siqiang pan
real time wifi
Dependencies: RemoteIR TextLCD
main.cpp
- Committer:
- faker_71
- Date:
- 2020-09-03
- Revision:
- 5:4026062a6fdf
- Parent:
- 4:a365d6acec8f
File content as of revision 5:4026062a6fdf:
#include "mbed.h"
#include "ReceiverIR.h"
#include "rtos.h"
#include <stdint.h>
#include "platform/mbed_thread.h"
#include "TextLCD.h"
RawSerial pc(USBTX, USBRX);
//Serial esp(p28, p27); // tx, rx
RawSerial esp(p13, p14); // tx, rx
// Standard Mbed LED definitions
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
DigitalOut pred(p16);
DigitalOut pblue(p19);
Timer t1;
Timer t2;
struct tm t;
int bufflen, DataRX, count_wifi, 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];
bool click_log = false;
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
void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),sendpage2(),SendWEB(),sendcheck(),touchuan();
void wifi(void const *argument);
Thread wifi_thread(wifi, NULL, osPriorityNormal); // decodeIRをスレッド化 ：+3
int count_test=1; //test
char battery_ch[8];
int port =80; // set server port
int SERVtimeout =5; // set server timeout in seconds in case link breaks.
// Serial Interrupt read ESP data
void callback()
{
//pc.printf("\n\r------------ callback is being called --------------\n\r");
led3=1;
while (esp.readable()) {
webbuff[count_wifi] = esp.getc();
count_wifi++;
}
if(strlen(webbuff)>bufflen) {
pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
DataRX=1;
led3=0;
}
}
void wifi(void const *argument){
pc.baud(115200);
pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
wait(0.5);
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;
click_log=false;
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 && click_log == false) {
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------------ befor attach callback--------------\n\r");
// this is neccessary 0902
memset(webbuff, '\0', sizeof(webbuff));
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;
}
}
}
int main()
{
while(1){
Thread::wait(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, "</head><body><center><p><strong>Robot Car Remot 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><tr ><strong>Now speed : </strong></tr><nobr id=\"speprint\">ready");
strcat(webbuff, "</nobr><br><tr ><strong>Now action : </strong></tr>");
strcat(webbuff, "<nobr id=\"funprint\">ready</nobr><table><tr><td></td><td>");
strcat(webbuff, "<button id='gobtn' type='button' style='width:100px;height:60px' 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' style='width:100px;height:60px' value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='stopbtn' type='button' style='width:100px;height:60px' value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='rightbtn' type='button' style='width:100px;height:60px' 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' style='width:100px;height:60px' 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>");
//begin
strcat(webbuff, "<strong>Addition functions:</strong><table>");
strcat(webbuff, "<td>");//ok
strcat(webbuff, "<button id='avoidbtn' type='button' style='width:100px;height:60px' value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
strcat(webbuff, "AVOIDANCE</button></td><td>");
strcat(webbuff, "<button id='tracebtn' type='button' style='width:100px;height:60px' value=\"LINETRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
strcat(webbuff, "</button></td></table><table><td>");
strcat(webbuff, "</td><strong>Speed level:</strong>");
strcat(webbuff, "</table><table><td>");
strcat(webbuff, "<button id='sp1btn' type='button' style='width:100px;height:60px' value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
strcat(webbuff, "</button></td><td>");
strcat(webbuff, "<button id='sp2btn' type='button' style='width:100px;height:60px' value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
strcat(webbuff, "</button>");
strcat(webbuff, "</td>");
strcat(webbuff, "<td>");
strcat(webbuff, "<button id='sp3btn' type='button' style='width:100px;height:60px' value=\"VERYFAST\" onClick='send_mes_spe(this.id,this.value)' >FLY");
strcat(webbuff, "</button>");
strcat(webbuff, "</td></table>");
strcat(webbuff, "<table>");
strcat(webbuff, "<td>");
strcat(webbuff, "</td>");
strcat(webbuff, "</table>"); //end
strcat(webbuff, "</center>");
strcat(webbuff, "</body>");
strcat(webbuff, "</html>");
strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
strcat(webbuff, "function send_mes(btnmes,btnval){");
/*
strcat(webbuff, "try {xhr.abort();console.log(1);}");
strcat(webbuff, "catch(err) {console.log(0);}");
*/
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
strcat(webbuff, "htmlacs(url);");
strcat(webbuff, "console.log(url);");
strcat(webbuff, "}");
strcat(webbuff, "function htmlacs(url) {");
strcat(webbuff, "var xhr = new XMLHttpRequest();");
strcat(webbuff, "xhr.open(\"GET\", url ,true);");
/*
//begin 0903 stop xml when state=2
strcat(webbuff, "xhr.onreadystatechange = function(){console.log(111);");
//strcat(webbuff, "xhr.onload = function(){console.log(111);");
//strcat(webbuff, "console.log(\"onready function is being reload!\");");
strcat(webbuff, "if(this.readyState == 1 ){");
strcat(webbuff, "console.log(222);this.abort();}};");
//strcat(webbuff, "console.log(res);}};");
//end 0903 stop xml when state=2
*/
strcat(webbuff, "xhr.send();");
//strcat(webbuff, "console.log(xhr.readyState);");
//start abort after send
strcat(webbuff, "setTimeout(function(){xhr.abort();},100);");
//strcat(webbuff, "setTimeout(xhr.abort(),\"100\");");
// strcat(webbuff, "xhr.abort();");
//end abort after send
/*
//begin 0903 esp onload kakkuninn
strcat(webbuff, "xhr.onload = function() {concole.log(\"onload\");");
strcat(webbuff, "if (xhr.status != 200) { ");
strcat(webbuff, "console.log(200);} else {");
strcat(webbuff, "console.log(xhr.responseText);");
strcat(webbuff, "Button_Update(xhr.responseText,\"0\");}};");
//end 0903 esp onload kakkuninn
*/
strcat(webbuff, "}");
//0903 begin abort function
/*
strcat(webbuff, "function abort_click(){");
strcat(webbuff, "xhr.abort();");
strcat(webbuff, "}");
*/
//0903 end abort function
//0902 beging
/*
//0824 battery update auto
strcat(webbuff, "function battery_update() {");
strcat(webbuff, "var url1 = \"http://\" + window.location.hostname+ \"/cargo?a=responseBattery\";");
strcat(webbuff, "var xhr1 = new XMLHttpRequest();");
strcat(webbuff, "xhr1.open(\"GET\", url1);");
//0820
strcat(webbuff, "xhr1.onreadystatechange = function(){");
//strcat(webbuff, "console.log(\"onready function is being reload!\");");
strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
//strcat(webbuff, "console.log(\"state is being reload!\");");
strcat(webbuff, "var res1 = xhr1.responseText;");
strcat(webbuff, "document.getElementById('leftms').value=res1;}};");
//strcat(webbuff, "console.log(res);}};");
//0820
strcat(webbuff, "xhr1.send();");
strcat(webbuff, "}");
strcat(webbuff, "setInterval(battery_update,10000);");
*/
//0902 end
//0824 battery update auto
/*
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, "if(document.getElementById(\"speprint\")){");
strcat(webbuff, "document.getElementById(\"speprint\").innerHTML=btnval;");
strcat(webbuff, "}");
strcat(webbuff, "}");
strcat(webbuff, "function send_mes_fun(btnmes,btnval){");
strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
strcat(webbuff, "htmlacs(url);");
strcat(webbuff, "if(document.getElementById(\"funprint\")){");
strcat(webbuff, "document.getElementById(\"funprint\").innerHTML=btnval;");
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();
}
void sendpage2()
{
// WEB page data
pred=!pred;
/*
//strcpy(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
//strcat(webbuff, "document.getElementById('leftms').value=\"100\";");
count_test++;
sprintf(battery_ch,"%d",count_test);
strcpy(webbuff, battery_ch);
//strcpy(webbuff, "document.getElementById('leftms').value=\"100\";");
//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();
*/
}
// Reads and processes GET and POST web data
void ReadWebData()
{
pc.printf("+++++++++++++++++Read Web Data begin+++++++++++++++++++++\r\n");
//0902 is this wait neccessary
// wait_ms(200);
esp.attach(NULL);
count_wifi=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("\r\n+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
pc.printf("%s",webdata);
pc.printf("\r\n+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
// click or login
if( strstr(webdata, "cargo") != NULL ) {
click_log=true;
pc.printf("\r\n++this is click++\r\n");
}
if( strstr(webdata, "responseBattery") != NULL ) {
click_flag = 0;
led4=!led4;
pc.printf("\r\n++++++++++++++mode = LEFT++++++++++++++\r\n");
sendpage2();
/*
strcpy(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
strcat(webbuff, "document.getElementById('leftms').value=\"96\";");
strcat(webbuff, "let request = new XMLHttpRequest();");
strcat(webbuff, "request.open('GET', url);request.responseType = 'text';");
strcat(webbuff, "request.onload = function() { poemDisplay.textContent = request.response;};");
strcat(webbuff, "request.send();");
strcat(webbuff, "</script>");
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.
timeout=500;
getcount=40;
SendCMD();
getreply();
SendWEB();
memset(webbuff, '\0', sizeof(webbuff));
sendcheck();
pc.printf("\r\n++++++++++++++mode = LEFT++++++++++++++\r\n");
*/
/* mode = LEFT; // 左折モード
run = LEFT; // 左折
display(); */
}
if( strstr(webdata, "LEFT") != NULL ) {
sendpage2();
led4=!led4;
// pc.printf("mode = RIGHT\r\n");
}
if( strstr(webdata, "RIGHT") != NULL ) {
sendpage2();
led4=!led4;
}
/*
if( strstr(webdata, "GO") != NULL ) {
led4=!led4;
pc.printf("mode = ADVANCE\r\n");
mode = ADVANCE; // 前進モード
run = ADVANCE; // 前進
display(); // ディスプレイ表示
}
if( strstr(webdata, "BACK") != NULL ) {
led4=!led4;
pc.printf("mode = BACK\r\n");
mode = BACK; // 後退モード
run = BACK; // 後退
display(); // ディスプレイ表示
}
if( strstr(webdata, "STOP") != NULL ) {
led4=!led4;
pc.printf("mode = STOP\r\n");
mode = STOP; // 停止モード
run = STOP; // 停止
display(); // ディスプレイ表示
}
if( strstr(webdata, "AVOIDANCE") != NULL ) {
led4=!led4;
pc.printf("mode = AVOIDANCE\r\n");
mode=AVOIDANCE; // 障害物回避モード
run = ADVANCE; // 前進
display();
}
if( strstr(webdata, "LINETRACE") != NULL ) {
led4=!led4;
pc.printf("mode = LINE_TRACE\r\n");
mode=LINE_TRACE; // ライントレースモード
display();
}
if( strstr(webdata, "SLOW") != NULL ) {
led4=!led4;
pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
}
if( strstr(webdata, "FAST") != NULL ) {
led4=!led4;
pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
}
if( strstr(webdata, "VERYFAST") != NULL ) {
led4=!led4;
pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
}*/
sprintf(channel, "%d",linkID);
if (strstr(webdata, "GET") != NULL) {
servreq=1;
pc.printf("\r\n+++++++++++++++++GET+++++++++++++++++++++\r\n");
}
if (strstr(webdata, "POST") != NULL) {
servreq=1;
pc.printf("\r\n+++++++++++++++++POST+++++++++++++++++++++\r\n");
}
webcounter++;
sprintf(webcount, "%d",webcounter);
} else {
pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
memset(webbuff, '\0', sizeof(webbuff));
esp.attach(&callback);
weberror=1;
}
pc.printf("+++++++++++++++++Read Web Data end+++++++++++++++++++++\r\n");
}
// 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;
t2.reset();
t2.start();
/*
while(weberror==1 && t2.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);
}
t2.reset();
}
// 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",count_wifi);
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);
wait(1);
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;
count_wifi=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);
}
}
t2.reset();
t2.start();
}
// ESP Command data send
void SendCMD()
{
esp.printf("%s", cmdbuff);
}
// Get Command and ESP status replies
void getreply()
{
memset(replybuff, '\0', sizeof(replybuff));
t1.reset();
t1.start();
replycount=0;
while(t1.read_ms()< timeout && replycount < getcount) {
if(esp.readable()) {
replybuff[replycount] = esp.getc();
replycount++;
}
}
t1.stop();
}