siqiang pan / Mbed OS robotcarWifi3-demo-0827

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Dependencies:   RemoteIR TextLCD

main.cpp@33:a6f1090e0174, 2020-08-06 (annotated)

Committer:
nishimura_taku_pet
Date:
Thu Aug 06 07:09:11 2020 +0000
Revision:
33:a6f1090e0174
Parent:
32:049d9ba081d4
Child:
34:040474bf6fe0
commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yangtzuli 0:0d0037aabe41 1 /* mbed Microcontroller Library
yangtzuli 0:0d0037aabe41 2 * Copyright (c) 2019 ARM Limited
yangtzuli 0:0d0037aabe41 3 * SPDX-License-Identifier: Apache-2.0
yangtzuli 0:0d0037aabe41 4 */
yangtzuli 0:0d0037aabe41 5
yangtzuli 0:0d0037aabe41 6 #include "mbed.h"
yangtzuli 0:0d0037aabe41 7 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 8 #include "rtos.h"
yangtzuli 0:0d0037aabe41 9 #include <stdint.h>
yangtzuli 0:0d0037aabe41 10 #include "platform/mbed_thread.h"
yangtzuli 2:38825726cb1b 11 #include "TextLCD.h"
yangtzuli 0:0d0037aabe41 12
nishimura_taku_pet 27:90962c01bfeb 13 RawSerial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 14
yangtzuli 3:2ae6218973be 15 /* マクロ定義、列挙型定義 */
nishimura_taku_pet 27:90962c01bfeb 16 #define MIN_V 2.0 // 電圧の最小値
nishimura_taku_pet 27:90962c01bfeb 17 #define MAX_V 2.67 // 電圧の最大値
nishimura_taku_pet 27:90962c01bfeb 18 #define LOW 0 // モーターOFF
nishimura_taku_pet 27:90962c01bfeb 19 #define HIGH 1 // モーターON
nishimura_taku_pet 27:90962c01bfeb 20 #define NORMAL 0 // 普通
nishimura_taku_pet 27:90962c01bfeb 21 #define FAST 1 // 速い
tomotsugu 8:a47dbf4fa455 22 #define VERYFAST 2 // とても速い
yangtzuli 2:38825726cb1b 23
tomotsugu 8:a47dbf4fa455 24 /* 操作モード定義 */
yangtzuli 3:2ae6218973be 25 enum MODE{
tomotsugu 8:a47dbf4fa455 26 READY = -1, // -1：待ち
tomotsugu 8:a47dbf4fa455 27 ADVANCE = 1, // 1：前進
tomotsugu 8:a47dbf4fa455 28 RIGHT, // 2：右折
tomotsugu 8:a47dbf4fa455 29 LEFT, // 3：左折
tomotsugu 8:a47dbf4fa455 30 BACK, // 4：後退
tomotsugu 8:a47dbf4fa455 31 STOP, // 5：停止
tomotsugu 8:a47dbf4fa455 32 LINE_TRACE, // 6：ライントレース
tomotsugu 8:a47dbf4fa455 33 AVOIDANCE, // 7：障害物回避
tomotsugu 8:a47dbf4fa455 34 SPEED, // 8：スピード制御
yangtzuli 2:38825726cb1b 35 };
yangtzuli 2:38825726cb1b 36
yangtzuli 3:2ae6218973be 37 /* ピン配置 */
yangtzuli 3:2ae6218973be 38 ReceiverIR ir(p5); // リモコン操作
yangtzuli 3:2ae6218973be 39 DigitalOut trig(p6); // 超音波センサtrigger
yangtzuli 5:3fffb364744b 40 DigitalIn echo(p7); // 超音波センサecho
yangtzuli 3:2ae6218973be 41 DigitalIn ss1(p8); // ライントレースセンサ(左)
yangtzuli 3:2ae6218973be 42 DigitalIn ss2(p9); // ライントレースセンサ
yangtzuli 3:2ae6218973be 43 DigitalIn ss3(p10); // ライントレースセンサ
yangtzuli 3:2ae6218973be 44 DigitalIn ss4(p11); // ライントレースセンサ
yangtzuli 3:2ae6218973be 45 DigitalIn ss5(p12); // ライントレースセンサ(右)
nishimura_taku_pet 24:9481c8f56a49 46 RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
yangtzuli 3:2ae6218973be 47 AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
yangtzuli 3:2ae6218973be 48 PwmOut motorR2(p21); // 右モーター後退
yangtzuli 3:2ae6218973be 49 PwmOut motorR1(p22); // 右モーター前進
yangtzuli 3:2ae6218973be 50 PwmOut motorL2(p23); // 左モーター後退
yangtzuli 3:2ae6218973be 51 PwmOut motorL1(p24); // 左モーター前進
yangtzuli 3:2ae6218973be 52 PwmOut servo(p25); // サーボ
yangtzuli 3:2ae6218973be 53 I2C i2c_lcd(p28,p27); // LCD(tx, rx)
yangtzuli 2:38825726cb1b 54
yangtzuli 3:2ae6218973be 55 /* 変数宣言 */
yangtzuli 3:2ae6218973be 56 int mode; // 操作モード
yangtzuli 3:2ae6218973be 57 int run; // 走行状態
tomotsugu 8:a47dbf4fa455 58 int beforeMode; // 前回のモード
tomotsugu 8:a47dbf4fa455 59 int flag_sp = 0; // スピード変化フラグ
tomotsugu 8:a47dbf4fa455 60 Timer viewTimer; // スピ―ド変更時に3秒計測タイマー
tomotsugu 22:c6e2a3b9aa14 61 float motorSpeed[9] = {0.5, 0.8, 0.9, 0.75, 0.85, 0.95, 0.8, 0.9, 1.0};
yangtzuli 3:2ae6218973be 62 // モーター速度設定(後半はライントレース用)
tomotsugu 8:a47dbf4fa455 63
tomotsugu 8:a47dbf4fa455 64 Mutex mutex; // ミューテックス
tomotsugu 8:a47dbf4fa455 65
tomotsugu 8:a47dbf4fa455 66 /* decodeIR用変数 */
yangtzuli 3:2ae6218973be 67 RemoteIR::Format format;
yangtzuli 3:2ae6218973be 68 uint8_t buf[32];
yangtzuli 3:2ae6218973be 69 uint32_t bitcount;
yangtzuli 3:2ae6218973be 70 uint32_t code;
yangtzuli 3:2ae6218973be 71
tomotsugu 8:a47dbf4fa455 72 /* bChange, lcdbacklight用変数 */
yangtzuli 3:2ae6218973be 73 TextLCD_I2C lcd(&i2c_lcd, (0x27 << 1), TextLCD::LCD16x2, TextLCD::HD44780);
tomotsugu 8:a47dbf4fa455 74 int b = 0; // バッテリー残量
tomotsugu 8:a47dbf4fa455 75 int flag_b = 0; // バックライト点滅フラグ
tomotsugu 8:a47dbf4fa455 76 int flag_t = 0; // バックライトタイマーフラグ
yangtzuli 3:2ae6218973be 77
tomotsugu 8:a47dbf4fa455 78 /* trace用変数 */
yangtzuli 23:8c862b55fa1f 79 int sensArray[32] = {8,6,2,4,1,1,2,2, // ライントレースセンサパターン
nishimura_taku_pet 28:cb51cafca490 80 3,1,1,1,3,1,1,2,
nishimura_taku_pet 28:cb51cafca490 81 7,1,1,1,1,1,1,1,
nishimura_taku_pet 28:cb51cafca490 82 5,1,1,1,3,1,3,1};
yangtzuli 0:0d0037aabe41 83
tomotsugu 8:a47dbf4fa455 84 /* avoidance用変数 */
yangtzuli 3:2ae6218973be 85 Timer timer; // 距離計測用タイマ
yangtzuli 3:2ae6218973be 86 int DT; // 距離
yangtzuli 2:38825726cb1b 87 int SC; // 正面
yangtzuli 2:38825726cb1b 88 int SL; // 左
yangtzuli 2:38825726cb1b 89 int SR; // 右
yangtzuli 2:38825726cb1b 90 int SLD; // 左前
yangtzuli 2:38825726cb1b 91 int SRD; // 右前
tomotsugu 8:a47dbf4fa455 92 int flag_a = 0; // 障害物有無のフラグ
yangtzuli 2:38825726cb1b 93 const int limit = 20; // 障害物の距離のリミット(単位：cm)
yangtzuli 3:2ae6218973be 94 int far; // 最も遠い距離
yangtzuli 2:38825726cb1b 95 int houkou; // 進行方向(1:前 2:左 3:右)
yangtzuli 2:38825726cb1b 96 int i; // ループ変数
nishimura_taku_pet 29:600e4b9b5c5b 97 int t1 = 0;
yangtzuli 2:38825726cb1b 98
nishimura_taku_pet 24:9481c8f56a49 99 /*WiFi用変数*/
nishimura_taku_pet 24:9481c8f56a49 100 Timer time1;
nishimura_taku_pet 24:9481c8f56a49 101 Timer time2;
nishimura_taku_pet 24:9481c8f56a49 102 int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet 24:9481c8f56a49 103 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet 24:9481c8f56a49 104 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet 24:9481c8f56a49 105 char Vcc[10];
nishimura_taku_pet 24:9481c8f56a49 106 char webcount[8];
nishimura_taku_pet 24:9481c8f56a49 107 char type[16];
nishimura_taku_pet 24:9481c8f56a49 108 char channel[2];
nishimura_taku_pet 24:9481c8f56a49 109 char cmdbuff[32];
nishimura_taku_pet 24:9481c8f56a49 110 char replybuff[1024];
nishimura_taku_pet 24:9481c8f56a49 111 char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet 27:90962c01bfeb 112 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet 24:9481c8f56a49 113 int port =80; // set server port
nishimura_taku_pet 24:9481c8f56a49 114 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
nishimura_taku_pet 24:9481c8f56a49 115 char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet 24:9481c8f56a49 116 char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli 3:2ae6218973be 117
yangtzuli 3:2ae6218973be 118
yangtzuli 3:2ae6218973be 119 /* プロトタイプ宣言 */
nishimura_taku_pet 33:a6f1090e0174 120 void decodeIR(/*void const *argument*/);
nishimura_taku_pet 33:a6f1090e0174 121 void motor(/*void const *argument*/);
yangtzuli 3:2ae6218973be 122 void changeSpeed();
nishimura_taku_pet 16:ffc732a3cf92 123 void avoidance(/*void const *argument*/);
nishimura_taku_pet 16:ffc732a3cf92 124 void trace(/*void const *argument*/);
yangtzuli 2:38825726cb1b 125 void watchsurrounding();
yangtzuli 2:38825726cb1b 126 int watch();
yangtzuli 5:3fffb364744b 127 void bChange();
yangtzuli 3:2ae6218973be 128 void display();
yangtzuli 3:2ae6218973be 129 void lcdBacklight(void const *argument);
nishimura_taku_pet 24:9481c8f56a49 130 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
nishimura_taku_pet 24:9481c8f56a49 131 void wifi(void const *argument);
nishimura_taku_pet 33:a6f1090e0174 132 Thread *deco_thread; // decodeIRをスレッド化 ：+3
nishimura_taku_pet 33:a6f1090e0174 133 Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化
nishimura_taku_pet 33:a6f1090e0174 134 Thread *motor_thread; // motorをスレッド化 ：+2
nishimura_taku_pet 16:ffc732a3cf92 135 //Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
nishimura_taku_pet 16:ffc732a3cf92 136 //Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化 ：+2
nishimura_taku_pet 33:a6f1090e0174 137 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
nishimura_taku_pet 16:ffc732a3cf92 138 Thread *avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 139 Thread *trace_thread;
yangtzuli 2:38825726cb1b 140
nishimura_taku_pet 24:9481c8f56a49 141 DigitalOut led1(LED1);
nishimura_taku_pet 24:9481c8f56a49 142 DigitalOut led2(LED2);
nishimura_taku_pet 24:9481c8f56a49 143 DigitalOut led3(LED3);
nishimura_taku_pet 24:9481c8f56a49 144 DigitalOut led4(LED4);
yangtzuli 3:2ae6218973be 145
nishimura_taku_pet 33:a6f1090e0174 146 void setup(){
nishimura_taku_pet 33:a6f1090e0174 147 deco_thread = new Thread(decodeIR);
nishimura_taku_pet 33:a6f1090e0174 148 deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet 33:a6f1090e0174 149 motor_thread = new Thread(motor);
nishimura_taku_pet 33:a6f1090e0174 150 motor_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 33:a6f1090e0174 151 display();
nishimura_taku_pet 33:a6f1090e0174 152 }
nishimura_taku_pet 33:a6f1090e0174 153
tomotsugu 8:a47dbf4fa455 154 /* リモコン受信スレッド */
nishimura_taku_pet 33:a6f1090e0174 155 void decodeIR(/*void const *argument*/){
yangtzuli 5:3fffb364744b 156 while(1){
yangtzuli 0:0d0037aabe41 157 // 受信待ち
tomotsugu 8:a47dbf4fa455 158 if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli 3:2ae6218973be 159 bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu 8:a47dbf4fa455 160 if(bitcount > 1){ // 受信成功
yangtzuli 1:5bb497a38344 161 code=0;
tomotsugu 15:5eef1955f6c2 162 for(int j = 0; j < 4; j++){
yangtzuli 1:5bb497a38344 163 code+=(buf[j]<<(8*(3-j)));
yangtzuli 1:5bb497a38344 164 }
tomotsugu 8:a47dbf4fa455 165 if(mode != SPEED){ // スピードモード以外なら
tomotsugu 8:a47dbf4fa455 166 beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli 3:2ae6218973be 167 }
yangtzuli 0:0d0037aabe41 168 switch(code){
tomotsugu 8:a47dbf4fa455 169 case 0x40bf27d8: // クイック
yangtzuli 17:f7259ab2fe86 170 //pc.printf("mode = SPEED\r\n");
tomotsugu 8:a47dbf4fa455 171 mode = SPEED; // スピードモード
tomotsugu 8:a47dbf4fa455 172 changeSpeed(); // 速度変更
tomotsugu 8:a47dbf4fa455 173 display(); // ディスプレイ表示
tomotsugu 8:a47dbf4fa455 174 mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli 1:5bb497a38344 175 break;
tomotsugu 8:a47dbf4fa455 176 case 0x40be34cb: // レグザリンク
yangtzuli 17:f7259ab2fe86 177 //pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 178 if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 179 delete trace_thread;
nishimura_taku_pet 16:ffc732a3cf92 180 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 181 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 182 }
tomotsugu 8:a47dbf4fa455 183 mode=LINE_TRACE; // ライントレースモード
tomotsugu 8:a47dbf4fa455 184 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 185 break;
tomotsugu 8:a47dbf4fa455 186 case 0x40bf6e91: // 番組表
yangtzuli 17:f7259ab2fe86 187 //pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet 16:ffc732a3cf92 188 if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 189 delete avoi_thread;
nishimura_taku_pet 16:ffc732a3cf92 190 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 191 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 16:ffc732a3cf92 192 }
tomotsugu 18:6cca64c7dbc3 193 flag_a = 0;
tomotsugu 8:a47dbf4fa455 194 mode=AVOIDANCE; // 障害物回避モード
tomotsugu 13:1a7667d0aa78 195 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 196 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 197 break;
tomotsugu 8:a47dbf4fa455 198 case 0x40bf3ec1: // ↑
yangtzuli 17:f7259ab2fe86 199 //pc.printf("mode = ADVANCE\r\n");
tomotsugu 8:a47dbf4fa455 200 mode = ADVANCE; // 前進モード
tomotsugu 8:a47dbf4fa455 201 run = ADVANCE; // 前進
tomotsugu 8:a47dbf4fa455 202 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 203 break;
tomotsugu 8:a47dbf4fa455 204 case 0x40bf3fc0: // ↓
yangtzuli 17:f7259ab2fe86 205 //pc.printf("mode = BACK\r\n");
tomotsugu 8:a47dbf4fa455 206 mode = BACK; // 後退モード
tomotsugu 8:a47dbf4fa455 207 run = BACK; // 後退
tomotsugu 8:a47dbf4fa455 208 display(); // ディスプレイ表示
yangtzuli 0:0d0037aabe41 209 break;
tomotsugu 8:a47dbf4fa455 210 case 0x40bf5fa0: // ←
yangtzuli 17:f7259ab2fe86 211 //pc.printf("mode = LEFT\r\n");
tomotsugu 8:a47dbf4fa455 212 mode = LEFT; // 左折モード
tomotsugu 8:a47dbf4fa455 213 run = LEFT; // 左折
tomotsugu 8:a47dbf4fa455 214 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 215 break;
tomotsugu 8:a47dbf4fa455 216 case 0x40bf5ba4: // →
yangtzuli 17:f7259ab2fe86 217 //pc.printf("mode = RIGHT\r\n");
tomotsugu 8:a47dbf4fa455 218 mode = RIGHT; // 右折モード
tomotsugu 8:a47dbf4fa455 219 run = RIGHT; // 右折
tomotsugu 8:a47dbf4fa455 220 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 221 break;
tomotsugu 8:a47dbf4fa455 222 case 0x40bf3dc2: // 決定
yangtzuli 17:f7259ab2fe86 223 //pc.printf("mode = STOP\r\n");
tomotsugu 8:a47dbf4fa455 224 mode = STOP; // 停止モード
tomotsugu 8:a47dbf4fa455 225 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 226 display(); // ディスプレイ表示
yangtzuli 1:5bb497a38344 227 break;
yangtzuli 0:0d0037aabe41 228 default:
yangtzuli 0:0d0037aabe41 229 ;
yangtzuli 0:0d0037aabe41 230 }
nishimura_taku_pet 16:ffc732a3cf92 231 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 232 trace_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 233 }
nishimura_taku_pet 16:ffc732a3cf92 234 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 16:ffc732a3cf92 235 avoi_thread->terminate();
nishimura_taku_pet 28:cb51cafca490 236 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 16:ffc732a3cf92 237 }
yangtzuli 0:0d0037aabe41 238 }
yangtzuli 0:0d0037aabe41 239 }
tomotsugu 8:a47dbf4fa455 240 if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
tomotsugu 8:a47dbf4fa455 241 viewTimer.stop(); // タイマーストップ
tomotsugu 8:a47dbf4fa455 242 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 243 display(); // ディスプレイ表示
yangtzuli 4:3f80c0180e2f 244 }
tomotsugu 18:6cca64c7dbc3 245 ThisThread::sleep_for(90); // 90ms待つ
yangtzuli 4:3f80c0180e2f 246 }
yangtzuli 2:38825726cb1b 247 }
tomotsugu 8:a47dbf4fa455 248
tomotsugu 8:a47dbf4fa455 249 /* モーター制御スレッド */
nishimura_taku_pet 33:a6f1090e0174 250 void motor(/*void const *argument*/){
tomotsugu 8:a47dbf4fa455 251 while(1){
tomotsugu 8:a47dbf4fa455 252 /* 走行状態の場合分け */
yangtzuli 3:2ae6218973be 253 switch(run){
tomotsugu 8:a47dbf4fa455 254 /* 前進 */
yangtzuli 3:2ae6218973be 255 case ADVANCE:
tomotsugu 8:a47dbf4fa455 256 motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu 8:a47dbf4fa455 257 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 258 motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu 8:a47dbf4fa455 259 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 260 break;
tomotsugu 8:a47dbf4fa455 261 /* 右折 */
yangtzuli 3:2ae6218973be 262 case RIGHT:
tomotsugu 8:a47dbf4fa455 263 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 264 motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu 8:a47dbf4fa455 265 motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu 8:a47dbf4fa455 266 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 267 break;
tomotsugu 8:a47dbf4fa455 268 /* 左折 */
yangtzuli 3:2ae6218973be 269 case LEFT:
tomotsugu 8:a47dbf4fa455 270 motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu 8:a47dbf4fa455 271 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 272 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 273 motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 274 break;
tomotsugu 8:a47dbf4fa455 275 /* 後退 */
yangtzuli 3:2ae6218973be 276 case BACK:
tomotsugu 8:a47dbf4fa455 277 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 278 motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu 8:a47dbf4fa455 279 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 280 motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli 3:2ae6218973be 281 break;
tomotsugu 8:a47dbf4fa455 282 /* 停止 */
yangtzuli 3:2ae6218973be 283 case STOP:
tomotsugu 8:a47dbf4fa455 284 motorR1 = LOW; // 右前進モーターOFF
tomotsugu 8:a47dbf4fa455 285 motorR2 = LOW; // 右後退モーターOFF
tomotsugu 8:a47dbf4fa455 286 motorL1 = LOW; // 左前進モーターOFF
tomotsugu 8:a47dbf4fa455 287 motorL2 = LOW; // 左後退モーターOFF
yangtzuli 3:2ae6218973be 288 break;
yangtzuli 3:2ae6218973be 289 }
tomotsugu 8:a47dbf4fa455 290 if(flag_sp > VERYFAST){ // スピード変更フラグが2より大きいなら
tomotsugu 8:a47dbf4fa455 291 flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整
yangtzuli 6:800a745c7f2e 292 }
tomotsugu 8:a47dbf4fa455 293 ThisThread::sleep_for(30); // 30ms待つ
yangtzuli 2:38825726cb1b 294 }
yangtzuli 2:38825726cb1b 295 }
tomotsugu 8:a47dbf4fa455 296
tomotsugu 8:a47dbf4fa455 297 /* スピード変更関数 */
yangtzuli 3:2ae6218973be 298 void changeSpeed(){
tomotsugu 8:a47dbf4fa455 299 if(flag_sp%3 == 2){ // スピード変更フラグを3で割った余りが2なら
tomotsugu 8:a47dbf4fa455 300 flag_sp -= 2; // スピード変更フラグを-2
yangtzuli 3:2ae6218973be 301
tomotsugu 8:a47dbf4fa455 302 }else{ // それ以外
tomotsugu 8:a47dbf4fa455 303 flag_sp = flag_sp + 1; // スピード変更フラグを+1
yangtzuli 3:2ae6218973be 304 }
yangtzuli 3:2ae6218973be 305 }
tomotsugu 8:a47dbf4fa455 306
tomotsugu 8:a47dbf4fa455 307 /* ライントレーススレッド */
tomotsugu 20:02bb875a9b13 308 void trace(){
tomotsugu 8:a47dbf4fa455 309 while(1){
tomotsugu 8:a47dbf4fa455 310 /* 各センサー値読み取り */
yangtzuli 3:2ae6218973be 311 int sensor1 = ss1;
yangtzuli 3:2ae6218973be 312 int sensor2 = ss2;
yangtzuli 3:2ae6218973be 313 int sensor3 = ss3;
yangtzuli 3:2ae6218973be 314 int sensor4 = ss4;
yangtzuli 3:2ae6218973be 315 int sensor5 = ss5;
yangtzuli 6:800a745c7f2e 316 pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
yangtzuli 3:2ae6218973be 317 int sensD = 0;
yangtzuli 3:2ae6218973be 318 int sensorNum;
tomotsugu 8:a47dbf4fa455 319
tomotsugu 8:a47dbf4fa455 320 /* センサー値の決定 */
yangtzuli 3:2ae6218973be 321 if(sensor1 > 0) sensD |= 0x10;
yangtzuli 3:2ae6218973be 322 if(sensor2 > 0) sensD |= 0x08;
yangtzuli 3:2ae6218973be 323 if(sensor3 > 0) sensD |= 0x04;
yangtzuli 3:2ae6218973be 324 if(sensor4 > 0) sensD |= 0x02;
yangtzuli 3:2ae6218973be 325 if(sensor5 > 0) sensD |= 0x01;
tomotsugu 8:a47dbf4fa455 326
yangtzuli 3:2ae6218973be 327 sensorNum = sensArray[sensD];
tomotsugu 8:a47dbf4fa455 328
tomotsugu 8:a47dbf4fa455 329 /* センサー値によって場合分け */
yangtzuli 3:2ae6218973be 330 switch(sensorNum){
yangtzuli 3:2ae6218973be 331 case 1:
tomotsugu 18:6cca64c7dbc3 332 run = ADVANCE; // 低速で前進
yangtzuli 3:2ae6218973be 333 break;
yangtzuli 3:2ae6218973be 334 case 2:
yangtzuli 23:8c862b55fa1f 335 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 336 run = RIGHT; // 低速で右折
yangtzuli 3:2ae6218973be 337 break;
yangtzuli 3:2ae6218973be 338 case 3:
yangtzuli 23:8c862b55fa1f 339 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 340 run = LEFT; // 低速で左折
yangtzuli 3:2ae6218973be 341 break;
yangtzuli 3:2ae6218973be 342 case 4:
yangtzuli 23:8c862b55fa1f 343 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 344 run = RIGHT; // 中速で右折
yangtzuli 3:2ae6218973be 345 break;
yangtzuli 3:2ae6218973be 346 case 5:
yangtzuli 23:8c862b55fa1f 347 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 348 run = LEFT; // 中速で左折
yangtzuli 6:800a745c7f2e 349 break;
yangtzuli 6:800a745c7f2e 350 case 6:
tomotsugu 18:6cca64c7dbc3 351 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 352 run = RIGHT; // 高速で右折
yangtzuli 6:800a745c7f2e 353 break;
yangtzuli 6:800a745c7f2e 354 case 7:
tomotsugu 18:6cca64c7dbc3 355 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 356 run = LEFT; // 高速で左折
yangtzuli 3:2ae6218973be 357 break;
yangtzuli 23:8c862b55fa1f 358 case 8:
yangtzuli 23:8c862b55fa1f 359 break;
yangtzuli 3:2ae6218973be 360 }
tomotsugu 8:a47dbf4fa455 361 ThisThread::sleep_for(30); // 30ms待つ
tomotsugu 18:6cca64c7dbc3 362 }
yangtzuli 3:2ae6218973be 363 }
yangtzuli 3:2ae6218973be 364
tomotsugu 8:a47dbf4fa455 365 /* 障害物回避走行スレッド */
tomotsugu 20:02bb875a9b13 366 void avoidance(){
yangtzuli 3:2ae6218973be 367 while(1){
tomotsugu 18:6cca64c7dbc3 368 watchsurrounding();
tomotsugu 18:6cca64c7dbc3 369 pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
tomotsugu 18:6cca64c7dbc3 370 if(flag_a == 0){ // 障害物がない場合
tomotsugu 18:6cca64c7dbc3 371 run = ADVANCE; // 前進
nishimura_taku_pet 28:cb51cafca490 372 }else{ // 障害物がある場合
tomotsugu 18:6cca64c7dbc3 373 i = 0;
tomotsugu 18:6cca64c7dbc3 374 if(SC < 15){ // 正面15cm以内に障害物が現れた場合
tomotsugu 18:6cca64c7dbc3 375 run = BACK; // 後退
tomotsugu 18:6cca64c7dbc3 376 while(watch() < limit){ // 正面20cm以内に障害物がある間
tomotsugu 18:6cca64c7dbc3 377 }
tomotsugu 18:6cca64c7dbc3 378 run = STOP; // 停止
yangtzuli 3:2ae6218973be 379 }
nishimura_taku_pet 28:cb51cafca490 380 if(SC < limit && SLD < limit && SL < limit && SRD < limit && SR < limit){ // 全方向に障害物がある場合
tomotsugu 18:6cca64c7dbc3 381 run = LEFT; // 左折
nishimura_taku_pet 28:cb51cafca490 382 while(i < 1){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 383 flag_sp = flag_sp % 3 + 6;
tomotsugu 18:6cca64c7dbc3 384 if(watch() > limit){
tomotsugu 18:6cca64c7dbc3 385 i++;
nishimura_taku_pet 28:cb51cafca490 386 }else{
nishimura_taku_pet 28:cb51cafca490 387 i = 0;
yangtzuli 2:38825726cb1b 388 }
yangtzuli 2:38825726cb1b 389 }
nishimura_taku_pet 28:cb51cafca490 390 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 391 }else { // 全方向以外
nishimura_taku_pet 28:cb51cafca490 392 far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 393 houkou = 1; // 進行方向を前に設定
nishimura_taku_pet 28:cb51cafca490 394 if(far < SLD || far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 395 if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet 28:cb51cafca490 396 far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 397 }else{ // 左が左前より遠い場合
nishimura_taku_pet 28:cb51cafca490 398 far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 399 }
nishimura_taku_pet 28:cb51cafca490 400 houkou = 2; // 進行方向を左に設定
nishimura_taku_pet 28:cb51cafca490 401 }
nishimura_taku_pet 28:cb51cafca490 402 if(far < SRD || far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet 28:cb51cafca490 403 if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet 28:cb51cafca490 404 far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 405 }else{ // 右が右前よりも遠い場合
nishimura_taku_pet 28:cb51cafca490 406 far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet 28:cb51cafca490 407 }
nishimura_taku_pet 28:cb51cafca490 408 houkou = 3; // 進行方向を右に設定
nishimura_taku_pet 28:cb51cafca490 409 }
nishimura_taku_pet 28:cb51cafca490 410 switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet 28:cb51cafca490 411 case 1: // 前の場合
nishimura_taku_pet 28:cb51cafca490 412 run = ADVANCE; // 前進
nishimura_taku_pet 28:cb51cafca490 413 ThisThread::sleep_for(1000); // 1秒待つ
nishimura_taku_pet 28:cb51cafca490 414 break;
nishimura_taku_pet 28:cb51cafca490 415 case 2: // 左の場合
nishimura_taku_pet 28:cb51cafca490 416
nishimura_taku_pet 28:cb51cafca490 417 run = LEFT; // 左折
nishimura_taku_pet 28:cb51cafca490 418 while(i < 1){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 419 flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet 28:cb51cafca490 420 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
nishimura_taku_pet 28:cb51cafca490 421 i++; // ループ+
nishimura_taku_pet 28:cb51cafca490 422 }else{
nishimura_taku_pet 28:cb51cafca490 423 i = 0;
nishimura_taku_pet 28:cb51cafca490 424 }
nishimura_taku_pet 28:cb51cafca490 425 }
nishimura_taku_pet 28:cb51cafca490 426 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 427 break;
nishimura_taku_pet 28:cb51cafca490 428 case 3: // 右の場合
nishimura_taku_pet 28:cb51cafca490 429
nishimura_taku_pet 28:cb51cafca490 430 run = RIGHT; // 右折
nishimura_taku_pet 28:cb51cafca490 431 while(i < 1){ // 進行方向確認
nishimura_taku_pet 28:cb51cafca490 432 flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet 28:cb51cafca490 433 if(watch() > (far - 2)){ // 正面の計測距離と最も遠い距離が一致したら(誤差-2cm)
nishimura_taku_pet 28:cb51cafca490 434 i++; // ループ+
nishimura_taku_pet 28:cb51cafca490 435 }else{
nishimura_taku_pet 28:cb51cafca490 436 i = 0;
nishimura_taku_pet 28:cb51cafca490 437 }
nishimura_taku_pet 28:cb51cafca490 438 }
nishimura_taku_pet 28:cb51cafca490 439 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 440 break;
nishimura_taku_pet 28:cb51cafca490 441 }
yangtzuli 5:3fffb364744b 442 }
nishimura_taku_pet 28:cb51cafca490 443 }
nishimura_taku_pet 28:cb51cafca490 444 flag_a = 0; // 障害物有無フラグを0にセット
yangtzuli 2:38825726cb1b 445 }
yangtzuli 2:38825726cb1b 446 }
tomotsugu 8:a47dbf4fa455 447
tomotsugu 8:a47dbf4fa455 448 /* 距離計測関数 */
yangtzuli 2:38825726cb1b 449 int watch(){
tomotsugu 21:68d38e8f64b5 450 do{
tomotsugu 21:68d38e8f64b5 451 trig = 0;
tomotsugu 21:68d38e8f64b5 452 ThisThread::sleep_for(5); // 5ms待つ
tomotsugu 21:68d38e8f64b5 453 trig = 1;
tomotsugu 21:68d38e8f64b5 454 ThisThread::sleep_for(15); // 15ms待つ
tomotsugu 21:68d38e8f64b5 455 trig = 0;
tomotsugu 21:68d38e8f64b5 456 timer.start();
yangtzuli 17:f7259ab2fe86 457 t1=timer.read_ms();
nishimura_taku_pet 29:600e4b9b5c5b 458 while(echo.read() == 0 && t1<10){
tomotsugu 21:68d38e8f64b5 459 t1=timer.read_ms();
tomotsugu 21:68d38e8f64b5 460 led1 = 1;
tomotsugu 21:68d38e8f64b5 461 }
tomotsugu 21:68d38e8f64b5 462 timer.stop();
tomotsugu 21:68d38e8f64b5 463 timer.reset();
nishimura_taku_pet 28:cb51cafca490 464 /*if((t1-t2) >= 10){
nishimura_taku_pet 28:cb51cafca490 465 run = STOP;*/
nishimura_taku_pet 29:600e4b9b5c5b 466 }while(t1 >= 10);
tomotsugu 21:68d38e8f64b5 467 timer.start(); // 距離計測タイマースタート
tomotsugu 21:68d38e8f64b5 468 while(echo.read() == 1){
yangtzuli 5:3fffb364744b 469 }
tomotsugu 21:68d38e8f64b5 470 timer.stop(); // 距離計測タイマーストップ
tomotsugu 21:68d38e8f64b5 471 DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet 28:cb51cafca490 472 if(DT > 1000){
nishimura_taku_pet 28:cb51cafca490 473 DT = -1;
nishimura_taku_pet 28:cb51cafca490 474 }else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu 22:c6e2a3b9aa14 475 DT = 150;
yangtzuli 2:38825726cb1b 476 }
tomotsugu 21:68d38e8f64b5 477 timer.reset(); // 距離計測タイマーリセット
tomotsugu 8:a47dbf4fa455 478 led1 = 0;
yangtzuli 2:38825726cb1b 479 return DT;
yangtzuli 0:0d0037aabe41 480 }
yangtzuli 0:0d0037aabe41 481
tomotsugu 8:a47dbf4fa455 482 /* 障害物検知関数 */
yangtzuli 2:38825726cb1b 483 void watchsurrounding(){
nishimura_taku_pet 28:cb51cafca490 484 //servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 485 //ThisThread::sleep_for(200); // 100ms待つ
yangtzuli 2:38825726cb1b 486 SC = watch();
nishimura_taku_pet 28:cb51cafca490 487 if(SC < limit){ // 正面20cm以内に障害物がある場合
nishimura_taku_pet 28:cb51cafca490 488 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 489 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 490 flag_a = 1;
nishimura_taku_pet 28:cb51cafca490 491 }
yangtzuli 2:38825726cb1b 492 }
yangtzuli 2:38825726cb1b 493 servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet 28:cb51cafca490 494 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 495 SLD = watch();
yangtzuli 2:38825726cb1b 496 if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 497 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 498 flag_a = 1;
yangtzuli 2:38825726cb1b 499 }
yangtzuli 2:38825726cb1b 500 servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet 28:cb51cafca490 501 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 502 SL = watch();
yangtzuli 2:38825726cb1b 503 if(SL < limit){ // 左20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 504 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 505 flag_a = 1;
yangtzuli 2:38825726cb1b 506 }
tomotsugu 19:c6f9f010bd9e 507 servo.pulsewidth_us(1450);
nishimura_taku_pet 28:cb51cafca490 508 ThisThread::sleep_for(250);
tomotsugu 19:c6f9f010bd9e 509 SC = watch();
tomotsugu 19:c6f9f010bd9e 510 if(SC < limit){
nishimura_taku_pet 28:cb51cafca490 511 if(SC!=-1){
nishimura_taku_pet 28:cb51cafca490 512 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 513 flag_a = 1;
nishimura_taku_pet 28:cb51cafca490 514 }
tomotsugu 19:c6f9f010bd9e 515 }
yangtzuli 2:38825726cb1b 516 servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet 28:cb51cafca490 517 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 518 SRD = watch();
yangtzuli 2:38825726cb1b 519 if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu 20:02bb875a9b13 520 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 521 flag_a = 1;
yangtzuli 2:38825726cb1b 522 }
yangtzuli 2:38825726cb1b 523 servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet 28:cb51cafca490 524 ThisThread::sleep_for(100); // 250ms待つ
yangtzuli 2:38825726cb1b 525 SR = watch();
yangtzuli 2:38825726cb1b 526 if(SR < limit){ // 右20cm以内に障害物がある場合
nishimura_taku_pet 28:cb51cafca490 527 run = STOP; // 停止
nishimura_taku_pet 28:cb51cafca490 528 flag_a = 1;
yangtzuli 2:38825726cb1b 529 }
yangtzuli 2:38825726cb1b 530 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 28:cb51cafca490 531 ThisThread::sleep_for(250); // 100ms待つ
nishimura_taku_pet 28:cb51cafca490 532 /*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
tomotsugu 8:a47dbf4fa455 533 flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet 28:cb51cafca490 534 }*/
yangtzuli 3:2ae6218973be 535 }
yangtzuli 3:2ae6218973be 536
tomotsugu 8:a47dbf4fa455 537 /* ディスプレイ表示関数 */
yangtzuli 3:2ae6218973be 538 void display(){
tomotsugu 8:a47dbf4fa455 539 mutex.lock(); // ミューテックスロック
yangtzuli 3:2ae6218973be 540 lcd.setAddress(0,1);
tomotsugu 8:a47dbf4fa455 541
tomotsugu 8:a47dbf4fa455 542 /* 操作モードによる場合分け */
yangtzuli 3:2ae6218973be 543 switch(mode){
tomotsugu 8:a47dbf4fa455 544 /* 前進 */
yangtzuli 3:2ae6218973be 545 case ADVANCE:
yangtzuli 3:2ae6218973be 546 lcd.printf("Mode:Advance ");
yangtzuli 3:2ae6218973be 547 break;
tomotsugu 8:a47dbf4fa455 548 /* 右折 */
yangtzuli 3:2ae6218973be 549 case RIGHT:
yangtzuli 5:3fffb364744b 550 lcd.printf("Mode:TurnRight ");
yangtzuli 3:2ae6218973be 551 break;
tomotsugu 8:a47dbf4fa455 552 /* 左折 */
yangtzuli 3:2ae6218973be 553 case LEFT:
yangtzuli 5:3fffb364744b 554 lcd.printf("Mode:TurnLeft ");
yangtzuli 3:2ae6218973be 555 break;
tomotsugu 8:a47dbf4fa455 556 /* 後退 */
yangtzuli 3:2ae6218973be 557 case BACK:
yangtzuli 3:2ae6218973be 558 lcd.printf("Mode:Back ");
yangtzuli 3:2ae6218973be 559 break;
tomotsugu 8:a47dbf4fa455 560 /* 停止 */
yangtzuli 3:2ae6218973be 561 case STOP:
yangtzuli 3:2ae6218973be 562 lcd.printf("Mode:Stop ");
yangtzuli 3:2ae6218973be 563 break;
tomotsugu 8:a47dbf4fa455 564 /* 待ち */
yangtzuli 3:2ae6218973be 565 case READY:
yangtzuli 3:2ae6218973be 566 lcd.printf("Mode:Ready ");
yangtzuli 3:2ae6218973be 567 break;
tomotsugu 8:a47dbf4fa455 568 /* ライントレース */
yangtzuli 3:2ae6218973be 569 case LINE_TRACE:
yangtzuli 3:2ae6218973be 570 lcd.printf("Mode:LineTrace ");
yangtzuli 3:2ae6218973be 571 break;
tomotsugu 8:a47dbf4fa455 572 /* 障害物回避 */
yangtzuli 3:2ae6218973be 573 case AVOIDANCE:
yangtzuli 3:2ae6218973be 574 lcd.printf("Mode:Avoidance ");
yangtzuli 3:2ae6218973be 575 break;
tomotsugu 8:a47dbf4fa455 576 /* スピード制御 */
yangtzuli 3:2ae6218973be 577 case SPEED:
tomotsugu 8:a47dbf4fa455 578 /* スピードの状態で場合分け */
yangtzuli 3:2ae6218973be 579 switch(flag_sp){
tomotsugu 8:a47dbf4fa455 580 /* 普通 */
yangtzuli 3:2ae6218973be 581 case(NORMAL):
yangtzuli 3:2ae6218973be 582 lcd.printf("Speed:Normal ");
yangtzuli 3:2ae6218973be 583 break;
tomotsugu 8:a47dbf4fa455 584 /* 速い */
yangtzuli 3:2ae6218973be 585 case(FAST):
yangtzuli 3:2ae6218973be 586 lcd.printf("Speed:Fast ");
yangtzuli 3:2ae6218973be 587 break;
tomotsugu 8:a47dbf4fa455 588 /* とても速い */
yangtzuli 3:2ae6218973be 589 case(VERYFAST):
yangtzuli 3:2ae6218973be 590 lcd.printf("Speed:VeryFast ");
yangtzuli 3:2ae6218973be 591 break;
yangtzuli 3:2ae6218973be 592 }
tomotsugu 8:a47dbf4fa455 593 viewTimer.reset(); // タイマーリセット
tomotsugu 8:a47dbf4fa455 594 viewTimer.start(); // タイマースタート
yangtzuli 3:2ae6218973be 595 break;
yangtzuli 3:2ae6218973be 596 }
tomotsugu 8:a47dbf4fa455 597 mutex.unlock(); // ミューテックスアンロック
yangtzuli 3:2ae6218973be 598 }
yangtzuli 3:2ae6218973be 599
tomotsugu 8:a47dbf4fa455 600 /* バックライト点滅 */
yangtzuli 3:2ae6218973be 601 void lcdBacklight(void const *argument){
tomotsugu 8:a47dbf4fa455 602 if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu 8:a47dbf4fa455 603 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 8:a47dbf4fa455 604 }else{ // バックライト点滅フラグが0なら
tomotsugu 8:a47dbf4fa455 605 lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli 3:2ae6218973be 606 }
tomotsugu 8:a47dbf4fa455 607 flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli 3:2ae6218973be 608 }
yangtzuli 2:38825726cb1b 609
tomotsugu 8:a47dbf4fa455 610 /* バッテリー残量更新関数 */
yangtzuli 5:3fffb364744b 611 void bChange(){
yangtzuli 17:f7259ab2fe86 612 //pc.printf(" bChange1\r\n");
tomotsugu 10:d193030ce672 613 b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10;
tomotsugu 10:d193030ce672 614 if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu 10:d193030ce672 615 b = 0;
tomotsugu 10:d193030ce672 616 //lcd.setBacklight(TextLCD::LightOff);
tomotsugu 10:d193030ce672 617 //run = STOP;
tomotsugu 10:d193030ce672 618 //exit(1); // 電池残量が5%未満の時、LCDを消灯し、モーターを停止し、プログラムを終了する。
tomotsugu 10:d193030ce672 619 }
tomotsugu 10:d193030ce672 620 mutex.lock(); // ミューテックスロック
tomotsugu 10:d193030ce672 621 lcd.setAddress(0,0);
tomotsugu 10:d193030ce672 622 lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
tomotsugu 10:d193030ce672 623 mutex.unlock(); // ミューテックスアンロック
tomotsugu 10:d193030ce672 624 if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu 10:d193030ce672 625 if(flag_t == 0){ // バックライトタイマーフラグが0なら
tomotsugu 10:d193030ce672 626 bTimer.start(500); // 0.5秒周期でバックライトタイマー割り込み
tomotsugu 10:d193030ce672 627 flag_t = 1; // バックライトタイマーフラグを1に切り替え
yangtzuli 3:2ae6218973be 628 }
tomotsugu 10:d193030ce672 629 }else{
tomotsugu 10:d193030ce672 630 if(flag_t == 1){ // バックライトタイマーフラグが1なら
tomotsugu 10:d193030ce672 631 bTimer.stop(); // バックライトタイマーストップ
tomotsugu 10:d193030ce672 632 lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu 10:d193030ce672 633 flag_t = 0; // バックライトタイマーフラグを0に切り替え
yangtzuli 3:2ae6218973be 634 }
tomotsugu 10:d193030ce672 635 }
yangtzuli 2:38825726cb1b 636 }
tomotsugu 8:a47dbf4fa455 637
nishimura_taku_pet 24:9481c8f56a49 638 // Serial Interrupt read ESP data
nishimura_taku_pet 24:9481c8f56a49 639 void callback()
nishimura_taku_pet 24:9481c8f56a49 640 {
nishimura_taku_pet 24:9481c8f56a49 641 //pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 642 led3=1;
nishimura_taku_pet 24:9481c8f56a49 643 while (esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 644 webbuff[ount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 645 ount++;
nishimura_taku_pet 24:9481c8f56a49 646 }
nishimura_taku_pet 24:9481c8f56a49 647 if(strlen(webbuff)>bufflen) {
nishimura_taku_pet 24:9481c8f56a49 648 pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 649 DataRX=1;
nishimura_taku_pet 24:9481c8f56a49 650 led3=0;
nishimura_taku_pet 24:9481c8f56a49 651 }
nishimura_taku_pet 24:9481c8f56a49 652 }
nishimura_taku_pet 24:9481c8f56a49 653
nishimura_taku_pet 24:9481c8f56a49 654 void wifi(void const *argument)
nishimura_taku_pet 24:9481c8f56a49 655 {
nishimura_taku_pet 24:9481c8f56a49 656 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet 33:a6f1090e0174 657 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 658 led1=1,led2=0,led3=0;
nishimura_taku_pet 24:9481c8f56a49 659 timeout=6000;
nishimura_taku_pet 24:9481c8f56a49 660 getcount=500;
nishimura_taku_pet 24:9481c8f56a49 661 getreply();
nishimura_taku_pet 24:9481c8f56a49 662 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet 24:9481c8f56a49 663 startserver();
nishimura_taku_pet 24:9481c8f56a49 664
nishimura_taku_pet 24:9481c8f56a49 665 while(1) {
nishimura_taku_pet 24:9481c8f56a49 666 if(DataRX==1) {
nishimura_taku_pet 24:9481c8f56a49 667 pc.printf("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 668 click_flag = 1;
nishimura_taku_pet 24:9481c8f56a49 669 ReadWebData();
nishimura_taku_pet 24:9481c8f56a49 670 pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
nishimura_taku_pet 24:9481c8f56a49 671 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
nishimura_taku_pet 24:9481c8f56a49 672 if (servreq == 1 && weberror == 0) {
nishimura_taku_pet 24:9481c8f56a49 673 pc.printf("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 674 sendpage();
nishimura_taku_pet 24:9481c8f56a49 675 }
nishimura_taku_pet 24:9481c8f56a49 676 pc.printf("\f\n\r------------ send_check begin --------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 677
nishimura_taku_pet 24:9481c8f56a49 678 //sendcheck();
nishimura_taku_pet 24:9481c8f56a49 679 pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
nishimura_taku_pet 24:9481c8f56a49 680
nishimura_taku_pet 24:9481c8f56a49 681 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 682 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);
nishimura_taku_pet 24:9481c8f56a49 683 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
nishimura_taku_pet 24:9481c8f56a49 684 pc.printf(" Web Characters sent : %d\n\n", bufl);
nishimura_taku_pet 24:9481c8f56a49 685 pc.printf(" -------------------------------------\n\n");
nishimura_taku_pet 24:9481c8f56a49 686 servreq=0;
nishimura_taku_pet 24:9481c8f56a49 687 }
nishimura_taku_pet 24:9481c8f56a49 688 ThisThread::sleep_for(100);
nishimura_taku_pet 24:9481c8f56a49 689 }
nishimura_taku_pet 24:9481c8f56a49 690 }
nishimura_taku_pet 24:9481c8f56a49 691 // Static WEB page
nishimura_taku_pet 24:9481c8f56a49 692 void sendpage()
nishimura_taku_pet 24:9481c8f56a49 693 {
nishimura_taku_pet 24:9481c8f56a49 694 // WEB page data
nishimura_taku_pet 24:9481c8f56a49 695
nishimura_taku_pet 24:9481c8f56a49 696 strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet 24:9481c8f56a49 697 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
nishimura_taku_pet 24:9481c8f56a49 698 strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}</style>");
nishimura_taku_pet 24:9481c8f56a49 699 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet 24:9481c8f56a49 700 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
nishimura_taku_pet 33:a6f1090e0174 701 if(b > 30) {
nishimura_taku_pet 33:a6f1090e0174 702 sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet 33:a6f1090e0174 703 } else {
nishimura_taku_pet 33:a6f1090e0174 704 strcat(webbuff, "<font color=\"red\">");
nishimura_taku_pet 33:a6f1090e0174 705 sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet 33:a6f1090e0174 706 strcat(webbuff, "<\font>");
nishimura_taku_pet 33:a6f1090e0174 707 }
nishimura_taku_pet 33:a6f1090e0174 708 strcat(webbuff, "%</strong>");
nishimura_taku_pet 24:9481c8f56a49 709 strcat(webbuff, "</td></p>");
nishimura_taku_pet 24:9481c8f56a49 710 strcat(webbuff, "<br>");
nishimura_taku_pet 24:9481c8f56a49 711 strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 712
nishimura_taku_pet 24:9481c8f56a49 713 switch(mode) {
nishimura_taku_pet 24:9481c8f56a49 714 case ADVANCE:
nishimura_taku_pet 24:9481c8f56a49 715 strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 716 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 717 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 718 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 719 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 720 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 721 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 722 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 723 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 724 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 725 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 726 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 727 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 728 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 729 break;
nishimura_taku_pet 24:9481c8f56a49 730 case LEFT:
nishimura_taku_pet 24:9481c8f56a49 731 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 732 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 733 strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 734 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 735 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 736 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 737 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 738 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 739 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 740 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 741 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 742 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 743 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 744 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 745 break;
nishimura_taku_pet 24:9481c8f56a49 746 case STOP:
nishimura_taku_pet 24:9481c8f56a49 747 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 748 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 749 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 750 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 751 strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 752 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 753 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 754 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 755 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 756 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 757 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 758 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 759 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 760 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 761 break;
nishimura_taku_pet 24:9481c8f56a49 762 case RIGHT:
nishimura_taku_pet 24:9481c8f56a49 763 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 764 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 765 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 766 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 767 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 768 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 769 strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 770 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 771 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 772 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 773 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 774 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 775 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 776 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 777 break;
nishimura_taku_pet 24:9481c8f56a49 778 case BACK:
nishimura_taku_pet 24:9481c8f56a49 779 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 780 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 781 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 782 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 783 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 784 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 785 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 786 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 787 strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 788 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet 24:9481c8f56a49 789 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 790 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 791 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 792 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 793 break;
nishimura_taku_pet 24:9481c8f56a49 794 case AVOIDANCE:
nishimura_taku_pet 24:9481c8f56a49 795 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 796 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 797 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 798 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 799 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 800 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 801 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 802 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 803 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 804 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 805 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 806 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 807 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 808 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 809 break;
nishimura_taku_pet 24:9481c8f56a49 810 case LINE_TRACE:
nishimura_taku_pet 24:9481c8f56a49 811 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 812 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 813 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 814 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 815 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 816 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 817 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 818 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 819 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 820 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 821 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 822 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 823 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 824 strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 825 break;
nishimura_taku_pet 24:9481c8f56a49 826 default:
nishimura_taku_pet 24:9481c8f56a49 827 strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet 24:9481c8f56a49 828 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 829 strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet 24:9481c8f56a49 830 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 831 strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet 24:9481c8f56a49 832 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 833 strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet 24:9481c8f56a49 834 strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet 24:9481c8f56a49 835 strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet 24:9481c8f56a49 836 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 837 strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet 24:9481c8f56a49 838 strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
nishimura_taku_pet 24:9481c8f56a49 839 strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 840 strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
nishimura_taku_pet 24:9481c8f56a49 841 break;
nishimura_taku_pet 24:9481c8f56a49 842 }
nishimura_taku_pet 24:9481c8f56a49 843 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 844 strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet 24:9481c8f56a49 845 strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet 24:9481c8f56a49 846 //ready示速度だけ点灯
nishimura_taku_pet 24:9481c8f56a49 847 switch (flag_sp) {
nishimura_taku_pet 24:9481c8f56a49 848 case 0:
nishimura_taku_pet 24:9481c8f56a49 849 strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 850 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 851 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 852 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 853 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 854 break;
nishimura_taku_pet 24:9481c8f56a49 855 case 1:
nishimura_taku_pet 24:9481c8f56a49 856 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 857 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 858 strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 859 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 860 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 861 break;
nishimura_taku_pet 24:9481c8f56a49 862 case 2:
nishimura_taku_pet 24:9481c8f56a49 863 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 864 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 865 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 866 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 867 strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 868 break;
nishimura_taku_pet 24:9481c8f56a49 869 default:
nishimura_taku_pet 24:9481c8f56a49 870 strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
nishimura_taku_pet 24:9481c8f56a49 871 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 872 strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
nishimura_taku_pet 24:9481c8f56a49 873 strcat(webbuff, "</button></td><td>");
nishimura_taku_pet 24:9481c8f56a49 874 strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
nishimura_taku_pet 24:9481c8f56a49 875 break;
nishimura_taku_pet 24:9481c8f56a49 876 }
nishimura_taku_pet 24:9481c8f56a49 877 strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet 24:9481c8f56a49 878
nishimura_taku_pet 24:9481c8f56a49 879 strcat(webbuff, "</center>");
nishimura_taku_pet 24:9481c8f56a49 880 strcat(webbuff, "</body>");
nishimura_taku_pet 24:9481c8f56a49 881 strcat(webbuff, "</html>");
nishimura_taku_pet 24:9481c8f56a49 882 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
nishimura_taku_pet 24:9481c8f56a49 883
nishimura_taku_pet 24:9481c8f56a49 884 strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet 24:9481c8f56a49 885 strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet 24:9481c8f56a49 886 strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet 24:9481c8f56a49 887 strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet 24:9481c8f56a49 888 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 889
nishimura_taku_pet 24:9481c8f56a49 890 strcat(webbuff, "function send_mes(btnmes,btnval){");
nishimura_taku_pet 24:9481c8f56a49 891 strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet 24:9481c8f56a49 892
nishimura_taku_pet 24:9481c8f56a49 893 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 894 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 895 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 896 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 24:9481c8f56a49 897 strcat(webbuff, "for(var i=0;i<7;i++){");
nishimura_taku_pet 24:9481c8f56a49 898 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 899 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 900 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 901 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 902 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 903 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 904 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 905
nishimura_taku_pet 24:9481c8f56a49 906 strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
nishimura_taku_pet 24:9481c8f56a49 907 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet 24:9481c8f56a49 908 strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet 24:9481c8f56a49 909 strcat(webbuff, "console.log(url);");
nishimura_taku_pet 24:9481c8f56a49 910 strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet 24:9481c8f56a49 911 strcat(webbuff, "for(var i=7;i<10;i++){");
nishimura_taku_pet 24:9481c8f56a49 912 strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet 24:9481c8f56a49 913 strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet 24:9481c8f56a49 914 strcat(webbuff, "}else{");
nishimura_taku_pet 24:9481c8f56a49 915 strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet 24:9481c8f56a49 916 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 917 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 918 strcat(webbuff, "}");
nishimura_taku_pet 24:9481c8f56a49 919 strcat(webbuff, "</script>");
nishimura_taku_pet 24:9481c8f56a49 920 // end of WEB page data
nishimura_taku_pet 24:9481c8f56a49 921 bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet 24:9481c8f56a49 922 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 923
nishimura_taku_pet 24:9481c8f56a49 924 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
nishimura_taku_pet 24:9481c8f56a49 925 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 926 getcount=40;
nishimura_taku_pet 24:9481c8f56a49 927 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 928 getreply();
nishimura_taku_pet 24:9481c8f56a49 929 pc.printf(replybuff);
nishimura_taku_pet 32:049d9ba081d4 930 //pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
nishimura_taku_pet 24:9481c8f56a49 931
nishimura_taku_pet 24:9481c8f56a49 932 pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
nishimura_taku_pet 24:9481c8f56a49 933
nishimura_taku_pet 24:9481c8f56a49 934 //pastthrough mode
nishimura_taku_pet 24:9481c8f56a49 935 SendWEB(); // send web page
nishimura_taku_pet 24:9481c8f56a49 936 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 937
nishimura_taku_pet 24:9481c8f56a49 938 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 939 sendcheck();
nishimura_taku_pet 24:9481c8f56a49 940 }
nishimura_taku_pet 24:9481c8f56a49 941
nishimura_taku_pet 24:9481c8f56a49 942 // Large WEB buffer data send
nishimura_taku_pet 24:9481c8f56a49 943 void SendWEB()
nishimura_taku_pet 24:9481c8f56a49 944 {
nishimura_taku_pet 24:9481c8f56a49 945 int i=0;
nishimura_taku_pet 24:9481c8f56a49 946 if(esp.writeable()) {
nishimura_taku_pet 24:9481c8f56a49 947 while(webbuff[i]!='\0') {
nishimura_taku_pet 24:9481c8f56a49 948 esp.putc(webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 949
nishimura_taku_pet 24:9481c8f56a49 950 //****
nishimura_taku_pet 24:9481c8f56a49 951 //output at command when 2000
nishimura_taku_pet 24:9481c8f56a49 952 if(((i%2047)==0) && (i>0)) {
nishimura_taku_pet 24:9481c8f56a49 953 //wait_ms(10);
nishimura_taku_pet 32:049d9ba081d4 954 ThisThread::sleep_for(10);
nishimura_taku_pet 24:9481c8f56a49 955 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
nishimura_taku_pet 32:049d9ba081d4 956 //pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet 24:9481c8f56a49 957 timeout=600;
nishimura_taku_pet 24:9481c8f56a49 958 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 959 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 960 getreply();
nishimura_taku_pet 32:049d9ba081d4 961 //pc.printf(replybuff);
nishimura_taku_pet 32:049d9ba081d4 962 //pc.printf("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 963 }
nishimura_taku_pet 24:9481c8f56a49 964 //****
nishimura_taku_pet 24:9481c8f56a49 965 i++;
nishimura_taku_pet 32:049d9ba081d4 966 //pc.printf("%c",webbuff[i]);
nishimura_taku_pet 24:9481c8f56a49 967 }
nishimura_taku_pet 24:9481c8f56a49 968 }
nishimura_taku_pet 24:9481c8f56a49 969 pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet 24:9481c8f56a49 970 }
nishimura_taku_pet 24:9481c8f56a49 971
nishimura_taku_pet 24:9481c8f56a49 972
nishimura_taku_pet 24:9481c8f56a49 973
nishimura_taku_pet 24:9481c8f56a49 974 void sendcheck()
nishimura_taku_pet 24:9481c8f56a49 975 {
nishimura_taku_pet 24:9481c8f56a49 976 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 977 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 978 getcount=24;
nishimura_taku_pet 24:9481c8f56a49 979 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 980 time2.start();
nishimura_taku_pet 24:9481c8f56a49 981
nishimura_taku_pet 24:9481c8f56a49 982 /*
nishimura_taku_pet 24:9481c8f56a49 983 while(weberror==1 && time2.read() <5) {
nishimura_taku_pet 24:9481c8f56a49 984 getreply();
nishimura_taku_pet 24:9481c8f56a49 985 if (strstr(replybuff, "SEND OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 986 weberror=0; // wait for valid SEND OK
nishimura_taku_pet 24:9481c8f56a49 987 }
nishimura_taku_pet 24:9481c8f56a49 988 }
nishimura_taku_pet 24:9481c8f56a49 989 */
nishimura_taku_pet 24:9481c8f56a49 990 if(weberror==1) { // restart connection
nishimura_taku_pet 24:9481c8f56a49 991 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet 24:9481c8f56a49 992 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 993 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 994 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 995 getreply();
nishimura_taku_pet 24:9481c8f56a49 996 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 997 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 998 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 999 getcount=10;
nishimura_taku_pet 24:9481c8f56a49 1000 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1001 getreply();
nishimura_taku_pet 24:9481c8f56a49 1002 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1003 } else {
nishimura_taku_pet 24:9481c8f56a49 1004 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet 24:9481c8f56a49 1005 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1006 getreply();
nishimura_taku_pet 24:9481c8f56a49 1007 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1008 }
nishimura_taku_pet 24:9481c8f56a49 1009 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1010 }
nishimura_taku_pet 24:9481c8f56a49 1011
nishimura_taku_pet 24:9481c8f56a49 1012 // Reads and processes GET and POST web data
nishimura_taku_pet 24:9481c8f56a49 1013 void ReadWebData()
nishimura_taku_pet 24:9481c8f56a49 1014 {
nishimura_taku_pet 24:9481c8f56a49 1015 pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet 30:c80da0ecc260 1016 ThisThread::sleep_for(200);
nishimura_taku_pet 24:9481c8f56a49 1017 esp.attach(NULL);
nishimura_taku_pet 24:9481c8f56a49 1018 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1019 DataRX=0;
nishimura_taku_pet 24:9481c8f56a49 1020 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1021 memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet 24:9481c8f56a49 1022 int x = strcspn (webbuff,"+");
nishimura_taku_pet 24:9481c8f56a49 1023 if(x) {
nishimura_taku_pet 24:9481c8f56a49 1024 strcpy(webdata, webbuff + x);
nishimura_taku_pet 24:9481c8f56a49 1025 weberror=0;
nishimura_taku_pet 24:9481c8f56a49 1026 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
nishimura_taku_pet 24:9481c8f56a49 1027 //int i=0;
nishimura_taku_pet 24:9481c8f56a49 1028 pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1029 pc.printf("%s",webdata);
nishimura_taku_pet 24:9481c8f56a49 1030 pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1031 if( strstr(webdata, "GO") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1032 pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1033 run = ADVANCE; // 前進
nishimura_taku_pet 32:049d9ba081d4 1034 mode = ADVANCE; // モード変更
nishimura_taku_pet 26:0badbc9f9cb3 1035 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1036 }
nishimura_taku_pet 26:0badbc9f9cb3 1037
nishimura_taku_pet 24:9481c8f56a49 1038 if( strstr(webdata, "LEFT") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1039 pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1040 run = LEFT;
nishimura_taku_pet 32:049d9ba081d4 1041 mode = LEFT;
nishimura_taku_pet 26:0badbc9f9cb3 1042 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1043 }
nishimura_taku_pet 24:9481c8f56a49 1044
nishimura_taku_pet 24:9481c8f56a49 1045 if( strstr(webdata, "STOP") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1046 pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1047 run = STOP;
nishimura_taku_pet 32:049d9ba081d4 1048 mode = STOP;
nishimura_taku_pet 26:0badbc9f9cb3 1049 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1050 }
nishimura_taku_pet 24:9481c8f56a49 1051
nishimura_taku_pet 24:9481c8f56a49 1052 if( strstr(webdata, "RIGHT") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1053 pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1054 run = RIGHT;
nishimura_taku_pet 32:049d9ba081d4 1055 mode = RIGHT;
nishimura_taku_pet 26:0badbc9f9cb3 1056 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1057 }
nishimura_taku_pet 24:9481c8f56a49 1058
nishimura_taku_pet 24:9481c8f56a49 1059 if( strstr(webdata, "BACK") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1060 pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1061 run = BACK;
nishimura_taku_pet 32:049d9ba081d4 1062 mode = BACK;
nishimura_taku_pet 26:0badbc9f9cb3 1063 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1064 }
nishimura_taku_pet 24:9481c8f56a49 1065 pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1066
nishimura_taku_pet 24:9481c8f56a49 1067 if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1068 pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1069 if(avoi_thread->get_state() == Thread::Deleted) {
nishimura_taku_pet 26:0badbc9f9cb3 1070 delete avoi_thread;
nishimura_taku_pet 26:0badbc9f9cb3 1071 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 26:0badbc9f9cb3 1072 avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1073 }
nishimura_taku_pet 24:9481c8f56a49 1074 mode=AVOIDANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1075 run = ADVANCE;
nishimura_taku_pet 26:0badbc9f9cb3 1076 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1077 }
nishimura_taku_pet 24:9481c8f56a49 1078 if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1079 pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1080 pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet 26:0badbc9f9cb3 1081 if(trace_thread->get_state() == Thread::Deleted) {
nishimura_taku_pet 26:0badbc9f9cb3 1082 delete trace_thread;
nishimura_taku_pet 26:0badbc9f9cb3 1083 trace_thread = new Thread(trace);
nishimura_taku_pet 26:0badbc9f9cb3 1084 trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet 26:0badbc9f9cb3 1085 }
nishimura_taku_pet 24:9481c8f56a49 1086 mode=LINE_TRACE;
nishimura_taku_pet 26:0badbc9f9cb3 1087 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1088 }
nishimura_taku_pet 24:9481c8f56a49 1089 if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1090 pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1091 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1092 flag_sp = 0;
nishimura_taku_pet 26:0badbc9f9cb3 1093 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1094 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1095 }
nishimura_taku_pet 24:9481c8f56a49 1096 if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1097 pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet 24:9481c8f56a49 1098 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1099 flag_sp = 1;
nishimura_taku_pet 26:0badbc9f9cb3 1100 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1101 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1102 }
nishimura_taku_pet 24:9481c8f56a49 1103 if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet 24:9481c8f56a49 1104 pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet 26:0badbc9f9cb3 1105 mode = SPEED; // スピードモード
nishimura_taku_pet 24:9481c8f56a49 1106 flag_sp = 2;
nishimura_taku_pet 26:0badbc9f9cb3 1107 display(); // ディスプレイ表示
nishimura_taku_pet 24:9481c8f56a49 1108 mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet 24:9481c8f56a49 1109 }
nishimura_taku_pet 26:0badbc9f9cb3 1110 if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1111 trace_thread->terminate();
nishimura_taku_pet 26:0badbc9f9cb3 1112 }
nishimura_taku_pet 26:0badbc9f9cb3 1113 if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet 26:0badbc9f9cb3 1114 avoi_thread->terminate();
nishimura_taku_pet 31:3665282561d6 1115 servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet 26:0badbc9f9cb3 1116 }
nishimura_taku_pet 24:9481c8f56a49 1117 sprintf(channel, "%d",linkID);
nishimura_taku_pet 24:9481c8f56a49 1118 if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1119 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1120 }
nishimura_taku_pet 24:9481c8f56a49 1121 if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1122 servreq=1;
nishimura_taku_pet 24:9481c8f56a49 1123 }
nishimura_taku_pet 24:9481c8f56a49 1124 webcounter++;
nishimura_taku_pet 24:9481c8f56a49 1125 sprintf(webcount, "%d",webcounter);
nishimura_taku_pet 24:9481c8f56a49 1126 } else {
nishimura_taku_pet 24:9481c8f56a49 1127 memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet 24:9481c8f56a49 1128 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1129 weberror=1;
nishimura_taku_pet 24:9481c8f56a49 1130 }
nishimura_taku_pet 24:9481c8f56a49 1131 }
nishimura_taku_pet 24:9481c8f56a49 1132 // Starts and restarts webserver if errors detected.
nishimura_taku_pet 24:9481c8f56a49 1133 void startserver()
nishimura_taku_pet 24:9481c8f56a49 1134 {
nishimura_taku_pet 24:9481c8f56a49 1135 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1136 strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet 24:9481c8f56a49 1137 timeout=8000;
nishimura_taku_pet 24:9481c8f56a49 1138 getcount=1000;
nishimura_taku_pet 24:9481c8f56a49 1139 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1140 getreply();
nishimura_taku_pet 24:9481c8f56a49 1141 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1142 pc.printf("%d",ount);
nishimura_taku_pet 24:9481c8f56a49 1143 if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet 24:9481c8f56a49 1144 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1145 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet 24:9481c8f56a49 1146 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1147 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1148 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1149 getreply();
nishimura_taku_pet 24:9481c8f56a49 1150 pc.printf(replybuff);
nishimura_taku_pet 24:9481c8f56a49 1151 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet 24:9481c8f56a49 1152 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1153 getcount=20;
nishimura_taku_pet 24:9481c8f56a49 1154 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1155 getreply();
nishimura_taku_pet 24:9481c8f56a49 1156 pc.printf(replybuff);
nishimura_taku_pet 33:a6f1090e0174 1157 ThisThread::sleep_for(500);
nishimura_taku_pet 24:9481c8f56a49 1158 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet 24:9481c8f56a49 1159 timeout=500;
nishimura_taku_pet 24:9481c8f56a49 1160 getcount=50;
nishimura_taku_pet 24:9481c8f56a49 1161 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1162 getreply();
nishimura_taku_pet 24:9481c8f56a49 1163 pc.printf(replybuff);
nishimura_taku_pet 25:8ed98982faa7 1164 ThisThread::sleep_for(5000);
nishimura_taku_pet 24:9481c8f56a49 1165 pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet 24:9481c8f56a49 1166 strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet 24:9481c8f56a49 1167 timeout=2500;
nishimura_taku_pet 24:9481c8f56a49 1168 getcount=200;
nishimura_taku_pet 24:9481c8f56a49 1169 while(weberror==0) {
nishimura_taku_pet 24:9481c8f56a49 1170 SendCMD();
nishimura_taku_pet 24:9481c8f56a49 1171 getreply();
nishimura_taku_pet 24:9481c8f56a49 1172 if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet 24:9481c8f56a49 1173 weberror=1; // wait for valid IP
nishimura_taku_pet 24:9481c8f56a49 1174 }
nishimura_taku_pet 24:9481c8f56a49 1175 }
nishimura_taku_pet 24:9481c8f56a49 1176 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1177 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet 24:9481c8f56a49 1178 replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet 24:9481c8f56a49 1179 //char* IP = replybuff + 5;
nishimura_taku_pet 24:9481c8f56a49 1180 sprintf(webdata,"%s", replybuff);
nishimura_taku_pet 24:9481c8f56a49 1181 pc.printf(webdata);
nishimura_taku_pet 24:9481c8f56a49 1182 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1183 bufflen=200;
nishimura_taku_pet 24:9481c8f56a49 1184 //bufflen=100;
nishimura_taku_pet 24:9481c8f56a49 1185 ount=0;
nishimura_taku_pet 24:9481c8f56a49 1186 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet 33:a6f1090e0174 1187 setup();
nishimura_taku_pet 24:9481c8f56a49 1188 esp.attach(&callback);
nishimura_taku_pet 24:9481c8f56a49 1189 } else {
nishimura_taku_pet 24:9481c8f56a49 1190 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet 24:9481c8f56a49 1191 led1=1;
nishimura_taku_pet 24:9481c8f56a49 1192 led2=1;
nishimura_taku_pet 24:9481c8f56a49 1193 led3=1;
nishimura_taku_pet 24:9481c8f56a49 1194 led4=1;
nishimura_taku_pet 24:9481c8f56a49 1195 while(1) {
nishimura_taku_pet 24:9481c8f56a49 1196 led1=!led1;
nishimura_taku_pet 24:9481c8f56a49 1197 led2=!led2;
nishimura_taku_pet 24:9481c8f56a49 1198 led3=!led3;
nishimura_taku_pet 24:9481c8f56a49 1199 led4=!led4;
nishimura_taku_pet 25:8ed98982faa7 1200 ThisThread::sleep_for(1000);
nishimura_taku_pet 24:9481c8f56a49 1201 }
nishimura_taku_pet 24:9481c8f56a49 1202 }
nishimura_taku_pet 24:9481c8f56a49 1203 time2.reset();
nishimura_taku_pet 24:9481c8f56a49 1204 time2.start();
nishimura_taku_pet 24:9481c8f56a49 1205 }
nishimura_taku_pet 24:9481c8f56a49 1206 // ESP Command data send
nishimura_taku_pet 24:9481c8f56a49 1207 void SendCMD()
nishimura_taku_pet 24:9481c8f56a49 1208 {
nishimura_taku_pet 24:9481c8f56a49 1209 esp.printf("%s", cmdbuff);
nishimura_taku_pet 24:9481c8f56a49 1210 }
nishimura_taku_pet 24:9481c8f56a49 1211 // Get Command and ESP status replies
nishimura_taku_pet 24:9481c8f56a49 1212 void getreply()
nishimura_taku_pet 24:9481c8f56a49 1213 {
nishimura_taku_pet 24:9481c8f56a49 1214 memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet 24:9481c8f56a49 1215 time1.reset();
nishimura_taku_pet 24:9481c8f56a49 1216 time1.start();
nishimura_taku_pet 24:9481c8f56a49 1217 replycount=0;
nishimura_taku_pet 24:9481c8f56a49 1218 while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet 24:9481c8f56a49 1219 if(esp.readable()) {
nishimura_taku_pet 24:9481c8f56a49 1220 replybuff[replycount] = esp.getc();
nishimura_taku_pet 24:9481c8f56a49 1221 replycount++;
nishimura_taku_pet 24:9481c8f56a49 1222 }
nishimura_taku_pet 24:9481c8f56a49 1223 }
nishimura_taku_pet 24:9481c8f56a49 1224 time1.stop();
nishimura_taku_pet 24:9481c8f56a49 1225 }
nishimura_taku_pet 24:9481c8f56a49 1226
tomotsugu 8:a47dbf4fa455 1227 /* mainスレッド */
yangtzuli 0:0d0037aabe41 1228 int main() {
tomotsugu 8:a47dbf4fa455 1229 /* 初期設定 */
nishimura_taku_pet 16:ffc732a3cf92 1230 avoi_thread = new Thread(avoidance);
nishimura_taku_pet 16:ffc732a3cf92 1231 avoi_thread->terminate();
nishimura_taku_pet 16:ffc732a3cf92 1232 trace_thread = new Thread(trace);
nishimura_taku_pet 16:ffc732a3cf92 1233 trace_thread->terminate();
tomotsugu 8:a47dbf4fa455 1234 mode = READY; // 現在待ちモード
tomotsugu 8:a47dbf4fa455 1235 beforeMode = READY; // 前回待ちモード
tomotsugu 8:a47dbf4fa455 1236 run = STOP; // 停止
tomotsugu 8:a47dbf4fa455 1237 flag_sp = NORMAL; // スピード(普通)
tomotsugu 10:d193030ce672 1238 lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet 33:a6f1090e0174 1239 lcd.setAddress(0,1);
nishimura_taku_pet 33:a6f1090e0174 1240 lcd.printf("Mode:SetUp");
nishimura_taku_pet 33:a6f1090e0174 1241 //display(); // ディスプレイ表示
yangtzuli 2:38825726cb1b 1242
yangtzuli 0:0d0037aabe41 1243 while(1){
tomotsugu 8:a47dbf4fa455 1244 bChange(); // バッテリー残量更新
yangtzuli 0:0d0037aabe41 1245 }
yangtzuli 0:0d0037aabe41 1246 }