Diff: main.cpp

Revision:

8:6635ca3b5a5c

Parent:

6:79ecd4e53456

Child:

9:774f408b9740

--- a/main.cpp	Sat Mar 14 00:14:40 2015 +0900
+++ b/main.cpp	Sat Mar 14 07:52:50 2015 +0000
@@ -6,9 +6,22 @@
 #include "PowerControl/EthernetPowerControl.h"
 #endif
 
-#define SSID        "wotxwot"
+#define SSID        "KDDI_hackathon05"
 #define SEC_TYPE    e_SEC_WPA2_AES
-#define SEC_KEY     "wotpasswd"
+#define SEC_KEY     "123456789"
+
+DigitalOut l1(p5);
+DigitalOut l2(p6);
+
+DigitalOut r1(p7);
+DigitalOut r2(p8);
+
+class WSHandler: public WebSocketHandler
+{
+public:
+    virtual void onMessage(char* text);
+    virtual void onMessage(char* data, size_t size);
+};
 
 static bool connectWiFi();
 
@@ -19,20 +32,24 @@
 #if defined(TARGET_LPC1768)
     PHY_PowerDown();
 #endif
-    while (!connectWiFi()) {
-        wait(3);
-    }
-
-    printf("WiFi connected: %s\r\n", wifi.getIPAddress());
+    while (true) {
+        if (!connectWiFi()) {
+            wait(3);
+            continue;
+        }
+        WebSocketServer server;
+        WSHandler handler;
 
-    WebSocketServer server;
+        if (!server.init(80)) {
+            printf("Failed to init server\r\n");
+            wait(3);
+            continue;
+        }
+        printf("WiFi connected: %s\r\n", wifi.getIPAddress());
 
-    if (!server.init(80)) {
-        printf("Failed to init server\r\n");
-        return 1;
+        server.setHandler("/ws", &handler);
+        server.run();
     }
-
-    server.run();
 }
 
 bool connectWiFi() {
@@ -65,3 +82,42 @@
     return true;
 }
 
+void WSHandler::onMessage(char* text) {
+    printf("TEXT: [%s]\r\n", text);
+}
+
+#define THRESHOLD 30
+
+void WSHandler::onMessage(char* data, size_t size) {
+    int8_t lv = data[0];
+    int8_t rv = data[1];
+
+    printf("[%d/%d]\r\n", lv, rv);
+
+    // 0 0 free
+    // 0 1 normal rotation
+    // 1 0 reverse rotation
+    // 1 1 brake
+    if (lv <= -THRESHOLD) { // normal
+        l1 = 0;
+        l2 = 1;
+    } else if (lv >= THRESHOLD) { // reverse
+        l1 = 1;
+        l2 = 0;
+    } else { // free
+        l1 = 0;
+        l2 = 0;
+    }
+
+    if (rv <= -THRESHOLD) { // normal
+        r1 = 0;
+        r2 = 1;
+    } else if (rv >= THRESHOLD) { // reverse
+        r1 = 1;
+        r2 = 0;
+    } else { // free
+        r1 = 0;
+        r2 = 0;
+    }
+}
+