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

wifi only 基準コード

Dependencies:   RemoteIR TextLCD

main.cpp@1:a45cf46c1adc, 2020-08-06 (annotated)

Committer:
faker_71
Date:
Thu Aug 06 01:50:55 2020 +0000
Revision:
1:a45cf46c1adc
Parent:
0:2e9a86765692
Child:
2:1bf376317a43
yo

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 0:2e9a86765692 39 void SendCMD(),getreply(),ReadWebData(),startserver(),sendpage(),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 0:2e9a86765692 43
faker_71 0:2e9a86765692 44 int port =80; // set server port
faker_71 0:2e9a86765692 45 int SERVtimeout =5; // set server timeout in seconds in case link breaks.
faker_71 0:2e9a86765692 46
faker_71 0:2e9a86765692 47 // Serial Interrupt read ESP data
faker_71 0:2e9a86765692 48 void callback()
faker_71 0:2e9a86765692 49 {
faker_71 0:2e9a86765692 50 //pc.printf("\n\r------------ callback is being called --------------\n\r");
faker_71 0:2e9a86765692 51 led3=1;
faker_71 0:2e9a86765692 52 while (esp.readable()) {
faker_71 0:2e9a86765692 53 webbuff[count_wifi] = esp.getc();
faker_71 0:2e9a86765692 54 count_wifi++;
faker_71 0:2e9a86765692 55 }
faker_71 0:2e9a86765692 56 if(strlen(webbuff)>bufflen) {
faker_71 0:2e9a86765692 57 pc.printf("\f\n\r------------ webbuff over bufflen --------------\n\r");
faker_71 0:2e9a86765692 58 DataRX=1;
faker_71 0:2e9a86765692 59 led3=0;
faker_71 0:2e9a86765692 60 }
faker_71 0:2e9a86765692 61 }
faker_71 0:2e9a86765692 62
faker_71 0:2e9a86765692 63 void wifi(void const *argument){
faker_71 0:2e9a86765692 64 pc.baud(115200);
faker_71 0:2e9a86765692 65
faker_71 0:2e9a86765692 66 pc.printf("\f\n\r------------ ESP8266 Hardware Reset psq --------------\n\r");
faker_71 0:2e9a86765692 67 wait(0.5);
faker_71 0:2e9a86765692 68 led1=1,led2=0,led3=0;
faker_71 0:2e9a86765692 69 timeout=6000;
faker_71 0:2e9a86765692 70 getcount=500;
faker_71 0:2e9a86765692 71 getreply();
faker_71 0:2e9a86765692 72 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
faker_71 0:2e9a86765692 73 startserver();
faker_71 0:2e9a86765692 74
faker_71 0:2e9a86765692 75 while(1) {
faker_71 0:2e9a86765692 76 if(DataRX==1) {
faker_71 0:2e9a86765692 77 pc.printf("\f\n\r------------ main while > if --------------\n\r");
faker_71 0:2e9a86765692 78 click_flag = 1;
faker_71 0:2e9a86765692 79 ReadWebData();
faker_71 0:2e9a86765692 80 pc.printf("\f\n\r------------ click_flag=%d --------------\n\r",click_flag);
faker_71 0:2e9a86765692 81 //if ((servreq == 1 && weberror == 0) && click_flag == 1) {
faker_71 0:2e9a86765692 82 if (servreq == 1 && weberror == 0) {
faker_71 0:2e9a86765692 83 pc.printf("\f\n\r------------ befor send page --------------\n\r");
faker_71 0:2e9a86765692 84 sendpage();
faker_71 0:2e9a86765692 85 }
faker_71 0:2e9a86765692 86 pc.printf("\f\n\r------------ send_check begin --------------\n\r");
faker_71 0:2e9a86765692 87
faker_71 0:2e9a86765692 88 //sendcheck();
faker_71 0:2e9a86765692 89 pc.printf("\f\n\r------------ ssend_check end--------------\n\r");
faker_71 0:2e9a86765692 90
faker_71 0:2e9a86765692 91 esp.attach(&callback);
faker_71 0:2e9a86765692 92 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 93 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
faker_71 0:2e9a86765692 94 pc.printf(" Web Characters sent : %d\n\n", bufl);
faker_71 0:2e9a86765692 95 pc.printf(" -------------------------------------\n\n");
faker_71 0:2e9a86765692 96 servreq=0;
faker_71 0:2e9a86765692 97 }
faker_71 0:2e9a86765692 98 }
faker_71 0:2e9a86765692 99 }
faker_71 0:2e9a86765692 100 int main()
faker_71 0:2e9a86765692 101 {
faker_71 0:2e9a86765692 102 while(1){
faker_71 0:2e9a86765692 103 Thread::wait(100);
faker_71 0:2e9a86765692 104 }
faker_71 0:2e9a86765692 105 }
faker_71 0:2e9a86765692 106 // Static WEB page
faker_71 0:2e9a86765692 107 void sendpage()
faker_71 0:2e9a86765692 108 {
faker_71 0:2e9a86765692 109 // WEB page data
faker_71 0:2e9a86765692 110
faker_71 0:2e9a86765692 111 strcpy(webbuff, "<!DOCTYPE html>");
faker_71 0:2e9a86765692 112 strcat(webbuff, "<html><head><title>RobotCar</title><meta name='viewport' content='width=device-width'/>");
faker_71 0:2e9a86765692 113 strcat(webbuff, "</head><body><center><p><strong>Robot Car Remot Controller");
faker_71 0:2e9a86765692 114 strcat(webbuff, "</strong></p><td style='vertical-align:top;'><strong>Battery level ");
faker_71 0:2e9a86765692 115 strcat(webbuff, "<input type=\"text\" id=\"leftms\" size=4 value=250>%</strong>");
faker_71 0:2e9a86765692 116 strcat(webbuff, "</td></p><tr ><strong>Now speed : </strong></tr><nobr id=\"speprint\">ready");
faker_71 0:2e9a86765692 117 strcat(webbuff, "</nobr><br><tr ><strong>Now action : </strong></tr>");
faker_71 0:2e9a86765692 118 strcat(webbuff, "<nobr id=\"funprint\">ready</nobr><table><tr><td></td><td>");
faker_71 0:2e9a86765692 119
faker_71 0:2e9a86765692 120 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 121 strcat(webbuff, "</button></td><td></td></tr><tr><td>");
faker_71 0:2e9a86765692 122 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 123 strcat(webbuff, "</button></td><td>");
faker_71 0:2e9a86765692 124
faker_71 0:2e9a86765692 125 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 126 strcat(webbuff, "</button></td><td>");
faker_71 0:2e9a86765692 127 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 128 strcat(webbuff, "</button></td></tr><td></td><td>");
faker_71 0:2e9a86765692 129 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 130 strcat(webbuff, "</button></td><td style='vertical-align:top; text-align:right;'></td></tr></table>");
faker_71 0:2e9a86765692 131
faker_71 0:2e9a86765692 132
faker_71 0:2e9a86765692 133
faker_71 0:2e9a86765692 134 //begin
faker_71 0:2e9a86765692 135 strcat(webbuff, "<strong>Addition functions:</strong><table>");
faker_71 0:2e9a86765692 136 strcat(webbuff, "<td>");//ok
faker_71 0:2e9a86765692 137 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 138 strcat(webbuff, "AVOIDANCE</button></td><td>");
faker_71 0:2e9a86765692 139 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 140 strcat(webbuff, "</button></td></table><table><td>");
faker_71 0:2e9a86765692 141 strcat(webbuff, "</td><strong>Speed level:</strong>");
faker_71 0:2e9a86765692 142 strcat(webbuff, "</table><table><td>");
faker_71 0:2e9a86765692 143 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 144 strcat(webbuff, "</button></td><td>");
faker_71 0:2e9a86765692 145 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 146 strcat(webbuff, "</button>");
faker_71 0:2e9a86765692 147 strcat(webbuff, "</td>");
faker_71 0:2e9a86765692 148 strcat(webbuff, "<td>");
faker_71 0:2e9a86765692 149 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 150 strcat(webbuff, "</button>");
faker_71 0:2e9a86765692 151 strcat(webbuff, "</td></table>");
faker_71 0:2e9a86765692 152 strcat(webbuff, "<table>");
faker_71 0:2e9a86765692 153 strcat(webbuff, "<td>");
faker_71 0:2e9a86765692 154 strcat(webbuff, "</td>");
faker_71 0:2e9a86765692 155 strcat(webbuff, "</table>"); //end
faker_71 0:2e9a86765692 156
faker_71 0:2e9a86765692 157
faker_71 0:2e9a86765692 158
faker_71 0:2e9a86765692 159 strcat(webbuff, "</center>");
faker_71 0:2e9a86765692 160 strcat(webbuff, "</body>");
faker_71 0:2e9a86765692 161 strcat(webbuff, "</html>");
faker_71 0:2e9a86765692 162 strcat(webbuff, "<script language=\"javascript\" type=\"text/javascript\">");
faker_71 0:2e9a86765692 163 strcat(webbuff, "function send_mes(btnmes,btnval){");
faker_71 0:2e9a86765692 164 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
faker_71 0:2e9a86765692 165 strcat(webbuff, "htmlacs(url);");
faker_71 0:2e9a86765692 166 strcat(webbuff, "console.log(url);");
faker_71 0:2e9a86765692 167 strcat(webbuff, "}");
faker_71 0:2e9a86765692 168 strcat(webbuff, "function htmlacs(url) {");
faker_71 0:2e9a86765692 169 strcat(webbuff, "var xhr = new XMLHttpRequest();");
faker_71 0:2e9a86765692 170 strcat(webbuff, "xhr.open(\"GET\", url);");
faker_71 0:2e9a86765692 171 strcat(webbuff, "xhr.send(\"\");");
faker_71 0:2e9a86765692 172 strcat(webbuff, "}");
faker_71 0:2e9a86765692 173 strcat(webbuff, "function send_mes_spe(btnmes,btnval){");
faker_71 0:2e9a86765692 174 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
faker_71 0:2e9a86765692 175 strcat(webbuff, "htmlacs(url);");
faker_71 0:2e9a86765692 176 strcat(webbuff, "if(document.getElementById(\"speprint\")){");
faker_71 0:2e9a86765692 177 strcat(webbuff, "document.getElementById(\"speprint\").innerHTML=btnval;");
faker_71 0:2e9a86765692 178 strcat(webbuff, "}");
faker_71 0:2e9a86765692 179 strcat(webbuff, "}");
faker_71 0:2e9a86765692 180 strcat(webbuff, "function send_mes_fun(btnmes,btnval){");
faker_71 0:2e9a86765692 181 strcat(webbuff, "var url = \"http://\" + window.location.hostname + \"/cargo?a=\" + btnval;");
faker_71 0:2e9a86765692 182 strcat(webbuff, "htmlacs(url);");
faker_71 0:2e9a86765692 183 strcat(webbuff, "if(document.getElementById(\"funprint\")){");
faker_71 0:2e9a86765692 184 strcat(webbuff, "document.getElementById(\"funprint\").innerHTML=btnval;");
faker_71 0:2e9a86765692 185 strcat(webbuff, "}");
faker_71 0:2e9a86765692 186 strcat(webbuff, "}");
faker_71 0:2e9a86765692 187 strcat(webbuff, "</script>");
faker_71 0:2e9a86765692 188 // end of WEB page data
faker_71 0:2e9a86765692 189 bufl = strlen(webbuff); // get total page buffer length
faker_71 0:2e9a86765692 190 //sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
faker_71 0:2e9a86765692 191
faker_71 0:2e9a86765692 192 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 193 timeout=500;
faker_71 0:2e9a86765692 194 getcount=40;
faker_71 0:2e9a86765692 195 SendCMD();
faker_71 0:2e9a86765692 196 getreply();
faker_71 0:2e9a86765692 197 pc.printf(replybuff);
faker_71 0:2e9a86765692 198 pc.printf("\n++++++++++ AT+CIPSENDBUF=%d,%d+++++++++\r\n", linkID, (bufl>2048?2048:bufl));
faker_71 0:2e9a86765692 199
faker_71 0:2e9a86765692 200 pc.printf("\n++++++++++ bufl is %d ++++++++++\r\n",bufl);
faker_71 0:2e9a86765692 201
faker_71 0:2e9a86765692 202 //pastthrough mode
faker_71 0:2e9a86765692 203 SendWEB(); // send web page
faker_71 0:2e9a86765692 204 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
faker_71 0:2e9a86765692 205
faker_71 0:2e9a86765692 206 memset(webbuff, '\0', sizeof(webbuff));
faker_71 0:2e9a86765692 207 sendcheck();
faker_71 0:2e9a86765692 208 }
faker_71 0:2e9a86765692 209
faker_71 0:2e9a86765692 210 // Large WEB buffer data send
faker_71 0:2e9a86765692 211 void SendWEB()
faker_71 0:2e9a86765692 212 {
faker_71 0:2e9a86765692 213 int i=0;
faker_71 0:2e9a86765692 214 if(esp.writeable()) {
faker_71 0:2e9a86765692 215 while(webbuff[i]!='\0') {
faker_71 0:2e9a86765692 216 esp.putc(webbuff[i]);
faker_71 0:2e9a86765692 217
faker_71 0:2e9a86765692 218 //****
faker_71 0:2e9a86765692 219 //output at command when 2000
faker_71 0:2e9a86765692 220 if(((i%2047)==0) && (i>0)){
faker_71 0:2e9a86765692 221 //wait_ms(10);
faker_71 0:2e9a86765692 222 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 0:2e9a86765692 223 pc.printf("\r\n++++++++++ AT+CIPSENDBUF=%d,%d ++++++++++\r\n", linkID, (bufl-2048)>2048?2048:(bufl-2048));
faker_71 0:2e9a86765692 224 timeout=600;
faker_71 0:2e9a86765692 225 getcount=50;
faker_71 0:2e9a86765692 226 SendCMD();
faker_71 0:2e9a86765692 227 getreply();
faker_71 0:2e9a86765692 228 pc.printf(replybuff);
faker_71 0:2e9a86765692 229 pc.printf("\r\n+++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 230 }
faker_71 0:2e9a86765692 231 //****
faker_71 0:2e9a86765692 232 i++;
faker_71 0:2e9a86765692 233 pc.printf("%c",webbuff[i]);
faker_71 0:2e9a86765692 234 }
faker_71 0:2e9a86765692 235 }
faker_71 0:2e9a86765692 236 pc.printf("\n++++++++++ send web i= %dinfo ++++++++++\r\n",i);
faker_71 0:2e9a86765692 237 }
faker_71 0:2e9a86765692 238
faker_71 0:2e9a86765692 239
faker_71 0:2e9a86765692 240
faker_71 0:2e9a86765692 241 void sendcheck()
faker_71 0:2e9a86765692 242 {
faker_71 0:2e9a86765692 243 weberror=1;
faker_71 0:2e9a86765692 244 timeout=500;
faker_71 0:2e9a86765692 245 getcount=24;
faker_71 0:2e9a86765692 246 t2.reset();
faker_71 0:2e9a86765692 247 t2.start();
faker_71 0:2e9a86765692 248
faker_71 0:2e9a86765692 249 /*
faker_71 0:2e9a86765692 250 while(weberror==1 && t2.read() <5) {
faker_71 0:2e9a86765692 251 getreply();
faker_71 0:2e9a86765692 252 if (strstr(replybuff, "SEND OK") != NULL) {
faker_71 0:2e9a86765692 253 weberror=0; // wait for valid SEND OK
faker_71 0:2e9a86765692 254 }
faker_71 0:2e9a86765692 255 }
faker_71 0:2e9a86765692 256 */
faker_71 0:2e9a86765692 257 if(weberror==1) { // restart connection
faker_71 0:2e9a86765692 258 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
faker_71 0:2e9a86765692 259 timeout=500;
faker_71 0:2e9a86765692 260 getcount=10;
faker_71 0:2e9a86765692 261 SendCMD();
faker_71 0:2e9a86765692 262 getreply();
faker_71 0:2e9a86765692 263 pc.printf(replybuff);
faker_71 0:2e9a86765692 264 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
faker_71 0:2e9a86765692 265 timeout=500;
faker_71 0:2e9a86765692 266 getcount=10;
faker_71 0:2e9a86765692 267 SendCMD();
faker_71 0:2e9a86765692 268 getreply();
faker_71 0:2e9a86765692 269 pc.printf(replybuff);
faker_71 0:2e9a86765692 270 } else {
faker_71 0:2e9a86765692 271 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
faker_71 0:2e9a86765692 272 SendCMD();
faker_71 0:2e9a86765692 273 getreply();
faker_71 0:2e9a86765692 274 pc.printf(replybuff);
faker_71 0:2e9a86765692 275 }
faker_71 0:2e9a86765692 276 t2.reset();
faker_71 0:2e9a86765692 277 }
faker_71 0:2e9a86765692 278
faker_71 0:2e9a86765692 279 // Reads and processes GET and POST web data
faker_71 0:2e9a86765692 280 void ReadWebData()
faker_71 0:2e9a86765692 281 {
faker_71 0:2e9a86765692 282 pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 283 wait_ms(200);
faker_71 0:2e9a86765692 284 esp.attach(NULL);
faker_71 0:2e9a86765692 285 count_wifi=0;
faker_71 0:2e9a86765692 286 DataRX=0;
faker_71 0:2e9a86765692 287 weberror=0;
faker_71 0:2e9a86765692 288 memset(webdata, '\0', sizeof(webdata));
faker_71 0:2e9a86765692 289 int x = strcspn (webbuff,"+");
faker_71 0:2e9a86765692 290 if(x) {
faker_71 0:2e9a86765692 291 strcpy(webdata, webbuff + x);
faker_71 0:2e9a86765692 292 weberror=0;
faker_71 0:2e9a86765692 293 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
faker_71 0:2e9a86765692 294 //int i=0;
faker_71 0:2e9a86765692 295 pc.printf("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 296 pc.printf("%s",webdata);
faker_71 0:2e9a86765692 297 pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 298 /* if( strstr(webdata, "LEFT") != NULL ) {
faker_71 0:2e9a86765692 299 click_flag = 0;
faker_71 0:2e9a86765692 300 led4=!led4;
faker_71 0:2e9a86765692 301 pc.printf("mode = LEFT\r\n");
faker_71 0:2e9a86765692 302 mode = LEFT; // 左折モード
faker_71 0:2e9a86765692 303 run = LEFT; // 左折
faker_71 0:2e9a86765692 304 display();
faker_71 0:2e9a86765692 305 }
faker_71 0:2e9a86765692 306
faker_71 0:2e9a86765692 307 if( strstr(webdata, "RIGHT") != NULL ) {
faker_71 0:2e9a86765692 308 led4=!led4;
faker_71 0:2e9a86765692 309 pc.printf("mode = RIGHT\r\n");
faker_71 0:2e9a86765692 310 mode = RIGHT; // 右折モード
faker_71 0:2e9a86765692 311 run = RIGHT; // 右折
faker_71 0:2e9a86765692 312 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 313 }
faker_71 0:2e9a86765692 314
faker_71 0:2e9a86765692 315 if( strstr(webdata, "GO") != NULL ) {
faker_71 0:2e9a86765692 316 led4=!led4;
faker_71 0:2e9a86765692 317 pc.printf("mode = ADVANCE\r\n");
faker_71 0:2e9a86765692 318 mode = ADVANCE; // 前進モード
faker_71 0:2e9a86765692 319 run = ADVANCE; // 前進
faker_71 0:2e9a86765692 320 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 321 }
faker_71 0:2e9a86765692 322
faker_71 0:2e9a86765692 323 if( strstr(webdata, "BACK") != NULL ) {
faker_71 0:2e9a86765692 324 led4=!led4;
faker_71 0:2e9a86765692 325 pc.printf("mode = BACK\r\n");
faker_71 0:2e9a86765692 326 mode = BACK; // 後退モード
faker_71 0:2e9a86765692 327 run = BACK; // 後退
faker_71 0:2e9a86765692 328 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 329 }
faker_71 0:2e9a86765692 330
faker_71 0:2e9a86765692 331 if( strstr(webdata, "STOP") != NULL ) {
faker_71 0:2e9a86765692 332 led4=!led4;
faker_71 0:2e9a86765692 333 pc.printf("mode = STOP\r\n");
faker_71 0:2e9a86765692 334 mode = STOP; // 停止モード
faker_71 0:2e9a86765692 335 run = STOP; // 停止
faker_71 0:2e9a86765692 336 display(); // ディスプレイ表示
faker_71 0:2e9a86765692 337 }
faker_71 0:2e9a86765692 338
faker_71 0:2e9a86765692 339 if( strstr(webdata, "AVOIDANCE") != NULL ) {
faker_71 0:2e9a86765692 340 led4=!led4;
faker_71 0:2e9a86765692 341 pc.printf("mode = AVOIDANCE\r\n");
faker_71 0:2e9a86765692 342 mode=AVOIDANCE; // 障害物回避モード
faker_71 0:2e9a86765692 343 run = ADVANCE; // 前進
faker_71 0:2e9a86765692 344 display();
faker_71 0:2e9a86765692 345 }
faker_71 0:2e9a86765692 346
faker_71 0:2e9a86765692 347 if( strstr(webdata, "LINETRACE") != NULL ) {
faker_71 0:2e9a86765692 348 led4=!led4;
faker_71 0:2e9a86765692 349 pc.printf("mode = LINE_TRACE\r\n");
faker_71 0:2e9a86765692 350 mode=LINE_TRACE; // ライントレースモード
faker_71 0:2e9a86765692 351 display();
faker_71 0:2e9a86765692 352 }
faker_71 0:2e9a86765692 353
faker_71 0:2e9a86765692 354 if( strstr(webdata, "SLOW") != NULL ) {
faker_71 0:2e9a86765692 355 led4=!led4;
faker_71 0:2e9a86765692 356 pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 357 }
faker_71 0:2e9a86765692 358
faker_71 0:2e9a86765692 359 if( strstr(webdata, "FAST") != NULL ) {
faker_71 0:2e9a86765692 360 led4=!led4;
faker_71 0:2e9a86765692 361 pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 362 }
faker_71 0:2e9a86765692 363
faker_71 0:2e9a86765692 364 if( strstr(webdata, "VERYFAST") != NULL ) {
faker_71 0:2e9a86765692 365 led4=!led4;
faker_71 0:2e9a86765692 366 pc.printf("\r\n+++++++++++++++++bbutton right clicked+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 367 }*/
faker_71 0:2e9a86765692 368 sprintf(channel, "%d",linkID);
faker_71 0:2e9a86765692 369 if (strstr(webdata, "GET") != NULL) {
faker_71 0:2e9a86765692 370 servreq=1;
faker_71 0:2e9a86765692 371 pc.printf("\r\n+++++++++++++++++GET+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 372
faker_71 0:2e9a86765692 373 }
faker_71 0:2e9a86765692 374 if (strstr(webdata, "POST") != NULL) {
faker_71 0:2e9a86765692 375 servreq=1;
faker_71 0:2e9a86765692 376 pc.printf("\r\n+++++++++++++++++POST+++++++++++++++++++++\r\n");
faker_71 0:2e9a86765692 377 }
faker_71 0:2e9a86765692 378 webcounter++;
faker_71 0:2e9a86765692 379 sprintf(webcount, "%d",webcounter);
faker_71 0:2e9a86765692 380 } else {
faker_71 0:2e9a86765692 381 pc.printf("\n++++++++++ webbuff clear ++++++++++\r\n");
faker_71 0:2e9a86765692 382 memset(webbuff, '\0', sizeof(webbuff));
faker_71 0:2e9a86765692 383 esp.attach(&callback);
faker_71 0:2e9a86765692 384 weberror=1;
faker_71 0:2e9a86765692 385 }
faker_71 0:2e9a86765692 386 }
faker_71 0:2e9a86765692 387 // Starts and restarts webserver if errors detected.
faker_71 0:2e9a86765692 388 void startserver()
faker_71 0:2e9a86765692 389 {
faker_71 0:2e9a86765692 390 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
faker_71 0:2e9a86765692 391 strcpy(cmdbuff,"AT+RST\r\n");
faker_71 0:2e9a86765692 392 timeout=8000;
faker_71 0:2e9a86765692 393 getcount=1000;
faker_71 0:2e9a86765692 394 SendCMD();
faker_71 0:2e9a86765692 395 getreply();
faker_71 0:2e9a86765692 396 pc.printf(replybuff);
faker_71 0:2e9a86765692 397 pc.printf("%d",count_wifi);
faker_71 0:2e9a86765692 398 if (strstr(replybuff, "OK") != NULL) {
faker_71 0:2e9a86765692 399 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
faker_71 0:2e9a86765692 400 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
faker_71 0:2e9a86765692 401 timeout=500;
faker_71 0:2e9a86765692 402 getcount=20;
faker_71 0:2e9a86765692 403 SendCMD();
faker_71 0:2e9a86765692 404 getreply();
faker_71 0:2e9a86765692 405 pc.printf(replybuff);
faker_71 0:2e9a86765692 406 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
faker_71 0:2e9a86765692 407 timeout=500;
faker_71 0:2e9a86765692 408 getcount=20;
faker_71 0:2e9a86765692 409 SendCMD();
faker_71 0:2e9a86765692 410 getreply();
faker_71 0:2e9a86765692 411 pc.printf(replybuff);
faker_71 0:2e9a86765692 412 wait(1);
faker_71 0:2e9a86765692 413 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
faker_71 0:2e9a86765692 414 timeout=500;
faker_71 0:2e9a86765692 415 getcount=50;
faker_71 0:2e9a86765692 416 SendCMD();
faker_71 0:2e9a86765692 417 getreply();
faker_71 0:2e9a86765692 418 pc.printf(replybuff);
faker_71 1:a45cf46c1adc 419 //wait(5);
faker_71 1:a45cf46c1adc 420 wait(1);
faker_71 0:2e9a86765692 421 pc.printf("\n Getting Server IP \r\n");
faker_71 0:2e9a86765692 422 strcpy(cmdbuff, "AT+CIFSR\r\n");
faker_71 0:2e9a86765692 423 timeout=2500;
faker_71 0:2e9a86765692 424 getcount=200;
faker_71 0:2e9a86765692 425 while(weberror==0) {
faker_71 0:2e9a86765692 426 SendCMD();
faker_71 0:2e9a86765692 427 getreply();
faker_71 0:2e9a86765692 428 if (strstr(replybuff, "0.0.0.0") == NULL) {
faker_71 0:2e9a86765692 429 weberror=1; // wait for valid IP
faker_71 0:2e9a86765692 430 }
faker_71 0:2e9a86765692 431 }
faker_71 0:2e9a86765692 432 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
faker_71 0:2e9a86765692 433 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
faker_71 0:2e9a86765692 434 replybuff[strlen(replybuff)-1] = '\0';
faker_71 0:2e9a86765692 435 //char* IP = replybuff + 5;
faker_71 0:2e9a86765692 436 sprintf(webdata,"%s", replybuff);
faker_71 0:2e9a86765692 437 pc.printf(webdata);
faker_71 0:2e9a86765692 438 led2=1;
faker_71 0:2e9a86765692 439 bufflen=200;
faker_71 0:2e9a86765692 440 //bufflen=100;
faker_71 0:2e9a86765692 441 count_wifi=0;
faker_71 0:2e9a86765692 442 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
faker_71 0:2e9a86765692 443 esp.attach(&callback);
faker_71 0:2e9a86765692 444 } else {
faker_71 0:2e9a86765692 445 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
faker_71 0:2e9a86765692 446 led1=1;
faker_71 0:2e9a86765692 447 led2=1;
faker_71 0:2e9a86765692 448 led3=1;
faker_71 0:2e9a86765692 449 led4=1;
faker_71 0:2e9a86765692 450 while(1) {
faker_71 0:2e9a86765692 451 led1=!led1;
faker_71 0:2e9a86765692 452 led2=!led2;
faker_71 0:2e9a86765692 453 led3=!led3;
faker_71 0:2e9a86765692 454 led4=!led4;
faker_71 0:2e9a86765692 455 wait(1);
faker_71 0:2e9a86765692 456 }
faker_71 0:2e9a86765692 457 }
faker_71 0:2e9a86765692 458 t2.reset();
faker_71 0:2e9a86765692 459 t2.start();
faker_71 0:2e9a86765692 460 }
faker_71 0:2e9a86765692 461 // ESP Command data send
faker_71 0:2e9a86765692 462 void SendCMD()
faker_71 0:2e9a86765692 463 {
faker_71 0:2e9a86765692 464 esp.printf("%s", cmdbuff);
faker_71 0:2e9a86765692 465 }
faker_71 0:2e9a86765692 466 // Get Command and ESP status replies
faker_71 0:2e9a86765692 467 void getreply()
faker_71 0:2e9a86765692 468 {
faker_71 0:2e9a86765692 469 memset(replybuff, '\0', sizeof(replybuff));
faker_71 0:2e9a86765692 470 t1.reset();
faker_71 0:2e9a86765692 471 t1.start();
faker_71 0:2e9a86765692 472 replycount=0;
faker_71 0:2e9a86765692 473 while(t1.read_ms()< timeout && replycount < getcount) {
faker_71 0:2e9a86765692 474 if(esp.readable()) {
faker_71 0:2e9a86765692 475 replybuff[replycount] = esp.getc();
faker_71 0:2e9a86765692 476 replycount++;
faker_71 0:2e9a86765692 477 }
faker_71 0:2e9a86765692 478 }
faker_71 0:2e9a86765692 479 t1.stop();
faker_71 0:2e9a86765692 480 }