robotcarWifi3-demo-orn - 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-orn

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@34:040474bf6fe0, 2020-08-17 (annotated)

Committer:: nishimura_taku_pet
Date:: Mon Aug 17 02:53:18 2020 +0000
Revision:: 34:040474bf6fe0
Parent:: 33:a6f1090e0174
Child:: 35:4cda290bdb87

vcc delete & sensorNum delete

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
nishimura_taku_pet	29:600e4b9b5c5b	97	int t1 = 0;
yangtzuli	2:38825726cb1b	98
nishimura_taku_pet	24:9481c8f56a49	99	/WiFi用変数/
nishimura_taku_pet	24:9481c8f56a49	100	Timer time1;
nishimura_taku_pet	24:9481c8f56a49	101	Timer time2;
nishimura_taku_pet	24:9481c8f56a49	102	int bufflen, DataRX, ount, getcount, replycount, servreq, timeout;
nishimura_taku_pet	24:9481c8f56a49	103	int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
nishimura_taku_pet	24:9481c8f56a49	104	float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
nishimura_taku_pet	24:9481c8f56a49	105	char webcount[8];
nishimura_taku_pet	24:9481c8f56a49	106	char type[16];
nishimura_taku_pet	24:9481c8f56a49	107	char channel[2];
nishimura_taku_pet	24:9481c8f56a49	108	char cmdbuff[32];
nishimura_taku_pet	24:9481c8f56a49	109	char replybuff[1024];
nishimura_taku_pet	24:9481c8f56a49	110	char webdata[1024]; // This may need to be bigger depending on WEB browser used
nishimura_taku_pet	27:90962c01bfeb	111	char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
nishimura_taku_pet	24:9481c8f56a49	112	int port =80; // set server port
nishimura_taku_pet	24:9481c8f56a49	113	int SERVtimeout =5; // set server timeout in seconds in case link breaks.
nishimura_taku_pet	24:9481c8f56a49	114	char ssid[32] = "mbed02"; // enter WiFi router ssid inside the quotes
nishimura_taku_pet	24:9481c8f56a49	115	char pwd [32] = "0123456789a"; // enter WiFi router password inside the quotes
yangtzuli	3:2ae6218973be	116
yangtzuli	3:2ae6218973be	117
yangtzuli	3:2ae6218973be	118	/* プロトタイプ宣言 */
nishimura_taku_pet	33:a6f1090e0174	119	void decodeIR(/void const argument*/);
nishimura_taku_pet	33:a6f1090e0174	120	void motor(/void const argument*/);
yangtzuli	3:2ae6218973be	121	void changeSpeed();
nishimura_taku_pet	16:ffc732a3cf92	122	void avoidance(/void const argument*/);
nishimura_taku_pet	16:ffc732a3cf92	123	void trace(/void const argument*/);
yangtzuli	2:38825726cb1b	124	void watchsurrounding();
yangtzuli	2:38825726cb1b	125	int watch();
yangtzuli	5:3fffb364744b	126	void bChange();
yangtzuli	3:2ae6218973be	127	void display();
yangtzuli	3:2ae6218973be	128	void lcdBacklight(void const *argument);
nishimura_taku_pet	24:9481c8f56a49	129	void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),SendWEB(),sendcheck(),touchuan();
nishimura_taku_pet	24:9481c8f56a49	130	void wifi(void const *argument);
nishimura_taku_pet	33:a6f1090e0174	131	Thread *deco_thread; // decodeIRをスレッド化：+3
nishimura_taku_pet	33:a6f1090e0174	132	Thread wifi_thread(wifi,NULL,osPriorityRealtime); // wifiをスレッド化
nishimura_taku_pet	33:a6f1090e0174	133	Thread *motor_thread; // motorをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	134	//Thread avoi_thread(avoidance, NULL, osPriorityHigh); // avoidanceをスレッド化：+2
nishimura_taku_pet	16:ffc732a3cf92	135	//Thread trace_thread(trace, NULL, osPriorityHigh); // traceをスレッド化：+2
nishimura_taku_pet	33:a6f1090e0174	136	RtosTimer bTimer(lcdBacklight, osTimerPeriodic); // lcdBacklightをタイマー割り込みで設定
nishimura_taku_pet	16:ffc732a3cf92	137	Thread *avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	138	Thread *trace_thread;
yangtzuli	2:38825726cb1b	139
nishimura_taku_pet	24:9481c8f56a49	140	DigitalOut led1(LED1);
nishimura_taku_pet	24:9481c8f56a49	141	DigitalOut led2(LED2);
nishimura_taku_pet	24:9481c8f56a49	142	DigitalOut led3(LED3);
nishimura_taku_pet	24:9481c8f56a49	143	DigitalOut led4(LED4);
yangtzuli	3:2ae6218973be	144
nishimura_taku_pet	33:a6f1090e0174	145	void setup(){
nishimura_taku_pet	33:a6f1090e0174	146	deco_thread = new Thread(decodeIR);
nishimura_taku_pet	33:a6f1090e0174	147	deco_thread -> set_priority(osPriorityRealtime);
nishimura_taku_pet	33:a6f1090e0174	148	motor_thread = new Thread(motor);
nishimura_taku_pet	33:a6f1090e0174	149	motor_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	33:a6f1090e0174	150	display();
nishimura_taku_pet	33:a6f1090e0174	151	}
nishimura_taku_pet	33:a6f1090e0174	152
tomotsugu	8:a47dbf4fa455	153	/* リモコン受信スレッド */
nishimura_taku_pet	33:a6f1090e0174	154	void decodeIR(/void const argument*/){
yangtzuli	5:3fffb364744b	155	while(1){
yangtzuli	0:0d0037aabe41	156	// 受信待ち
tomotsugu	8:a47dbf4fa455	157	if (ir.getState() == ReceiverIR::Received){ // コード受信
yangtzuli	3:2ae6218973be	158	bitcount = ir.getData(&format, buf, sizeof(buf) * 8);
tomotsugu	8:a47dbf4fa455	159	if(bitcount > 1){ // 受信成功
yangtzuli	1:5bb497a38344	160	code=0;
tomotsugu	15:5eef1955f6c2	161	for(int j = 0; j < 4; j++){
yangtzuli	1:5bb497a38344	162	code+=(buf[j]<<(8*(3-j)));
yangtzuli	1:5bb497a38344	163	}
tomotsugu	8:a47dbf4fa455	164	if(mode != SPEED){ // スピードモード以外なら
tomotsugu	8:a47dbf4fa455	165	beforeMode=mode; // 前回のモードに現在のモードを設定
yangtzuli	3:2ae6218973be	166	}
yangtzuli	0:0d0037aabe41	167	switch(code){
tomotsugu	8:a47dbf4fa455	168	case 0x40bf27d8: // クイック
yangtzuli	17:f7259ab2fe86	169	//pc.printf("mode = SPEED\r\n");
tomotsugu	8:a47dbf4fa455	170	mode = SPEED; // スピードモード
tomotsugu	8:a47dbf4fa455	171	changeSpeed(); // 速度変更
tomotsugu	8:a47dbf4fa455	172	display(); // ディスプレイ表示
tomotsugu	8:a47dbf4fa455	173	mode = beforeMode; // 現在のモードに前回のモードを設定
yangtzuli	1:5bb497a38344	174	break;
tomotsugu	8:a47dbf4fa455	175	case 0x40be34cb: // レグザリンク
yangtzuli	17:f7259ab2fe86	176	//pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	177	if(trace_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	178	delete trace_thread;
nishimura_taku_pet	16:ffc732a3cf92	179	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	180	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	181	}
tomotsugu	8:a47dbf4fa455	182	mode=LINE_TRACE; // ライントレースモード
tomotsugu	8:a47dbf4fa455	183	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	184	break;
tomotsugu	8:a47dbf4fa455	185	case 0x40bf6e91: // 番組表
yangtzuli	17:f7259ab2fe86	186	//pc.printf("mode = AVOIDANCE\r\n");
nishimura_taku_pet	16:ffc732a3cf92	187	if(avoi_thread->get_state() == Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	188	delete avoi_thread;
nishimura_taku_pet	16:ffc732a3cf92	189	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	190	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	16:ffc732a3cf92	191	}
tomotsugu	18:6cca64c7dbc3	192	flag_a = 0;
tomotsugu	8:a47dbf4fa455	193	mode=AVOIDANCE; // 障害物回避モード
tomotsugu	13:1a7667d0aa78	194	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	195	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	196	break;
tomotsugu	8:a47dbf4fa455	197	case 0x40bf3ec1: // ↑
yangtzuli	17:f7259ab2fe86	198	//pc.printf("mode = ADVANCE\r\n");
tomotsugu	8:a47dbf4fa455	199	mode = ADVANCE; // 前進モード
tomotsugu	8:a47dbf4fa455	200	run = ADVANCE; // 前進
tomotsugu	8:a47dbf4fa455	201	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	202	break;
tomotsugu	8:a47dbf4fa455	203	case 0x40bf3fc0: // ↓
yangtzuli	17:f7259ab2fe86	204	//pc.printf("mode = BACK\r\n");
tomotsugu	8:a47dbf4fa455	205	mode = BACK; // 後退モード
tomotsugu	8:a47dbf4fa455	206	run = BACK; // 後退
tomotsugu	8:a47dbf4fa455	207	display(); // ディスプレイ表示
yangtzuli	0:0d0037aabe41	208	break;
tomotsugu	8:a47dbf4fa455	209	case 0x40bf5fa0: // ←
yangtzuli	17:f7259ab2fe86	210	//pc.printf("mode = LEFT\r\n");
tomotsugu	8:a47dbf4fa455	211	mode = LEFT; // 左折モード
tomotsugu	8:a47dbf4fa455	212	run = LEFT; // 左折
tomotsugu	8:a47dbf4fa455	213	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	214	break;
tomotsugu	8:a47dbf4fa455	215	case 0x40bf5ba4: // →
yangtzuli	17:f7259ab2fe86	216	//pc.printf("mode = RIGHT\r\n");
tomotsugu	8:a47dbf4fa455	217	mode = RIGHT; // 右折モード
tomotsugu	8:a47dbf4fa455	218	run = RIGHT; // 右折
tomotsugu	8:a47dbf4fa455	219	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	220	break;
tomotsugu	8:a47dbf4fa455	221	case 0x40bf3dc2: // 決定
yangtzuli	17:f7259ab2fe86	222	//pc.printf("mode = STOP\r\n");
tomotsugu	8:a47dbf4fa455	223	mode = STOP; // 停止モード
tomotsugu	8:a47dbf4fa455	224	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	225	display(); // ディスプレイ表示
yangtzuli	1:5bb497a38344	226	break;
yangtzuli	0:0d0037aabe41	227	default:
yangtzuli	0:0d0037aabe41	228	;
yangtzuli	0:0d0037aabe41	229	}
nishimura_taku_pet	16:ffc732a3cf92	230	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	231	trace_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	232	}
nishimura_taku_pet	16:ffc732a3cf92	233	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	16:ffc732a3cf92	234	avoi_thread->terminate();
nishimura_taku_pet	28:cb51cafca490	235	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	16:ffc732a3cf92	236	}
yangtzuli	0:0d0037aabe41	237	}
yangtzuli	0:0d0037aabe41	238	}
tomotsugu	8:a47dbf4fa455	239	if(viewTimer.read_ms()>=3000){ // スピードモードのまま3秒経過
tomotsugu	8:a47dbf4fa455	240	viewTimer.stop(); // タイマーストップ
tomotsugu	8:a47dbf4fa455	241	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	242	display(); // ディスプレイ表示
yangtzuli	4:3f80c0180e2f	243	}
tomotsugu	18:6cca64c7dbc3	244	ThisThread::sleep_for(90); // 90ms待つ
yangtzuli	4:3f80c0180e2f	245	}
yangtzuli	2:38825726cb1b	246	}
tomotsugu	8:a47dbf4fa455	247
tomotsugu	8:a47dbf4fa455	248	/* モーター制御スレッド */
nishimura_taku_pet	33:a6f1090e0174	249	void motor(/void const argument*/){
tomotsugu	8:a47dbf4fa455	250	while(1){
tomotsugu	8:a47dbf4fa455	251	/* 走行状態の場合分け */
yangtzuli	3:2ae6218973be	252	switch(run){
tomotsugu	8:a47dbf4fa455	253	/* 前進 */
yangtzuli	3:2ae6218973be	254	case ADVANCE:
tomotsugu	8:a47dbf4fa455	255	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	256	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	257	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	258	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	259	break;
tomotsugu	8:a47dbf4fa455	260	/* 右折 */
yangtzuli	3:2ae6218973be	261	case RIGHT:
tomotsugu	8:a47dbf4fa455	262	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	263	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	264	motorL1 = motorSpeed[flag_sp]; // 左前進モーターON
tomotsugu	8:a47dbf4fa455	265	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	266	break;
tomotsugu	8:a47dbf4fa455	267	/* 左折 */
yangtzuli	3:2ae6218973be	268	case LEFT:
tomotsugu	8:a47dbf4fa455	269	motorR1 = motorSpeed[flag_sp]; // 右前進モーターON
tomotsugu	8:a47dbf4fa455	270	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	271	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	272	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	273	break;
tomotsugu	8:a47dbf4fa455	274	/* 後退 */
yangtzuli	3:2ae6218973be	275	case BACK:
tomotsugu	8:a47dbf4fa455	276	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	277	motorR2 = motorSpeed[flag_sp]; // 右後退モーターON
tomotsugu	8:a47dbf4fa455	278	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	279	motorL2 = motorSpeed[flag_sp]; // 左後退モーターON
yangtzuli	3:2ae6218973be	280	break;
tomotsugu	8:a47dbf4fa455	281	/* 停止 */
yangtzuli	3:2ae6218973be	282	case STOP:
tomotsugu	8:a47dbf4fa455	283	motorR1 = LOW; // 右前進モーターOFF
tomotsugu	8:a47dbf4fa455	284	motorR2 = LOW; // 右後退モーターOFF
tomotsugu	8:a47dbf4fa455	285	motorL1 = LOW; // 左前進モーターOFF
tomotsugu	8:a47dbf4fa455	286	motorL2 = LOW; // 左後退モーターOFF
yangtzuli	3:2ae6218973be	287	break;
yangtzuli	3:2ae6218973be	288	}
tomotsugu	8:a47dbf4fa455	289	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	290	flag_sp -= 3 * (flag_sp / 3); // スピード変更フラグ調整
yangtzuli	6:800a745c7f2e	291	}
tomotsugu	8:a47dbf4fa455	292	ThisThread::sleep_for(30); // 30ms待つ
yangtzuli	2:38825726cb1b	293	}
yangtzuli	2:38825726cb1b	294	}
tomotsugu	8:a47dbf4fa455	295
tomotsugu	8:a47dbf4fa455	296	/* スピード変更関数 */
yangtzuli	3:2ae6218973be	297	void changeSpeed(){
tomotsugu	8:a47dbf4fa455	298	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	299	flag_sp -= 2; // スピード変更フラグを-2
yangtzuli	3:2ae6218973be	300
tomotsugu	8:a47dbf4fa455	301	}else{ // それ以外
tomotsugu	8:a47dbf4fa455	302	flag_sp = flag_sp + 1; // スピード変更フラグを+1
yangtzuli	3:2ae6218973be	303	}
yangtzuli	3:2ae6218973be	304	}
tomotsugu	8:a47dbf4fa455	305
tomotsugu	8:a47dbf4fa455	306	/* ライントレーススレッド */
tomotsugu	20:02bb875a9b13	307	void trace(){
tomotsugu	8:a47dbf4fa455	308	while(1){
tomotsugu	8:a47dbf4fa455	309	/* 各センサー値読み取り */
yangtzuli	3:2ae6218973be	310	int sensor1 = ss1;
yangtzuli	3:2ae6218973be	311	int sensor2 = ss2;
yangtzuli	3:2ae6218973be	312	int sensor3 = ss3;
yangtzuli	3:2ae6218973be	313	int sensor4 = ss4;
yangtzuli	3:2ae6218973be	314	int sensor5 = ss5;
yangtzuli	6:800a745c7f2e	315	pc.printf("%d %d %d %d %d \r\n",sensor1,sensor2,sensor3,sensor4,sensor5);
yangtzuli	3:2ae6218973be	316	int sensD = 0;
tomotsugu	8:a47dbf4fa455	317
tomotsugu	8:a47dbf4fa455	318	/* センサー値の決定 */
yangtzuli	3:2ae6218973be	319	if(sensor1 > 0) sensD \|= 0x10;
yangtzuli	3:2ae6218973be	320	if(sensor2 > 0) sensD \|= 0x08;
yangtzuli	3:2ae6218973be	321	if(sensor3 > 0) sensD \|= 0x04;
yangtzuli	3:2ae6218973be	322	if(sensor4 > 0) sensD \|= 0x02;
yangtzuli	3:2ae6218973be	323	if(sensor5 > 0) sensD \|= 0x01;
tomotsugu	8:a47dbf4fa455	324
tomotsugu	8:a47dbf4fa455	325	/* センサー値によって場合分け */
nishimura_taku_pet	34:040474bf6fe0	326	switch(sensArray[sensD]){
yangtzuli	3:2ae6218973be	327	case 1:
tomotsugu	18:6cca64c7dbc3	328	run = ADVANCE; // 低速で前進
yangtzuli	3:2ae6218973be	329	break;
yangtzuli	3:2ae6218973be	330	case 2:
yangtzuli	23:8c862b55fa1f	331	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	332	run = RIGHT; // 低速で右折
yangtzuli	3:2ae6218973be	333	break;
yangtzuli	3:2ae6218973be	334	case 3:
yangtzuli	23:8c862b55fa1f	335	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	336	run = LEFT; // 低速で左折
yangtzuli	3:2ae6218973be	337	break;
yangtzuli	3:2ae6218973be	338	case 4:
yangtzuli	23:8c862b55fa1f	339	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	340	run = RIGHT; // 中速で右折
yangtzuli	3:2ae6218973be	341	break;
yangtzuli	3:2ae6218973be	342	case 5:
yangtzuli	23:8c862b55fa1f	343	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	344	run = LEFT; // 中速で左折
yangtzuli	6:800a745c7f2e	345	break;
yangtzuli	6:800a745c7f2e	346	case 6:
tomotsugu	18:6cca64c7dbc3	347	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	348	run = RIGHT; // 高速で右折
yangtzuli	6:800a745c7f2e	349	break;
yangtzuli	6:800a745c7f2e	350	case 7:
tomotsugu	18:6cca64c7dbc3	351	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	352	run = LEFT; // 高速で左折
yangtzuli	3:2ae6218973be	353	break;
yangtzuli	23:8c862b55fa1f	354	case 8:
yangtzuli	23:8c862b55fa1f	355	break;
yangtzuli	3:2ae6218973be	356	}
tomotsugu	8:a47dbf4fa455	357	ThisThread::sleep_for(30); // 30ms待つ
tomotsugu	18:6cca64c7dbc3	358	}
yangtzuli	3:2ae6218973be	359	}
yangtzuli	3:2ae6218973be	360
tomotsugu	8:a47dbf4fa455	361	/* 障害物回避走行スレッド */
tomotsugu	20:02bb875a9b13	362	void avoidance(){
yangtzuli	3:2ae6218973be	363	while(1){
tomotsugu	18:6cca64c7dbc3	364	watchsurrounding();
tomotsugu	18:6cca64c7dbc3	365	pc.printf("%d %d %d %d %d \r\n",SL,SLD,SC,SRD,SR);
tomotsugu	18:6cca64c7dbc3	366	if(flag_a == 0){ // 障害物がない場合
tomotsugu	18:6cca64c7dbc3	367	run = ADVANCE; // 前進
nishimura_taku_pet	28:cb51cafca490	368	}else{ // 障害物がある場合
tomotsugu	18:6cca64c7dbc3	369	i = 0;
tomotsugu	18:6cca64c7dbc3	370	if(SC < 15){ // 正面15cm以内に障害物が現れた場合
tomotsugu	18:6cca64c7dbc3	371	run = BACK; // 後退
tomotsugu	18:6cca64c7dbc3	372	while(watch() < limit){ // 正面20cm以内に障害物がある間
tomotsugu	18:6cca64c7dbc3	373	}
tomotsugu	18:6cca64c7dbc3	374	run = STOP; // 停止
yangtzuli	3:2ae6218973be	375	}
nishimura_taku_pet	28:cb51cafca490	376	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	377	run = LEFT; // 左折
nishimura_taku_pet	28:cb51cafca490	378	while(i < 1){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	379	flag_sp = flag_sp % 3 + 6;
tomotsugu	18:6cca64c7dbc3	380	if(watch() > limit){
tomotsugu	18:6cca64c7dbc3	381	i++;
nishimura_taku_pet	28:cb51cafca490	382	}else{
nishimura_taku_pet	28:cb51cafca490	383	i = 0;
yangtzuli	2:38825726cb1b	384	}
yangtzuli	2:38825726cb1b	385	}
nishimura_taku_pet	28:cb51cafca490	386	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	387	}else { // 全方向以外
nishimura_taku_pet	28:cb51cafca490	388	far = SC; // 正面を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	389	houkou = 1; // 進行方向を前に設定
nishimura_taku_pet	28:cb51cafca490	390	if(far < SLD \|\| far < SL){ // 左または左前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	391	if(SL < SLD){ // 左前が左より遠い場合
nishimura_taku_pet	28:cb51cafca490	392	far = SLD; // 左前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	393	}else{ // 左が左前より遠い場合
nishimura_taku_pet	28:cb51cafca490	394	far = SL; // 左を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	395	}
nishimura_taku_pet	28:cb51cafca490	396	houkou = 2; // 進行方向を左に設定
nishimura_taku_pet	28:cb51cafca490	397	}
nishimura_taku_pet	28:cb51cafca490	398	if(far < SRD \|\| far < SR){ // 右または右前がより遠い場合
nishimura_taku_pet	28:cb51cafca490	399	if(SR < SRD){ // 右前が右より遠い場合
nishimura_taku_pet	28:cb51cafca490	400	far = SRD; // 右前を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	401	}else{ // 右が右前よりも遠い場合
nishimura_taku_pet	28:cb51cafca490	402	far = SR; // 右を最も遠い距離に設定
nishimura_taku_pet	28:cb51cafca490	403	}
nishimura_taku_pet	28:cb51cafca490	404	houkou = 3; // 進行方向を右に設定
nishimura_taku_pet	28:cb51cafca490	405	}
nishimura_taku_pet	28:cb51cafca490	406	switch(houkou){ // 進行方向の場合分け
nishimura_taku_pet	28:cb51cafca490	407	case 1: // 前の場合
nishimura_taku_pet	28:cb51cafca490	408	run = ADVANCE; // 前進
nishimura_taku_pet	28:cb51cafca490	409	ThisThread::sleep_for(1000); // 1秒待つ
nishimura_taku_pet	28:cb51cafca490	410	break;
nishimura_taku_pet	28:cb51cafca490	411	case 2: // 左の場合
nishimura_taku_pet	28:cb51cafca490	412
nishimura_taku_pet	28:cb51cafca490	413	run = LEFT; // 左折
nishimura_taku_pet	28:cb51cafca490	414	while(i < 1){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	415	flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet	28:cb51cafca490	416	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	417	i++; // ループ+
nishimura_taku_pet	28:cb51cafca490	418	}else{
nishimura_taku_pet	28:cb51cafca490	419	i = 0;
nishimura_taku_pet	28:cb51cafca490	420	}
nishimura_taku_pet	28:cb51cafca490	421	}
nishimura_taku_pet	28:cb51cafca490	422	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	423	break;
nishimura_taku_pet	28:cb51cafca490	424	case 3: // 右の場合
nishimura_taku_pet	28:cb51cafca490	425
nishimura_taku_pet	28:cb51cafca490	426	run = RIGHT; // 右折
nishimura_taku_pet	28:cb51cafca490	427	while(i < 1){ // 進行方向確認
nishimura_taku_pet	28:cb51cafca490	428	flag_sp = flag_sp % 3 + 6;
nishimura_taku_pet	28:cb51cafca490	429	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	430	i++; // ループ+
nishimura_taku_pet	28:cb51cafca490	431	}else{
nishimura_taku_pet	28:cb51cafca490	432	i = 0;
nishimura_taku_pet	28:cb51cafca490	433	}
nishimura_taku_pet	28:cb51cafca490	434	}
nishimura_taku_pet	28:cb51cafca490	435	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	436	break;
nishimura_taku_pet	28:cb51cafca490	437	}
yangtzuli	5:3fffb364744b	438	}
nishimura_taku_pet	28:cb51cafca490	439	}
nishimura_taku_pet	28:cb51cafca490	440	flag_a = 0; // 障害物有無フラグを0にセット
yangtzuli	2:38825726cb1b	441	}
yangtzuli	2:38825726cb1b	442	}
tomotsugu	8:a47dbf4fa455	443
tomotsugu	8:a47dbf4fa455	444	/* 距離計測関数 */
yangtzuli	2:38825726cb1b	445	int watch(){
tomotsugu	21:68d38e8f64b5	446	do{
tomotsugu	21:68d38e8f64b5	447	trig = 0;
tomotsugu	21:68d38e8f64b5	448	ThisThread::sleep_for(5); // 5ms待つ
tomotsugu	21:68d38e8f64b5	449	trig = 1;
tomotsugu	21:68d38e8f64b5	450	ThisThread::sleep_for(15); // 15ms待つ
tomotsugu	21:68d38e8f64b5	451	trig = 0;
tomotsugu	21:68d38e8f64b5	452	timer.start();
yangtzuli	17:f7259ab2fe86	453	t1=timer.read_ms();
nishimura_taku_pet	29:600e4b9b5c5b	454	while(echo.read() == 0 && t1<10){
tomotsugu	21:68d38e8f64b5	455	t1=timer.read_ms();
tomotsugu	21:68d38e8f64b5	456	led1 = 1;
tomotsugu	21:68d38e8f64b5	457	}
tomotsugu	21:68d38e8f64b5	458	timer.stop();
tomotsugu	21:68d38e8f64b5	459	timer.reset();
nishimura_taku_pet	28:cb51cafca490	460	/*if((t1-t2) >= 10){
nishimura_taku_pet	28:cb51cafca490	461	run = STOP;*/
nishimura_taku_pet	29:600e4b9b5c5b	462	}while(t1 >= 10);
tomotsugu	21:68d38e8f64b5	463	timer.start(); // 距離計測タイマースタート
tomotsugu	21:68d38e8f64b5	464	while(echo.read() == 1){
yangtzuli	5:3fffb364744b	465	}
tomotsugu	21:68d38e8f64b5	466	timer.stop(); // 距離計測タイマーストップ
tomotsugu	21:68d38e8f64b5	467	DT = (int)(timer.read_us()*0.01657); // 距離計算
nishimura_taku_pet	28:cb51cafca490	468	if(DT > 1000){
nishimura_taku_pet	28:cb51cafca490	469	DT = -1;
nishimura_taku_pet	28:cb51cafca490	470	}else if(DT > 150){ // 検知範囲外なら100cmに設定
tomotsugu	22:c6e2a3b9aa14	471	DT = 150;
yangtzuli	2:38825726cb1b	472	}
tomotsugu	21:68d38e8f64b5	473	timer.reset(); // 距離計測タイマーリセット
tomotsugu	8:a47dbf4fa455	474	led1 = 0;
yangtzuli	2:38825726cb1b	475	return DT;
yangtzuli	0:0d0037aabe41	476	}
yangtzuli	0:0d0037aabe41	477
tomotsugu	8:a47dbf4fa455	478	/* 障害物検知関数 */
yangtzuli	2:38825726cb1b	479	void watchsurrounding(){
nishimura_taku_pet	28:cb51cafca490	480	//servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	481	//ThisThread::sleep_for(200); // 100ms待つ
yangtzuli	2:38825726cb1b	482	SC = watch();
nishimura_taku_pet	28:cb51cafca490	483	if(SC < limit){ // 正面20cm以内に障害物がある場合
nishimura_taku_pet	28:cb51cafca490	484	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	485	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	486	flag_a = 1;
nishimura_taku_pet	28:cb51cafca490	487	}
yangtzuli	2:38825726cb1b	488	}
yangtzuli	2:38825726cb1b	489	servo.pulsewidth_us(1925); // サーボを左に40度回転
nishimura_taku_pet	28:cb51cafca490	490	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	491	SLD = watch();
yangtzuli	2:38825726cb1b	492	if(SLD < limit){ // 左前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	493	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	494	flag_a = 1;
yangtzuli	2:38825726cb1b	495	}
yangtzuli	2:38825726cb1b	496	servo.pulsewidth_us(2400); // サーボを左に90度回転
nishimura_taku_pet	28:cb51cafca490	497	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	498	SL = watch();
yangtzuli	2:38825726cb1b	499	if(SL < limit){ // 左20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	500	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	501	flag_a = 1;
yangtzuli	2:38825726cb1b	502	}
tomotsugu	19:c6f9f010bd9e	503	servo.pulsewidth_us(1450);
nishimura_taku_pet	28:cb51cafca490	504	ThisThread::sleep_for(250);
tomotsugu	19:c6f9f010bd9e	505	SC = watch();
tomotsugu	19:c6f9f010bd9e	506	if(SC < limit){
nishimura_taku_pet	28:cb51cafca490	507	if(SC!=-1){
nishimura_taku_pet	28:cb51cafca490	508	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	509	flag_a = 1;
nishimura_taku_pet	28:cb51cafca490	510	}
tomotsugu	19:c6f9f010bd9e	511	}
yangtzuli	2:38825726cb1b	512	servo.pulsewidth_us(925); // サーボを右に40度回転
nishimura_taku_pet	28:cb51cafca490	513	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	514	SRD = watch();
yangtzuli	2:38825726cb1b	515	if(SRD < limit){ // 右前20cm以内に障害物がある場合
tomotsugu	20:02bb875a9b13	516	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	517	flag_a = 1;
yangtzuli	2:38825726cb1b	518	}
yangtzuli	2:38825726cb1b	519	servo.pulsewidth_us(500); // サーボを右に90度回転
nishimura_taku_pet	28:cb51cafca490	520	ThisThread::sleep_for(100); // 250ms待つ
yangtzuli	2:38825726cb1b	521	SR = watch();
yangtzuli	2:38825726cb1b	522	if(SR < limit){ // 右20cm以内に障害物がある場合
nishimura_taku_pet	28:cb51cafca490	523	run = STOP; // 停止
nishimura_taku_pet	28:cb51cafca490	524	flag_a = 1;
yangtzuli	2:38825726cb1b	525	}
yangtzuli	2:38825726cb1b	526	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	28:cb51cafca490	527	ThisThread::sleep_for(250); // 100ms待つ
nishimura_taku_pet	28:cb51cafca490	528	/*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	529	flag_a = 1; // 障害物有無フラグに1をセット
nishimura_taku_pet	28:cb51cafca490	530	}*/
yangtzuli	3:2ae6218973be	531	}
yangtzuli	3:2ae6218973be	532
tomotsugu	8:a47dbf4fa455	533	/* ディスプレイ表示関数 */
yangtzuli	3:2ae6218973be	534	void display(){
tomotsugu	8:a47dbf4fa455	535	mutex.lock(); // ミューテックスロック
yangtzuli	3:2ae6218973be	536	lcd.setAddress(0,1);
tomotsugu	8:a47dbf4fa455	537
tomotsugu	8:a47dbf4fa455	538	/* 操作モードによる場合分け */
yangtzuli	3:2ae6218973be	539	switch(mode){
tomotsugu	8:a47dbf4fa455	540	/* 前進 */
yangtzuli	3:2ae6218973be	541	case ADVANCE:
yangtzuli	3:2ae6218973be	542	lcd.printf("Mode:Advance ");
yangtzuli	3:2ae6218973be	543	break;
tomotsugu	8:a47dbf4fa455	544	/* 右折 */
yangtzuli	3:2ae6218973be	545	case RIGHT:
yangtzuli	5:3fffb364744b	546	lcd.printf("Mode:TurnRight ");
yangtzuli	3:2ae6218973be	547	break;
tomotsugu	8:a47dbf4fa455	548	/* 左折 */
yangtzuli	3:2ae6218973be	549	case LEFT:
yangtzuli	5:3fffb364744b	550	lcd.printf("Mode:TurnLeft ");
yangtzuli	3:2ae6218973be	551	break;
tomotsugu	8:a47dbf4fa455	552	/* 後退 */
yangtzuli	3:2ae6218973be	553	case BACK:
yangtzuli	3:2ae6218973be	554	lcd.printf("Mode:Back ");
yangtzuli	3:2ae6218973be	555	break;
tomotsugu	8:a47dbf4fa455	556	/* 停止 */
yangtzuli	3:2ae6218973be	557	case STOP:
yangtzuli	3:2ae6218973be	558	lcd.printf("Mode:Stop ");
yangtzuli	3:2ae6218973be	559	break;
tomotsugu	8:a47dbf4fa455	560	/* 待ち */
yangtzuli	3:2ae6218973be	561	case READY:
yangtzuli	3:2ae6218973be	562	lcd.printf("Mode:Ready ");
yangtzuli	3:2ae6218973be	563	break;
tomotsugu	8:a47dbf4fa455	564	/* ライントレース */
yangtzuli	3:2ae6218973be	565	case LINE_TRACE:
yangtzuli	3:2ae6218973be	566	lcd.printf("Mode:LineTrace ");
yangtzuli	3:2ae6218973be	567	break;
tomotsugu	8:a47dbf4fa455	568	/* 障害物回避 */
yangtzuli	3:2ae6218973be	569	case AVOIDANCE:
yangtzuli	3:2ae6218973be	570	lcd.printf("Mode:Avoidance ");
yangtzuli	3:2ae6218973be	571	break;
tomotsugu	8:a47dbf4fa455	572	/* スピード制御 */
yangtzuli	3:2ae6218973be	573	case SPEED:
tomotsugu	8:a47dbf4fa455	574	/* スピードの状態で場合分け */
yangtzuli	3:2ae6218973be	575	switch(flag_sp){
tomotsugu	8:a47dbf4fa455	576	/* 普通 */
yangtzuli	3:2ae6218973be	577	case(NORMAL):
yangtzuli	3:2ae6218973be	578	lcd.printf("Speed:Normal ");
yangtzuli	3:2ae6218973be	579	break;
tomotsugu	8:a47dbf4fa455	580	/* 速い */
yangtzuli	3:2ae6218973be	581	case(FAST):
yangtzuli	3:2ae6218973be	582	lcd.printf("Speed:Fast ");
yangtzuli	3:2ae6218973be	583	break;
tomotsugu	8:a47dbf4fa455	584	/* とても速い */
yangtzuli	3:2ae6218973be	585	case(VERYFAST):
yangtzuli	3:2ae6218973be	586	lcd.printf("Speed:VeryFast ");
yangtzuli	3:2ae6218973be	587	break;
yangtzuli	3:2ae6218973be	588	}
tomotsugu	8:a47dbf4fa455	589	viewTimer.reset(); // タイマーリセット
tomotsugu	8:a47dbf4fa455	590	viewTimer.start(); // タイマースタート
yangtzuli	3:2ae6218973be	591	break;
yangtzuli	3:2ae6218973be	592	}
tomotsugu	8:a47dbf4fa455	593	mutex.unlock(); // ミューテックスアンロック
yangtzuli	3:2ae6218973be	594	}
yangtzuli	3:2ae6218973be	595
tomotsugu	8:a47dbf4fa455	596	/* バックライト点滅 */
yangtzuli	3:2ae6218973be	597	void lcdBacklight(void const *argument){
tomotsugu	8:a47dbf4fa455	598	if(flag_b == 1){ // バックライト点滅フラグが1なら
tomotsugu	8:a47dbf4fa455	599	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	8:a47dbf4fa455	600	}else{ // バックライト点滅フラグが0なら
tomotsugu	8:a47dbf4fa455	601	lcd.setBacklight(TextLCD::LightOff); // バックライトOFF
yangtzuli	3:2ae6218973be	602	}
tomotsugu	8:a47dbf4fa455	603	flag_b = !flag_b; // バックライト点滅フラグ切り替え
yangtzuli	3:2ae6218973be	604	}
yangtzuli	2:38825726cb1b	605
tomotsugu	8:a47dbf4fa455	606	/* バッテリー残量更新関数 */
yangtzuli	5:3fffb364744b	607	void bChange(){
yangtzuli	17:f7259ab2fe86	608	//pc.printf(" bChange1\r\n");
tomotsugu	10:d193030ce672	609	b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)10+0.5)10;
tomotsugu	10:d193030ce672	610	if(b <= 0){ // バッテリー残量0%なら全ての機能停止
tomotsugu	10:d193030ce672	611	b = 0;
tomotsugu	10:d193030ce672	612	//lcd.setBacklight(TextLCD::LightOff);
tomotsugu	10:d193030ce672	613	//run = STOP;
tomotsugu	10:d193030ce672	614	//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	615	}
tomotsugu	10:d193030ce672	616	mutex.lock(); // ミューテックスロック
tomotsugu	10:d193030ce672	617	lcd.setAddress(0,0);
tomotsugu	10:d193030ce672	618	lcd.printf("Battery:%3d%%",b); // バッテリー残量表示
tomotsugu	10:d193030ce672	619	mutex.unlock(); // ミューテックスアンロック
tomotsugu	10:d193030ce672	620	if(b <= 30){ // バッテリー残量30%以下なら
tomotsugu	10:d193030ce672	621	if(flag_t == 0){ // バックライトタイマーフラグが0なら
tomotsugu	10:d193030ce672	622	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	623	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	624	}
tomotsugu	10:d193030ce672	625	}else{
tomotsugu	10:d193030ce672	626	if(flag_t == 1){ // バックライトタイマーフラグが1なら
tomotsugu	10:d193030ce672	627	bTimer.stop(); // バックライトタイマーストップ
tomotsugu	10:d193030ce672	628	lcd.setBacklight(TextLCD::LightOn); // バックライトON
tomotsugu	10:d193030ce672	629	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	630	}
tomotsugu	10:d193030ce672	631	}
yangtzuli	2:38825726cb1b	632	}
tomotsugu	8:a47dbf4fa455	633
nishimura_taku_pet	24:9481c8f56a49	634	// Serial Interrupt read ESP data
nishimura_taku_pet	24:9481c8f56a49	635	void callback()
nishimura_taku_pet	24:9481c8f56a49	636	{
nishimura_taku_pet	24:9481c8f56a49	637	//pc.printf("\n\r------------ callback is being called --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	638	led3=1;
nishimura_taku_pet	24:9481c8f56a49	639	while (esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	640	webbuff[ount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	641	ount++;
nishimura_taku_pet	24:9481c8f56a49	642	}
nishimura_taku_pet	24:9481c8f56a49	643	if(strlen(webbuff)>bufflen) {
nishimura_taku_pet	24:9481c8f56a49	644	pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	645	DataRX=1;
nishimura_taku_pet	24:9481c8f56a49	646	led3=0;
nishimura_taku_pet	24:9481c8f56a49	647	}
nishimura_taku_pet	24:9481c8f56a49	648	}
nishimura_taku_pet	24:9481c8f56a49	649
nishimura_taku_pet	24:9481c8f56a49	650	void wifi(void const *argument)
nishimura_taku_pet	24:9481c8f56a49	651	{
nishimura_taku_pet	24:9481c8f56a49	652	pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
nishimura_taku_pet	33:a6f1090e0174	653	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	654	led1=1,led2=0,led3=0;
nishimura_taku_pet	24:9481c8f56a49	655	timeout=6000;
nishimura_taku_pet	24:9481c8f56a49	656	getcount=500;
nishimura_taku_pet	24:9481c8f56a49	657	getreply();
nishimura_taku_pet	24:9481c8f56a49	658	esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
nishimura_taku_pet	24:9481c8f56a49	659	startserver();
nishimura_taku_pet	24:9481c8f56a49	660
nishimura_taku_pet	24:9481c8f56a49	661	while(1) {
nishimura_taku_pet	24:9481c8f56a49	662	if(DataRX==1) {
nishimura_taku_pet	24:9481c8f56a49	663	pc.printf("\f\n\r------------ main while > if --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	664	click_flag = 1;
nishimura_taku_pet	24:9481c8f56a49	665	ReadWebData();
nishimura_taku_pet	24:9481c8f56a49	666	pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
nishimura_taku_pet	24:9481c8f56a49	667	//if ((servreq == 1 && weberror == 0) && click_flag == 1) {
nishimura_taku_pet	24:9481c8f56a49	668	if (servreq == 1 && weberror == 0) {
nishimura_taku_pet	24:9481c8f56a49	669	pc.printf("\f\n\r------------ befor send page --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	670	sendpage();
nishimura_taku_pet	24:9481c8f56a49	671	}
nishimura_taku_pet	24:9481c8f56a49	672	pc.printf("\f\n\r------------ send_check begin --------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	673
nishimura_taku_pet	24:9481c8f56a49	674	//sendcheck();
nishimura_taku_pet	24:9481c8f56a49	675	pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
nishimura_taku_pet	24:9481c8f56a49	676
nishimura_taku_pet	24:9481c8f56a49	677	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	678	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	679	pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
nishimura_taku_pet	24:9481c8f56a49	680	pc.printf(" Web Characters sent : %d\n\n", bufl);
nishimura_taku_pet	24:9481c8f56a49	681	pc.printf(" -------------------------------------\n\n");
nishimura_taku_pet	24:9481c8f56a49	682	servreq=0;
nishimura_taku_pet	24:9481c8f56a49	683	}
nishimura_taku_pet	24:9481c8f56a49	684	ThisThread::sleep_for(100);
nishimura_taku_pet	24:9481c8f56a49	685	}
nishimura_taku_pet	24:9481c8f56a49	686	}
nishimura_taku_pet	24:9481c8f56a49	687	// Static WEB page
nishimura_taku_pet	24:9481c8f56a49	688	void sendpage()
nishimura_taku_pet	24:9481c8f56a49	689	{
nishimura_taku_pet	24:9481c8f56a49	690	// WEB page data
nishimura_taku_pet	24:9481c8f56a49	691
nishimura_taku_pet	24:9481c8f56a49	692	strcpy(webbuff, "<!DOCTYPE html>");
nishimura_taku_pet	24:9481c8f56a49	693	strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
nishimura_taku_pet	24:9481c8f56a49	694	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	695	strcat(webbuff, "</head><body><center><p><strong>Robot Car Remote Controller");
nishimura_taku_pet	24:9481c8f56a49	696	strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
nishimura_taku_pet	33:a6f1090e0174	697	if(b > 30) {
nishimura_taku_pet	33:a6f1090e0174	698	sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet	33:a6f1090e0174	699	} else {
nishimura_taku_pet	33:a6f1090e0174	700	strcat(webbuff, "<font color=\"red\">");
nishimura_taku_pet	33:a6f1090e0174	701	sprintf(webbuff, "%s%3d", webbuff, b);
nishimura_taku_pet	33:a6f1090e0174	702	strcat(webbuff, "<\font>");
nishimura_taku_pet	33:a6f1090e0174	703	}
nishimura_taku_pet	33:a6f1090e0174	704	strcat(webbuff, "%</strong>");
nishimura_taku_pet	24:9481c8f56a49	705	strcat(webbuff, "</td></p>");
nishimura_taku_pet	24:9481c8f56a49	706	strcat(webbuff, "<br>");
nishimura_taku_pet	24:9481c8f56a49	707	strcat(webbuff, "<table><tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	708
nishimura_taku_pet	24:9481c8f56a49	709	switch(mode) {
nishimura_taku_pet	24:9481c8f56a49	710	case ADVANCE:
nishimura_taku_pet	24:9481c8f56a49	711	strcat(webbuff, "<button id='gobtn' type='button' class=\"light\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	712	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	713	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	714	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	715	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	716	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	717	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	718	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	719	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	720	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	721	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	722	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	723	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	724	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	725	break;
nishimura_taku_pet	24:9481c8f56a49	726	case LEFT:
nishimura_taku_pet	24:9481c8f56a49	727	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	728	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	729	strcat(webbuff, "<button id='leftbtn' type='button' class=\"light\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	730	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	731	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	732	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	733	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	734	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	735	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	736	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	737	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	738	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	739	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	740	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	741	break;
nishimura_taku_pet	24:9481c8f56a49	742	case STOP:
nishimura_taku_pet	24:9481c8f56a49	743	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	744	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	745	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	746	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	747	strcat(webbuff, "<button id='stopbtn' type='button' class=\"light\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	748	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	749	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	750	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	751	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	752	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	753	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	754	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	755	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	756	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	757	break;
nishimura_taku_pet	24:9481c8f56a49	758	case RIGHT:
nishimura_taku_pet	24:9481c8f56a49	759	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	760	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	761	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	762	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	763	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	764	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	765	strcat(webbuff, "<button id='rightbtn' type='button' class=\"light\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	766	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	767	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	768	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	769	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	770	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	771	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	772	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	773	break;
nishimura_taku_pet	24:9481c8f56a49	774	case BACK:
nishimura_taku_pet	24:9481c8f56a49	775	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	776	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	777	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	778	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	779	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	780	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	781	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	782	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	783	strcat(webbuff, "<button id='backbtn' type='button' class=\"light\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	784	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr><td>");
nishimura_taku_pet	24:9481c8f56a49	785	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	786	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	787	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	788	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	789	break;
nishimura_taku_pet	24:9481c8f56a49	790	case AVOIDANCE:
nishimura_taku_pet	24:9481c8f56a49	791	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	792	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	793	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	794	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	795	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	796	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	797	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	798	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	799	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	800	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	801	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	802	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	803	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	804	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	805	break;
nishimura_taku_pet	24:9481c8f56a49	806	case LINE_TRACE:
nishimura_taku_pet	24:9481c8f56a49	807	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	808	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	809	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	810	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	811	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	812	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	813	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	814	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	815	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	816	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	817	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	818	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	819	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	820	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	821	break;
nishimura_taku_pet	24:9481c8f56a49	822	default:
nishimura_taku_pet	24:9481c8f56a49	823	strcat(webbuff, "<button id='gobtn' type='button' class=\"noselect\" value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
nishimura_taku_pet	24:9481c8f56a49	824	strcat(webbuff, "</button></td><td></td></tr><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	825	strcat(webbuff, "<button id='leftbtn' type='button' class=\"noselect\" value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
nishimura_taku_pet	24:9481c8f56a49	826	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	827	strcat(webbuff, "<button id='stopbtn' type='button' class=\"noselect\" value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
nishimura_taku_pet	24:9481c8f56a49	828	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	829	strcat(webbuff, "<button id='rightbtn' type='button' class=\"noselect\" value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
nishimura_taku_pet	24:9481c8f56a49	830	strcat(webbuff, "</button></td></tr><td></td><td>");
nishimura_taku_pet	24:9481c8f56a49	831	strcat(webbuff, "<button id='backbtn' type='button' class=\"noselect\" value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
nishimura_taku_pet	24:9481c8f56a49	832	strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	833	strcat(webbuff, "<strong>Mode</strong>");
nishimura_taku_pet	24:9481c8f56a49	834	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	835	strcat(webbuff, "AVOIDANCE</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	836	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	837	break;
nishimura_taku_pet	24:9481c8f56a49	838	}
nishimura_taku_pet	24:9481c8f56a49	839	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	840	strcat(webbuff, "<strong>Speed</strong>");
nishimura_taku_pet	24:9481c8f56a49	841	strcat(webbuff, "<table><tr><td>");
nishimura_taku_pet	24:9481c8f56a49	842	//ready示速度だけ点灯
nishimura_taku_pet	24:9481c8f56a49	843	switch (flag_sp) {
nishimura_taku_pet	24:9481c8f56a49	844	case 0:
nishimura_taku_pet	24:9481c8f56a49	845	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	846	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	847	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	848	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	849	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	850	break;
nishimura_taku_pet	24:9481c8f56a49	851	case 1:
nishimura_taku_pet	24:9481c8f56a49	852	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	853	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	854	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	855	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	856	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	857	break;
nishimura_taku_pet	24:9481c8f56a49	858	case 2:
nishimura_taku_pet	24:9481c8f56a49	859	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	860	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	861	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	862	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	863	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	864	break;
nishimura_taku_pet	24:9481c8f56a49	865	default:
nishimura_taku_pet	24:9481c8f56a49	866	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	867	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	868	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	869	strcat(webbuff, "</button></td><td>");
nishimura_taku_pet	24:9481c8f56a49	870	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	871	break;
nishimura_taku_pet	24:9481c8f56a49	872	}
nishimura_taku_pet	24:9481c8f56a49	873	strcat(webbuff, "</button></td></tr></table>");
nishimura_taku_pet	24:9481c8f56a49	874
nishimura_taku_pet	24:9481c8f56a49	875	strcat(webbuff, "</center>");
nishimura_taku_pet	24:9481c8f56a49	876	strcat(webbuff, "</body>");
nishimura_taku_pet	24:9481c8f56a49	877	strcat(webbuff, "</html>");
nishimura_taku_pet	24:9481c8f56a49	878	strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
nishimura_taku_pet	24:9481c8f56a49	879
nishimura_taku_pet	24:9481c8f56a49	880	strcat(webbuff, "function htmlacs(url) {");
nishimura_taku_pet	24:9481c8f56a49	881	strcat(webbuff, "var xhr = new XMLHttpRequest();");
nishimura_taku_pet	24:9481c8f56a49	882	strcat(webbuff, "xhr.open(\"GET\", url);");
nishimura_taku_pet	24:9481c8f56a49	883	strcat(webbuff, "xhr.send(\"\");");
nishimura_taku_pet	24:9481c8f56a49	884	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	885
nishimura_taku_pet	24:9481c8f56a49	886	strcat(webbuff, "function send_mes(btnmes,btnval){");
nishimura_taku_pet	24:9481c8f56a49	887	strcat(webbuff, "console.log(btnval);");
nishimura_taku_pet	24:9481c8f56a49	888
nishimura_taku_pet	24:9481c8f56a49	889	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	890	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	891	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	892	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	24:9481c8f56a49	893	strcat(webbuff, "for(var i=0;i<7;i++){");
nishimura_taku_pet	24:9481c8f56a49	894	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	895	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	896	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	897	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	898	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	899	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	900	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	901
nishimura_taku_pet	24:9481c8f56a49	902	strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
nishimura_taku_pet	24:9481c8f56a49	903	strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
nishimura_taku_pet	24:9481c8f56a49	904	strcat(webbuff, "htmlacs(url);");
nishimura_taku_pet	24:9481c8f56a49	905	strcat(webbuff, "console.log(url);");
nishimura_taku_pet	24:9481c8f56a49	906	strcat(webbuff, "var buttons = document.getElementsByTagName(\"button\");");
nishimura_taku_pet	24:9481c8f56a49	907	strcat(webbuff, "for(var i=7;i<10;i++){");
nishimura_taku_pet	24:9481c8f56a49	908	strcat(webbuff, "if(buttons[i].value == btnval){");
nishimura_taku_pet	24:9481c8f56a49	909	strcat(webbuff, "buttons[i].className=\"light\";");
nishimura_taku_pet	24:9481c8f56a49	910	strcat(webbuff, "}else{");
nishimura_taku_pet	24:9481c8f56a49	911	strcat(webbuff, "buttons[i].className=\"noselect\";");
nishimura_taku_pet	24:9481c8f56a49	912	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	913	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	914	strcat(webbuff, "}");
nishimura_taku_pet	24:9481c8f56a49	915	strcat(webbuff, "</script>");
nishimura_taku_pet	24:9481c8f56a49	916	// end of WEB page data
nishimura_taku_pet	24:9481c8f56a49	917	bufl = strlen(webbuff); // get total page buffer length
nishimura_taku_pet	24:9481c8f56a49	918	//sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
nishimura_taku_pet	24:9481c8f56a49	919
nishimura_taku_pet	24:9481c8f56a49	920	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	921	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	922	getcount=40;
nishimura_taku_pet	24:9481c8f56a49	923	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	924	getreply();
nishimura_taku_pet	24:9481c8f56a49	925	pc.printf(replybuff);
nishimura_taku_pet	32:049d9ba081d4	926	//pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
nishimura_taku_pet	24:9481c8f56a49	927
nishimura_taku_pet	24:9481c8f56a49	928	pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
nishimura_taku_pet	24:9481c8f56a49	929
nishimura_taku_pet	24:9481c8f56a49	930	//pastthrough mode
nishimura_taku_pet	24:9481c8f56a49	931	SendWEB(); // send web page
nishimura_taku_pet	24:9481c8f56a49	932	pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	933
nishimura_taku_pet	24:9481c8f56a49	934	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	935	sendcheck();
nishimura_taku_pet	24:9481c8f56a49	936	}
nishimura_taku_pet	24:9481c8f56a49	937
nishimura_taku_pet	24:9481c8f56a49	938	// Large WEB buffer data send
nishimura_taku_pet	24:9481c8f56a49	939	void SendWEB()
nishimura_taku_pet	24:9481c8f56a49	940	{
nishimura_taku_pet	24:9481c8f56a49	941	int i=0;
nishimura_taku_pet	24:9481c8f56a49	942	if(esp.writeable()) {
nishimura_taku_pet	24:9481c8f56a49	943	while(webbuff[i]!='\0') {
nishimura_taku_pet	24:9481c8f56a49	944	esp.putc(webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	945
nishimura_taku_pet	24:9481c8f56a49	946	//****
nishimura_taku_pet	24:9481c8f56a49	947	//output at command when 2000
nishimura_taku_pet	24:9481c8f56a49	948	if(((i%2047)==0) && (i>0)) {
nishimura_taku_pet	24:9481c8f56a49	949	//wait_ms(10);
nishimura_taku_pet	32:049d9ba081d4	950	ThisThread::sleep_for(10);
nishimura_taku_pet	24:9481c8f56a49	951	sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
nishimura_taku_pet	32:049d9ba081d4	952	//pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
nishimura_taku_pet	24:9481c8f56a49	953	timeout=600;
nishimura_taku_pet	24:9481c8f56a49	954	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	955	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	956	getreply();
nishimura_taku_pet	32:049d9ba081d4	957	//pc.printf(replybuff);
nishimura_taku_pet	32:049d9ba081d4	958	//pc.printf("\r\n+++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	959	}
nishimura_taku_pet	24:9481c8f56a49	960	//****
nishimura_taku_pet	24:9481c8f56a49	961	i++;
nishimura_taku_pet	32:049d9ba081d4	962	//pc.printf("%c",webbuff[i]);
nishimura_taku_pet	24:9481c8f56a49	963	}
nishimura_taku_pet	24:9481c8f56a49	964	}
nishimura_taku_pet	24:9481c8f56a49	965	pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
nishimura_taku_pet	24:9481c8f56a49	966	}
nishimura_taku_pet	24:9481c8f56a49	967
nishimura_taku_pet	24:9481c8f56a49	968
nishimura_taku_pet	24:9481c8f56a49	969
nishimura_taku_pet	24:9481c8f56a49	970	void sendcheck()
nishimura_taku_pet	24:9481c8f56a49	971	{
nishimura_taku_pet	24:9481c8f56a49	972	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	973	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	974	getcount=24;
nishimura_taku_pet	24:9481c8f56a49	975	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	976	time2.start();
nishimura_taku_pet	24:9481c8f56a49	977
nishimura_taku_pet	24:9481c8f56a49	978	/*
nishimura_taku_pet	24:9481c8f56a49	979	while(weberror==1 && time2.read() <5) {
nishimura_taku_pet	24:9481c8f56a49	980	getreply();
nishimura_taku_pet	24:9481c8f56a49	981	if (strstr(replybuff, "SEND OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	982	weberror=0; // wait for valid SEND OK
nishimura_taku_pet	24:9481c8f56a49	983	}
nishimura_taku_pet	24:9481c8f56a49	984	}
nishimura_taku_pet	24:9481c8f56a49	985	*/
nishimura_taku_pet	24:9481c8f56a49	986	if(weberror==1) { // restart connection
nishimura_taku_pet	24:9481c8f56a49	987	strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
nishimura_taku_pet	24:9481c8f56a49	988	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	989	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	990	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	991	getreply();
nishimura_taku_pet	24:9481c8f56a49	992	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	993	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	994	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	995	getcount=10;
nishimura_taku_pet	24:9481c8f56a49	996	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	997	getreply();
nishimura_taku_pet	24:9481c8f56a49	998	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	999	} else {
nishimura_taku_pet	24:9481c8f56a49	1000	sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
nishimura_taku_pet	24:9481c8f56a49	1001	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1002	getreply();
nishimura_taku_pet	24:9481c8f56a49	1003	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1004	}
nishimura_taku_pet	24:9481c8f56a49	1005	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1006	}
nishimura_taku_pet	24:9481c8f56a49	1007
nishimura_taku_pet	24:9481c8f56a49	1008	// Reads and processes GET and POST web data
nishimura_taku_pet	24:9481c8f56a49	1009	void ReadWebData()
nishimura_taku_pet	24:9481c8f56a49	1010	{
nishimura_taku_pet	24:9481c8f56a49	1011	pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
nishimura_taku_pet	30:c80da0ecc260	1012	ThisThread::sleep_for(200);
nishimura_taku_pet	24:9481c8f56a49	1013	esp.attach(NULL);
nishimura_taku_pet	24:9481c8f56a49	1014	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1015	DataRX=0;
nishimura_taku_pet	24:9481c8f56a49	1016	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1017	memset(webdata, '\0', sizeof(webdata));
nishimura_taku_pet	24:9481c8f56a49	1018	int x = strcspn (webbuff,"+");
nishimura_taku_pet	24:9481c8f56a49	1019	if(x) {
nishimura_taku_pet	24:9481c8f56a49	1020	strcpy(webdata, webbuff + x);
nishimura_taku_pet	24:9481c8f56a49	1021	weberror=0;
nishimura_taku_pet	24:9481c8f56a49	1022	int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
nishimura_taku_pet	24:9481c8f56a49	1023	//int i=0;
nishimura_taku_pet	24:9481c8f56a49	1024	pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1025	pc.printf("%s",webdata);
nishimura_taku_pet	24:9481c8f56a49	1026	pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1027	if( strstr(webdata, "GO") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1028	pc.printf("+++++++++++++++++前進+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1029	run = ADVANCE; // 前進
nishimura_taku_pet	32:049d9ba081d4	1030	mode = ADVANCE; // モード変更
nishimura_taku_pet	26:0badbc9f9cb3	1031	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1032	}
nishimura_taku_pet	26:0badbc9f9cb3	1033
nishimura_taku_pet	24:9481c8f56a49	1034	if( strstr(webdata, "LEFT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1035	pc.printf("+++++++++++++++++左折+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1036	run = LEFT;
nishimura_taku_pet	32:049d9ba081d4	1037	mode = LEFT;
nishimura_taku_pet	26:0badbc9f9cb3	1038	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1039	}
nishimura_taku_pet	24:9481c8f56a49	1040
nishimura_taku_pet	24:9481c8f56a49	1041	if( strstr(webdata, "STOP") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1042	pc.printf("+++++++++++++++++停止+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1043	run = STOP;
nishimura_taku_pet	32:049d9ba081d4	1044	mode = STOP;
nishimura_taku_pet	26:0badbc9f9cb3	1045	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1046	}
nishimura_taku_pet	24:9481c8f56a49	1047
nishimura_taku_pet	24:9481c8f56a49	1048	if( strstr(webdata, "RIGHT") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1049	pc.printf("+++++++++++++++++右折+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1050	run = RIGHT;
nishimura_taku_pet	32:049d9ba081d4	1051	mode = RIGHT;
nishimura_taku_pet	26:0badbc9f9cb3	1052	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1053	}
nishimura_taku_pet	24:9481c8f56a49	1054
nishimura_taku_pet	24:9481c8f56a49	1055	if( strstr(webdata, "BACK") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1056	pc.printf("+++++++++++++++++後進+++++++++++++++++++++\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1057	run = BACK;
nishimura_taku_pet	32:049d9ba081d4	1058	mode = BACK;
nishimura_taku_pet	26:0badbc9f9cb3	1059	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1060	}
nishimura_taku_pet	24:9481c8f56a49	1061	pc.printf("+++++++++++++++++succed+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1062
nishimura_taku_pet	24:9481c8f56a49	1063	if( strstr(webdata, "AVOIDANCE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1064	pc.printf("+++++++++++++++++AVOIDANCE+++++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1065	if(avoi_thread->get_state() == Thread::Deleted) {
nishimura_taku_pet	26:0badbc9f9cb3	1066	delete avoi_thread;
nishimura_taku_pet	26:0badbc9f9cb3	1067	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	26:0badbc9f9cb3	1068	avoi_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1069	}
nishimura_taku_pet	24:9481c8f56a49	1070	mode=AVOIDANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1071	run = ADVANCE;
nishimura_taku_pet	26:0badbc9f9cb3	1072	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1073	}
nishimura_taku_pet	24:9481c8f56a49	1074	if( strstr(webdata, "LINE_TRACE") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1075	pc.printf("+++++++++++++++++LINET RACE+++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1076	pc.printf("mode = LINE_TRACE\r\n");
nishimura_taku_pet	26:0badbc9f9cb3	1077	if(trace_thread->get_state() == Thread::Deleted) {
nishimura_taku_pet	26:0badbc9f9cb3	1078	delete trace_thread;
nishimura_taku_pet	26:0badbc9f9cb3	1079	trace_thread = new Thread(trace);
nishimura_taku_pet	26:0badbc9f9cb3	1080	trace_thread -> set_priority(osPriorityHigh);
nishimura_taku_pet	26:0badbc9f9cb3	1081	}
nishimura_taku_pet	24:9481c8f56a49	1082	mode=LINE_TRACE;
nishimura_taku_pet	26:0badbc9f9cb3	1083	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1084	}
nishimura_taku_pet	24:9481c8f56a49	1085	if( strstr(webdata, "Normal") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1086	pc.printf("++++++++++++++++++Normal++++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1087	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1088	flag_sp = 0;
nishimura_taku_pet	26:0badbc9f9cb3	1089	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1090	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1091	}
nishimura_taku_pet	24:9481c8f56a49	1092	if( strstr(webdata, "Fast") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1093	pc.printf("++++++++++++++++++++Fast++++++++++++++++++");
nishimura_taku_pet	24:9481c8f56a49	1094	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1095	flag_sp = 1;
nishimura_taku_pet	26:0badbc9f9cb3	1096	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1097	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1098	}
nishimura_taku_pet	24:9481c8f56a49	1099	if( strstr(webdata, "VeryFast") != NULL ) {
nishimura_taku_pet	24:9481c8f56a49	1100	pc.printf("+++++++++++++++++++VeryFast+++++++++++++++++++");
nishimura_taku_pet	26:0badbc9f9cb3	1101	mode = SPEED; // スピードモード
nishimura_taku_pet	24:9481c8f56a49	1102	flag_sp = 2;
nishimura_taku_pet	26:0badbc9f9cb3	1103	display(); // ディスプレイ表示
nishimura_taku_pet	24:9481c8f56a49	1104	mode = beforeMode; // 現在のモードに前回のモードを設定
nishimura_taku_pet	24:9481c8f56a49	1105	}
nishimura_taku_pet	26:0badbc9f9cb3	1106	if(mode != LINE_TRACE && trace_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1107	trace_thread->terminate();
nishimura_taku_pet	26:0badbc9f9cb3	1108	}
nishimura_taku_pet	26:0badbc9f9cb3	1109	if(mode != AVOIDANCE && avoi_thread->get_state() != Thread::Deleted){
nishimura_taku_pet	26:0badbc9f9cb3	1110	avoi_thread->terminate();
nishimura_taku_pet	31:3665282561d6	1111	servo.pulsewidth_us(1450); // サーボを中央位置に戻す
nishimura_taku_pet	26:0badbc9f9cb3	1112	}
nishimura_taku_pet	24:9481c8f56a49	1113	sprintf(channel, "%d",linkID);
nishimura_taku_pet	24:9481c8f56a49	1114	if (strstr(webdata, "GET") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1115	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1116	}
nishimura_taku_pet	24:9481c8f56a49	1117	if (strstr(webdata, "POST") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1118	servreq=1;
nishimura_taku_pet	24:9481c8f56a49	1119	}
nishimura_taku_pet	24:9481c8f56a49	1120	webcounter++;
nishimura_taku_pet	24:9481c8f56a49	1121	sprintf(webcount, "%d",webcounter);
nishimura_taku_pet	24:9481c8f56a49	1122	} else {
nishimura_taku_pet	24:9481c8f56a49	1123	memset(webbuff, '\0', sizeof(webbuff));
nishimura_taku_pet	24:9481c8f56a49	1124	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1125	weberror=1;
nishimura_taku_pet	24:9481c8f56a49	1126	}
nishimura_taku_pet	24:9481c8f56a49	1127	}
nishimura_taku_pet	24:9481c8f56a49	1128	// Starts and restarts webserver if errors detected.
nishimura_taku_pet	24:9481c8f56a49	1129	void startserver()
nishimura_taku_pet	24:9481c8f56a49	1130	{
nishimura_taku_pet	24:9481c8f56a49	1131	pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1132	strcpy(cmdbuff,"AT+RST\r\n");
nishimura_taku_pet	24:9481c8f56a49	1133	timeout=8000;
nishimura_taku_pet	24:9481c8f56a49	1134	getcount=1000;
nishimura_taku_pet	24:9481c8f56a49	1135	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1136	getreply();
nishimura_taku_pet	24:9481c8f56a49	1137	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1138	pc.printf("%d",ount);
nishimura_taku_pet	24:9481c8f56a49	1139	if (strstr(replybuff, "OK") != NULL) {
nishimura_taku_pet	24:9481c8f56a49	1140	pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1141	strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
nishimura_taku_pet	24:9481c8f56a49	1142	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1143	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1144	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1145	getreply();
nishimura_taku_pet	24:9481c8f56a49	1146	pc.printf(replybuff);
nishimura_taku_pet	24:9481c8f56a49	1147	sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
nishimura_taku_pet	24:9481c8f56a49	1148	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1149	getcount=20;
nishimura_taku_pet	24:9481c8f56a49	1150	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1151	getreply();
nishimura_taku_pet	24:9481c8f56a49	1152	pc.printf(replybuff);
nishimura_taku_pet	33:a6f1090e0174	1153	ThisThread::sleep_for(500);
nishimura_taku_pet	24:9481c8f56a49	1154	sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
nishimura_taku_pet	24:9481c8f56a49	1155	timeout=500;
nishimura_taku_pet	24:9481c8f56a49	1156	getcount=50;
nishimura_taku_pet	24:9481c8f56a49	1157	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1158	getreply();
nishimura_taku_pet	24:9481c8f56a49	1159	pc.printf(replybuff);
nishimura_taku_pet	25:8ed98982faa7	1160	ThisThread::sleep_for(5000);
nishimura_taku_pet	24:9481c8f56a49	1161	pc.printf("\n Getting Server IP \r\n");
nishimura_taku_pet	24:9481c8f56a49	1162	strcpy(cmdbuff, "AT+CIFSR\r\n");
nishimura_taku_pet	24:9481c8f56a49	1163	timeout=2500;
nishimura_taku_pet	24:9481c8f56a49	1164	getcount=200;
nishimura_taku_pet	24:9481c8f56a49	1165	while(weberror==0) {
nishimura_taku_pet	24:9481c8f56a49	1166	SendCMD();
nishimura_taku_pet	24:9481c8f56a49	1167	getreply();
nishimura_taku_pet	24:9481c8f56a49	1168	if (strstr(replybuff, "0.0.0.0") == NULL) {
nishimura_taku_pet	24:9481c8f56a49	1169	weberror=1; // wait for valid IP
nishimura_taku_pet	24:9481c8f56a49	1170	}
nishimura_taku_pet	24:9481c8f56a49	1171	}
nishimura_taku_pet	24:9481c8f56a49	1172	pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1173	pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
nishimura_taku_pet	24:9481c8f56a49	1174	replybuff[strlen(replybuff)-1] = '\0';
nishimura_taku_pet	24:9481c8f56a49	1175	//char* IP = replybuff + 5;
nishimura_taku_pet	24:9481c8f56a49	1176	sprintf(webdata,"%s", replybuff);
nishimura_taku_pet	24:9481c8f56a49	1177	pc.printf(webdata);
nishimura_taku_pet	24:9481c8f56a49	1178	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1179	bufflen=200;
nishimura_taku_pet	24:9481c8f56a49	1180	//bufflen=100;
nishimura_taku_pet	24:9481c8f56a49	1181	ount=0;
nishimura_taku_pet	24:9481c8f56a49	1182	pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
nishimura_taku_pet	33:a6f1090e0174	1183	setup();
nishimura_taku_pet	24:9481c8f56a49	1184	esp.attach(&callback);
nishimura_taku_pet	24:9481c8f56a49	1185	} else {
nishimura_taku_pet	24:9481c8f56a49	1186	pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
nishimura_taku_pet	24:9481c8f56a49	1187	led1=1;
nishimura_taku_pet	24:9481c8f56a49	1188	led2=1;
nishimura_taku_pet	24:9481c8f56a49	1189	led3=1;
nishimura_taku_pet	24:9481c8f56a49	1190	led4=1;
nishimura_taku_pet	24:9481c8f56a49	1191	while(1) {
nishimura_taku_pet	24:9481c8f56a49	1192	led1=!led1;
nishimura_taku_pet	24:9481c8f56a49	1193	led2=!led2;
nishimura_taku_pet	24:9481c8f56a49	1194	led3=!led3;
nishimura_taku_pet	24:9481c8f56a49	1195	led4=!led4;
nishimura_taku_pet	25:8ed98982faa7	1196	ThisThread::sleep_for(1000);
nishimura_taku_pet	24:9481c8f56a49	1197	}
nishimura_taku_pet	24:9481c8f56a49	1198	}
nishimura_taku_pet	24:9481c8f56a49	1199	time2.reset();
nishimura_taku_pet	24:9481c8f56a49	1200	time2.start();
nishimura_taku_pet	24:9481c8f56a49	1201	}
nishimura_taku_pet	24:9481c8f56a49	1202	// ESP Command data send
nishimura_taku_pet	24:9481c8f56a49	1203	void SendCMD()
nishimura_taku_pet	24:9481c8f56a49	1204	{
nishimura_taku_pet	24:9481c8f56a49	1205	esp.printf("%s", cmdbuff);
nishimura_taku_pet	24:9481c8f56a49	1206	}
nishimura_taku_pet	24:9481c8f56a49	1207	// Get Command and ESP status replies
nishimura_taku_pet	24:9481c8f56a49	1208	void getreply()
nishimura_taku_pet	24:9481c8f56a49	1209	{
nishimura_taku_pet	24:9481c8f56a49	1210	memset(replybuff, '\0', sizeof(replybuff));
nishimura_taku_pet	24:9481c8f56a49	1211	time1.reset();
nishimura_taku_pet	24:9481c8f56a49	1212	time1.start();
nishimura_taku_pet	24:9481c8f56a49	1213	replycount=0;
nishimura_taku_pet	24:9481c8f56a49	1214	while(time1.read_ms()< timeout && replycount < getcount) {
nishimura_taku_pet	24:9481c8f56a49	1215	if(esp.readable()) {
nishimura_taku_pet	24:9481c8f56a49	1216	replybuff[replycount] = esp.getc();
nishimura_taku_pet	24:9481c8f56a49	1217	replycount++;
nishimura_taku_pet	24:9481c8f56a49	1218	}
nishimura_taku_pet	24:9481c8f56a49	1219	}
nishimura_taku_pet	24:9481c8f56a49	1220	time1.stop();
nishimura_taku_pet	24:9481c8f56a49	1221	}
nishimura_taku_pet	24:9481c8f56a49	1222
tomotsugu	8:a47dbf4fa455	1223	/* mainスレッド */
yangtzuli	0:0d0037aabe41	1224	int main() {
tomotsugu	8:a47dbf4fa455	1225	/* 初期設定 */
nishimura_taku_pet	16:ffc732a3cf92	1226	avoi_thread = new Thread(avoidance);
nishimura_taku_pet	16:ffc732a3cf92	1227	avoi_thread->terminate();
nishimura_taku_pet	16:ffc732a3cf92	1228	trace_thread = new Thread(trace);
nishimura_taku_pet	16:ffc732a3cf92	1229	trace_thread->terminate();
tomotsugu	8:a47dbf4fa455	1230	mode = READY; // 現在待ちモード
tomotsugu	8:a47dbf4fa455	1231	beforeMode = READY; // 前回待ちモード
tomotsugu	8:a47dbf4fa455	1232	run = STOP; // 停止
tomotsugu	8:a47dbf4fa455	1233	flag_sp = NORMAL; // スピード(普通)
tomotsugu	10:d193030ce672	1234	lcd.setBacklight(TextLCD::LightOn); // バックライトON
nishimura_taku_pet	33:a6f1090e0174	1235	lcd.setAddress(0,1);
nishimura_taku_pet	33:a6f1090e0174	1236	lcd.printf("Mode:SetUp");
nishimura_taku_pet	33:a6f1090e0174	1237	//display(); // ディスプレイ表示
yangtzuli	2:38825726cb1b	1238
yangtzuli	0:0d0037aabe41	1239	while(1){
tomotsugu	8:a47dbf4fa455	1240	bChange(); // バッテリー残量更新
yangtzuli	0:0d0037aabe41	1241	}
yangtzuli	0:0d0037aabe41	1242	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	01 Sep 2020
Imports:	2
Forks:	0
Commits:	52
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@34:040474bf6fe0, 2020-08-17 (annotated)

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