siqiang pan
wifi only 基準コード
Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 0:2e9a86765692
- Child:
- 1:a45cf46c1adc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 06 00:10:24 2020 +0000
@@ -0,0 +1,479 @@
+#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);
+
+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];
+
+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(),SendWEB(),sendcheck(),touchuan();
+void wifi(void const *argument);
+
+Thread wifi_thread(wifi, NULL, osPriorityNormal); // decodeIRをスレッド化 ：+3
+
+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;
+ 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;
+ }
+ }
+}
+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, "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);");
+strcat(webbuff, "xhr.send(\"\");");
+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, "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();
+}
+
+// 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();
+}
+
+// Reads and processes GET and POST web data
+void ReadWebData()
+{
+ pc.printf("+++++++++++++++++Read Web Data+++++++++++++++++++++\r\n");
+ 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("+++++++++++++++++succed rec begin+++++++++++++++++++++\r\n");
+ pc.printf("%s",webdata);
+ pc.printf("+++++++++++++++++succed rec end+++++++++++++++++++++\r\n");
+ /* if( strstr(webdata, "LEFT") != NULL ) {
+ click_flag = 0;
+ led4=!led4;
+ pc.printf("mode = LEFT\r\n");
+ mode = LEFT; // 左折モード
+ run = LEFT; // 左折
+ display();
+ }
+
+ if( strstr(webdata, "RIGHT") != NULL ) {
+ led4=!led4;
+ pc.printf("mode = RIGHT\r\n");
+ mode = RIGHT; // 右折モード
+ run = RIGHT; // 右折
+ display(); // ディスプレイ表示
+ }
+
+ 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;
+ }
+}
+// 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);
+ 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();
+}
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