Revision 24:9481c8f56a49, committed 2020-08-05

Comitter:

nishimura_taku_pet

Date:

Wed Aug 05 07:42:57 2020 +0000

Parent:

23:8c862b55fa1f

Child:

25:8ed98982faa7

Commit message:

wifi add

Changed in this revision

--- 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 */