(webbuff, "document.getElementById('leftms').style.color=\"blue\";"); - strcat(webbuff, "}"); -//color - strcat(webbuff, "document.getElementById('leftms').value=res1;}};"); -//0820 - strcat(webbuff, "xhr1.send();"); - strcat(webbuff, "}"); - strcat(webbuff, "setInterval(battery_update,15000);"); -//0824 battery update auto -//0825 - strcat(webbuff, "function send_mes(btnmes,btnval){"); //mode変更ボタン入力時の点灯消灯判定 + +//mode変更ボタン入力時動作 //sendmes + strcat(webbuff, "function send_mes(btnval){"); //mode変更ボタン入力時の点灯消灯判定 strcat(webbuff, "console.log(btnval);"); strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;"); strcat(webbuff, "htmlacs(url);"); @@ -1071,7 +1089,8 @@ strcat(webbuff, "}"); strcat(webbuff, "}"); strcat(webbuff, "}"); - strcat(webbuff, "function send_mes_spe(btnmes,btnval){"); //speed変更ボタン入力時の点灯消灯判定 + + strcat(webbuff, "function send_mes_spe(btnval){"); //speed変更ボタン入力時の点灯消灯判定 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;"); strcat(webbuff, "htmlacs(url);"); strcat(webbuff, "console.log(url);"); @@ -1085,16 +1104,26 @@ strcat(webbuff, "}"); strcat(webbuff, "}"); strcat(webbuff, "</script>"); + + // end of WEB page data bufl = strlen(webbuff); // get total page buffer length + //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length. sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length. timeout=500; getcount=40; SendCMD(); getreply(); + //*-*-*-5(replybuff); + ////*-*-*-5("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl)); + + //*-*-*-5("\n++++++++++ bufl is %d ++++++++++\r\n",bufl); + //pastthrough mode SendWEB(); // send web page + //*-*-*-5("\n++++++++++ webbuff clear ++++++++++\r\n"); + memset(webbuff, '\0', sizeof(webbuff)); sendcheck(); } @@ -1106,42 +1135,30 @@ if(esp.writeable()) { while(webbuff[i]!='\0') { esp.putc(webbuff[i]); + //**** //output at command when 2000 if(((i%2047)==0) && (i>0)) { + //wait_ms(10); ThisThread::sleep_for(100); - sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048*(i/2047))>2048?2048:(bufl-2048*(i/2047))); // send IPD link channel and buffer character length. + sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length. + ////*-*-*-5("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); timeout=600; getcount=50; SendCMD(); getreply(); + ////*-*-*-5(replybuff); + ////*-*-*-5("\r\n+++++++++++++++++++\r\n"); } //**** i++; + ////*-*-*-5("%c",webbuff[i]); } } + //*-*-*-5("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i); } -void sendpage2() -{ -// WEB page data - sprintf(battery_ch,"%d",b); - strcpy(webbuff, battery_ch); -// end of WEB page data - bufl = strlen(webbuff); // get total page buffer length - - sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length. - timeout=500; - getcount=40; - SendCMD(); - getreply(); - //pastthrough mode - SendWEB(); // send web page - memset(webbuff, '\0', sizeof(webbuff)); - sendcheck(); -} - void sendcheck() { weberror=1; @@ -1150,21 +1167,32 @@ time2.reset(); time2.start(); + /* + while(weberror==1 && time2.read() <5) { + getreply(); + if (strstr(replybuff, "SEND OK") != NULL) { + weberror=0; // wait for valid SEND OK + } + } + */ if(weberror==1) { // restart connection strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); timeout=500; getcount=10; SendCMD(); getreply(); + //*-*-*-5(replybuff); sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port); timeout=500; getcount=10; SendCMD(); getreply(); + //*-*-*-5(replybuff); } else { sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection SendCMD(); getreply(); + //*-*-*-5(replybuff); } time2.reset(); } @@ -1172,6 +1200,7 @@ // Reads and processes GET and POST web data void ReadWebData() { + //*-*-*-5("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n"); ThisThread::sleep_for(200); esp.attach(NULL); ount=0; @@ -1183,22 +1212,24 @@ strcpy(webdata, webbuff + x); weberror=0; int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type); - if( strstr(webdata, "responseBattery") != NULL ) { - click_flag = 0; - led4=!led4; - sendpage2(); - } + //int i=0; + //*-*-*-5("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n"); + //*-*-*-5("%s",webdata); + //*-*-*-5("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n"); if( strstr(webdata, "Normal") != NULL ) { + //*-*-*-5("++++++++++++++++++Normal++++++++++++++++++++"); mode = SPEED; // スピードモード flag_sp = 0; display(); // ディスプレイ表示 mode = beforeMode; // 現在のモードに前回のモードを設定 }else if( strstr(webdata, "VeryFast") != NULL ) { + //*-*-*-5("+++++++++++++++++++VeryFast+++++++++++++++++++"); mode = SPEED; // スピードモード flag_sp = 2; display(); // ディスプレイ表示 mode = beforeMode; // 現在のモードに前回のモードを設定 }else if( strstr(webdata, "Fast") != NULL ) { + //*-*-*-5("++++++++++++++++++++Fast++++++++++++++++++"); mode = SPEED; // スピードモード flag_sp = 1; display(); // ディスプレイ表示 @@ -1207,6 +1238,7 @@ beforeMode = mode; } if( strstr(webdata, "GO") != NULL ) { + //*-*-*-5("+++++++++++++++++前進+++++++++++++++++++++\r\n"); //delete avoi_thread; //障害物回避スレッド停止 //delete trace_thread; //ライントレーススレッド停止 run = ADVANCE; // 前進 @@ -1215,6 +1247,7 @@ } if( strstr(webdata, "LEFT") != NULL ) { + //*-*-*-5("+++++++++++++++++左折+++++++++++++++++++++\r\n"); //delete avoi_thread; //障害物回避スレッド停止 //delete trace_thread; //ライントレーススレッド停止 run = LEFT; // 左折 @@ -1223,6 +1256,7 @@ } if( strstr(webdata, "STOP") != NULL ) { + //*-*-*-5("+++++++++++++++++停止+++++++++++++++++++++\r\n"); //delete avoi_thread; //障害物回避スレッド停止 //delete trace_thread; //ライントレーススレッド停止 run = STOP; // 停止 @@ -1231,6 +1265,7 @@ } if( strstr(webdata, "RIGHT") != NULL ) { + //*-*-*-5("+++++++++++++++++右折+++++++++++++++++++++\r\n"); //delete avoi_thread; //障害物回避スレッド停止 //delete trace_thread; //ライントレーススレッド停止 run = RIGHT; // 右折 @@ -1239,14 +1274,17 @@ } if( strstr(webdata, "BACK") != NULL ) { + //*-*-*-5("+++++++++++++++++後進+++++++++++++++++++++\r\n"); //delete avoi_thread; //障害物回避スレッド停止 //delete trace_thread; //ライントレーススレッド停止 run = BACK; // 後進 mode = BACK; // モード変更 display(); // ディスプレイ表示 } + //*-*-*-5("+++++++++++++++++succed+++++++++++++++++++++"); if( strstr(webdata, "AVOIDANCE") != NULL ) { + //*-*-*-5("+++++++++++++++++AVOIDANCE+++++++++++++++++++++"); if(avoi_thread->get_state() == Thread::Deleted) { delete avoi_thread; //障害物回避スレッド停止 avoi_thread = new Thread(avoidance); @@ -1257,6 +1295,8 @@ display(); // ディスプレイ表示 } if( strstr(webdata, "LINE_TRACE") != NULL ) { + //*-*-*-5("+++++++++++++++++LINET RACE+++++++++++++++++++++"); + //*-*-*-5("mode = LINE_TRACE\r\n"); if(trace_thread->get_state() == Thread::Deleted) { delete trace_thread; //ライントレーススレッド停止 trace_thread = new Thread(trace); @@ -1290,37 +1330,37 @@ // Starts and restarts webserver if errors detected. void startserver() { - pc.printf("++++++++++ Resetting ESP ++++++++++\r\n"); + //*-*-*-5("++++++++++ Resetting ESP ++++++++++\r\n"); strcpy(cmdbuff,"AT+RST\r\n"); timeout=8000; getcount=1000; SendCMD(); getreply(); - pc.printf(replybuff); - pc.printf("%d",ount); + //*-*-*-5(replybuff); + //*-*-*-5("%d",ount); if (strstr(replybuff, "OK") != NULL) { - pc.printf("\n++++++++++ Starting Server ++++++++++\r\n"); + //*-*-*-5("\n++++++++++ Starting Server ++++++++++\r\n"); strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections. timeout=500; getcount=20; SendCMD(); getreply(); - pc.printf(replybuff); + //*-*-*-5(replybuff); sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port); timeout=500; getcount=20; SendCMD(); getreply(); - pc.printf(replybuff); + //*-*-*-5(replybuff); ThisThread::sleep_for(500); sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout); timeout=500; getcount=50; SendCMD(); getreply(); - pc.printf(replybuff); + //*-*-*-5(replybuff); ThisThread::sleep_for(5000); - pc.printf("\n Getting Server IP \r\n"); + //*-*-*-5("\n Getting Server IP \r\n"); strcpy(cmdbuff, "AT+CIFSR\r\n"); timeout=2500; getcount=200; @@ -1331,19 +1371,21 @@ 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"); + //*-*-*-5("\n Enter WEB address (IP) found below in your browser \r\n\n"); + //*-*-*-5("\n The MAC address is also shown below,if it is needed \r\n\n"); replybuff[strlen(replybuff)-1] = '\0'; + //char* IP = replybuff + 5; sprintf(webdata,"%s", replybuff); - pc.printf(webdata); + //*-*-*-5(webdata); led2=1; bufflen=200; + //bufflen=100; ount=0; - pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n"); + //*-*-*-5("\n\n++++++++++ Ready ++++++++++\r\n\n"); setup(); esp.attach(&callback); } else { - pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n"); + //*-*-*-5("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n"); led1=1; led2=1; led3=1; @@ -1359,6 +1401,7 @@ time2.reset(); time2.start(); } + // ESP Command data send void SendCMD() { @@ -1383,9 +1426,9 @@ /* mainスレッド */ int main() { /* 初期設定 */ -// wifi_thread = new Thread(wifi); -// wifi_thread -> set_priority(osPriorityHigh); - setup(); + wifi_thread = new Thread(wifi); + wifi_thread -> set_priority(osPriorityHigh); +// setup(); avoi_thread = new Thread(avoidance); avoi_thread->terminate(); trace_thread = new Thread(trace);