siqiang pan / Mbed OS team-wifi2-thread-wifi-0903

real time wifi

Dependencies:   RemoteIR TextLCD

main.cpp@2:1bf376317a43, 2020-08-25 (annotated)

Committer:
faker_71
Date:
Tue Aug 25 00:10:20 2020 +0000
Revision:
2:1bf376317a43
Parent:
1:a45cf46c1adc
Child:
3:4c5c556c97a3
0825

Who changed what in which revision?

UserRevisionLine numberNew contents of line
faker_71 0:2e9a86765692 1 #include "mbed.h"
faker_71 0:2e9a86765692 2 #include "ReceiverIR.h"
faker_71 0:2e9a86765692 3 #include "rtos.h"
faker_71 0:2e9a86765692 4 #include <stdint.h>
faker_71 0:2e9a86765692 5 #include "platform/mbed_thread.h"
faker_71 0:2e9a86765692 6 #include "TextLCD.h"
faker_71 0:2e9a86765692 7 RawSerial pc(USBTX, USBRX);
faker_71 0:2e9a86765692 8 //Serial esp(p28, p27); // tx, rx
faker_71 0:2e9a86765692 9
faker_71 0:2e9a86765692 10 RawSerial esp(p13, p14); // tx, rx
faker_71 0:2e9a86765692 11 // Standard Mbed LED definitions
faker_71 0:2e9a86765692 12 DigitalOut led1(LED1);
faker_71 0:2e9a86765692 13 DigitalOut led2(LED2);
faker_71 0:2e9a86765692 14 DigitalOut led3(LED3);
faker_71 0:2e9a86765692 15 DigitalOut led4(LED4);
faker_71 0:2e9a86765692 16
faker_71 0:2e9a86765692 17 Timer t1;
faker_71 0:2e9a86765692 18 Timer t2;
faker_71 0:2e9a86765692 19
faker_71 0:2e9a86765692 20 struct tm t;
faker_71 0:2e9a86765692 21
faker_71 0:2e9a86765692 22
faker_71 0:2e9a86765692 23 int bufflen, DataRX, count_wifi, getcount, replycount, servreq, timeout;
faker_71 0:2e9a86765692 24 int bufl, ipdLen, linkID, weberror, webcounter,click_flag;
faker_71 0:2e9a86765692 25 float temperature, AdcIn, Ht;
faker_71 0:2e9a86765692 26 float R1=100000, R2=10000; // resistor values to give a 10:1 reduction of measured AnalogIn voltage
faker_71 0:2e9a86765692 27 char Vcc[10];
faker_71 0:2e9a86765692 28 char webcount[8];
faker_71 0:2e9a86765692 29 char type[16];
faker_71 0:2e9a86765692 30 char type1[16];
faker_71 0:2e9a86765692 31 char channel[2];
faker_71 0:2e9a86765692 32 char cmdbuff[32];
faker_71 0:2e9a86765692 33 char replybuff[1024];
faker_71 0:2e9a86765692 34
faker_71 0:2e9a86765692 35 char webdata[1024]; // This may need to be bigger depending on WEB browser used
faker_71 0:2e9a86765692 36 char webbuff[4096*4]; // Currently using 1986 characters, Increase this if more web page data added
faker_71 0:2e9a86765692 37
faker_71 0:2e9a86765692 38
faker_71 2:1bf376317a43 39 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),sendpage2(),SendWEB(),sendcheck(),touchuan();
faker_71 0:2e9a86765692 40 void wifi(void const *argument);
faker_71 0:2e9a86765692 41
faker_71 0:2e9a86765692 42 Thread wifi_thread(wifi, NULL, osPriorityNormal); // decodeIRをスレッド化 ：+3
faker_71 2:1bf376317a43 43 int count_test=1; //test
faker_71 2:1bf376317a43 44 char battery_ch[8];
faker_71 0:2e9a86765692 45 int port =80; // set server port
faker_71 0:2e9a86765692 46 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
faker_71 0:2e9a86765692 47
faker_71 0:2e9a86765692 48 // Serial Interrupt read ESP data
faker_71 0:2e9a86765692 49 void callback()
faker_71 0:2e9a86765692 50 {
faker_71 0:2e9a86765692 51 //pc.printf("\n\r------------ callback is being called --------------\n\r");
faker_71 0:2e9a86765692 52 led3=1;
faker_71 0:2e9a86765692 53 while (esp.readable()) {
faker_71 0:2e9a86765692 54 webbuff[count_wifi] = esp.getc();
faker_71 0:2e9a86765692 55 count_wifi++;
faker_71 0:2e9a86765692 56 }
faker_71 0:2e9a86765692 57 if(strlen(webbuff)>bufflen) {
faker_71 0:2e9a86765692 58 pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
faker_71 0:2e9a86765692 59 DataRX=1;
faker_71 0:2e9a86765692 60 led3=0;
faker_71 0:2e9a86765692 61 }
faker_71 0:2e9a86765692 62 }
faker_71 0:2e9a86765692 63
faker_71 0:2e9a86765692 64 void wifi(void const *argument){
faker_71 0:2e9a86765692 65 pc.baud(115200);
faker_71 0:2e9a86765692 66
faker_71 0:2e9a86765692 67 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
faker_71 0:2e9a86765692 68 wait(0.5);
faker_71 0:2e9a86765692 69 led1=1,led2=0,led3=0;
faker_71 0:2e9a86765692 70 timeout=6000;
faker_71 0:2e9a86765692 71 getcount=500;
faker_71 0:2e9a86765692 72 getreply();
faker_71 0:2e9a86765692 73 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
faker_71 0:2e9a86765692 74 startserver();
faker_71 0:2e9a86765692 75
faker_71 0:2e9a86765692 76 while(1) {
faker_71 0:2e9a86765692 77 if(DataRX==1) {
faker_71 0:2e9a86765692 78 pc.printf("\f\n\r------------ main while > if --------------\n\r");
faker_71 0:2e9a86765692 79 click_flag = 1;
faker_71 0:2e9a86765692 80 ReadWebData();
faker_71 0:2e9a86765692 81 pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
faker_71 0:2e9a86765692 82 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71 0:2e9a86765692 83 if (servreq == 1 && weberror == 0) {
faker_71 0:2e9a86765692 84 pc.printf("\f\n\r------------ befor send page --------------\n\r");
faker_71 0:2e9a86765692 85 sendpage();
faker_71 0:2e9a86765692 86 }
faker_71 0:2e9a86765692 87 pc.printf("\f\n\r------------ send_check begin --------------\n\r");
faker_71 0:2e9a86765692 88
faker_71 0:2e9a86765692 89 //sendcheck();
faker_71 0:2e9a86765692 90 pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
faker_71 0:2e9a86765692 91
faker_71 0:2e9a86765692 92 esp.attach(&callback);
faker_71 0:2e9a86765692 93 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);
faker_71 0:2e9a86765692 94 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
faker_71 0:2e9a86765692 95 pc.printf(" Web Characters sent : %d\n\n", bufl);
faker_71 0:2e9a86765692 96 pc.printf(" -------------------------------------\n\n");
faker_71 0:2e9a86765692 97 servreq=0;
faker_71 0:2e9a86765692 98 }
faker_71 0:2e9a86765692 99 }
faker_71 0:2e9a86765692 100 }
faker_71 0:2e9a86765692 101 int main()
faker_71 0:2e9a86765692 102 {
faker_71 0:2e9a86765692 103 while(1){
faker_71 0:2e9a86765692 104 Thread::wait(100);
faker_71 0:2e9a86765692 105 }
faker_71 0:2e9a86765692 106 }
faker_71 0:2e9a86765692 107 // Static WEB page
faker_71 0:2e9a86765692 108 void sendpage()
faker_71 0:2e9a86765692 109 {
faker_71 0:2e9a86765692 110 // WEB page data
faker_71 0:2e9a86765692 111
faker_71 0:2e9a86765692 112 strcpy(webbuff, "<!DOCTYPE html>");
faker_71 0:2e9a86765692 113 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
faker_71 0:2e9a86765692 114 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remot Controller");
faker_71 0:2e9a86765692 115 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
faker_71 0:2e9a86765692 116 strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
faker_71 0:2e9a86765692 117 strcat(webbuff, "</td></p><tr ><strong>Now speed : </strong></tr><nobr id=\"speprint\">ready");
faker_71 0:2e9a86765692 118 strcat(webbuff, "</nobr><br><tr ><strong>Now action : </strong></tr>");
faker_71 0:2e9a86765692 119 strcat(webbuff, "<nobr id=\"funprint\">ready</nobr><table><tr><td></td><td>");
faker_71 0:2e9a86765692 120
faker_71 0:2e9a86765692 121 strcat(webbuff, "<button id='gobtn' type='button' style='width:100px;height:60px' value=\"GO\" onClick='send_mes(this.id,this.value)'>GO");
faker_71 0:2e9a86765692 122 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
faker_71 0:2e9a86765692 123 strcat(webbuff, "<button id='leftbtn' type='button' style='width:100px;height:60px' value=\"LEFT\" onClick='send_mes(this.id,this.value)' >LEFT");
faker_71 0:2e9a86765692 124 strcat(webbuff, "</button></td><td>");
faker_71 0:2e9a86765692 125
faker_71 0:2e9a86765692 126 strcat(webbuff, "<button id='stopbtn' type='button' style='width:100px;height:60px' value=\"STOP\" onClick='send_mes(this.id,this.value)' >STOP");
faker_71 0:2e9a86765692 127 strcat(webbuff, "</button></td><td>");
faker_71 0:2e9a86765692 128 strcat(webbuff, "<button id='rightbtn' type='button' style='width:100px;height:60px' value=\"RIGHT\" onClick='send_mes(this.id,this.value)' >RIGHT");
faker_71 0:2e9a86765692 129 strcat(webbuff, "</button></td></tr><td></td><td>");
faker_71 0:2e9a86765692 130 strcat(webbuff, "<button id='backbtn' type='button' style='width:100px;height:60px' value=\"BACK\" onClick='send_mes(this.id,this.value)' >BACK");
faker_71 0:2e9a86765692 131 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
faker_71 0:2e9a86765692 132
faker_71 0:2e9a86765692 133
faker_71 0:2e9a86765692 134
faker_71 0:2e9a86765692 135 //begin
faker_71 0:2e9a86765692 136 strcat(webbuff, "<strong>Addition functions:</strong><table>");
faker_71 0:2e9a86765692 137 strcat(webbuff, "<td>");//ok
faker_71 0:2e9a86765692 138 strcat(webbuff, "<button id='avoidbtn' type='button' style='width:100px;height:60px' value=\"AVOIDANCE\" onClick='send_mes_fun(this.id,this.value)' >");
faker_71 0:2e9a86765692 139 strcat(webbuff, "AVOIDANCE</button></td><td>");
faker_71 0:2e9a86765692 140 strcat(webbuff, "<button id='tracebtn' type='button' style='width:100px;height:60px' value=\"LINETRACE\" onClick='send_mes_fun(this.id,this.value)' >LINE TRACE");
faker_71 0:2e9a86765692 141 strcat(webbuff, "</button></td></table><table><td>");
faker_71 0:2e9a86765692 142 strcat(webbuff, "</td><strong>Speed level:</strong>");
faker_71 0:2e9a86765692 143 strcat(webbuff, "</table><table><td>");
faker_71 0:2e9a86765692 144 strcat(webbuff, "<button id='sp1btn' type='button' style='width:100px;height:60px' value=\"SLOW\" onClick='send_mes_spe(this.id,this.value)' >SLOW");
faker_71 0:2e9a86765692 145 strcat(webbuff, "</button></td><td>");
faker_71 0:2e9a86765692 146 strcat(webbuff, "<button id='sp2btn' type='button' style='width:100px;height:60px' value=\"FAST\" onClick='send_mes_spe(this.id,this.value)' >FAST");
faker_71 0:2e9a86765692 147 strcat(webbuff, "</button>");
faker_71 0:2e9a86765692 148 strcat(webbuff, "</td>");
faker_71 0:2e9a86765692 149 strcat(webbuff, "<td>");
faker_71 0:2e9a86765692 150 strcat(webbuff, "<button id='sp3btn' type='button' style='width:100px;height:60px' value=\"VERYFAST\" onClick='send_mes_spe(this.id,this.value)' >FLY");
faker_71 0:2e9a86765692 151 strcat(webbuff, "</button>");
faker_71 0:2e9a86765692 152 strcat(webbuff, "</td></table>");
faker_71 0:2e9a86765692 153 strcat(webbuff, "<table>");
faker_71 0:2e9a86765692 154 strcat(webbuff, "<td>");
faker_71 0:2e9a86765692 155 strcat(webbuff, "</td>");
faker_71 0:2e9a86765692 156 strcat(webbuff, "</table>"); //end
faker_71 0:2e9a86765692 157
faker_71 0:2e9a86765692 158
faker_71 0:2e9a86765692 159
faker_71 0:2e9a86765692 160 strcat(webbuff, "</center>");
faker_71 0:2e9a86765692 161 strcat(webbuff, "</body>");
faker_71 0:2e9a86765692 162 strcat(webbuff, "</html>");
faker_71 0:2e9a86765692 163 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
faker_71 0:2e9a86765692 164 strcat(webbuff, "function send_mes(btnmes,btnval){");
faker_71 0:2e9a86765692 165 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
faker_71 0:2e9a86765692 166 strcat(webbuff, "htmlacs(url);");
faker_71 0:2e9a86765692 167 strcat(webbuff, "console.log(url);");
faker_71 0:2e9a86765692 168 strcat(webbuff, "}");
faker_71 2:1bf376317a43 169
faker_71 0:2e9a86765692 170 strcat(webbuff, "function htmlacs(url) {");
faker_71 0:2e9a86765692 171 strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71 2:1bf376317a43 172 strcat(webbuff, "xhr.open(\"GET\", url ,true);");
faker_71 2:1bf376317a43 173 strcat(webbuff, "xhr.send();");
faker_71 0:2e9a86765692 174 strcat(webbuff, "}");
faker_71 2:1bf376317a43 175
faker_71 2:1bf376317a43 176
faker_71 2:1bf376317a43 177 //0824 battery update auto
faker_71 2:1bf376317a43 178 strcat(webbuff, "function battery_update() {");
faker_71 2:1bf376317a43 179 strcat(webbuff, "var url1 = \"http://\" + window.location.hostname+ \"/cargo?a=responseBattery\";");
faker_71 2:1bf376317a43 180 strcat(webbuff, "var xhr1 = new XMLHttpRequest();");
faker_71 2:1bf376317a43 181 strcat(webbuff, "xhr1.open(\"GET\", url1);");
faker_71 2:1bf376317a43 182 //0820
faker_71 2:1bf376317a43 183 strcat(webbuff, "xhr1.onreadystatechange = function(){");
faker_71 2:1bf376317a43 184 //strcat(webbuff, "console.log(\"onready function is being reload!\");");
faker_71 2:1bf376317a43 185 strcat(webbuff, "if(this.readyState == 4 && this.status == 200){");
faker_71 2:1bf376317a43 186 //strcat(webbuff, "console.log(\"state is being reload!\");");
faker_71 2:1bf376317a43 187 strcat(webbuff, "var res1 = xhr1.responseText;");
faker_71 2:1bf376317a43 188 strcat(webbuff, "document.getElementById('leftms').value=res1;}};");
faker_71 2:1bf376317a43 189 //strcat(webbuff, "console.log(res);}};");
faker_71 2:1bf376317a43 190 //0820
faker_71 2:1bf376317a43 191
faker_71 2:1bf376317a43 192 strcat(webbuff, "xhr1.send();");
faker_71 2:1bf376317a43 193 strcat(webbuff, "}");
faker_71 2:1bf376317a43 194 strcat(webbuff, "setInterval(battery_update,10000);");
faker_71 2:1bf376317a43 195
faker_71 2:1bf376317a43 196 //0824 battery update auto
faker_71 2:1bf376317a43 197 /*
faker_71 0:2e9a86765692 198 strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
faker_71 0:2e9a86765692 199 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
faker_71 0:2e9a86765692 200 strcat(webbuff, "htmlacs(url);");
faker_71 0:2e9a86765692 201 strcat(webbuff, "if(document.getElementById(\"speprint\")){");
faker_71 0:2e9a86765692 202 strcat(webbuff, "document.getElementById(\"speprint\").innerHTML=btnval;");
faker_71 0:2e9a86765692 203 strcat(webbuff, "}");
faker_71 0:2e9a86765692 204 strcat(webbuff, "}");
faker_71 0:2e9a86765692 205 strcat(webbuff, "function send_mes_fun(btnmes,btnval){");
faker_71 0:2e9a86765692 206 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
faker_71 0:2e9a86765692 207 strcat(webbuff, "htmlacs(url);");
faker_71 0:2e9a86765692 208 strcat(webbuff, "if(document.getElementById(\"funprint\")){");
faker_71 0:2e9a86765692 209 strcat(webbuff, "document.getElementById(\"funprint\").innerHTML=btnval;");
faker_71 0:2e9a86765692 210 strcat(webbuff, "}");
faker_71 0:2e9a86765692 211 strcat(webbuff, "}");
faker_71 2:1bf376317a43 212 */
faker_71 0:2e9a86765692 213 strcat(webbuff, "</script>");
faker_71 0:2e9a86765692 214 // end of WEB page data
faker_71 0:2e9a86765692 215 bufl = strlen(webbuff); // get total page buffer length
faker_71 0:2e9a86765692 216 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
faker_71 0:2e9a86765692 217
faker_71 0:2e9a86765692 218 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
faker_71 0:2e9a86765692 219 timeout=500;
faker_71 0:2e9a86765692 220 getcount=40;
faker_71 0:2e9a86765692 221 SendCMD();
faker_71 0:2e9a86765692 222 getreply();
faker_71 0:2e9a86765692 223 pc.printf(replybuff);
faker_71 0:2e9a86765692 224 pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
faker_71 0:2e9a86765692 225
faker_71 0:2e9a86765692 226 pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
faker_71 0:2e9a86765692 227
faker_71 0:2e9a86765692 228 //pastthrough mode
faker_71 0:2e9a86765692 229 SendWEB(); // send web page
faker_71 0:2e9a86765692 230 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
faker_71 0:2e9a86765692 231
faker_71 0:2e9a86765692 232 memset(webbuff, '\0', sizeof(webbuff));
faker_71 0:2e9a86765692 233 sendcheck();
faker_71 0:2e9a86765692 234 }
faker_71 0:2e9a86765692 235
faker_71 2:1bf376317a43 236
faker_71 2:1bf376317a43 237 void sendpage2()
faker_71 0:2e9a86765692 238 {
faker_71 2:1bf376317a43 239 // WEB page data
faker_71 2:1bf376317a43 240
faker_71 2:1bf376317a43 241 //strcpy(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
faker_71 2:1bf376317a43 242 //strcat(webbuff, "document.getElementById('leftms').value=\"100\";");
faker_71 2:1bf376317a43 243 count_test++;
faker_71 2:1bf376317a43 244 sprintf(battery_ch,"%d",count_test);
faker_71 2:1bf376317a43 245 strcpy(webbuff, battery_ch);
faker_71 2:1bf376317a43 246
faker_71 2:1bf376317a43 247 //strcpy(webbuff, "document.getElementById('leftms').value=\"100\";");
faker_71 2:1bf376317a43 248
faker_71 2:1bf376317a43 249 //strcat(webbuff, "</script>");
faker_71 2:1bf376317a43 250 // end of WEB page data
faker_71 2:1bf376317a43 251 bufl = strlen(webbuff); // get total page buffer length
faker_71 2:1bf376317a43 252 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
faker_71 2:1bf376317a43 253
faker_71 2:1bf376317a43 254 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl>2048?2048:bufl)); // send IPD link channel and buffer character length.
faker_71 2:1bf376317a43 255 timeout=500;
faker_71 2:1bf376317a43 256 getcount=40;
faker_71 2:1bf376317a43 257 SendCMD();
faker_71 2:1bf376317a43 258 getreply();
faker_71 2:1bf376317a43 259 pc.printf(replybuff);
faker_71 2:1bf376317a43 260 pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
faker_71 2:1bf376317a43 261
faker_71 2:1bf376317a43 262 pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
faker_71 2:1bf376317a43 263
faker_71 2:1bf376317a43 264 //pastthrough mode
faker_71 2:1bf376317a43 265 SendWEB(); // send web page
faker_71 2:1bf376317a43 266 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
faker_71 2:1bf376317a43 267
faker_71 2:1bf376317a43 268 memset(webbuff, '\0', sizeof(webbuff));
faker_71 2:1bf376317a43 269 sendcheck();
faker_71 0:2e9a86765692 270 }
faker_71 0:2e9a86765692 271
faker_71 0:2e9a86765692 272
faker_71 0:2e9a86765692 273 // Reads and processes GET and POST web data
faker_71 0:2e9a86765692 274 void ReadWebData()
faker_71 0:2e9a86765692 275 {
faker_71 0:2e9a86765692 276 pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 277 wait_ms(200);
faker_71 0:2e9a86765692 278 esp.attach(NULL);
faker_71 0:2e9a86765692 279 count_wifi=0;
faker_71 0:2e9a86765692 280 DataRX=0;
faker_71 0:2e9a86765692 281 weberror=0;
faker_71 0:2e9a86765692 282 memset(webdata, '\0', sizeof(webdata));
faker_71 0:2e9a86765692 283 int x = strcspn (webbuff,"+");
faker_71 0:2e9a86765692 284 if(x) {
faker_71 0:2e9a86765692 285 strcpy(webdata, webbuff + x);
faker_71 0:2e9a86765692 286 weberror=0;
faker_71 0:2e9a86765692 287 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
faker_71 0:2e9a86765692 288 //int i=0;
faker_71 0:2e9a86765692 289 pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 290 pc.printf("%s",webdata);
faker_71 0:2e9a86765692 291 pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
faker_71 2:1bf376317a43 292 if( strstr(webdata, "responseBattery") != NULL ) {
faker_71 0:2e9a86765692 293 click_flag = 0;
faker_71 0:2e9a86765692 294 led4=!led4;
faker_71 2:1bf376317a43 295 pc.printf("\r\n++++++++++++++mode = LEFT++++++++++++++\r\n");
faker_71 2:1bf376317a43 296 sendpage2();
faker_71 2:1bf376317a43 297 /*
faker_71 2:1bf376317a43 298 strcpy(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
faker_71 2:1bf376317a43 299 strcat(webbuff, "document.getElementById('leftms').value=\"96\";");
faker_71 2:1bf376317a43 300 strcat(webbuff, "let request = new XMLHttpRequest();");
faker_71 2:1bf376317a43 301 strcat(webbuff, "request.open('GET', url);request.responseType = 'text';");
faker_71 2:1bf376317a43 302 strcat(webbuff, "request.onload = function() { poemDisplay.textContent = request.response;};");
faker_71 2:1bf376317a43 303
faker_71 2:1bf376317a43 304 strcat(webbuff, "request.send();");
faker_71 2:1bf376317a43 305 strcat(webbuff, "</script>");
faker_71 2:1bf376317a43 306 bufl = strlen(webbuff); // get total page buffer length
faker_71 2:1bf376317a43 307 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
faker_71 2:1bf376317a43 308 timeout=500;
faker_71 2:1bf376317a43 309 getcount=40;
faker_71 2:1bf376317a43 310 SendCMD();
faker_71 2:1bf376317a43 311 getreply();
faker_71 2:1bf376317a43 312 SendWEB();
faker_71 2:1bf376317a43 313 memset(webbuff, '\0', sizeof(webbuff));
faker_71 2:1bf376317a43 314 sendcheck();
faker_71 2:1bf376317a43 315 pc.printf("\r\n++++++++++++++mode = LEFT++++++++++++++\r\n");
faker_71 2:1bf376317a43 316 */
faker_71 2:1bf376317a43 317
faker_71 2:1bf376317a43 318 /* mode = LEFT; // 左折モード
faker_71 0:2e9a86765692 319 run = LEFT; // 左折
faker_71 2:1bf376317a43 320 display(); */
faker_71 2:1bf376317a43 321
faker_71 0:2e9a86765692 322 }
faker_71 2:1bf376317a43 323 /*
faker_71 0:2e9a86765692 324 if( strstr(webdata, "RIGHT") != NULL ) {
faker_71 0:2e9a86765692 325 led4=!led4;
faker_71 0:2e9a86765692 326 pc.printf("mode = RIGHT\r\n");
faker_71 0:2e9a86765692 327 mode = RIGHT; // 右折モード
faker_71 0:2e9a86765692 328 run = RIGHT; // 右折
faker_71 0:2e9a86765692 329 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 330 }
faker_71 0:2e9a86765692 331
faker_71 0:2e9a86765692 332 if( strstr(webdata, "GO") != NULL ) {
faker_71 0:2e9a86765692 333 led4=!led4;
faker_71 0:2e9a86765692 334 pc.printf("mode = ADVANCE\r\n");
faker_71 0:2e9a86765692 335 mode = ADVANCE; // 前進モード
faker_71 0:2e9a86765692 336 run = ADVANCE; // 前進
faker_71 0:2e9a86765692 337 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 338 }
faker_71 0:2e9a86765692 339
faker_71 0:2e9a86765692 340 if( strstr(webdata, "BACK") != NULL ) {
faker_71 0:2e9a86765692 341 led4=!led4;
faker_71 0:2e9a86765692 342 pc.printf("mode = BACK\r\n");
faker_71 0:2e9a86765692 343 mode = BACK; // 後退モード
faker_71 0:2e9a86765692 344 run = BACK; // 後退
faker_71 0:2e9a86765692 345 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 346 }
faker_71 0:2e9a86765692 347
faker_71 0:2e9a86765692 348 if( strstr(webdata, "STOP") != NULL ) {
faker_71 0:2e9a86765692 349 led4=!led4;
faker_71 0:2e9a86765692 350 pc.printf("mode = STOP\r\n");
faker_71 0:2e9a86765692 351 mode = STOP; // 停止モード
faker_71 0:2e9a86765692 352 run = STOP; // 停止
faker_71 0:2e9a86765692 353 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 354 }
faker_71 0:2e9a86765692 355
faker_71 0:2e9a86765692 356 if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71 0:2e9a86765692 357 led4=!led4;
faker_71 0:2e9a86765692 358 pc.printf("mode = AVOIDANCE\r\n");
faker_71 0:2e9a86765692 359 mode=AVOIDANCE; // 障害物回避モード
faker_71 0:2e9a86765692 360 run = ADVANCE; // 前進
faker_71 0:2e9a86765692 361 display();
faker_71 0:2e9a86765692 362 }
faker_71 0:2e9a86765692 363
faker_71 0:2e9a86765692 364 if( strstr(webdata, "LINETRACE") != NULL ) {
faker_71 0:2e9a86765692 365 led4=!led4;
faker_71 0:2e9a86765692 366 pc.printf("mode = LINE_TRACE\r\n");
faker_71 0:2e9a86765692 367 mode=LINE_TRACE; // ライントレースモード
faker_71 0:2e9a86765692 368 display();
faker_71 0:2e9a86765692 369 }
faker_71 0:2e9a86765692 370
faker_71 0:2e9a86765692 371 if( strstr(webdata, "SLOW") != NULL ) {
faker_71 0:2e9a86765692 372 led4=!led4;
faker_71 0:2e9a86765692 373 pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 374 }
faker_71 0:2e9a86765692 375
faker_71 0:2e9a86765692 376 if( strstr(webdata, "FAST") != NULL ) {
faker_71 0:2e9a86765692 377 led4=!led4;
faker_71 0:2e9a86765692 378 pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 379 }
faker_71 0:2e9a86765692 380
faker_71 0:2e9a86765692 381 if( strstr(webdata, "VERYFAST") != NULL ) {
faker_71 0:2e9a86765692 382 led4=!led4;
faker_71 0:2e9a86765692 383 pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 384 }*/
faker_71 0:2e9a86765692 385 sprintf(channel, "%d",linkID);
faker_71 0:2e9a86765692 386 if (strstr(webdata, "GET") != NULL) {
faker_71 0:2e9a86765692 387 servreq=1;
faker_71 0:2e9a86765692 388 pc.printf("\r\n+++++++++++++++++GET+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 389
faker_71 0:2e9a86765692 390 }
faker_71 0:2e9a86765692 391 if (strstr(webdata, "POST") != NULL) {
faker_71 0:2e9a86765692 392 servreq=1;
faker_71 0:2e9a86765692 393 pc.printf("\r\n+++++++++++++++++POST+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 394 }
faker_71 0:2e9a86765692 395 webcounter++;
faker_71 0:2e9a86765692 396 sprintf(webcount, "%d",webcounter);
faker_71 0:2e9a86765692 397 } else {
faker_71 0:2e9a86765692 398 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
faker_71 0:2e9a86765692 399 memset(webbuff, '\0', sizeof(webbuff));
faker_71 0:2e9a86765692 400 esp.attach(&callback);
faker_71 0:2e9a86765692 401 weberror=1;
faker_71 0:2e9a86765692 402 }
faker_71 0:2e9a86765692 403 }
faker_71 2:1bf376317a43 404 // Large WEB buffer data send
faker_71 2:1bf376317a43 405 void SendWEB()
faker_71 2:1bf376317a43 406 {
faker_71 2:1bf376317a43 407 int i=0;
faker_71 2:1bf376317a43 408 if(esp.writeable()) {
faker_71 2:1bf376317a43 409 while(webbuff[i]!='\0') {
faker_71 2:1bf376317a43 410 esp.putc(webbuff[i]);
faker_71 2:1bf376317a43 411
faker_71 2:1bf376317a43 412 //****
faker_71 2:1bf376317a43 413 //output at command when 2000
faker_71 2:1bf376317a43 414 if(((i%2047)==0) && (i>0)){
faker_71 2:1bf376317a43 415 //wait_ms(10);
faker_71 2:1bf376317a43 416 sprintf(cmdbuff,"AT+CIPSENDBUF=%d,%d\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048)); // send IPD link channel and buffer character length.
faker_71 2:1bf376317a43 417 pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
faker_71 2:1bf376317a43 418 timeout=600;
faker_71 2:1bf376317a43 419 getcount=50;
faker_71 2:1bf376317a43 420 SendCMD();
faker_71 2:1bf376317a43 421 getreply();
faker_71 2:1bf376317a43 422 pc.printf(replybuff);
faker_71 2:1bf376317a43 423 pc.printf("\r\n+++++++++++++++++++\r\n");
faker_71 2:1bf376317a43 424 }
faker_71 2:1bf376317a43 425 //****
faker_71 2:1bf376317a43 426 i++;
faker_71 2:1bf376317a43 427 pc.printf("%c",webbuff[i]);
faker_71 2:1bf376317a43 428 }
faker_71 2:1bf376317a43 429 }
faker_71 2:1bf376317a43 430 pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
faker_71 2:1bf376317a43 431 }
faker_71 2:1bf376317a43 432
faker_71 2:1bf376317a43 433
faker_71 2:1bf376317a43 434
faker_71 2:1bf376317a43 435 void sendcheck()
faker_71 2:1bf376317a43 436 {
faker_71 2:1bf376317a43 437 weberror=1;
faker_71 2:1bf376317a43 438 timeout=500;
faker_71 2:1bf376317a43 439 getcount=24;
faker_71 2:1bf376317a43 440 t2.reset();
faker_71 2:1bf376317a43 441 t2.start();
faker_71 2:1bf376317a43 442
faker_71 2:1bf376317a43 443 /*
faker_71 2:1bf376317a43 444 while(weberror==1 && t2.read() <5) {
faker_71 2:1bf376317a43 445 getreply();
faker_71 2:1bf376317a43 446 if (strstr(replybuff, "SEND OK") != NULL) {
faker_71 2:1bf376317a43 447 weberror=0; // wait for valid SEND OK
faker_71 2:1bf376317a43 448 }
faker_71 2:1bf376317a43 449 }
faker_71 2:1bf376317a43 450 */
faker_71 2:1bf376317a43 451 if(weberror==1) { // restart connection
faker_71 2:1bf376317a43 452 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
faker_71 2:1bf376317a43 453 timeout=500;
faker_71 2:1bf376317a43 454 getcount=10;
faker_71 2:1bf376317a43 455 SendCMD();
faker_71 2:1bf376317a43 456 getreply();
faker_71 2:1bf376317a43 457 pc.printf(replybuff);
faker_71 2:1bf376317a43 458 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
faker_71 2:1bf376317a43 459 timeout=500;
faker_71 2:1bf376317a43 460 getcount=10;
faker_71 2:1bf376317a43 461 SendCMD();
faker_71 2:1bf376317a43 462 getreply();
faker_71 2:1bf376317a43 463 pc.printf(replybuff);
faker_71 2:1bf376317a43 464 } else {
faker_71 2:1bf376317a43 465 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
faker_71 2:1bf376317a43 466 SendCMD();
faker_71 2:1bf376317a43 467 getreply();
faker_71 2:1bf376317a43 468 pc.printf(replybuff);
faker_71 2:1bf376317a43 469 }
faker_71 2:1bf376317a43 470 t2.reset();
faker_71 2:1bf376317a43 471 }
faker_71 2:1bf376317a43 472
faker_71 0:2e9a86765692 473 // Starts and restarts webserver if errors detected.
faker_71 0:2e9a86765692 474 void startserver()
faker_71 0:2e9a86765692 475 {
faker_71 0:2e9a86765692 476 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
faker_71 0:2e9a86765692 477 strcpy(cmdbuff,"AT+RST\r\n");
faker_71 0:2e9a86765692 478 timeout=8000;
faker_71 0:2e9a86765692 479 getcount=1000;
faker_71 0:2e9a86765692 480 SendCMD();
faker_71 0:2e9a86765692 481 getreply();
faker_71 0:2e9a86765692 482 pc.printf(replybuff);
faker_71 0:2e9a86765692 483 pc.printf("%d",count_wifi);
faker_71 0:2e9a86765692 484 if (strstr(replybuff, "OK") != NULL) {
faker_71 0:2e9a86765692 485 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
faker_71 0:2e9a86765692 486 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
faker_71 0:2e9a86765692 487 timeout=500;
faker_71 0:2e9a86765692 488 getcount=20;
faker_71 0:2e9a86765692 489 SendCMD();
faker_71 0:2e9a86765692 490 getreply();
faker_71 0:2e9a86765692 491 pc.printf(replybuff);
faker_71 0:2e9a86765692 492 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
faker_71 0:2e9a86765692 493 timeout=500;
faker_71 0:2e9a86765692 494 getcount=20;
faker_71 0:2e9a86765692 495 SendCMD();
faker_71 0:2e9a86765692 496 getreply();
faker_71 0:2e9a86765692 497 pc.printf(replybuff);
faker_71 0:2e9a86765692 498 wait(1);
faker_71 0:2e9a86765692 499 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
faker_71 0:2e9a86765692 500 timeout=500;
faker_71 0:2e9a86765692 501 getcount=50;
faker_71 0:2e9a86765692 502 SendCMD();
faker_71 0:2e9a86765692 503 getreply();
faker_71 0:2e9a86765692 504 pc.printf(replybuff);
faker_71 1:a45cf46c1adc 505 //wait(5);
faker_71 1:a45cf46c1adc 506 wait(1);
faker_71 0:2e9a86765692 507 pc.printf("\n Getting Server IP \r\n");
faker_71 0:2e9a86765692 508 strcpy(cmdbuff, "AT+CIFSR\r\n");
faker_71 0:2e9a86765692 509 timeout=2500;
faker_71 0:2e9a86765692 510 getcount=200;
faker_71 0:2e9a86765692 511 while(weberror==0) {
faker_71 0:2e9a86765692 512 SendCMD();
faker_71 0:2e9a86765692 513 getreply();
faker_71 0:2e9a86765692 514 if (strstr(replybuff, "0.0.0.0") == NULL) {
faker_71 0:2e9a86765692 515 weberror=1; // wait for valid IP
faker_71 0:2e9a86765692 516 }
faker_71 0:2e9a86765692 517 }
faker_71 0:2e9a86765692 518 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
faker_71 0:2e9a86765692 519 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
faker_71 0:2e9a86765692 520 replybuff[strlen(replybuff)-1] = '\0';
faker_71 0:2e9a86765692 521 //char* IP = replybuff + 5;
faker_71 0:2e9a86765692 522 sprintf(webdata,"%s", replybuff);
faker_71 0:2e9a86765692 523 pc.printf(webdata);
faker_71 0:2e9a86765692 524 led2=1;
faker_71 0:2e9a86765692 525 bufflen=200;
faker_71 0:2e9a86765692 526 //bufflen=100;
faker_71 0:2e9a86765692 527 count_wifi=0;
faker_71 0:2e9a86765692 528 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
faker_71 0:2e9a86765692 529 esp.attach(&callback);
faker_71 0:2e9a86765692 530 } else {
faker_71 0:2e9a86765692 531 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
faker_71 0:2e9a86765692 532 led1=1;
faker_71 0:2e9a86765692 533 led2=1;
faker_71 0:2e9a86765692 534 led3=1;
faker_71 0:2e9a86765692 535 led4=1;
faker_71 0:2e9a86765692 536 while(1) {
faker_71 0:2e9a86765692 537 led1=!led1;
faker_71 0:2e9a86765692 538 led2=!led2;
faker_71 0:2e9a86765692 539 led3=!led3;
faker_71 0:2e9a86765692 540 led4=!led4;
faker_71 0:2e9a86765692 541 wait(1);
faker_71 0:2e9a86765692 542 }
faker_71 0:2e9a86765692 543 }
faker_71 0:2e9a86765692 544 t2.reset();
faker_71 0:2e9a86765692 545 t2.start();
faker_71 0:2e9a86765692 546 }
faker_71 0:2e9a86765692 547 // ESP Command data send
faker_71 0:2e9a86765692 548 void SendCMD()
faker_71 0:2e9a86765692 549 {
faker_71 0:2e9a86765692 550 esp.printf("%s", cmdbuff);
faker_71 0:2e9a86765692 551 }
faker_71 0:2e9a86765692 552 // Get Command and ESP status replies
faker_71 0:2e9a86765692 553 void getreply()
faker_71 0:2e9a86765692 554 {
faker_71 0:2e9a86765692 555 memset(replybuff, '\0', sizeof(replybuff));
faker_71 0:2e9a86765692 556 t1.reset();
faker_71 0:2e9a86765692 557 t1.start();
faker_71 0:2e9a86765692 558 replycount=0;
faker_71 0:2e9a86765692 559 while(t1.read_ms()< timeout && replycount < getcount) {
faker_71 0:2e9a86765692 560 if(esp.readable()) {
faker_71 0:2e9a86765692 561 replybuff[replycount] = esp.getc();
faker_71 0:2e9a86765692 562 replycount++;
faker_71 0:2e9a86765692 563 }
faker_71 0:2e9a86765692 564 }
faker_71 0:2e9a86765692 565 t1.stop();
faker_71 0:2e9a86765692 566 }