Simple WebSocket server to control a tank.

Dependencies:   SNICInterface_mod WebSocketServer mbed-rtos mbed PowerControl C12832

au Firefox OS WoTハッカソン on ホワイトデーで使用した、タンクを動かすプログラムです。 ゲームパッドでタンクを操縦します。

ゲームパッドは PC に接続し、ブラウザ上の Web アプリから Gamepad API で入力を取得します。 取得した入力データは WebSocket で mbed 上の WebSocket サーバに送信します。

WebSocket サーバのコードはライブラリ化したので、他のプログラムでもインポートして使えます。

使用した機材

  • LPC1768
  • Murata TypeYD
  • LPC1768 用アプリケーションボード
  • TAMIYA トラック&ホイールセット
  • TAMIYA ダブルキヤボックス(左右独立4速タイプ)
  • TAMIYA ユニバーサルプレート
  • TOSHIBA TA7291P x 2
  • その他、モバイルバッテリー、電池ボックス等

左右のモータードライバにそれぞれ LPC1768 の p12, p13 と p14, p15 のピンを割り当てていますが、必要に応じてコードを変更してください。

コントローラー側(Webアプリ)

https://github.com/chikoski/wotxwot-control

Firefox ブラウザで動作確認しています(他のブラウザでは動かないかも)。 ゲームパッドの左右のスティックの前後の操作が左右それぞれのモータの前転・後転に対応しています。

動いているところの動画

https://www.facebook.com/video.php?v=456620974491805

ハッカソンでは ARM 賞をいただきました!

(参考) au Firefox OS WoTハッカソン on ホワイトデー

http://au-fx.kddi.com/event/20150314/wot_hackathon0314.html

Files at this revision

API Documentation at this revision

Comitter:
flatbird
Date:
Mon Mar 16 10:18:34 2015 +0000
Parent:
10:578778037efb
Commit message:
updated.

Changed in this revision

GSwifi.lib Show diff for this revision Revisions of this file
WebSocketConnection.cpp Show diff for this revision Revisions of this file
WebSocketConnection.h Show diff for this revision Revisions of this file
WebSocketHandler.h Show diff for this revision Revisions of this file
WebSocketServer.cpp Show diff for this revision Revisions of this file
WebSocketServer.h Show diff for this revision Revisions of this file
WebSocketServer.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
--- a/GSwifi.lib	Mon Mar 16 18:48:50 2015 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/users/gsfan/code/GSwifi/#0b5e2727e020
--- a/WebSocketConnection.cpp	Mon Mar 16 18:48:50 2015 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,235 +0,0 @@
-#include "WebSocketConnection.h"
-#include "WebSocketServer.h"
-#include "sha1.h"
-
-#define UPGRADE_WEBSOCKET	"Upgrade: websocket"
-#define SEC_WEBSOCKET_KEY	"Sec-WebSocket-Key:"
-#define MAGIC_NUMBER		"258EAFA5-E914-47DA-95CA-C5AB0DC85B11"
-#define OP_CONT		0x0
-#define OP_TEXT		0x1
-#define OP_BINARY	0x2
-#define OP_CLOSE	0x8
-#define OP_PING		0x9
-#define OP_PONG		0xA
-
-WebSocketConnection::WebSocketConnection(WebSocketServer* server)
-{
-	mServer = server;
-}
-
-WebSocketConnection::~WebSocketConnection()
-{
-}
-
-void WebSocketConnection::run()
-{
-	char buf[1024];
-	bool isWebSocket = false;
-
-	// it doesn't work...
-	// mConnection.set_blocking(true);
-
-	while (mConnection.is_connected()) {
-		int ret = mConnection.receive(buf, sizeof(buf) - 1);
-		if (ret == 0) {
-			// printf("No data to receive\r\n");
-			continue;
-		}
-		if (ret < 0) {
-			printf("ERROR: Failed to receive %d\r\n", ret);
-			break;
-		}
-		if (!isWebSocket) {
-			if (this->handleHTTP(buf, ret)) {
-				isWebSocket = true;
-			} else {
-				printf("ERROR: Non websocket\r\n");
-				break;
-			}
-		} else {
-			if (!this->handleWebSocket(buf, ret)) {
-				break;
-			}
-		}
-	}
-	// printf("Closed\r\n");
-	mConnection.close();
-}
-
-bool WebSocketConnection::handleHTTP(char* buf, int size)
-{
-	char* line = &buf[0];
-	char key[128];
-	bool isUpgradeWebSocket = false;
-	bool isSecWebSocketKeyFound = false;
-
-	for (int i = 0; i < size; i++) {
-		if (buf[i] == '\r' && i+1 < size && buf[i+1] == '\n') {
-			buf[i] = '\0';
-			if (strlen(buf) <= 0) {
-				break;
-			}
-			printf("[%s]\r\n", line);
-			if (line == &buf[0]) {
-				char* method = strtok(buf, " ");
-				char* path = strtok(NULL, " ");
-				char* version = strtok(NULL, " ");
-				// printf("[%s] [%s] [%s]\r\n", method, path, version);
-				mHandler = mServer->getHandler(path);
-				if (!mHandler) {
-					printf("ERROR: Handler not found for %s\r\n", path);
-					return false;
-				}
-			} else if (strncmp(line, UPGRADE_WEBSOCKET, strlen(UPGRADE_WEBSOCKET)) == 0) {
-				isUpgradeWebSocket = true;
-			} else if (strncmp(line, SEC_WEBSOCKET_KEY, strlen(SEC_WEBSOCKET_KEY)) == 0) {
-				isSecWebSocketKeyFound = true;
-				char* ptr = line + strlen(SEC_WEBSOCKET_KEY);
-				while (*ptr == ' ') ++ptr;
-				strcpy(key, ptr);
-			}
-			i += 2;
-			line = &buf[i];
-		}
-	}
-
-	if (isUpgradeWebSocket && isSecWebSocketKeyFound) {
-		this->sendUpgradeResponse(key);
-		if (mHandler) {
-			mHandler->onOpen();
-		}
-		mPrevFin = true;
-		return true;
-	}
-
-	return false;
-}
-
-bool WebSocketConnection::handleWebSocket(char* buf, int size)
-{
-	uint8_t* ptr = (uint8_t*)buf;
-
-	bool fin = (*ptr & 0x80) == 0x80;
-	uint8_t opcode = *ptr & 0xF;
-
-	if (opcode == OP_PING) {
-		*ptr = ((*ptr & 0xF0) | OP_PONG);
-		mConnection.send_all(buf, size);
-		return true;
-	}
-	if (opcode == OP_CLOSE) {
-		if (mHandler) {
-			mHandler->onClose();
-		}
-		return false;
-	}
-	ptr++;
-
-	if (!fin || !mPrevFin) {	
-		printf("WARN: Data consists of multiple frame not supported\r\n");
-		mPrevFin = fin;
-		return true; // not an error, just discard it
-	}
-	mPrevFin = fin;
-
-	bool mask = (*ptr & 0x80) == 0x80;
-	uint8_t len = *ptr & 0x7F;
-	ptr++;
-	
-	if (len > 125) {
-		printf("WARN: Extended payload length not supported\r\n");
-		return true; // not an error, just discard it
-	}
-
-	char* data;
-	if (mask) {
-		char* maskingKey = (char*)ptr;
-		data = (char*)(ptr + 4);
-		for (int i = 0; i < len; i++) {
-        	data[i] = data[i] ^ maskingKey[(i % 4)];
-        }
-	} else {
-		data = (char*)ptr;
-	}
-	if (mHandler) {
-		if (opcode == OP_TEXT) {
-			data[len] = '\0';
-			mHandler->onMessage(data);
-		} else if (opcode == OP_BINARY) {
-			mHandler->onMessage(data, len);
-		}
-	}
-	return true;
-}
-
-char* base64Encode(const uint8_t* data, size_t size,
-                   char* outputBuffer, size_t outputBufferSize)
-{
-	static char encodingTable[] = {'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H',
-	                               'I', 'J', 'K', 'L', 'M', 'N', 'O', 'P',
-	                               'Q', 'R', 'S', 'T', 'U', 'V', 'W', 'X',
-	                               'Y', 'Z', 'a', 'b', 'c', 'd', 'e', 'f',
-	                               'g', 'h', 'i', 'j', 'k', 'l', 'm', 'n',
-	                               'o', 'p', 'q', 'r', 's', 't', 'u', 'v',
-	                               'w', 'x', 'y', 'z', '0', '1', '2', '3',
-	                               '4', '5', '6', '7', '8', '9', '+', '/'};
-    size_t outputLength = 4 * ((size + 2) / 3);
-    if (outputBufferSize - 1 < outputLength) { // -1 for NUL
-    	return NULL;
-    }
-
-    for (size_t i = 0, j = 0; i < size; /* nothing */) {
-        uint32_t octet1 = i < size ? (unsigned char)data[i++] : 0;
-        uint32_t octet2 = i < size ? (unsigned char)data[i++] : 0;
-        uint32_t octet3 = i < size ? (unsigned char)data[i++] : 0;
-
-        uint32_t triple = (octet1 << 0x10) + (octet2 << 0x08) + octet3;
-
-        outputBuffer[j++] = encodingTable[(triple >> 3 * 6) & 0x3F];
-        outputBuffer[j++] = encodingTable[(triple >> 2 * 6) & 0x3F];
-        outputBuffer[j++] = encodingTable[(triple >> 1 * 6) & 0x3F];
-        outputBuffer[j++] = encodingTable[(triple >> 0 * 6) & 0x3F];
-    }
-
-	static int padTable[] = { 0, 2, 1 };
-	int paddingCount = padTable[size % 3];
-
-    for (int i = 0; i < paddingCount; i++) {
-        outputBuffer[outputLength - 1 - i] = '=';
-    }
-    outputBuffer[outputLength] = '\0'; // NUL
-
-    return outputBuffer;
-}
-
-bool WebSocketConnection::sendUpgradeResponse(char* key)
-{
-	char buf[128];
-
-	if (strlen(key) + sizeof(MAGIC_NUMBER) > sizeof(buf)) {
-		return false;
-	}
-	strcpy(buf, key);
-	strcat(buf, MAGIC_NUMBER);
-
-    unsigned char hash[20];
-	char encoded[30];
-    sha1(buf, strlen(buf), (char*)hash);
-    base64Encode(hash, 20, encoded, sizeof(encoded));
-
-    char resp[] = "HTTP/1.1 101 Switching Protocols\r\n" \
-	    "Upgrade: websocket\r\n" \
-    	"Connection: Upgrade\r\n" \
-    	"Sec-WebSocket-Accept: XXXXXXXXXXXXXXXXXXXXXXXXXXXXX\r\n\r\n";
-    char* ptr = strstr(resp, "XXXXX");
-    strcpy(ptr, encoded);
-    strcpy(ptr+strlen(encoded), "\r\n\r\n");
-
-    int ret = mConnection.send_all(resp, strlen(resp));
-    if (ret < 0) {
-    	printf("ERROR: Failed to send response\r\n");
-    	return false;
-    }
-
-    return true;
-}
--- a/WebSocketConnection.h	Mon Mar 16 18:48:50 2015 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +0,0 @@
-#ifndef _WEB_SOCKET_CONNECTION_H_
-#define _WEB_SOCKET_CONNECTION_H_
-
-#include "TCPSocketServer.h"
-#include "WebSocketHandler.h"
-#include <string>
-#include <map>
-
-class WebSocketServer;
-
-class WebSocketConnection
-{
-public:
-    WebSocketConnection(WebSocketServer* server);
-    virtual ~WebSocketConnection();
-
-    void run();
-    TCPSocketConnection& getTCPSocketConnection() { return mConnection; }
-
-private:
-    bool handleHTTP(char* buf, int size);
-    bool handleWebSocket(char* buf, int size);
-    bool sendUpgradeResponse(char* key);
-
-    WebSocketServer* mServer;
-    TCPSocketConnection mConnection;
-    WebSocketHandler* mHandler;
-    bool mPrevFin;
-};
-
-#endif
--- a/WebSocketHandler.h	Mon Mar 16 18:48:50 2015 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,16 +0,0 @@
-#ifndef _WEB_SOCKET_HANDLER_H_
-#define _WEB_SOCKET_HANDLER_H_
-
-class WebSocketHandler
-{
-public:
-    virtual void onOpen() {};
-    virtual void onClose() {};
-    // to receive text message
-    virtual void onMessage(char* text) {};
-    // to receive binary message
-    virtual void onMessage(char* data, size_t size) {};
-    virtual void onError() {};
-};
-
-#endif
--- a/WebSocketServer.cpp	Mon Mar 16 18:48:50 2015 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,59 +0,0 @@
-#include "WebSocketServer.h"
-#include "WebSocketConnection.h"
-
-WebSocketServer::WebSocketServer()
-{
-}
-
-WebSocketServer::~WebSocketServer()
-{
-}
-
-bool WebSocketServer::init(int port)
-{
-	mTCPSocketServer.set_blocking(true);
-
-	int ret = mTCPSocketServer.bind(port);
-	if (ret != 0) {
-		printf("ERROR: Failed to bind %d\r\n", ret);
-		return false;
-	}
-	ret = mTCPSocketServer.listen();
-	if (ret != 0) {
-		printf("ERROR: Failed to listen %d\r\n", ret);
-		return false;
-	}
-
-	return true;
-}
-
-void WebSocketServer::run()
-{
-	WebSocketConnection connection(this);
-
-	while (true) {
-		// printf("accepting\r\n");
-		int ret = mTCPSocketServer.accept(connection.getTCPSocketConnection());
-		if (ret != 0) {
-			continue;
-		}
-		connection.run();
-	}
-}
-
-void WebSocketServer::setHandler(const char* path, WebSocketHandler* handler)
-{
-	mHandlers[path] = handler;
-}
-
-WebSocketHandler* WebSocketServer::getHandler(const char* path)
-{
-	WebSocketHandlerContainer::iterator it;
-
-	it = mHandlers.find(path);
-	if (it != mHandlers.end()) {
-		return it->second;
-	}
-	return NULL;
-}
-
--- a/WebSocketServer.h	Mon Mar 16 18:48:50 2015 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,27 +0,0 @@
-#ifndef _WEB_SOCKET_SERVER_H_
-#define _WEB_SOCKET_SERVER_H_
-
-#include "TCPSocketServer.h"
-#include "WebSocketHandler.h"
-#include <string>
-#include <map>
-
-class WebSocketServer
-{
-public:
-    WebSocketServer();
-    virtual ~WebSocketServer();
-
-    bool init(int port);
-    void run();
-    void setHandler(const char* path, WebSocketHandler* handler);
-    WebSocketHandler* getHandler(const char* path);
-
-private:
-    typedef std::map<std::string, WebSocketHandler*> WebSocketHandlerContainer;
-
-    TCPSocketServer mTCPSocketServer;
-    WebSocketHandlerContainer mHandlers;
-};
-
-#endif
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/WebSocketServer.lib	Mon Mar 16 10:18:34 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/flatbird/code/WebSocketServer/#a816c25e83ed
--- a/main.cpp	Mon Mar 16 18:48:50 2015 +0900
+++ b/main.cpp	Mon Mar 16 10:18:34 2015 +0000
@@ -127,7 +127,7 @@
     lcd_printf("websocket closed\r\n");
 }
 
-#define THRESHOLD 20
+#define THRESHOLD 10
 
 void WSHandler::onMessage(char* data, size_t size)
 {