robotcarWifi3-demo-0827 - ボタンを押すと、バッテリ更新を停止し、他のボタンもロックさせる

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siqiang pan / Mbed OS robotcarWifi3-demo-0827

ボタンを押すと、バッテリ更新を停止し、他のボタンもロックさせる

main.cpp@28:cb51cafca490, 2020-08-06 (annotated)

Committer:: nishimura_taku_pet
Date:: Thu Aug 06 03:02:32 2020 +0000
Revision:: 28:cb51cafca490
Parent:: 27:90962c01bfeb
Child:: 29:600e4b9b5c5b

change avoidance

Who changed what in which revision?

User	Revision	Line number	New 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
yangtzuli	17:f7259ab2fe86	97	int t1,t2=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	27:90962c01bfeb	104	//float temperature, AdcIn, Ht;
nishimura_taku_pet	24:9481c8f56a49	105	float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet	24:9481c8f56a49	106	char Vcc[10];
nishimura_taku_pet	24:9481c8f56a49	107	char webcount[8];
nishimura_taku_pet	24:9481c8f56a49	108	char type[16];
nishimura_taku_pet	24:9481c8f56a49	109	char type1[16];
nishimura_taku_pet	24:9481c8f56a49	110	char channel[2];
nishimura_taku_pet	24:9481c8f56a49	111	char cmdbuff[32];
nishimura_taku_pet	24:9481c8f56a49	112	char replybuff[1024];
nishimura_taku_pet	24:9481c8f56a49	113	char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet	27:90962c01bfeb	114	char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet	24:9481c8f56a49	115	int port =80; // set server port
nishimura_taku_pet	24:9481c8f56a49	116	int SERVtimeout =5; // set server timeout in seconds in case link breaks.
nishimura_taku_pet	24:9481c8f56a49	117	char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet	24:9481c8f56a49	118	char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli	3:2ae6218973be	119
yangtzuli	3:2ae6218973be	120
yangtzuli	3:2ae6218973be	121	/* プロトタイプ宣言 */
yangtzuli	3:2ae6218973be	122	void decodeIR(void const *argument);
yangtzuli	3:2ae6218973be	123	void motor(void const *argument);
yangtzuli	3:2ae6218973be	124	void changeSpeed();
nishimura_taku_pet	16:ffc732a3cf92	125	void avoidance(/void const argument*/);
nishimura_taku_pet	16:ffc732a3cf92	126	void trace(/void const argument*/);
yangtzuli	2:38825726cb1b	127	void watchsurrounding();
yangtzuli	2:38825726cb1b	128	int watch();
yangtzuli	5:3fffb364744b	129	void bChange();
yangtzuli	3:2ae6218973be	130	void display();
yangtzuli	3:2ae6218973be	131	void lcdBacklight(void const *argument);
nishimura_taku_pet	24:9481c8f56a49	132	void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
nishimura_taku_pet	24:9481c8f56a49	133	void wifi(void const *argument);
tomotsugu	8:a47dbf4fa455	134	Thread deco_thread(decodeIR, NULL, osPriorityRealtime); // decodeIRをスレッド化：+3
nishimura_taku_pet	24:9481c8f56a49	135	Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化
tomotsugu	8:a47dbf4fa455	136	Thread motor_thread(motor, NULL, osPriorityHigh); // motorをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	137	//Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	138	//Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化：+2
tomotsugu	8:a47dbf4fa455	139	RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
nishimura_taku_pet	16:ffc732a3cf92	140	Thread *avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	141	Thread *trace_thread;
yangtzuli	2:38825726cb1b	142
nishimura_taku_pet	24:9481c8f56a49	143	DigitalOut led1(LED1);
nishimura_taku_pet	24:9481c8f56a49	144	DigitalOut led2(LED2);
nishimura_taku_pet	24:9481c8f56a49	145	DigitalOut led3(LED3);
nishimura_taku_pet	24:9481c8f56a49	146	DigitalOut led4(LED4);
yangtzuli	3:2ae6218973be	147
tomotsugu	8:a47dbf4fa455	148	/* リモコン受信スレッド */
yangtzuli	5:3fffb364744b	149	void decodeIR(void const *argument){
yangtzuli	5:3fffb364744b	150	while(1){
yangtzuli	0:0d0037aabe41	151	// 受信待ち
tomotsugu	8:a47dbf4fa455	152	if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli	3:2ae6218973be	153	bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu	8:a47dbf4fa455	154	if(bitcount > 1){ // 受信成功
yangtzuli	1:5bb497a38344	155	code=0;
tomotsugu	15:5eef1955f6c2	156	for(int j = 0; j < 4; j++){
yangtzuli	1:5bb497a38344	157	code+=(buf[j]<<(8*(3-j)));
yangtzuli	1:5bb497a38344	158	}
tomotsugu	8:a47dbf4fa455	159	if(mode != SPEED){ // スピードモード以外なら
tomotsugu	8:a47dbf4fa455	160	beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli	3:2ae6218973be	161	}
yangtzuli	0:0d0037aabe41	162	switch(code){
tomotsugu	8:a47dbf4fa455	163	case 0x40bf27d8: // クイック
yangtzuli	17:f7259ab2fe86	164	//pc.printf("mode = SPEED\r\n");
tomotsugu	8:a47dbf4fa455	165	mode = SPEED; // スピードモード
tomotsugu	8:a47dbf4fa455	166	changeSpeed(); // 速度変更
tomotsugu	8:a47dbf4fa455	167	display(); // ディスプレイ表示
tomotsugu	8:a47dbf4fa455	168	mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli	1:5bb497a38344	169	break;
tomotsugu	8:a47dbf4fa455	170	case 0x40be34cb: // レグザリンク
yangtzuli	17:f7259ab2fe86	171	//pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	172	if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	173	delete trace_thread;
nishimura_taku_pet	16:ffc732a3cf92	174	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	175	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	176	}
tomotsugu	8:a47dbf4fa455	177	mode=LINE_TRACE; // ライントレースモード
tomotsugu	8:a47dbf4fa455	178	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	179	break;
tomotsugu	8:a47dbf4fa455	180	case 0x40bf6e91: // 番組表
yangtzuli	17:f7259ab2fe86	181	//pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	182	if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	183	delete avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	184	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	185	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	186	}
tomotsugu	18:6cca64c7dbc3	187	flag_a = 0;
tomotsugu	8:a47dbf4fa455	188	mode=AVOIDANCE; // 障害物回避モード
tomotsugu	13:1a7667d0aa78	189	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	190	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	191	break;
tomotsugu	8:a47dbf4fa455	192	case 0x40bf3ec1: // ↑
yangtzuli	17:f7259ab2fe86	193	//pc.printf("mode = ADVANCE\r\n");
tomotsugu	8:a47dbf4fa455	194	mode = ADVANCE; // 前進モード
tomotsugu	8:a47dbf4fa455	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 0x40bf3fc0: // ↓
yangtzuli	17:f7259ab2fe86	199	//pc.printf("mode = BACK\r\n");
tomotsugu	8:a47dbf4fa455	200	mode = BACK; // 後退モード
tomotsugu	8:a47dbf4fa455	201	run = BACK; // 後退
tomotsugu	8:a47dbf4fa455	202	display(); // ディスプレイ表示
yangtzuli	0:0d0037aabe41	203	break;
tomotsugu	8:a47dbf4fa455	204	case 0x40bf5fa0: // ←
yangtzuli	17:f7259ab2fe86	205	//pc.printf("mode = LEFT\r\n");
tomotsugu	8:a47dbf4fa455	206	mode = LEFT; // 左折モード
tomotsugu	8:a47dbf4fa455	207	run = LEFT; // 左折
tomotsugu	8:a47dbf4fa455	208	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	209	break;
tomotsugu	8:a47dbf4fa455	210	case 0x40bf5ba4: // →
yangtzuli	17:f7259ab2fe86	211	//pc.printf("mode = RIGHT\r\n");
tomotsugu	8:a47dbf4fa455	212	mode = RIGHT; // 右折モード
tomotsugu	8:a47dbf4fa455	213	run = RIGHT; // 右折
tomotsugu	8:a47dbf4fa455	214	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	215	break;
tomotsugu	8:a47dbf4fa455	216	case 0x40bf3dc2: // 決定
yangtzuli	17:f7259ab2fe86	217	//pc.printf("mode = STOP\r\n");
tomotsugu	8:a47dbf4fa455	218	mode = STOP; // 停止モード
tomotsugu	8:a47dbf4fa455	219	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	220	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	221	break;
yangtzuli	0:0d0037aabe41	222	default:
yangtzuli	0:0d0037aabe41	223	;
yangtzuli	0:0d0037aabe41	224	}
nishimura_taku_pet	16:ffc732a3cf92	225	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	226	trace_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	227	}
nishimura_taku_pet	16:ffc732a3cf92	228	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	229	avoi_thread->terminate();
nishimura_taku_pet	28:cb51cafca490	230	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	16:ffc732a3cf92	231	}
yangtzuli	0:0d0037aabe41	232	}
yangtzuli	0:0d0037aabe41	233	}
tomotsugu	8:a47dbf4fa455	234	if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
tomotsugu	8:a47dbf4fa455	235	viewTimer.stop(); // タイマーストップ
tomotsugu	8:a47dbf4fa455	236	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	237	display(); // ディスプレイ表示
yangtzuli	4:3f80c0180e2f	238	}
tomotsugu	18:6cca64c7dbc3	239	ThisThread::sleep_for(90); // 90ms待つ
yangtzuli	4:3f80c0180e2f	240	}
yangtzuli	2:38825726cb1b	241	}
tomotsugu	8:a47dbf4fa455	242
tomotsugu	8:a47dbf4fa455	243	/* モーター制御スレッド */
yangtzuli	2:38825726cb1b	244	void motor(void const *argument){
tomotsugu	8:a47dbf4fa455	245	while(1){
tomotsugu	8:a47dbf4fa455	246	/* 走行状態の場合分け */
yangtzuli	3:2ae6218973be	247	switch(run){
tomotsugu	8:a47dbf4fa455	248	/* 前進 */
yangtzuli	3:2ae6218973be	249	case ADVANCE:
tomotsugu	8:a47dbf4fa455	250	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	251	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	252	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	253	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	254	break;
tomotsugu	8:a47dbf4fa455	255	/* 右折 */
yangtzuli	3:2ae6218973be	256	case RIGHT:
tomotsugu	8:a47dbf4fa455	257	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	258	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	259	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	260	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	261	break;
tomotsugu	8:a47dbf4fa455	262	/* 左折 */
yangtzuli	3:2ae6218973be	263	case LEFT:
tomotsugu	8:a47dbf4fa455	264	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	265	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	266	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	267	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	268	break;
tomotsugu	8:a47dbf4fa455	269	/* 後退 */
yangtzuli	3:2ae6218973be	270	case BACK:
tomotsugu	8:a47dbf4fa455	271	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	272	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	273	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	274	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	275	break;
tomotsugu	8:a47dbf4fa455	276	/* 停止 */
yangtzuli	3:2ae6218973be	277	case STOP:
tomotsugu	8:a47dbf4fa455	278	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	279	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	280	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	281	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	282	break;
yangtzuli	3:2ae6218973be	283	}
tomotsugu	8:a47dbf4fa455	284	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	285	flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整
yangtzuli	6:800a745c7f2e	286	}
tomotsugu	8:a47dbf4fa455	287	ThisThread::sleep_for(30); // 30ms待つ
yangtzuli	2:38825726cb1b	288	}
yangtzuli	2:38825726cb1b	289	}
tomotsugu	8:a47dbf4fa455	290
tomotsugu	8:a47dbf4fa455	291	/* スピード変更関数 */
yangtzuli	3:2ae6218973be	292	void changeSpeed(){
tomotsugu	8:a47dbf4fa455	293	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	294	flag_sp -= 2; // スピード変更フラグを-2
yangtzuli	3:2ae6218973be	295
tomotsugu	8:a47dbf4fa455	296	}else{ // それ以外
tomotsugu	8:a47dbf4fa455	297	flag_sp = flag_sp + 1; // スピード変更フラグを+1
yangtzuli	3:2ae6218973be	298	}
yangtzuli	3:2ae6218973be	299	}
tomotsugu	8:a47dbf4fa455	300
tomotsugu	8:a47dbf4fa455	301	/* ライントレーススレッド */
tomotsugu	20:02bb875a9b13	302	void trace(){
tomotsugu	8:a47dbf4fa455	303	while(1){
tomotsugu	8:a47dbf4fa455	304	/* 各センサー値読み取り */
yangtzuli	3:2ae6218973be	305	int sensor1 = ss1;
yangtzuli	3:2ae6218973be	306	int sensor2 = ss2;
yangtzuli	3:2ae6218973be	307	int sensor3 = ss3;
yangtzuli	3:2ae6218973be	308	int sensor4 = ss4;
yangtzuli	3:2ae6218973be	309	int sensor5 = ss5;
yangtzuli	6:800a745c7f2e	310	pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
yangtzuli	3:2ae6218973be	311	int sensD = 0;
yangtzuli	3:2ae6218973be	312	int sensorNum;
tomotsugu	8:a47dbf4fa455	313
tomotsugu	8:a47dbf4fa455	314	/* センサー値の決定 */
yangtzuli	3:2ae6218973be	315	if(sensor1 > 0) sensD \|= 0x10;
yangtzuli	3:2ae6218973be	316	if(sensor2 > 0) sensD \|= 0x08;
yangtzuli	3:2ae6218973be	317	if(sensor3 > 0) sensD \|= 0x04;
yangtzuli	3:2ae6218973be	318	if(sensor4 > 0) sensD \|= 0x02;
yangtzuli	3:2ae6218973be	319	if(sensor5 > 0) sensD \|= 0x01;
tomotsugu	8:a47dbf4fa455	320
yangtzuli	3:2ae6218973be	321	sensorNum = sensArray[sensD];
tomotsugu	8:a47dbf4fa455	322
tomotsugu	8:a47dbf4fa455	323	/* センサー値によって場合分け */
yangtzuli	3:2ae6218973be	324	switch(sensorNum){
yangtzuli	3:2ae6218973be	325	case 1:
tomotsugu	18:6cca64c7dbc3	326	run = ADVANCE; // 低速で前進
yangtzuli	3:2ae6218973be	327	break;
yangtzuli	3:2ae6218973be	328	case 2:
yangtzuli	23:8c862b55fa1f	329	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	330	run = RIGHT; // 低速で右折
yangtzuli	3:2ae6218973be	331	break;
yangtzuli	3:2ae6218973be	332	case 3:
yangtzuli	23:8c862b55fa1f	333	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	334	run = LEFT; // 低速で左折
yangtzuli	3:2ae6218973be	335	break;
yangtzuli	3:2ae6218973be	336	case 4:
yangtzuli	23:8c862b55fa1f	337	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	338	run = RIGHT; // 中速で右折
yangtzuli	3:2ae6218973be	339	break;
yangtzuli	3:2ae6218973be	340	case 5:
yangtzuli	23:8c862b55fa1f	341	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	342	run = LEFT; // 中速で左折
yangtzuli	6:800a745c7f2e	343	break;
yangtzuli	6:800a745c7f2e	344	case 6:
tomotsugu	18:6cca64c7dbc3	345	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	346	run = RIGHT; // 高速で右折
yangtzuli	6:800a745c7f2e	347	break;
yangtzuli	6:800a745c7f2e	348	case 7:
tomotsugu	18:6cca64c7dbc3	349	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	350	run = LEFT; // 高速で左折
yangtzuli	3:2ae6218973be	351	break;
yangtzuli	23:8c862b55fa1f	352	case 8:
yangtzuli	23:8c862b55fa1f	353	break;
yangtzuli	3:2ae6218973be	354	}
tomotsugu	8:a47dbf4fa455	355	ThisThread::sleep_for(30); // 30ms待つ
tomotsugu	18:6cca64c7dbc3	356	}
yangtzuli	3:2ae6218973be	357	}
yangtzuli	3:2ae6218973be	358
tomotsugu	8:a47dbf4fa455	359	/* 障害物回避走行スレッド */
tomotsugu	20:02bb875a9b13	360	void avoidance(){
yangtzuli	3:2ae6218973be	361	while(1){
tomotsugu	18:6cca64c7dbc3	362	watchsurrounding();
tomotsugu	18:6cca64c7dbc3	363	pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
tomotsugu	18:6cca64c7dbc3	364	if(flag_a == 0){ // 障害物がない場合
tomotsugu	18:6cca64c7dbc3	365	run = ADVANCE; // 前進
nishimura_taku_pet	28:cb51cafca490	366	}else{ // 障害物がある場合
tomotsugu	18:6cca64c7dbc3	367	i = 0;
tomotsugu	18:6cca64c7dbc3	368	if(SC < 15){ // 正面15cm以内に障害物が現れた場合
tomotsugu	18:6cca64c7dbc3	369	run = BACK; // 後退
tomotsugu	18:6cca64c7dbc3	370	while(watch() < limit){ // 正面20cm以内に障害物がある間
tomotsugu	18:6cca64c7dbc3	371	}
tomotsugu	18:6cca64c7dbc3	372	run = STOP; // 停止
yangtzuli	3:2ae6218973be	373	}
nishimura_taku_pet	28:cb51cafca490	374	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	375	run = LEFT; // 左折
nishimura_taku_pet	28:cb51cafca490	376	while(i < 1){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	377	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	378	if(watch() > limit){
tomotsugu	18:6cca64c7dbc3	379	i++;
nishimura_taku_pet	28:cb51cafca490	380	}else{
nishimura_taku_pet	28:cb51cafca490	381	i = 0;
yangtzuli	2:38825726cb1b	382	}
yangtzuli	2:38825726cb1b	383	}
nishimura_taku_pet	28:cb51cafca490	384	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	385	}else { // 全方向以外
nishimura_taku_pet	28:cb51cafca490	386	far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	387	houkou = 1; // 進行方向を前に設定
nishimura_taku_pet	28:cb51cafca490	388	if(far < SLD \|\| far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	389	if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet	28:cb51cafca490	390	far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	391	}else{ // 左が左前より遠い場合
nishimura_taku_pet	28:cb51cafca490	392	far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	393	}
nishimura_taku_pet	28:cb51cafca490	394	houkou = 2; // 進行方向を左に設定
nishimura_taku_pet	28:cb51cafca490	395	}
nishimura_taku_pet	28:cb51cafca490	396	if(far < SRD \|\| far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	397	if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet	28:cb51cafca490	398	far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	399	}else{ // 右が右前よりも遠い場合
nishimura_taku_pet	28:cb51cafca490	400	far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	401	}
nishimura_taku_pet	28:cb51cafca490	402	houkou = 3; // 進行方向を右に設定
nishimura_taku_pet	28:cb51cafca490	403	}
nishimura_taku_pet	28:cb51cafca490	404	switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet	28:cb51cafca490	405	case 1: // 前の場合
nishimura_taku_pet	28:cb51cafca490	406	run = ADVANCE; // 前進
nishimura_taku_pet	28:cb51cafca490	407	ThisThread::sleep_for(1000); // 1秒待つ
nishimura_taku_pet	28:cb51cafca490	408	break;
nishimura_taku_pet	28:cb51cafca490	409	case 2: // 左の場合
nishimura_taku_pet	28:cb51cafca490	410
nishimura_taku_pet	28:cb51cafca490	411	run = LEFT; // 左折
nishimura_taku_pet	28:cb51cafca490	412	while(i < 1){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	413	flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet	28:cb51cafca490	414	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	415	i++; // ループ+
nishimura_taku_pet	28:cb51cafca490	416	}else{
nishimura_taku_pet	28:cb51cafca490	417	i = 0;
nishimura_taku_pet	28:cb51cafca490	418	}
nishimura_taku_pet	28:cb51cafca490	419	}
nishimura_taku_pet	28:cb51cafca490	420	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	421	break;
nishimura_taku_pet	28:cb51cafca490	422	case 3: // 右の場合
nishimura_taku_pet	28:cb51cafca490	423
nishimura_taku_pet	28:cb51cafca490	424	run = RIGHT; // 右折
nishimura_taku_pet	28:cb51cafca490	425	while(i < 1){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	426	flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet	28:cb51cafca490	427	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	428	i++; // ループ+
nishimura_taku_pet	28:cb51cafca490	429	}else{
nishimura_taku_pet	28:cb51cafca490	430	i = 0;
nishimura_taku_pet	28:cb51cafca490	431	}
nishimura_taku_pet	28:cb51cafca490	432	}
nishimura_taku_pet	28:cb51cafca490	433	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	434	break;
nishimura_taku_pet	28:cb51cafca490	435	}
yangtzuli	5:3fffb364744b	436	}
nishimura_taku_pet	28:cb51cafca490	437	}
nishimura_taku_pet	28:cb51cafca490	438	flag_a = 0; // 障害物有無フラグを0にセット
yangtzuli	2:38825726cb1b	439	}
yangtzuli	2:38825726cb1b	440	}
tomotsugu	8:a47dbf4fa455	441
tomotsugu	8:a47dbf4fa455	442	/* 距離計測関数 */
yangtzuli	2:38825726cb1b	443	int watch(){
tomotsugu	21:68d38e8f64b5	444	do{
tomotsugu	21:68d38e8f64b5	445	trig = 0;
tomotsugu	21:68d38e8f64b5	446	ThisThread::sleep_for(5); // 5ms待つ
tomotsugu	21:68d38e8f64b5	447	trig = 1;
tomotsugu	21:68d38e8f64b5	448	ThisThread::sleep_for(15); // 15ms待つ
tomotsugu	21:68d38e8f64b5	449	trig = 0;
tomotsugu	21:68d38e8f64b5	450	timer.start();
yangtzuli	17:f7259ab2fe86	451	t1=timer.read_ms();
tomotsugu	21:68d38e8f64b5	452	t2=timer.read_ms();
tomotsugu	22:c6e2a3b9aa14	453	while(echo.read() == 0 &&(t1-t2)<10){
tomotsugu	21:68d38e8f64b5	454	t1=timer.read_ms();
tomotsugu	21:68d38e8f64b5	455	led1 = 1;
tomotsugu	21:68d38e8f64b5	456	}
tomotsugu	21:68d38e8f64b5	457	timer.stop();
tomotsugu	21:68d38e8f64b5	458	timer.reset();
nishimura_taku_pet	28:cb51cafca490	459	/*if((t1-t2) >= 10){
nishimura_taku_pet	28:cb51cafca490	460	run = STOP;*/
tomotsugu	21:68d38e8f64b5	461	}while((t1-t2) >= 10);
tomotsugu	21:68d38e8f64b5	462	timer.start(); // 距離計測タイマースタート
tomotsugu	21:68d38e8f64b5	463	while(echo.read() == 1){
yangtzuli	5:3fffb364744b	464	}
tomotsugu	21:68d38e8f64b5	465	timer.stop(); // 距離計測タイマーストップ
tomotsugu	21:68d38e8f64b5	466	DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet	28:cb51cafca490	467	if(DT > 1000){
nishimura_taku_pet	28:cb51cafca490	468	DT = -1;
nishimura_taku_pet	28:cb51cafca490	469	}else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu	22:c6e2a3b9aa14	470	DT = 150;
yangtzuli	2:38825726cb1b	471	}
tomotsugu	21:68d38e8f64b5	472	timer.reset(); // 距離計測タイマーリセット
tomotsugu	8:a47dbf4fa455	473	led1 = 0;
yangtzuli	2:38825726cb1b	474	return DT;
yangtzuli	0:0d0037aabe41	475	}
yangtzuli	0:0d0037aabe41	476
tomotsugu	8:a47dbf4fa455	477	/* 障害物検知関数 */
yangtzuli	2:38825726cb1b	478	void watchsurrounding(){
nishimura_taku_pet	28:cb51cafca490	479	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	480	//ThisThread::sleep_for(200); // 100ms待つ
yangtzuli	2:38825726cb1b	481	SC = watch();
nishimura_taku_pet	28:cb51cafca490	482	if(SC < limit){ // 正面20cm以内に障害物がある場合
nishimura_taku_pet	28:cb51cafca490	483	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	484	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	485	flag_a = 1;
nishimura_taku_pet	28:cb51cafca490	486	}
yangtzuli	2:38825726cb1b	487	}
yangtzuli	2:38825726cb1b	488	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	28:cb51cafca490	489	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	490	SLD = watch();
yangtzuli	2:38825726cb1b	491	if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	492	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	493	flag_a = 1;
yangtzuli	2:38825726cb1b	494	}
yangtzuli	2:38825726cb1b	495	servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet	28:cb51cafca490	496	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	497	SL = watch();
yangtzuli	2:38825726cb1b	498	if(SL < limit){ // 左20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	499	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	500	flag_a = 1;
yangtzuli	2:38825726cb1b	501	}
tomotsugu	19:c6f9f010bd9e	502	servo.pulsewidth_us(1450);
nishimura_taku_pet	28:cb51cafca490	503	ThisThread::sleep_for(250);
tomotsugu	19:c6f9f010bd9e	504	SC = watch();
tomotsugu	19:c6f9f010bd9e	505	if(SC < limit){
nishimura_taku_pet	28:cb51cafca490	506	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	507	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	508	flag_a = 1;
nishimura_taku_pet	28:cb51cafca490	509	}
tomotsugu	19:c6f9f010bd9e	510	}
yangtzuli	2:38825726cb1b	511	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	28:cb51cafca490	512	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	513	SRD = watch();
yangtzuli	2:38825726cb1b	514	if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	515	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	516	flag_a = 1;
yangtzuli	2:38825726cb1b	517	}
yangtzuli	2:38825726cb1b	518	servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet	28:cb51cafca490	519	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	520	SR = watch();
yangtzuli	2:38825726cb1b	521	if(SR < limit){ // 右20cm以内に障害物がある場合
nishimura_taku_pet	28:cb51cafca490	522	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	523	flag_a = 1;
yangtzuli	2:38825726cb1b	524	}
yangtzuli	2:38825726cb1b	525	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	526	ThisThread::sleep_for(250); // 100ms待つ
nishimura_taku_pet	28:cb51cafca490	527	/*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	528	flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet	28:cb51cafca490	529	}*/
yangtzuli	3:2ae6218973be	530	}
yangtzuli	3:2ae6218973be	531
tomotsugu	8:a47dbf4fa455	532	/* ディスプレイ表示関数 */
yangtzuli	3:2ae6218973be	533	void display(){
tomotsugu	8:a47dbf4fa455	534	mutex.lock(); // ミューテックスロック
yangtzuli	3:2ae6218973be	535	lcd.setAddress(0,1);
tomotsugu	8:a47dbf4fa455	536
tomotsugu	8:a47dbf4fa455	537	/* 操作モードによる場合分け */
yangtzuli	3:2ae6218973be	538	switch(mode){
tomotsugu	8:a47dbf4fa455	539	/* 前進 */
yangtzuli	3:2ae6218973be	540	case ADVANCE:
yangtzuli	3:2ae6218973be	541	lcd.printf("Mode:Advance ");
yangtzuli	3:2ae6218973be	542	break;
tomotsugu	8:a47dbf4fa455	543	/* 右折 */
yangtzuli	3:2ae6218973be	544	case RIGHT:
yangtzuli	5:3fffb364744b	545	lcd.printf("Mode:TurnRight ");
yangtzuli	3:2ae6218973be	546	break;
tomotsugu	8:a47dbf4fa455	547	/* 左折 */
yangtzuli	3:2ae6218973be	548	case LEFT:
yangtzuli	5:3fffb364744b	549	lcd.printf("Mode:TurnLeft ");
yangtzuli	3:2ae6218973be	550	break;
tomotsugu	8:a47dbf4fa455	551	/* 後退 */
yangtzuli	3:2ae6218973be	552	case BACK:
yangtzuli	3:2ae6218973be	553	lcd.printf("Mode:Back ");
yangtzuli	3:2ae6218973be	554	break;
tomotsugu	8:a47dbf4fa455	555	/* 停止 */
yangtzuli	3:2ae6218973be	556	case STOP:
yangtzuli	3:2ae6218973be	557	lcd.printf("Mode:Stop ");
yangtzuli	3:2ae6218973be	558	break;
tomotsugu	8:a47dbf4fa455	559	/* 待ち */
yangtzuli	3:2ae6218973be	560	case READY:
yangtzuli	3:2ae6218973be	561	lcd.printf("Mode:Ready ");
yangtzuli	3:2ae6218973be	562	break;
tomotsugu	8:a47dbf4fa455	563	/* ライントレース */
yangtzuli	3:2ae6218973be	564	case LINE_TRACE:
yangtzuli	3:2ae6218973be	565	lcd.printf("Mode:LineTrace ");
yangtzuli	3:2ae6218973be	566	break;
tomotsugu	8:a47dbf4fa455	567	/* 障害物回避 */
yangtzuli	3:2ae6218973be	568	case AVOIDANCE:
yangtzuli	3:2ae6218973be	569	lcd.printf("Mode:Avoidance ");
yangtzuli	3:2ae6218973be	570	break;
tomotsugu	8:a47dbf4fa455	571	/* スピード制御 */
yangtzuli	3:2ae6218973be	572	case SPEED:
tomotsugu	8:a47dbf4fa455	573	/* スピードの状態で場合分け */
yangtzuli	3:2ae6218973be	574	switch(flag_sp){
tomotsugu	8:a47dbf4fa455	575	/* 普通 */
yangtzuli	3:2ae6218973be	576	case(NORMAL):
yangtzuli	3:2ae6218973be	577	lcd.printf("Speed:Normal ");
yangtzuli	3:2ae6218973be	578	break;
tomotsugu	8:a47dbf4fa455	579	/* 速い */
yangtzuli	3:2ae6218973be	580	case(FAST):
yangtzuli	3:2ae6218973be	581	lcd.printf("Speed:Fast ");
yangtzuli	3:2ae6218973be	582	break;
tomotsugu	8:a47dbf4fa455	583	/* とても速い */
yangtzuli	3:2ae6218973be	584	case(VERYFAST):
yangtzuli	3:2ae6218973be	585	lcd.printf("Speed:VeryFast ");
yangtzuli	3:2ae6218973be	586	break;
yangtzuli	3:2ae6218973be	587	}
tomotsugu	8:a47dbf4fa455	588	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	589	viewTimer.start(); // タイマースタート
yangtzuli	3:2ae6218973be	590	break;
yangtzuli	3:2ae6218973be	591	}
tomotsugu	8:a47dbf4fa455	592	mutex.unlock(); // ミューテックスアンロック
yangtzuli	3:2ae6218973be	593	}
yangtzuli	3:2ae6218973be	594
tomotsugu	8:a47dbf4fa455	595	/* バックライト点滅 */
yangtzuli	3:2ae6218973be	596	void lcdBacklight(void const *argument){
tomotsugu	8:a47dbf4fa455	597	if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu	8:a47dbf4fa455	598	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	599	}else{ // バックライト点滅フラグが0なら
tomotsugu	8:a47dbf4fa455	600	lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli	3:2ae6218973be	601	}
tomotsugu	8:a47dbf4fa455	602	flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli	3:2ae6218973be	603	}
yangtzuli	2:38825726cb1b	604
tomotsugu	8:a47dbf4fa455	605	/* バッテリー残量更新関数 */
yangtzuli	5:3fffb364744b	606	void bChange(){
yangtzuli	17:f7259ab2fe86	607	//pc.printf(" bChange1\r\n");
tomotsugu	10:d193030ce672	608	b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)10+0.5)10;
tomotsugu	10:d193030ce672	609	if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu	10:d193030ce672	610	b = 0;
tomotsugu	10:d193030ce672	611	//lcd.setBacklight(TextLCD::LightOff);
tomotsugu	10:d193030ce672	612	//run = STOP;
tomotsugu	10:d193030ce672	613	//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	614	}
tomotsugu	10:d193030ce672	615	mutex.lock(); // ミューテックスロック
tomotsugu	10:d193030ce672	616	lcd.setAddress(0,0);
tomotsugu	10:d193030ce672	617	lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
tomotsugu	10:d193030ce672	618	mutex.unlock(); // ミューテックスアンロック
tomotsugu	10:d193030ce672	619	if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu	10:d193030ce672	620	if(flag_t == 0){ // バックライトタイマーフラグが0なら
tomotsugu	10:d193030ce672	621	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	622	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	623	}
tomotsugu	10:d193030ce672	624	}else{
tomotsugu	10:d193030ce672	625	if(flag_t == 1){ // バックライトタイマーフラグが1なら
tomotsugu	10:d193030ce672	626	bTimer.stop(); // バックライトタイマーストップ
tomotsugu	10:d193030ce672	627	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	10:d193030ce672	628	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	629	}
tomotsugu	10:d193030ce672	630	}
yangtzuli	2:38825726cb1b	631	}
tomotsugu	8:a47dbf4fa455	632
nishimura_taku_pet	24:9481c8f56a49	633	// Serial Interrupt read ESP data
nishimura_taku_pet	24:9481c8f56a49	634	void callback()
nishimura_taku_pet	24:9481c8f56a49	635	{
nishimura_taku_pet	24:9481c8f56a49	636	//pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	637	led3=1;
nishimura_taku_pet	24:9481c8f56a49	638	while (esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	639	webbuff[ount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	640	ount++;
nishimura_taku_pet	24:9481c8f56a49	641	}
nishimura_taku_pet	24:9481c8f56a49	642	if(strlen(webbuff)>bufflen) {
nishimura_taku_pet	24:9481c8f56a49	643	pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	644	DataRX=1;
nishimura_taku_pet	24:9481c8f56a49	645	led3=0;
nishimura_taku_pet	24:9481c8f56a49	646	}
nishimura_taku_pet	24:9481c8f56a49	647	}
nishimura_taku_pet	24:9481c8f56a49	648
nishimura_taku_pet	24:9481c8f56a49	649	void wifi(void const *argument)
nishimura_taku_pet	24:9481c8f56a49	650	{
nishimura_taku_pet	24:9481c8f56a49	651	pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	652	ThisThread::sleep_for(500);
nishimura_taku_pet	24:9481c8f56a49	653	led1=1,led2=0,led3=0;
nishimura_taku_pet	24:9481c8f56a49	654	timeout=6000;
nishimura_taku_pet	24:9481c8f56a49	655	getcount=500;
nishimura_taku_pet	24:9481c8f56a49	656	getreply();
nishimura_taku_pet	24:9481c8f56a49	657	esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet	24:9481c8f56a49	658	startserver();
nishimura_taku_pet	24:9481c8f56a49	659
nishimura_taku_pet	24:9481c8f56a49	660	while(1) {
nishimura_taku_pet	24:9481c8f56a49	661	if(DataRX==1) {
nishimura_taku_pet	24:9481c8f56a49	662	pc.printf("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	663	click_flag = 1;
nishimura_taku_pet	24:9481c8f56a49	664	ReadWebData();
nishimura_taku_pet	24:9481c8f56a49	665	pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
nishimura_taku_pet	24:9481c8f56a49	666	//if ((servreq == 1 && weberror == 0) && click_flag == 1) {
nishimura_taku_pet	24:9481c8f56a49	667	if (servreq == 1 && weberror == 0) {
nishimura_taku_pet	24:9481c8f56a49	668	pc.printf("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	669	sendpage();
nishimura_taku_pet	24:9481c8f56a49	670	}
nishimura_taku_pet	24:9481c8f56a49	671	pc.printf("\f\n\r------------ send_check begin --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	672
nishimura_taku_pet	24:9481c8f56a49	673	//sendcheck();
nishimura_taku_pet	24:9481c8f56a49	674	pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	675
nishimura_taku_pet	24:9481c8f56a49	676	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	677	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	678	pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
nishimura_taku_pet	24:9481c8f56a49	679	pc.printf(" Web Characters sent : %d\n\n", bufl);
nishimura_taku_pet	24:9481c8f56a49	680	pc.printf(" -------------------------------------\n\n");
nishimura_taku_pet	24:9481c8f56a49	681	servreq=0;
nishimura_taku_pet	24:9481c8f56a49	682	}
nishimura_taku_pet	24:9481c8f56a49	683	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	684	}
nishimura_taku_pet	24:9481c8f56a49	685	}
nishimura_taku_pet	24:9481c8f56a49	686	// Static WEB page
nishimura_taku_pet	24:9481c8f56a49	687	void sendpage()
nishimura_taku_pet	24:9481c8f56a49	688	{
nishimura_taku_pet	24:9481c8f56a49	689	// WEB page data
nishimura_taku_pet	24:9481c8f56a49	690
nishimura_taku_pet	24:9481c8f56a49	691	strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet	24:9481c8f56a49	692	strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
nishimura_taku_pet	24:9481c8f56a49	693	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	694	strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet	24:9481c8f56a49	695	strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
nishimura_taku_pet	24:9481c8f56a49	696	strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
nishimura_taku_pet	24:9481c8f56a49	697	strcat(webbuff, "</td></p>");
nishimura_taku_pet	24:9481c8f56a49	698	strcat(webbuff, "<br>");
nishimura_taku_pet	24:9481c8f56a49	699	strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	700
nishimura_taku_pet	24:9481c8f56a49	701	switch(mode) {
nishimura_taku_pet	24:9481c8f56a49	702	case ADVANCE:
nishimura_taku_pet	24:9481c8f56a49	703	strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	704	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	705	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	706	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	707	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	708	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	709	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	710	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	711	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	712	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	713	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	714	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	715	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	716	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	717	break;
nishimura_taku_pet	24:9481c8f56a49	718	case LEFT:
nishimura_taku_pet	24:9481c8f56a49	719	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	720	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	721	strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	722	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	723	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	724	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	725	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	726	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	727	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	728	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	729	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	730	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	731	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	732	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	733	break;
nishimura_taku_pet	24:9481c8f56a49	734	case STOP:
nishimura_taku_pet	24:9481c8f56a49	735	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	736	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	737	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	738	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	739	strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	740	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	741	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	742	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	743	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	744	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	745	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	746	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	747	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	748	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	749	break;
nishimura_taku_pet	24:9481c8f56a49	750	case RIGHT:
nishimura_taku_pet	24:9481c8f56a49	751	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	752	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	753	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	754	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	755	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	756	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	757	strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	758	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	759	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	760	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	761	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	762	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	763	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	764	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	765	break;
nishimura_taku_pet	24:9481c8f56a49	766	case BACK:
nishimura_taku_pet	24:9481c8f56a49	767	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	768	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	769	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	770	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	771	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	772	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	773	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	774	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	775	strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	776	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet	24:9481c8f56a49	777	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	778	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	779	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	780	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	781	break;
nishimura_taku_pet	24:9481c8f56a49	782	case AVOIDANCE:
nishimura_taku_pet	24:9481c8f56a49	783	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	784	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	785	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	786	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	787	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	788	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	789	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	790	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	791	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	792	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	793	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	794	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	795	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	796	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	797	break;
nishimura_taku_pet	24:9481c8f56a49	798	case LINE_TRACE:
nishimura_taku_pet	24:9481c8f56a49	799	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	800	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	801	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	802	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	803	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	804	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	805	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	806	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	807	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	808	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	809	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	810	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	811	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	812	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	813	break;
nishimura_taku_pet	24:9481c8f56a49	814	default:
nishimura_taku_pet	24:9481c8f56a49	815	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	816	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	817	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	818	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	819	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	820	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	821	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	822	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	823	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	824	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	825	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	826	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	827	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	828	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	829	break;
nishimura_taku_pet	24:9481c8f56a49	830	}
nishimura_taku_pet	24:9481c8f56a49	831	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	832	strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet	24:9481c8f56a49	833	strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	834	//ready示速度だけ点灯
nishimura_taku_pet	24:9481c8f56a49	835	switch (flag_sp) {
nishimura_taku_pet	24:9481c8f56a49	836	case 0:
nishimura_taku_pet	24:9481c8f56a49	837	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	838	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	839	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	840	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	841	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	842	break;
nishimura_taku_pet	24:9481c8f56a49	843	case 1:
nishimura_taku_pet	24:9481c8f56a49	844	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	845	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	846	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	847	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	848	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	849	break;
nishimura_taku_pet	24:9481c8f56a49	850	case 2:
nishimura_taku_pet	24:9481c8f56a49	851	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	852	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	853	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	854	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	855	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	856	break;
nishimura_taku_pet	24:9481c8f56a49	857	default:
nishimura_taku_pet	24:9481c8f56a49	858	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	859	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	860	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	861	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	862	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	863	break;
nishimura_taku_pet	24:9481c8f56a49	864	}
nishimura_taku_pet	24:9481c8f56a49	865	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	866
nishimura_taku_pet	24:9481c8f56a49	867	strcat(webbuff, "</center>");
nishimura_taku_pet	24:9481c8f56a49	868	strcat(webbuff, "</body>");
nishimura_taku_pet	24:9481c8f56a49	869	strcat(webbuff, "</html>");
nishimura_taku_pet	24:9481c8f56a49	870	strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
nishimura_taku_pet	24:9481c8f56a49	871
nishimura_taku_pet	24:9481c8f56a49	872	strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet	24:9481c8f56a49	873	strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet	24:9481c8f56a49	874	strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet	24:9481c8f56a49	875	strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet	24:9481c8f56a49	876	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	877
nishimura_taku_pet	24:9481c8f56a49	878	strcat(webbuff, "function send_mes(btnmes,btnval){");
nishimura_taku_pet	24:9481c8f56a49	879	strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet	24:9481c8f56a49	880
nishimura_taku_pet	24:9481c8f56a49	881	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	882	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	883	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	884	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	24:9481c8f56a49	885	strcat(webbuff, "for(var i=0;i<7;i++){");
nishimura_taku_pet	24:9481c8f56a49	886	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	887	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	888	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	889	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	890	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	891	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	892	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	893
nishimura_taku_pet	24:9481c8f56a49	894	strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
nishimura_taku_pet	24:9481c8f56a49	895	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	896	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	897	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	898	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	24:9481c8f56a49	899	strcat(webbuff, "for(var i=7;i<10;i++){");
nishimura_taku_pet	24:9481c8f56a49	900	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	901	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	902	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	903	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	904	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	905	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	906	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	907	strcat(webbuff, "</script>");
nishimura_taku_pet	24:9481c8f56a49	908	// end of WEB page data
nishimura_taku_pet	24:9481c8f56a49	909	bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet	24:9481c8f56a49	910	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	911
nishimura_taku_pet	24:9481c8f56a49	912	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	913	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	914	getcount=40;
nishimura_taku_pet	24:9481c8f56a49	915	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	916	getreply();
nishimura_taku_pet	24:9481c8f56a49	917	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	918	pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
nishimura_taku_pet	24:9481c8f56a49	919
nishimura_taku_pet	24:9481c8f56a49	920	pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
nishimura_taku_pet	24:9481c8f56a49	921
nishimura_taku_pet	24:9481c8f56a49	922	//pastthrough mode
nishimura_taku_pet	24:9481c8f56a49	923	SendWEB(); // send web page
nishimura_taku_pet	24:9481c8f56a49	924	pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	925
nishimura_taku_pet	24:9481c8f56a49	926	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	927	sendcheck();
nishimura_taku_pet	24:9481c8f56a49	928	}
nishimura_taku_pet	24:9481c8f56a49	929
nishimura_taku_pet	24:9481c8f56a49	930	// Large WEB buffer data send
nishimura_taku_pet	24:9481c8f56a49	931	void SendWEB()
nishimura_taku_pet	24:9481c8f56a49	932	{
nishimura_taku_pet	24:9481c8f56a49	933	int i=0;
nishimura_taku_pet	24:9481c8f56a49	934	if(esp.writeable()) {
nishimura_taku_pet	24:9481c8f56a49	935	while(webbuff[i]!='\0') {
nishimura_taku_pet	24:9481c8f56a49	936	esp.putc(webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	937
nishimura_taku_pet	24:9481c8f56a49	938	//****
nishimura_taku_pet	24:9481c8f56a49	939	//output at command when 2000
nishimura_taku_pet	24:9481c8f56a49	940	if(((i%2047)==0) && (i>0)) {
nishimura_taku_pet	24:9481c8f56a49	941	//wait_ms(10);
nishimura_taku_pet	24:9481c8f56a49	942	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	24:9481c8f56a49	943	pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet	24:9481c8f56a49	944	timeout=600;
nishimura_taku_pet	24:9481c8f56a49	945	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	946	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	947	getreply();
nishimura_taku_pet	24:9481c8f56a49	948	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	949	pc.printf("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	950	}
nishimura_taku_pet	24:9481c8f56a49	951	//****
nishimura_taku_pet	24:9481c8f56a49	952	i++;
nishimura_taku_pet	24:9481c8f56a49	953	pc.printf("%c",webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	954	}
nishimura_taku_pet	24:9481c8f56a49	955	}
nishimura_taku_pet	24:9481c8f56a49	956	pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet	24:9481c8f56a49	957	}
nishimura_taku_pet	24:9481c8f56a49	958
nishimura_taku_pet	24:9481c8f56a49	959
nishimura_taku_pet	24:9481c8f56a49	960
nishimura_taku_pet	24:9481c8f56a49	961	void sendcheck()
nishimura_taku_pet	24:9481c8f56a49	962	{
nishimura_taku_pet	24:9481c8f56a49	963	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	964	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	965	getcount=24;
nishimura_taku_pet	24:9481c8f56a49	966	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	967	time2.start();
nishimura_taku_pet	24:9481c8f56a49	968
nishimura_taku_pet	24:9481c8f56a49	969	/*
nishimura_taku_pet	24:9481c8f56a49	970	while(weberror==1 && time2.read() <5) {
nishimura_taku_pet	24:9481c8f56a49	971	getreply();
nishimura_taku_pet	24:9481c8f56a49	972	if (strstr(replybuff, "SEND OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	973	weberror=0; // wait for valid SEND OK
nishimura_taku_pet	24:9481c8f56a49	974	}
nishimura_taku_pet	24:9481c8f56a49	975	}
nishimura_taku_pet	24:9481c8f56a49	976	*/
nishimura_taku_pet	24:9481c8f56a49	977	if(weberror==1) { // restart connection
nishimura_taku_pet	24:9481c8f56a49	978	strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet	24:9481c8f56a49	979	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	980	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	981	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	982	getreply();
nishimura_taku_pet	24:9481c8f56a49	983	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	984	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	985	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	986	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	987	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	988	getreply();
nishimura_taku_pet	24:9481c8f56a49	989	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	990	} else {
nishimura_taku_pet	24:9481c8f56a49	991	sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet	24:9481c8f56a49	992	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	993	getreply();
nishimura_taku_pet	24:9481c8f56a49	994	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	995	}
nishimura_taku_pet	24:9481c8f56a49	996	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	997	}
nishimura_taku_pet	24:9481c8f56a49	998
nishimura_taku_pet	24:9481c8f56a49	999	// Reads and processes GET and POST web data
nishimura_taku_pet	24:9481c8f56a49	1000	void ReadWebData()
nishimura_taku_pet	24:9481c8f56a49	1001	{
nishimura_taku_pet	24:9481c8f56a49	1002	pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1003	wait_ms(200);
nishimura_taku_pet	24:9481c8f56a49	1004	esp.attach(NULL);
nishimura_taku_pet	24:9481c8f56a49	1005	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1006	DataRX=0;
nishimura_taku_pet	24:9481c8f56a49	1007	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1008	memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet	24:9481c8f56a49	1009	int x = strcspn (webbuff,"+");
nishimura_taku_pet	24:9481c8f56a49	1010	if(x) {
nishimura_taku_pet	24:9481c8f56a49	1011	strcpy(webdata, webbuff + x);
nishimura_taku_pet	24:9481c8f56a49	1012	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1013	int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
nishimura_taku_pet	24:9481c8f56a49	1014	//int i=0;
nishimura_taku_pet	24:9481c8f56a49	1015	pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1016	pc.printf("%s",webdata);
nishimura_taku_pet	24:9481c8f56a49	1017	pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1018	if( strstr(webdata, "GO") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1019	pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1020	run = ADVANCE; // 前進
nishimura_taku_pet	24:9481c8f56a49	1021	mode = READY; // モードs変更
nishimura_taku_pet	26:0badbc9f9cb3	1022	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1023	}
nishimura_taku_pet	26:0badbc9f9cb3	1024
nishimura_taku_pet	24:9481c8f56a49	1025	if( strstr(webdata, "LEFT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1026	pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1027	run = LEFT;
nishimura_taku_pet	24:9481c8f56a49	1028	mode = READY;
nishimura_taku_pet	26:0badbc9f9cb3	1029	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1030	}
nishimura_taku_pet	24:9481c8f56a49	1031
nishimura_taku_pet	24:9481c8f56a49	1032	if( strstr(webdata, "STOP") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1033	pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1034	run = STOP;
nishimura_taku_pet	24:9481c8f56a49	1035	mode = READY;
nishimura_taku_pet	26:0badbc9f9cb3	1036	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1037	}
nishimura_taku_pet	24:9481c8f56a49	1038
nishimura_taku_pet	24:9481c8f56a49	1039	if( strstr(webdata, "RIGHT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1040	pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1041	run = RIGHT;
nishimura_taku_pet	24:9481c8f56a49	1042	mode = READY;
nishimura_taku_pet	26:0badbc9f9cb3	1043	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1044	}
nishimura_taku_pet	24:9481c8f56a49	1045
nishimura_taku_pet	24:9481c8f56a49	1046	if( strstr(webdata, "BACK") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1047	pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1048	run = BACK;
nishimura_taku_pet	24:9481c8f56a49	1049	mode = READY;
nishimura_taku_pet	26:0badbc9f9cb3	1050	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1051	}
nishimura_taku_pet	24:9481c8f56a49	1052	pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1053
nishimura_taku_pet	24:9481c8f56a49	1054	if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1055	pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1056	if(avoi_thread->get_state() == Thread::Deleted) {
nishimura_taku_pet	26:0badbc9f9cb3	1057	delete avoi_thread;
nishimura_taku_pet	26:0badbc9f9cb3	1058	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	26:0badbc9f9cb3	1059	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1060	}
nishimura_taku_pet	24:9481c8f56a49	1061	mode=AVOIDANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1062	run = ADVANCE;
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	if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1066	pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1067	pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1068	if(trace_thread->get_state() == Thread::Deleted) {
nishimura_taku_pet	26:0badbc9f9cb3	1069	delete trace_thread;
nishimura_taku_pet	26:0badbc9f9cb3	1070	trace_thread = new Thread(trace);
nishimura_taku_pet	26:0badbc9f9cb3	1071	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1072	}
nishimura_taku_pet	24:9481c8f56a49	1073	mode=LINE_TRACE;
nishimura_taku_pet	26:0badbc9f9cb3	1074	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1075	}
nishimura_taku_pet	24:9481c8f56a49	1076	if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1077	pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1078	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1079	flag_sp = 0;
nishimura_taku_pet	26:0badbc9f9cb3	1080	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1081	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1082	}
nishimura_taku_pet	24:9481c8f56a49	1083	if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1084	pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1085	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1086	flag_sp = 1;
nishimura_taku_pet	26:0badbc9f9cb3	1087	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1088	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1089	}
nishimura_taku_pet	24:9481c8f56a49	1090	if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1091	pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1092	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1093	flag_sp = 2;
nishimura_taku_pet	26:0badbc9f9cb3	1094	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1095	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1096	}
nishimura_taku_pet	26:0badbc9f9cb3	1097	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1098	trace_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1099	}
nishimura_taku_pet	26:0badbc9f9cb3	1100	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1101	avoi_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1102	}
nishimura_taku_pet	24:9481c8f56a49	1103	sprintf(channel, "%d",linkID);
nishimura_taku_pet	24:9481c8f56a49	1104	if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1105	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1106	}
nishimura_taku_pet	24:9481c8f56a49	1107	if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1108	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1109	}
nishimura_taku_pet	24:9481c8f56a49	1110	webcounter++;
nishimura_taku_pet	24:9481c8f56a49	1111	sprintf(webcount, "%d",webcounter);
nishimura_taku_pet	24:9481c8f56a49	1112	} else {
nishimura_taku_pet	24:9481c8f56a49	1113	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1114	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1115	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1116	}
nishimura_taku_pet	24:9481c8f56a49	1117	}
nishimura_taku_pet	24:9481c8f56a49	1118	// Starts and restarts webserver if errors detected.
nishimura_taku_pet	24:9481c8f56a49	1119	void startserver()
nishimura_taku_pet	24:9481c8f56a49	1120	{
nishimura_taku_pet	24:9481c8f56a49	1121	pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1122	strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet	24:9481c8f56a49	1123	timeout=8000;
nishimura_taku_pet	24:9481c8f56a49	1124	getcount=1000;
nishimura_taku_pet	24:9481c8f56a49	1125	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1126	getreply();
nishimura_taku_pet	24:9481c8f56a49	1127	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1128	pc.printf("%d",ount);
nishimura_taku_pet	24:9481c8f56a49	1129	if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1130	pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1131	strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet	24:9481c8f56a49	1132	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1133	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1134	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1135	getreply();
nishimura_taku_pet	24:9481c8f56a49	1136	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1137	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1138	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1139	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1140	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1141	getreply();
nishimura_taku_pet	24:9481c8f56a49	1142	pc.printf(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1143	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1144	sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet	24:9481c8f56a49	1145	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1146	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1147	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1148	getreply();
nishimura_taku_pet	24:9481c8f56a49	1149	pc.printf(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1150	ThisThread::sleep_for(5000);
nishimura_taku_pet	24:9481c8f56a49	1151	pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet	24:9481c8f56a49	1152	strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet	24:9481c8f56a49	1153	timeout=2500;
nishimura_taku_pet	24:9481c8f56a49	1154	getcount=200;
nishimura_taku_pet	24:9481c8f56a49	1155	while(weberror==0) {
nishimura_taku_pet	24:9481c8f56a49	1156	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1157	getreply();
nishimura_taku_pet	24:9481c8f56a49	1158	if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet	24:9481c8f56a49	1159	weberror=1; // wait for valid IP
nishimura_taku_pet	24:9481c8f56a49	1160	}
nishimura_taku_pet	24:9481c8f56a49	1161	}
nishimura_taku_pet	24:9481c8f56a49	1162	pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1163	pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1164	replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet	24:9481c8f56a49	1165	//char* IP = replybuff + 5;
nishimura_taku_pet	24:9481c8f56a49	1166	sprintf(webdata,"%s", replybuff);
nishimura_taku_pet	24:9481c8f56a49	1167	pc.printf(webdata);
nishimura_taku_pet	24:9481c8f56a49	1168	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1169	bufflen=200;
nishimura_taku_pet	24:9481c8f56a49	1170	//bufflen=100;
nishimura_taku_pet	24:9481c8f56a49	1171	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1172	pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1173	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1174	} else {
nishimura_taku_pet	24:9481c8f56a49	1175	pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1176	led1=1;
nishimura_taku_pet	24:9481c8f56a49	1177	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1178	led3=1;
nishimura_taku_pet	24:9481c8f56a49	1179	led4=1;
nishimura_taku_pet	24:9481c8f56a49	1180	while(1) {
nishimura_taku_pet	24:9481c8f56a49	1181	led1=!led1;
nishimura_taku_pet	24:9481c8f56a49	1182	led2=!led2;
nishimura_taku_pet	24:9481c8f56a49	1183	led3=!led3;
nishimura_taku_pet	24:9481c8f56a49	1184	led4=!led4;
nishimura_taku_pet	25:8ed98982faa7	1185	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1186	}
nishimura_taku_pet	24:9481c8f56a49	1187	}
nishimura_taku_pet	24:9481c8f56a49	1188	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1189	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1190	}
nishimura_taku_pet	24:9481c8f56a49	1191	// ESP Command data send
nishimura_taku_pet	24:9481c8f56a49	1192	void SendCMD()
nishimura_taku_pet	24:9481c8f56a49	1193	{
nishimura_taku_pet	24:9481c8f56a49	1194	esp.printf("%s", cmdbuff);
nishimura_taku_pet	24:9481c8f56a49	1195	}
nishimura_taku_pet	24:9481c8f56a49	1196	// Get Command and ESP status replies
nishimura_taku_pet	24:9481c8f56a49	1197	void getreply()
nishimura_taku_pet	24:9481c8f56a49	1198	{
nishimura_taku_pet	24:9481c8f56a49	1199	memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet	24:9481c8f56a49	1200	time1.reset();
nishimura_taku_pet	24:9481c8f56a49	1201	time1.start();
nishimura_taku_pet	24:9481c8f56a49	1202	replycount=0;
nishimura_taku_pet	24:9481c8f56a49	1203	while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet	24:9481c8f56a49	1204	if(esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	1205	replybuff[replycount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	1206	replycount++;
nishimura_taku_pet	24:9481c8f56a49	1207	}
nishimura_taku_pet	24:9481c8f56a49	1208	}
nishimura_taku_pet	24:9481c8f56a49	1209	time1.stop();
nishimura_taku_pet	24:9481c8f56a49	1210	}
nishimura_taku_pet	24:9481c8f56a49	1211
tomotsugu	8:a47dbf4fa455	1212	/* mainスレッド */
yangtzuli	0:0d0037aabe41	1213	int main() {
tomotsugu	8:a47dbf4fa455	1214	/* 初期設定 */
nishimura_taku_pet	16:ffc732a3cf92	1215	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	1216	avoi_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	1217	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	1218	trace_thread->terminate();
tomotsugu	8:a47dbf4fa455	1219	mode = READY; // 現在待ちモード
tomotsugu	8:a47dbf4fa455	1220	beforeMode = READY; // 前回待ちモード
tomotsugu	8:a47dbf4fa455	1221	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	1222	flag_sp = NORMAL; // スピード(普通)
tomotsugu	10:d193030ce672	1223	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	1224	display(); // ディスプレイ表示
yangtzuli	2:38825726cb1b	1225
yangtzuli	0:0d0037aabe41	1226	while(1){
tomotsugu	8:a47dbf4fa455	1227	bChange(); // バッテリー残量更新
yangtzuli	0:0d0037aabe41	1228	}
yangtzuli	0:0d0037aabe41	1229	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	27 Aug 2020
Imports:	0
Forks:	0
Commits:	51
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@28:cb51cafca490, 2020-08-06 (annotated)

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