siqiang pan
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
Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 24:9481c8f56a49
- Parent:
- 23:8c862b55fa1f
- Child:
- 25:8ed98982faa7
--- a/main.cpp Wed Aug 05 07:18:08 2020 +0000
+++ b/main.cpp Wed Aug 05 07:42:57 2020 +0000
@@ -43,7 +43,7 @@
DigitalIn ss3(p10); // ライントレースセンサ
DigitalIn ss4(p11); // ライントレースセンサ
DigitalIn ss5(p12); // ライントレースセンサ(右)
-Serial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
+RawSerial esp(p13, p14); // Wi-Fiモジュール(tx, rx)
AnalogIn battery(p15); // 電池残量読み取り(Max 3.3V)
PwmOut motorR2(p21); // 右モーター後退
PwmOut motorR1(p22); // 右モーター前進
@@ -96,6 +96,26 @@
int i; // ループ変数
int t1,t2=0;
+/*WiFi用変数*/
+Timer time1;
+Timer time2;
+int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
+int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
+float temperature, AdcIn, Ht;
+float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
+char Vcc[10];
+char webcount[8];
+char type[16];
+char type1[16];
+char channel[2];
+char cmdbuff[32];
+char replybuff[1024];
+char webdata[1024]; // This may need to be bigger depending on WEB browser used
+char webbuff[4096*4]; // Currently using 1986 characters, Increase this if more web page data added
+int port =80; // set server port
+int SERVtimeout =5; // set server timeout in seconds in case link breaks.
+char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
+char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
/* プロトタイプ宣言 */
@@ -109,7 +129,10 @@
void bChange();
void display();
void lcdBacklight(void const *argument);
+void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
+void wifi(void const *argument);
Thread deco_thread(decodeIR, NULL, osPriorityRealtime); // decodeIRをスレッド化 ：+3
+Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化
Thread motor_thread(motor, NULL, osPriorityHigh); // motorをスレッド化 ：+2
//Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
//Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化 ：+2
@@ -117,7 +140,10 @@
Thread *avoi_thread;
Thread *trace_thread;
-DigitalOut led1(LED1);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
/* リモコン受信スレッド */
void decodeIR(void const *argument){
@@ -594,6 +620,580 @@
}
}
+// Serial Interrupt read ESP data
+void callback()
+{
+ //pc.printf("\n\r------------ callback is being called --------------\n\r");
+ led3=1;
+ while (esp.readable()) {
+ webbuff[ount] = esp.getc();
+ ount++;
+ }
+ if(strlen(webbuff)>bufflen) {
+ pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
+ DataRX=1;
+ led3=0;
+ }
+}
+
+void wifi(void const *argument)
+{
+ pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
+ ThisThread::sleep_for(500);
+ led1=1,led2=0,led3=0;
+ timeout=6000;
+ getcount=500;
+ getreply();
+ esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
+ startserver();
+
+ while(1) {
+ if(DataRX==1) {
+ pc.printf("\f\n\r------------ main while > if --------------\n\r");
+ click_flag = 1;
+ ReadWebData();
+ pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
+ //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
+ if (servreq == 1 && weberror == 0) {
+ pc.printf("\f\n\r------------ befor send page --------------\n\r");
+ sendpage();
+ }
+ pc.printf("\f\n\r------------ send_check begin --------------\n\r");
+
+ //sendcheck();
+ pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
+
+ esp.attach(&callback);
+ 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);
+ pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
+ pc.printf(" Web Characters sent : %d\n\n", bufl);
+ pc.printf(" -------------------------------------\n\n");
+ servreq=0;
+ }
+ ThisThread::sleep_for(100);
+ }
+}
+// Static WEB page
+void sendpage()
+{
+// WEB page data
+
+ strcpy(webbuff, "<!DOCTYPE html>");
+ strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
+ strcat(webbuff, "<style type=\"text/css\">.noselect{ width:100px;height:60px;}.light{ width:100px;height:60px;background-color:#00ff66;}</style>");
+ strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
+ strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
+ strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
+ strcat(webbuff, "</td></p>");
+ strcat(webbuff, "<br>");
+ strcat(webbuff, "<table><tr><td></td><td>");
+
+ switch(mode) {
+ case ADVANCE:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ case LEFT:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ case STOP:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ case RIGHT:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ case BACK:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ case AVOIDANCE:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"light\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ case LINE_TRACE:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"light\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ default:
+ strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
+ strcat(webbuff, "</button></td><td></td></tr><tr><td>");
+ strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
+ strcat(webbuff, "</button></td></tr><td></td><td>");
+ strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
+ strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
+ strcat(webbuff, "<strong>Mode</strong>");
+ strcat(webbuff, "<table><tr><td><button id='avoidbtn' type='button' class=\"noselect\" value=\"AVOIDANCE\" onClick='send_mes(this.id,this.value)' >");
+ strcat(webbuff, "AVOIDANCE</button></td><td>");
+ strcat(webbuff, "<button id='tracebtn' type='button' class=\"noselect\" value=\"LINE_TRACE\" onClick='send_mes(this.id,this.value)' >LINE_TRACE");
+ break;
+ }
+ strcat(webbuff, "</button></td></tr></table>");
+ strcat(webbuff, "<strong>Speed</strong>");
+ strcat(webbuff, "<table><tr><td>");
+ //ready示速度だけ点灯
+ switch (flag_sp) {
+ case 0:
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"light\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ break;
+ case 1:
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"light\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ break;
+ case 2:
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"light\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ break;
+ default:
+ strcat(webbuff, "<button id='sp1btn' type='button' class=\"noselect\" value=\"Normal\" onClick='send_mes_spe(this.id,this.value)' >Normal");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp2btn' type='button' class=\"noselect\" value=\"Fast\" onClick='send_mes_spe(this.id,this.value)' >Fast");
+ strcat(webbuff, "</button></td><td>");
+ strcat(webbuff, "<button id='sp3btn' type='button' class=\"noselect\" value=\"VeryFast\" onClick='send_mes_spe(this.id,this.value)' >VeryFast");
+ break;
+ }
+ strcat(webbuff, "</button></td></tr></table>");
+
+ strcat(webbuff, "</center>");
+ strcat(webbuff, "</body>");
+ strcat(webbuff, "</html>");
+ strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
+
+ strcat(webbuff, "function htmlacs(url) {");
+ strcat(webbuff, "var xhr = new XMLHttpRequest();");
+ strcat(webbuff, "xhr.open(\"GET\", url);");
+ strcat(webbuff, "xhr.send(\"\");");
+ strcat(webbuff, "}");
+
+ strcat(webbuff, "function send_mes(btnmes,btnval){");
+ strcat(webbuff, "console.log(btnval);");
+
+ strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
+ strcat(webbuff, "htmlacs(url);");
+ strcat(webbuff, "console.log(url);");
+ strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
+ strcat(webbuff, "for(var i=0;i<7;i++){");
+ strcat(webbuff, "if(buttons[i].value == btnval){");
+ strcat(webbuff, "buttons[i].className=\"light\";");
+ strcat(webbuff, "}else{");
+ strcat(webbuff, "buttons[i].className=\"noselect\";");
+ strcat(webbuff, "}");
+ strcat(webbuff, "}");
+ strcat(webbuff, "}");
+
+ strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
+ strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
+ strcat(webbuff, "htmlacs(url);");
+ strcat(webbuff, "console.log(url);");
+ strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
+ strcat(webbuff, "for(var i=7;i<10;i++){");
+ strcat(webbuff, "if(buttons[i].value == btnval){");
+ strcat(webbuff, "buttons[i].className=\"light\";");
+ strcat(webbuff, "}else{");
+ strcat(webbuff, "buttons[i].className=\"noselect\";");
+ strcat(webbuff, "}");
+ strcat(webbuff, "}");
+ strcat(webbuff, "}");
+ strcat(webbuff, "</script>");
+// end of WEB page data
+ bufl = strlen(webbuff); // get total page buffer length
+ //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
+
+ sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
+ timeout=500;
+ getcount=40;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
+
+ pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
+
+ //pastthrough mode
+ SendWEB(); // send web page
+ pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
+
+ memset(webbuff, '\0', sizeof(webbuff));
+ sendcheck();
+}
+
+// Large WEB buffer data send
+void SendWEB()
+{
+ int i=0;
+ if(esp.writeable()) {
+ while(webbuff[i]!='\0') {
+ esp.putc(webbuff[i]);
+
+ //****
+ //output at command when 2000
+ if(((i%2047)==0) && (i>0)) {
+ //wait_ms(10);
+ sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
+ pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
+ timeout=600;
+ getcount=50;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ pc.printf("\r\n+++++++++++++++++++\r\n");
+ }
+ //****
+ i++;
+ pc.printf("%c",webbuff[i]);
+ }
+ }
+ pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
+}
+
+
+
+void sendcheck()
+{
+ weberror=1;
+ timeout=500;
+ getcount=24;
+ time2.reset();
+ time2.start();
+
+ /*
+ while(weberror==1 && time2.read() <5) {
+ getreply();
+ if (strstr(replybuff, "SEND OK") != NULL) {
+ weberror=0; // wait for valid SEND OK
+ }
+ }
+ */
+ if(weberror==1) { // restart connection
+ strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
+ timeout=500;
+ getcount=10;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+ timeout=500;
+ getcount=10;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ } else {
+ sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ }
+ time2.reset();
+}
+
+// Reads and processes GET and POST web data
+void ReadWebData()
+{
+ pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
+ wait_ms(200);
+ esp.attach(NULL);
+ ount=0;
+ DataRX=0;
+ weberror=0;
+ memset(webdata, '\0', sizeof(webdata));
+ int x = strcspn (webbuff,"+");
+ if(x) {
+ strcpy(webdata, webbuff + x);
+ weberror=0;
+ int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
+ //int i=0;
+ pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
+ pc.printf("%s",webdata);
+ pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
+ if( strstr(webdata, "GO") != NULL ) {
+ pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
+ //run = ADVANCE; // 前進
+ mode = READY; // モードs変更
+// display(); // ディスプレイ表示
+
+ }
+
+ if( strstr(webdata, "LEFT") != NULL ) {
+ pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
+ //run = LEFT;
+ mode = READY;
+// display(); // ディスプレイ表示
+ }
+
+ if( strstr(webdata, "STOP") != NULL ) {
+ pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
+// run = STOP;
+ mode = READY;
+// display(); // ディスプレイ表示
+ }
+
+ if( strstr(webdata, "RIGHT") != NULL ) {
+ pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
+// run = RIGHT;
+ mode = READY;
+// display(); // ディスプレイ表示
+ }
+
+ if( strstr(webdata, "BACK") != NULL ) {
+ pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
+// run = BACK;
+ mode = READY;
+// display(); // ディスプレイ表示
+ }
+ pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
+
+ if( strstr(webdata, "AVOIDANCE") != NULL ) {
+ pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
+ //if(avoi_thread->get_state() == Thread::Deleted) {
+ // delete avoi_thread;
+ // avoi_thread = new Thread(avoidance);
+ // avoi_thread -> set_priority(osPriorityHigh);
+ //}
+ mode=AVOIDANCE;
+// run = ADVANCE;
+// display(); // ディスプレイ表示
+ }
+ if( strstr(webdata, "LINE_TRACE") != NULL ) {
+ pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
+ pc.printf("mode = LINE_TRACE\r\n");
+ //if(trace_thread->get_state() == Thread::Deleted) {
+ // delete trace_thread;
+ // trace_thread = new Thread(trace);
+ // trace_thread -> set_priority(osPriorityHigh);
+ //}
+ mode=LINE_TRACE;
+// display(); // ディスプレイ表示
+ }
+ if( strstr(webdata, "Normal") != NULL ) {
+ pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
+ mode = SPEED; // スピードモード
+ flag_sp = 0;
+// display(); // ディスプレイ表示
+ mode = beforeMode; // 現在のモードに前回のモードを設定
+ }
+ if( strstr(webdata, "Fast") != NULL ) {
+ pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
+ mode = SPEED; // スピードモード
+ flag_sp = 1;
+// display(); // ディスプレイ表示
+ mode = beforeMode; // 現在のモードに前回のモードを設定
+ }
+ if( strstr(webdata, "VeryFast") != NULL ) {
+ pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
+ mode = SPEED; // スピードモード d
+ flag_sp = 2;
+// display(); // ディスプレイ表示
+ mode = beforeMode; // 現在のモードに前回のモードを設定
+ }
+ sprintf(channel, "%d",linkID);
+ if (strstr(webdata, "GET") != NULL) {
+ servreq=1;
+ }
+ if (strstr(webdata, "POST") != NULL) {
+ servreq=1;
+ }
+ webcounter++;
+ sprintf(webcount, "%d",webcounter);
+ } else {
+ memset(webbuff, '\0', sizeof(webbuff));
+ esp.attach(&callback);
+ weberror=1;
+ }
+}
+// Starts and restarts webserver if errors detected.
+void startserver()
+{
+ pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
+ strcpy(cmdbuff,"AT+RST\r\n");
+ timeout=8000;
+ getcount=1000;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ pc.printf("%d",ount);
+ if (strstr(replybuff, "OK") != NULL) {
+ pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
+ strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
+ timeout=500;
+ getcount=20;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+ timeout=500;
+ getcount=20;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ wait(1);
+ sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
+ timeout=500;
+ getcount=50;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ wait(5);
+ pc.printf("\n Getting Server IP \r\n");
+ strcpy(cmdbuff, "AT+CIFSR\r\n");
+ timeout=2500;
+ getcount=200;
+ while(weberror==0) {
+ SendCMD();
+ getreply();
+ if (strstr(replybuff, "0.0.0.0") == NULL) {
+ weberror=1; // wait for valid IP
+ }
+ }
+ pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
+ pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
+ replybuff[strlen(replybuff)-1] = '\0';
+ //char* IP = replybuff + 5;
+ sprintf(webdata,"%s", replybuff);
+ pc.printf(webdata);
+ led2=1;
+ bufflen=200;
+ //bufflen=100;
+ ount=0;
+ pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
+ esp.attach(&callback);
+ } else {
+ pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
+ led1=1;
+ led2=1;
+ led3=1;
+ led4=1;
+ while(1) {
+ led1=!led1;
+ led2=!led2;
+ led3=!led3;
+ led4=!led4;
+ wait(1);
+ }
+ }
+ time2.reset();
+ time2.start();
+}
+// ESP Command data send
+void SendCMD()
+{
+ esp.printf("%s", cmdbuff);
+}
+// Get Command and ESP status replies
+void getreply()
+{
+ memset(replybuff, '\0', sizeof(replybuff));
+ time1.reset();
+ time1.start();
+ replycount=0;
+ while(time1.read_ms()< timeout && replycount < getcount) {
+ if(esp.readable()) {
+ replybuff[replycount] = esp.getc();
+ replycount++;
+ }
+ }
+ time1.stop();
+}
+
/* mainスレッド */
int main() {
/* 初期設定 */