Revision 0:893a1e710078, committed 2020-04-28

Comitter:

oehlemar

Date:

Tue Apr 28 13:59:27 2020 +0000

Child:

1:5201940a41c1

Commit message:

initial publish

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPScript.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,29 @@
+/*
+ * HTTPScript.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include "HTTPScript.h"
+
+using namespace std;
+
+HTTPScript::HTTPScript() {}
+
+HTTPScript::~HTTPScript() {}
+
+/**
+ * This method must be implemented by derived classes.
+ * It gets called by the http server, when an object of this class is
+ * registered with the server, and the corresponding script is called
+ * by an http client.
+ * @param names a vector of the names of arguments passed to the server by
+ * the client with a URL.
+ * @param values a vector of the corresponding values of arguments passed
+ * to the server.
+ */
+string HTTPScript::call(vector<string> names, vector<string> values) {
+    
+    return "";
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPScript.h	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,28 @@
+/*
+ * HTTPScript.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef HTTP_SCRIPT_H_
+#define HTTP_SCRIPT_H_
+
+#include <string>
+#include <vector>
+
+/**
+ * This is the abstract http script superclass that needs to be derived
+ * by application specific http scripts.
+ * @see HTTPServer
+ */
+class HTTPScript {
+    
+    public:
+        
+                            HTTPScript();
+        virtual             ~HTTPScript();
+        virtual std::string call(std::vector<std::string> names, std::vector<std::string> values);
+};
+
+#endif /* HTTP_SCRIPT_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPScriptLIDAR.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,65 @@
+/*
+ * HTTPScriptLIDAR.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <deque>
+#include "HTTPScriptLIDAR.h"
+
+using namespace std;
+
+inline string int2String(int i) {
+    
+    char buffer[32];
+    sprintf(buffer, "%d", i);
+    
+    return string(buffer);
+}
+
+inline string float2String(float f) {
+    
+    char buffer[32];
+    sprintf(buffer, "%.3f", f);
+    
+    return string(buffer);
+}
+
+/**
+ * Create and initialize this http script.
+ * @param lidar a reference to the lidar to read scans from.
+ */
+HTTPScriptLIDAR::HTTPScriptLIDAR(LIDAR& lidar) : lidar(lidar) {}
+
+HTTPScriptLIDAR::~HTTPScriptLIDAR() {}
+
+/**
+ * This method gets called by the http server, when an object of this class is
+ * registered with the server, and the corresponding script is called
+ * by an http client.
+ */
+string HTTPScriptLIDAR::call(vector<string> names, vector<string> values) {
+    
+    string response;
+    
+    deque<Point> scan = lidar.getScan();
+    deque<Point> beacons = lidar.getBeacons();
+    
+    response += "  <lidar>\r\n";
+    response += "    <scan>\r\n";
+    response += "      <size><int>"+int2String(scan.size())+"</int></size>\r\n";
+    for (unsigned short i = 0; i < scan.size(); i++) {
+        response += "      <point><x><float>"+float2String(scan[i].x)+"</float></x><y><float>"+float2String(scan[i].y)+"</float></y></point>\r\n";
+    }
+    response += "    </scan>\r\n";
+    response += "    <beacons>\r\n";
+    response += "      <size><int>"+int2String(beacons.size())+"</int></size>\r\n";
+    for (unsigned short i = 0; i < beacons.size(); i++) {
+        response += "      <point><x><float>"+float2String(beacons[i].x)+"</float></x><y><float>"+float2String(beacons[i].y)+"</float></y></point>\r\n";
+    }
+    response += "    </beacons>\r\n";
+    response += "  </lidar>\r\n";
+    
+    return response;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPScriptLIDAR.h	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,33 @@
+/*
+ * HTTPScriptLIDAR.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef HTTP_SCRIPT_LIDAR_H_
+#define HTTP_SCRIPT_LIDAR_H_
+
+#include <string>
+#include <vector>
+#include "HTTPScript.h"
+#include "LIDAR.h"
+
+/**
+ * This is a specific http script to read scans from a LIDAR.
+ * @see HTTPServer
+ */
+class HTTPScriptLIDAR : public HTTPScript {
+    
+    public:
+        
+                            HTTPScriptLIDAR(LIDAR& lidar);
+        virtual             ~HTTPScriptLIDAR();
+        virtual std::string call(std::vector<std::string> names, std::vector<std::string> values);
+        
+    private:
+        
+        LIDAR&  lidar;
+};
+
+#endif /* HTTP_SCRIPT_LIDAR_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPServer.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,444 @@
+/*
+ * HTTPServer.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <algorithm>
+#include "HTTPScript.h"
+#include "HTTPServer.h"
+
+using namespace std;
+
+inline string int2String(int i) {
+    
+    char buffer[32];
+    sprintf(buffer, "%d", i);
+    
+    return string(buffer);
+}
+
+const unsigned int HTTPServer::INPUT_BUFFER_SIZE = 1024;    // size of receive buffer, given in [bytes]
+const int HTTPServer::SOCKET_TIMEOUT = 1000;                // timeout of socket, given in [ms]
+
+/**
+ * Create and initialize an http server object.
+ * @param ethernet a reference to the embedded TCP/IP stack to use.
+ */
+HTTPServer::HTTPServer(EthernetInterface& ethernet) : ethernet(ethernet), thread(osPriorityNormal, STACK_SIZE) {
+    
+    // start thread
+    
+    thread.start(callback(this, &HTTPServer::run));
+}
+
+/**
+ * Delete the http server object.
+ */
+HTTPServer::~HTTPServer() {}
+
+/**
+ * Registers the given script with the http server.
+ * This allows to call a method of this script object
+ * through virtual cgi-bin requests from a remote system.
+ */
+void HTTPServer::add(string name, HTTPScript* httpScript) {
+    
+    httpScriptNames.push_back(name);
+    httpScripts.push_back(httpScript);
+}
+
+/**
+ * Decodes a given URL string into a standard text string.
+ */
+string HTTPServer::urlDecoder(string url) {
+    
+    size_t pos = 0;
+    while ((pos = url.find("+")) != string::npos) url = url.substr(0, pos)+" "+url.substr(pos+1);
+    while ((pos = url.find("%08")) != string::npos) url = url.substr(0, pos)+"\b"+url.substr(pos+3);
+    while ((pos = url.find("%09")) != string::npos) url = url.substr(0, pos)+"\t"+url.substr(pos+3);
+    while ((pos = url.find("%0A")) != string::npos) url = url.substr(0, pos)+"\n"+url.substr(pos+3);
+    while ((pos = url.find("%0D")) != string::npos) url = url.substr(0, pos)+"\r"+url.substr(pos+3);
+    while ((pos = url.find("%20")) != string::npos) url = url.substr(0, pos)+" "+url.substr(pos+3);
+    while ((pos = url.find("%22")) != string::npos) url = url.substr(0, pos)+"\""+url.substr(pos+3);
+    while ((pos = url.find("%23")) != string::npos) url = url.substr(0, pos)+"#"+url.substr(pos+3);
+    while ((pos = url.find("%24")) != string::npos) url = url.substr(0, pos)+"$"+url.substr(pos+3);
+    while ((pos = url.find("%25")) != string::npos) url = url.substr(0, pos)+"%"+url.substr(pos+3);
+    while ((pos = url.find("%26")) != string::npos) url = url.substr(0, pos)+"&"+url.substr(pos+3);
+    while ((pos = url.find("%2B")) != string::npos) url = url.substr(0, pos)+"+"+url.substr(pos+3);
+    while ((pos = url.find("%2C")) != string::npos) url = url.substr(0, pos)+","+url.substr(pos+3);
+    while ((pos = url.find("%2F")) != string::npos) url = url.substr(0, pos)+"/"+url.substr(pos+3);
+    while ((pos = url.find("%3A")) != string::npos) url = url.substr(0, pos)+":"+url.substr(pos+3);
+    while ((pos = url.find("%3B")) != string::npos) url = url.substr(0, pos)+";"+url.substr(pos+3);
+    while ((pos = url.find("%3C")) != string::npos) url = url.substr(0, pos)+"<"+url.substr(pos+3);
+    while ((pos = url.find("%3D")) != string::npos) url = url.substr(0, pos)+"="+url.substr(pos+3);
+    while ((pos = url.find("%3E")) != string::npos) url = url.substr(0, pos)+">"+url.substr(pos+3);
+    while ((pos = url.find("%3F")) != string::npos) url = url.substr(0, pos)+"?"+url.substr(pos+3);
+    while ((pos = url.find("%40")) != string::npos) url = url.substr(0, pos)+"@"+url.substr(pos+3);
+    
+    return url;
+}
+
+/**
+ * This <code>run()</code> method binds the TCP/IP server to a given port number
+ * and enters an infinite loop that waits for http requests and then processes
+ * these requests and returns a response.
+ */
+void HTTPServer::run() {
+    
+    // bind the server to a given port number
+    
+    server.open(&ethernet);
+    server.bind(PORT_NUMBER);
+    server.listen();
+    
+    // enter infinite loop
+    
+    while (true) {
+        
+        TCPSocket* client = server.accept();
+        if (client != NULL) {
+            
+            client->set_blocking(true);
+            client->set_timeout(SOCKET_TIMEOUT); // set timeout of socket
+            
+            // read input
+            
+            char buffer[INPUT_BUFFER_SIZE];
+            int size = client->recv(buffer, sizeof(buffer));
+            
+            if (size > 0) {
+                
+                string input(buffer, size);
+                string header;
+                string output;
+                
+                // parse input
+                
+                if ((input.find("GET") == 0) || (input.find("HEAD") == 0)) {
+                    
+                    if (input.find("cgi-bin") != string::npos) {
+                        
+                        // process script request with arguments
+                        
+                        string script = input.substr(input.find("cgi-bin/")+8, input.find(" ", input.find("cgi-bin/")+8)-input.find("cgi-bin/")-8);
+                        string name;
+                        vector<string> names;
+                        vector<string> values;
+                        
+                        if (script.find("?") != string::npos) {
+                            
+                            name = script.substr(0, script.find("?"));
+                            script = script.substr(script.find("?")+1);
+                            
+                            vector<string> arguments;
+                            while (script.find("&") != string::npos) {
+                                arguments.push_back(script.substr(0, script.find("&")));
+                                script = script.substr(script.find("&")+1);
+                            }
+                            arguments.push_back(script);
+                            
+                            for (int i = 0; i < arguments.size(); i++) {
+                                
+                                if (arguments[i].find("=") != string::npos) {
+                                    
+                                    names.push_back(arguments[i].substr(0, arguments[i].find("=")));
+                                    values.push_back(urlDecoder(arguments[i].substr(arguments[i].find("=")+1)));
+                                    
+                                } else {
+                                    
+                                    names.push_back(arguments[i]);
+                                    values.push_back("");
+                                }
+                            }
+                            
+                        } else {
+                            
+                            name = script;
+                        }
+                        
+                        // look for corresponding script
+                        
+                        for (int i = 0; i < min(httpScriptNames.size(), httpScripts.size()); i++) {
+                            
+                            if (httpScriptNames[i].compare(name) == 0) {
+                                
+                                output  = "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n";
+                                output += "<!DOCTYPE html>\r\n";
+                                output += "<html xmlns=\"http://www.w3.org/1999/xhtml\" xml:lang=\"en\" lang=\"en\">\r\n";
+                                output += "<body>\r\n";
+                                output += httpScripts[i]->call(names, values);
+                                output += "</body>\r\n";
+                                output += "</html>\r\n";
+                                
+                                header  = "HTTP/1.1 200 OK\r\n";
+                                header += "Content-Length: "+int2String(output.size())+"\r\n";
+                                header += "Content-Type: text/xml\r\n";
+                                header += "Expires: 0\r\n";
+                                header += "\r\n";
+                                
+                                output = header+output;
+                            }
+                        }
+                        
+                        // requested script was not found on this server
+                        
+                        if ((output).size() == 0) {
+                            
+                            output  = "<!DOCTYPE html>\r\n";
+                            output += "<html lang=\"en\">\r\n";
+                            output += "<head>\r\n";
+                            output += "  <title>404 Not Found</title>\r\n";
+                            output += "  <style type=\"text/css\">\r\n";
+                            output += "    h2 {font-family:Helvetica,Arial,sans-serif; font-size: 24; color:#FFFFFF;}\r\n";
+                            output += "    p {font-family:Helvetica,Arial,sans-serif; font-size: 14; color:#444444;}\r\n";
+                            output += "  </style>\r\n";
+                            output += "</head>\r\n";
+                            output += "<body leftmargin=\"0\" topmargin=\"0\" marginwidth=\"0\" marginheight=\"0\">\r\n";
+                            output += "  <table width=\"100%\" height=\"100%\" border=\"0\" frame=\"void\" cellspacing=\"0\" cellpadding=\"20\">\r\n";
+                            output += "    <tr>\r\n";
+                            output += "      <th width=\"100%\" height=\"30\" bgcolor=\"#0064A6\"><h2>400 Bad Request</h2></th>\r\n";
+                            output += "    </tr>\r\n";
+                            output += "    <tr>\r\n";
+                            output += "      <td valign=\"top\">\r\n";
+                            output += "      <p>The requested script could not be found on this server!</p>\r\n";
+                            output += "      </td>\r\n";
+                            output += "    </tr>\r\n";
+                            output += "  </table>\r\n";
+                            output += "</body>\r\n";
+                            output += "</html>\r\n";
+                            
+                            header  = "HTTP/1.1 404 Not Found\r\n";
+                            header += "Content-Length: "+int2String(output.size())+"\r\n";
+                            header += "Content-Type: text/html\r\n";
+                            header += "\r\n";
+                            
+                            output = header+output;
+                        }
+                        
+                        // write output
+                        
+                        void* address = (void*)(output).c_str();
+                        int offset = 0;
+                        while (offset < (output).size()) offset += client->send((void*)(static_cast<int>(reinterpret_cast<intptr_t>(address))+offset), (output).size()-offset);
+                        
+                    } else {
+                        
+                        // transmit static file
+                        
+                        output  = "<!DOCTYPE html>\r\n";
+                        output += "<html lang=\"en\">\r\n";
+                        output += "<head>\r\n";
+                        output += "  <meta charset=\"utf-8\"/>\r\n";
+                        output += "  <title>LIDAR Scan</title>\r\n";
+                        output += "  <style type=\"text/css\">\r\n";
+                        output += "    html {background-color: #223344;}\r\n";
+                        output += "    h2 {font-family:Helvetica,Arial,sans-serif; font-size: 24; color:#FFFFFF;}\r\n";
+                        output += "    p {font-family:Helvetica,Arial,sans-serif; font-size: 16; color:#EEEEEE;}\r\n";
+                        output += "  </style>\r\n";
+                        output += "</head>\r\n";
+                        output += "<body leftmargin=\"0\" topmargin=\"0\" marginwidth=\"0\" marginheight=\"0\">\r\n";
+                        output += "  <script type=\"text/javascript\">\r\n";
+                        output += "  var xmlhttp = null;\r\n";
+                        output += "  var task = window.setInterval(\"update()\", 100);\r\n";
+                        output += "  function update() {\r\n";
+                        output += "    if (window.XMLHttpRequest) {\r\n";
+                        output += "      xmlhttp = new XMLHttpRequest();\r\n";
+                        output += "    } else if (window.ActiveXObject) {\r\n";
+                        output += "      try {\r\n";
+                        output += "        xmlhttp = new ActiveXObject(\"Msxml2.XMLHTTP\");\r\n";
+                        output += "      } catch (exception) {\r\n";
+                        output += "        try {\r\n";
+                        output += "          xmlhttp = new ActiveXObject(\"Microsoft.XMLHTTP\");\r\n";
+                        output += "        } catch (exception) {}\r\n";
+                        output += "      }\r\n";
+                        output += "    }\r\n";
+                        output += "    xmlhttp.onreadystatechange = refresh;\r\n";
+                        output += "    xmlhttp.open(\"GET\", \"/cgi-bin/lidar\");\r\n";
+                        output += "    xmlhttp.send(null);\r\n";
+                        output += "  }\r\n";
+                        output += "  function refresh() {\r\n";
+                        output += "    if (xmlhttp.readyState == 4) {\r\n";
+                        output += "      var xml = xmlhttp.responseXML;\r\n";
+                        output += "      var intValues = xml.getElementsByTagName(\"int\");\r\n";
+                        output += "      var floatValues = xml.getElementsByTagName(\"float\");\r\n";
+                        output += "      var sizeScan = intValues[0].childNodes[0].nodeValue;\r\n";
+                        output += "      var sizeBeacons = intValues[1].childNodes[0].nodeValue;\r\n";
+                        output += "      var x = [];\r\n";
+                        output += "      var y = [];\r\n";
+                        output += "      var xBeacon = [];\r\n";
+                        output += "      var yBeacon = [];\r\n";
+                        output += "      for (i = 0; i < sizeScan; i++) {\r\n";
+                        output += "        x.push(-floatValues[2*i+1].childNodes[0].nodeValue);\r\n";
+                        output += "        y.push(floatValues[2*i].childNodes[0].nodeValue);\r\n";
+                        output += "      }\r\n";
+                        output += "      for (i = 0; i < sizeBeacons; i++) {\r\n";
+                        output += "        xBeacon.push(-floatValues[2*i+2*sizeScan+1].childNodes[0].nodeValue);\r\n";
+                        output += "        yBeacon.push(floatValues[2*i+2*sizeScan].childNodes[0].nodeValue);\r\n";
+                        output += "      }\r\n";
+                        output += "      drawScan(\"lidar\", x, y, xBeacon, yBeacon);\r\n";
+                        output += "    }\r\n";
+                        output += "  }\r\n";
+                        output += "  function drawScan(id, x, y, xBeacon, yBeacon) {\r\n";
+                        output += "    var canvas = document.getElementById(id);\r\n";
+                        output += "    var width = window.innerWidth-50;\r\n";
+                        output += "    var height = window.innerHeight-50;\r\n";
+                        output += "    canvas.width = 2*width;\r\n";
+                        output += "    canvas.height = 2*height;\r\n";
+                        output += "    canvas.style.width = width+\"px\";\r\n";
+                        output += "    canvas.style.height = height+\"px\";\r\n";
+                        output += "    var ctx = canvas.getContext(\"2d\");\r\n";
+                        output += "    ctx.scale(2,2);\r\n";
+                        output += "    ctx.fillStyle = \"#334455\";\r\n";
+                        output += "    ctx.fillRect(0.5, 0.5, width-1, height-1);\r\n";
+                        output += "    var xMax = 3.0;\r\n";
+                        output += "    var yMax = 3.0;\r\n";
+                        output += "    if (width > height) {\r\n";
+                        output += "      xMax = yMax*width/height;\r\n";
+                        output += "    } else {\r\n";
+                        output += "      yMax = xMax*height/width;\r\n";
+                        output += "    }\r\n";
+                        output += "    ctx.strokeStyle = \"#445566\";\r\n";
+                        output += "    ctx.lineWidth = 1;\r\n";
+                        output += "    ctx.beginPath();\r\n";
+                        output += "    for (xGrid = 0.0; xGrid < xMax; xGrid += 0.1) {\r\n";
+                        output += "      ctx.moveTo(width/2.0+xGrid/xMax*width/2.0, 0.0);\r\n";
+                        output += "      ctx.lineTo(width/2.0+xGrid/xMax*width/2.0, height);\r\n";
+                        output += "      ctx.moveTo(width/2.0-xGrid/xMax*width/2.0, 0.0);\r\n";
+                        output += "      ctx.lineTo(width/2.0-xGrid/xMax*width/2.0, height);\r\n";
+                        output += "    }\r\n";
+                        output += "    for (yGrid = 0.0; yGrid < yMax; yGrid += 0.1) {\r\n";
+                        output += "      ctx.moveTo(0.0, height/2.0+yGrid/yMax*height/2.0);\r\n";
+                        output += "      ctx.lineTo(width, height/2.0+yGrid/yMax*height/2.0);\r\n";
+                        output += "      ctx.moveTo(0.0, height/2.0-yGrid/yMax*height/2.0);\r\n";
+                        output += "      ctx.lineTo(width, height/2.0-yGrid/yMax*height/2.0);\r\n";
+                        output += "    }\r\n";
+                        output += "    ctx.stroke();\r\n";
+                        output += "    ctx.strokeStyle = \"#667788\";\r\n";
+                        output += "    ctx.lineWidth = 1;\r\n";
+                        output += "    ctx.beginPath();\r\n";
+                        output += "    for (xGrid = 0.0; xGrid < xMax; xGrid += 1.0) {\r\n";
+                        output += "      ctx.moveTo(width/2.0+xGrid/xMax*width/2.0, 0.0);\r\n";
+                        output += "      ctx.lineTo(width/2.0+xGrid/xMax*width/2.0, height);\r\n";
+                        output += "      ctx.moveTo(width/2.0-xGrid/xMax*width/2.0, 0.0);\r\n";
+                        output += "      ctx.lineTo(width/2.0-xGrid/xMax*width/2.0, height);\r\n";
+                        output += "    }\r\n";
+                        output += "    for (yGrid = 0.0; yGrid < yMax; yGrid += 1.0) {\r\n";
+                        output += "      ctx.moveTo(0.0, height/2.0+yGrid/yMax*height/2.0);\r\n";
+                        output += "      ctx.lineTo(width, height/2.0+yGrid/yMax*height/2.0);\r\n";
+                        output += "      ctx.moveTo(0.0, height/2.0-yGrid/yMax*height/2.0);\r\n";
+                        output += "      ctx.lineTo(width, height/2.0-yGrid/yMax*height/2.0);\r\n";
+                        output += "    }\r\n";
+                        output += "    ctx.stroke();\r\n";
+                        output += "    ctx.strokeStyle = \"white\";\r\n";
+                        output += "    ctx.lineWidth = 0;\r\n";
+                        output += "    ctx.fillStyle = \"white\";\r\n";
+                        output += "    ctx.beginPath();\r\n";
+                        output += "    ctx.moveTo(width/2.0, height/2.0);\r\n";
+                        output += "    ctx.arc(width/2.0, height/2.0, 8, 0, 2*Math.PI, false);\r\n";
+                        output += "    ctx.moveTo(width/2.0, height/2.0+8);\r\n";
+                        output += "    ctx.arc(width/2.0, height/2.0+8, 5, 0, 2*Math.PI, false);\r\n";
+                        output += "    ctx.fill();\r\n";
+                        output += "    ctx.stroke();\r\n";
+                        output += "    ctx.strokeStyle = \"#FF0000\";\r\n";
+                        output += "    ctx.fillStyle = \"#FF0000\";\r\n";
+                        output += "    ctx.beginPath();\r\n";
+                        output += "    for (i = 0; i < Math.min(xBeacon.length, yBeacon.length); i++) {\r\n";
+                        output += "      ctx.moveTo(width/2.0+xBeacon[i]/xMax*width/2.0, height/2.0-yBeacon[i]/yMax*height/2.0);\r\n";
+                        output += "      ctx.arc(width/2.0+xBeacon[i]/xMax*width/2.0, height/2.0-yBeacon[i]/yMax*height/2.0, 5, 0, 2*Math.PI, false);\r\n";
+                        output += "    }\r\n";
+                        output += "    ctx.fill();\r\n";
+                        output += "    ctx.stroke();\r\n";
+                        output += "    ctx.strokeStyle = \"#FFFF00\";\r\n";
+                        output += "    ctx.lineWidth = 0.5;\r\n";
+                        output += "    ctx.beginPath();\r\n";
+                        output += "    ctx.moveTo(width/2.0+x[0]/xMax*width/2.0, height/2.0-y[0]/yMax*height/2.0);\r\n";
+                        output += "    for (i = 1; i < Math.min(x.length, y.length); i++) {\r\n";
+                        output += "      ctx.lineTo(width/2.0+x[i]/xMax*width/2.0, height/2.0-y[i]/yMax*height/2.0);\r\n";
+                        output += "    }\r\n";
+                        output += "    ctx.lineTo(width/2.0+x[0]/xMax*width/2.0, height/2.0-y[0]/yMax*height/2.0);\r\n";
+                        output += "    ctx.stroke();\r\n";
+                        output += "    ctx.fillStyle = \"#FFFF00\";\r\n";
+                        output += "    ctx.beginPath();\r\n";
+                        output += "    for (i = 0; i < Math.min(x.length, y.length); i++) {\r\n";
+                        output += "      ctx.moveTo(width/2.0+x[i]/xMax*width/2.0, height/2.0-y[i]/yMax*height/2.0);\r\n";
+                        output += "      ctx.arc(width/2.0+x[i]/xMax*width/2.0, height/2.0-y[i]/yMax*height/2.0, 2, 0, 2*Math.PI, false);\r\n";
+                        output += "    }\r\n";
+                        output += "    ctx.fill();\r\n";
+                        output += "    ctx.stroke();\r\n";
+                        output += "    ctx.strokeStyle = \"white\";\r\n";
+                        output += "    ctx.lineWidth = 1;\r\n";
+                        output += "    ctx.strokeRect(0.5, 0.5, width-1, height-1);\r\n";
+                        output += "  }\r\n";
+                        output += "  </script>\r\n";
+                        output += "  <table width=\"100%\" height=\"100%\" border=\"0\" frame=\"void\" cellspacing=\"20\" cellpadding=\"0\">\r\n";
+                        output += "    <tr>\r\n";
+                        output += "      <th><canvas id=\"lidar\"></canvas></th>\r\n";
+                        output += "    </tr>\r\n";
+                        output += "  </table>\r\n";
+                        output += "</body>\r\n";
+                        output += "</html>\r\n";
+                        
+                        header  = "HTTP/1.1 404 Not Found\r\n";
+                        header += "Content-Length: "+int2String(output.size())+"\r\n";
+                        header += "Content-Type: text/html\r\n";
+                        header += "\r\n";
+                        
+                        output = header+output;
+                        
+                        // write output
+                        
+                        void* address = (void*)output.c_str();
+                        int offset = 0;
+                        while (offset < output.size()) offset += client->send((void*)(static_cast<int>(reinterpret_cast<intptr_t>(address))+offset), output.size()-offset);
+                    }
+                    
+                } else {
+                    
+                    // the http method is not known
+                    
+                    output  = "<!DOCTYPE html>\r\n";
+                    output += "<html lang=\"en\">\r\n";
+                    output += "<head>\r\n";
+                    output += "  <title>400 Bad Request</title>\r\n";
+                    output += "  <style type=\"text/css\">\r\n";
+                    output += "    h2 {font-family:Helvetica,Arial,sans-serif; font-size: 24; color:#FFFFFF;}\r\n";
+                    output += "    p {font-family:Helvetica,Arial,sans-serif; font-size: 14; color:#444444;}\r\n";
+                    output += "  </style>\r\n";
+                    output += "</head>\r\n";
+                    output += "<body leftmargin=\"0\" topmargin=\"0\" marginwidth=\"0\" marginheight=\"0\">\r\n";
+                    output += "  <table width=\"100%\" height=\"100%\" border=\"0\" frame=\"void\" cellspacing=\"0\" cellpadding=\"20\">\r\n";
+                    output += "    <tr>\r\n";
+                    output += "      <th width=\"100%\" height=\"30\" bgcolor=\"#0064A6\"><h2>400 Bad Request</h2></th>\r\n";
+                    output += "    </tr>\r\n";
+                    output += "    <tr>\r\n";
+                    output += "      <td valign=\"top\">\r\n";
+                    output += "      <p>The requested method is not supported by this server!</p>\r\n";
+                    output += "      </td>\r\n";
+                    output += "    </tr>\r\n";
+                    output += "  </table>\r\n";
+                    output += "</body>\r\n";
+                    output += "</html>\r\n";
+                    
+                    header  = "HTTP/1.1 400 Bad Request\r\n";
+                    header += "Content-Length: "+int2String(output.size())+"\r\n";
+                    header += "Content-Type: text/html\r\n";
+                    header += "\r\n";
+                    
+                    output = header+output;
+                    
+                    // write output
+                    
+                    void* address = (void*)output.c_str();
+                    int offset = 0;
+                    while (offset < output.size()) offset += client->send((void*)(static_cast<int>(reinterpret_cast<intptr_t>(address))+offset), output.size()-offset);
+                }
+            }
+            
+            client->close();
+            
+        } // client != NULL
+        
+    } // infinite while loop
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPServer.h	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,105 @@
+/*
+ * HTTPServer.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef HTTP_SERVER_H_
+#define HTTP_SERVER_H_
+
+#include <string>
+#include <vector>
+#include <mbed.h>
+#include <EthernetInterface.h>
+
+class HTTPScript;
+
+/**
+ * The <code>HTTPServer</code> class implements a simple webserver that is able to
+ * transmit files over an ethernet connection and allows to call scripts that are
+ * registered with the server.
+ * <br/>
+ * An http server can be created and started as follows:
+ * <pre><code>
+ *   EthernetInterface* ethernet = new EthernetInterface();  <span style="color:#008000">// init the TCP/IP stack</span>
+ *   ethernet->set_network("192.168.0.10", "255.255.255.0", "192.168.0.1");
+ *   ethernet->connect();
+ *
+ *   HTTPServer* httpServer = new HTTPServer(ethernet); <span style="color:#008000">// creates an http server</span>
+ *   ...
+ * </code></pre>
+ * This http server allows to execute application specific code implemented as http
+ * scripts. These scripts are objects derived from the <code>HTTPScript</code> superclass.
+ * <br/>
+ * An example of an application specific script is given below:
+ * <pre><code>
+ * class MyHTTPScript : public HTTPScript {
+ *     public:
+ *                  MyHTTPScript();
+ *         virtual  ~MyHTTPScript();
+ *         string   call(vector<string> names, vector<string> values);
+ * };
+ * 
+ * string MyHTTPScript::call(vector<string> names, vector<string> values) {
+ *   
+ *   string response;
+ *   
+ *   response += "  <h2>";
+ *   for (uint32_t i = 0; i < min(names.size(), values.size()); i++) {
+ *     response += "  <p>"+names[i]+"="+values[i]+"</p>";
+ *   }
+ *   response += "  </h2>";
+ * 
+ *   return response;
+ * }
+ * </code></pre>
+ * This script returns the parameters that were passed to it by the http server.
+ * <br/>
+ * Before this script can be used, it needs to be registered with the http server
+ * with the <code>add()</code> method as follows:
+ * <pre><code>
+ *   httpServer->add("myScript", new MyHTTPScript());
+ * </code></pre>
+ * When the <code>call()</code> method of the script is called by the http server,
+ * it receives two string vectors: a vector with the names of the arguments passed
+ * in the URL, and a vector with the corresponding values of the arguments.
+ * <br/>
+ * An example of an http request calling this script is as follows:
+ * <pre><code>
+ *   http://192.168.1.10/cgi-bin/myScript?x=0.5&y=-0.1&z=0.2
+ * </code></pre>
+ * The vectors of arguments passed to the <code>call()</code> method are then
+ * {'x', 'y', 'z'} for the names and {'0.5', '-0.1', '0.2'} for the values.
+ * <br/>
+ * The response of the <code>call()</code> method is a <code>string</code> object
+ * which is placed within an xhtml page, which in turn is returned by the http
+ * server to the requesting http client.
+ * @see HTTPScript
+ */
+class HTTPServer {
+    
+    public:
+    
+                    HTTPServer(EthernetInterface& ethernet);
+        virtual     ~HTTPServer();
+        void        add(std::string name, HTTPScript* httpScript);
+        
+    private:
+        
+        static const unsigned int   STACK_SIZE = 16384; // stack size of thread, given in [bytes]
+        static const int            PORT_NUMBER = 80;   // port number of server to use
+        static const unsigned int   INPUT_BUFFER_SIZE;  // size of receive buffer, given in [bytes]
+        static const int            SOCKET_TIMEOUT;     // timeout of socket, given in [ms]
+        
+        EthernetInterface&          ethernet;
+        TCPSocket                   server;
+        std::vector<std::string>    httpScriptNames;
+        std::vector<HTTPScript*>    httpScripts;
+        Thread                      thread;
+        
+        string      urlDecoder(std::string url);
+        void        run();
+};
+
+#endif /* HTTP_SERVER_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIDAR.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,160 @@
+/*
+ * LIDAR.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "LIDAR.h"
+
+using namespace std;
+
+const float LIDAR::DISTANCE_THRESHOLD = 0.01f;  // threshold for measured distance, given in [m]
+const float LIDAR::DEFAULT_DISTANCE = 10.0f;    // default distance > range of sensor, given in [m]
+const float LIDAR::M_PI = 3.1415926535897932f;  // the mathematical constant PI
+const float LIDAR::DISTANCES[] = {10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 1.702465271f, 1.699141254f, 1.69632544f, 1.692140952f, 1.689068974f, 1.68018005f, 1.676267878f, 1.666183663f, 1.671424841f, 1.66193261f, 1.655635528f, 1.653413439f, 1.653517463f, 1.657246512f, 1.655132925f, 1.650946698f, 1.65257254f, 1.66468045f, 1.23646674f, 1.236336928f, 1.251003597f, 1.353653575f, 1.322500662f, 1.304577326f, 1.299988461f, 1.314887448f, 1.320968206f, 1.320374568f, 1.251579003f, 1.235510016f, 1.233241663f, 1.243382483f, 1.314194811f, 1.318788838f, 1.438384163f, 1.419872177f, 1.368804223f, 1.347354445f, 1.342721118f, 1.354318279f, 1.366872708f, 1.369305298f, 1.383822604f, 1.508895291f, 1.493255504f, 1.475824515f, 1.435599178f, 1.445460826f, 1.462035909f, 1.654100964f, 1.644884494f, 1.707480307f, 1.701130213f, 1.660187941f, 1.634974006f, 1.61723344f, 1.620856564f, 1.798737613f, 1.779742116f, 1.77366344f, 1.77661504f, 1.777926039f, 1.920203375f, 1.935389367f, 2.291142292f, 2.328650253f, 2.363611643f, 2.448420103f, 2.487483266f, 2.57330313f, 2.545476969f, 2.040235771f, 2.028301999f, 2.014f, 1.98730823f, 1.972207393f, 1.955661781f, 1.944761168f, 1.923351242f, 1.909502815f, 1.903193369f, 1.875251983f, 1.874046424f, 1.857301806f, 1.845873235f, 1.837153505f, 1.817614371f, 1.803495495f, 1.796232168f, 1.784177401f, 1.781868963f, 1.775984797f, 1.764001134f, 1.761087448f, 1.753326267f, 1.75371748f, 1.745729933f, 1.742740658f, 1.737636613f, 1.741089889f, 1.735240617f, 1.735295076f, 1.728695462f, 1.720377865f, 1.657877257f, 1.727796574f, 1.734111011f, 1.729579429f, 1.736116356f, 1.743193908f, 1.745805545f, 1.750349965f, 1.750429662f, 1.754628166f, 1.760757223f, 1.766661541f, 1.766717012f, 1.776524697f, 1.161069335f, 1.148512081f, 1.14054373f, 1.135753494f, 1.134139321f, 1.147087617f, 1.168199041f, 1.17903223f, 1.18040205f, 1.183327934f, 1.147416228f, 1.210927331f, 1.217378331f, 1.203945597f, 1.227244067f, 1.237879235f, 0.547902364f, 0.544882556f, 0.548745843f, 0.548314691f, 0.553859188f, 0.558237405f, 0.562782374f, 0.572875205f, 0.577382023f, 0.587456381f, 0.593270596f, 0.595157122f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 1.826932128f, 1.764292776f, 1.757409742f, 1.728041956f, 1.704264064f, 1.688f, 1.679250428f, 1.66501051f, 1.644250589f, 1.634979205f, 1.626211548f, 1.608795823f, 1.589880499f, 1.58137788f, 1.575325998f, 1.560708173f, 1.550516043f, 1.54374253f, 1.532342651f, 1.520213472f, 1.512674783f, 1.507533416f, 1.497487229f, 1.494217186f, 1.48919072f, 1.232154617f, 1.358305194f, 1.313616382f, 1.260025397f, 1.133025154f, 1.117565658f, 1.100202254f, 1.100181803f, 1.169824773f, 1.168748476f, 1.164819729f, 1.220040983f, 1.203097669f, 1.200735191f, 1.189294329f, 1.186247866f, 1.195532517f, 1.229603188f, 1.472497538f, 1.474618595f, 1.479985473f, 1.480043918f, 1.484135439f, 1.490767923f, 1.496454476f, 1.501894803f, 1.511313667f, 1.516939682f, 1.525908582f, 1.535359893f, 1.544518695f, 1.549271119f, 1.555904881f, 1.575204114f, 1.580785248f, 0.959320593f, 0.920540059f, 0.905058009f, 0.900680298f, 0.898481497f, 0.902731965f, 0.918059911f, 1.718295085f, 1.721370675f, 1.735719159f, 1.763130455f, 1.775434595f, 1.817423726f, 1.836723441f, 1.847665825f, 1.884798663f, 1.897461462f, 1.83701742f, 1.811276898f, 1.759177649f, 1.740189932f, 1.702600364f, 1.687345845f, 1.637890411f, 1.604450373f, 1.589151031f, 1.55510289f, 1.544042098f, 1.516327801f, 1.502226681f, 1.479634076f, 1.483579792f, 1.518056982f, 1.568964308f, 1.602244675f, 1.663f, 1.700264685f, 1.771085543f, 1.812491379f, 1.888618543f, 1.937385093f, 2.032088827f, 2.089617429f, 2.205471605f, 2.275026373f, 2.345580738f, 2.499928999f, 2.581471286f, 2.784285366f, 2.885689519f, 2.858447306f, 2.850508025f, 2.832713364f, 2.828422882f, 2.812354352f, 2.808188206f, 2.789411407f, 2.789161343f, 2.77675368f, 2.765194568f, 1.967565247f, 1.958f, 2.397585661f, 2.75211991f, 2.743884108f, 2.743676366f, 2.746035688f, 2.735854528f, 10.0f, 10.0f, 10.0f, 2.76492206f, 2.761207888f, 2.762739582f, 2.766510618f, 2.788146338f, 2.786430153f, 2.801847426f, 2.811054073f, 2.691653024f, 2.664378352f, 2.401709391f, 2.204667775f, 2.12351713f, 2.141373625f, 2.14578121f, 2.165700349f, 2.171425799f, 2.185005721f, 2.197850768f, 2.21938122f, 2.229375025f, 2.23809964f, 2.265003532f, 2.644680132f, 2.54522003f, 2.527676008f, 2.480120158f, 2.52638279f, 2.386449455f, 2.36217802f, 2.291129198f, 2.094351451f, 2.007193314f, 2.009421807f, 2.047382719f, 2.035974951f, 1.865168089f, 1.820468346f, 1.800660157f, 1.80447721f, 1.836480329f, 1.730293906f, 1.678679541f, 1.66250203f, 1.677434052f, 1.719175675f, 1.720679226f, 1.622129465f, 1.618845576f, 1.634181141f, 10.0f, 10.0f, 10.0f, 10.0f};
+
+/**
+ * Creates a LIDAR object.
+ * @param serial a reference to a serial interface to communicate with the laser scanner.
+ */
+LIDAR::LIDAR(RawSerial& serial) : serial(serial) {
+    
+    // initialize serial interface
+    
+    serial.baud(115200);
+    serial.format(8, SerialBase::None, 1);
+    
+    // initialize local values
+    
+    headerCounter = 0;
+    dataCounter = 0;
+    
+    for (unsigned short i = 0; i < 360; i++) distances[i] = DEFAULT_DISTANCE;
+    
+    simulation = true;
+    
+    // start serial interrupt
+    
+    serial.attach(callback(this, &LIDAR::receive), RawSerial::RxIrq);
+    
+    // start the continuous operation of the LIDAR
+    
+    serial.putc(START_FLAG);
+    serial.putc(SCAN);
+}
+
+/**
+ * Stops the lidar and deletes this object.
+ */
+LIDAR::~LIDAR() {
+    
+    // stop the LIDAR
+    
+    serial.putc(START_FLAG);
+    serial.putc(STOP);
+}
+
+/**
+ * Get a list of points of a full 360 degree scan.
+ * @return a deque vector of 360 point objects.
+ */
+deque<Point> LIDAR::getScan() {
+    
+    deque<Point> scan;
+    
+    for (unsigned short i = 0; i < 360; i++) {
+        
+        if (simulation) {
+            
+            // use simulated distances, because LIDAR is not available
+            
+            scan.push_back(Point(DISTANCES[i]-0.002f*(rand()%10), (float)i*M_PI/180.0f));
+            
+        } else {
+            
+            // use latest measurements from actual LIDAR
+            
+            scan.push_back(Point(distances[i], (float)i*M_PI/180.0f));
+        }
+    }
+    
+    return scan;
+}
+
+/**
+ * Get a list of points which are part of beacons.
+ * @return a deque vector of points that are beacons.
+ */
+deque<Point> LIDAR::getBeacons() {
+    
+    // get a list of all points of a scan
+    
+    deque<Point> scan = getScan();
+    
+    // create a list of points of beacons
+    
+    deque<Point> beacons;
+    
+    // bitte implementieren!
+    for (unsigned short i = 0; i < 358; i++) {
+        
+        if ((DISTANCES[i] < 1) && ((((DISTANCES[i+1]-DISTANCES[i])<0.1)&&(DISTANCES[i+2]-DISTANCES[i+1])<0.1))) { //||((DISTANCES[i+1]-DISTANCES[i])>0.5))
+             
+             beacons.push_back(Point(distances[i], (float)i*M_PI/180.0f));
+        
+        }  
+
+    }
+    
+    return beacons;
+}
+
+/**
+ * This method is called by the serial interrupt service routine.
+ * It handles the reception of measurements from the LIDAR.
+ */
+void LIDAR::receive() {
+    
+    // read received characters while input buffer is full
+    
+    if (serial.readable()) {
+        
+        // read single character from serial interface
+        
+        char c = serial.getc();
+        
+        // add this character to the header or to the data buffer
+        
+        if (headerCounter < HEADER_SIZE) {
+            headerCounter++;
+        } else {
+            if (dataCounter < DATA_SIZE) {
+                data[dataCounter] = c;
+                dataCounter++;
+            }
+            if (dataCounter >= DATA_SIZE) {
+                
+                // data buffer is full, process measurement
+                
+                char quality = data[0] >> 2;
+                short angle = 360-(((unsigned short)data[1] | ((unsigned short)data[2] << 8)) >> 1)/64;
+                float distance = (float)((unsigned short)data[3] | ((unsigned short)data[4] << 8))/4000.0f;
+                
+                if ((quality < QUALITY_THRESHOLD) || (distance < DISTANCE_THRESHOLD)) distance = DEFAULT_DISTANCE;
+                
+                // store distance in [m] into array of full scan
+                
+                while (angle < 0) angle += 360;
+                while (angle >= 360) angle -= 360;
+                distances[angle] = distance;
+                
+                // reset data counter and simulation flag
+                
+                dataCounter = 0;
+                simulation = false;
+            }
+        }
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIDAR.h	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,54 @@
+/*
+ * LIDAR.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef LIDAR_H_
+#define LIDAR_H_
+
+#include <cstdlib>
+#include <deque>
+#include <mbed.h>
+#include "Point.h"
+
+/**
+ * This is a device driver class for the Slamtec RP LIDAR A1.
+ */
+class LIDAR {
+    
+    public:
+        
+                        LIDAR(RawSerial& serial);
+        virtual         ~LIDAR();
+        deque<Point>    getScan();
+        deque<Point>    getBeacons();
+        
+    private:
+        
+        static const unsigned short HEADER_SIZE = 7;
+        static const unsigned short DATA_SIZE = 5;
+        
+        static const char   START_FLAG = 0xA5;
+        static const char   SCAN = 0x20;
+        static const char   STOP = 0x25;
+        static const char   RESET = 0x40;
+        
+        static const char   QUALITY_THRESHOLD = 10;     // quality threshold used for accepting measurements
+        static const float  DISTANCE_THRESHOLD;         // threshold for measured distance, given in [m]
+        static const float  DEFAULT_DISTANCE;           // default distance > range of sensor, given in [m]
+        static const float  M_PI;                       // the mathematical constant PI
+        static const float  DISTANCES[];                // simulated distance for every angle value, given in [m]
+        
+        RawSerial&  serial;             // reference to serial interface for communication
+        char        headerCounter;
+        char        dataCounter;
+        char        data[DATA_SIZE];
+        float       distances[360];     // measured distance for every angle value, given in [m]
+        bool        simulation;         // flag to indicate if scans are only simulated
+        
+        void        receive();
+};
+
+#endif /* LIDAR_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Main.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,76 @@
+/*
+ * Main.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <mbed.h>
+#include <EthernetInterface.h>
+#include "LIDAR.h"
+#include "HTTPServer.h"
+#include "HTTPScriptLIDAR.h"
+
+int main() {
+    
+    // initialise digital inputs and outputs
+    
+    printf("Initialise digital inputs and outputs...\r\n");
+    
+    DigitalIn button(USER_BUTTON);
+    
+    DigitalOut ledGreen(LED1);
+    DigitalOut ledBlue(LED2);
+    DigitalOut ledRed(LED3);
+    
+    // create LIDAR device driver
+    
+    printf("Create LIDAR device driver...\r\n");
+    
+    PwmOut pwm(PE_9);
+    pwm.period(0.00005f);
+    pwm.write(0.5f);
+    
+    ThisThread::sleep_for(500);
+    
+    RawSerial serial(PG_14, PG_9);
+    LIDAR lidar(serial);
+    
+    // create ethernet interface and webserver
+    
+    printf("Create ethernet interface and webserver (please wait!)...\r\n");
+    
+    EthernetInterface* ethernet = new EthernetInterface();
+    ethernet->set_network("169.254.20.110", "255.255.0.0", "0.0.0.0"); // configure IP address, netmask and gateway address
+    ethernet->connect();
+    
+    HTTPServer* httpServer = new HTTPServer(*ethernet);
+    httpServer->add("lidar", new HTTPScriptLIDAR(lidar));
+    
+    // enter main loop
+    
+    printf("Enter main loop...\r\n");
+    
+    while (true) {
+        
+        // set LEDs on microcontroller
+        
+        ledGreen = 1;
+        ledBlue = 0;
+        ledRed = 0;
+        
+        ThisThread::sleep_for(100);
+        
+        ledGreen = 0;
+        ledBlue = 1;
+        ledRed = 0;
+        
+        ThisThread::sleep_for(100);
+        
+        ledGreen = 0;
+        ledBlue = 0;
+        ledRed = 1;
+        
+        ThisThread::sleep_for(100);
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Point.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,77 @@
+/*
+ * Point.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "Point.h"
+
+using namespace std;
+
+/**
+ * Creates a Point object.
+ */
+Point::Point() {
+    
+    x = 0.0f;
+    y = 0.0f;
+    r = 0.0f;
+    alpha = 0.0f;
+}
+
+/**
+ * Creates a Point object from given polar coordinates.
+ * @param r the radius of a point.
+ * @param alpha the angle of a point.
+ */
+Point::Point(float r, float alpha) {
+    
+    x = r*cos(alpha);
+    y = r*sin(alpha);
+    
+    this->r = r;
+    this->alpha = alpha;
+}
+
+/**
+ * Deletes this object.
+ */
+Point::~Point() {}
+
+/**
+ * Calculates the distance of this point from the origin.
+ */
+float Point::distance() {
+    
+    return sqrt(x*x+y*y);
+}
+
+/**
+ * Calculates the distance between this point and a given point.
+ * @param point another point to calculate the distance to.
+ */
+float Point::distance(Point& point) {
+    
+    return sqrt((x-point.x)*(x-point.x)+(y-point.y)*(y-point.y));
+}
+
+/**
+ * Calculates the manhattan distance of this point from the origin.
+ * This calculation is only an approximation, but a lot faster to compute.
+ */
+float Point::manhattanDistance() {
+    
+    return fabs(x)+fabs(y);
+}
+
+/**
+ * Calculates the manhattan distance between this point and a given point.
+ * This calculation is only an approximation, but a lot faster to compute.
+ * @param point another point to calculate the distance to.
+ */
+float Point::manhattanDistance(Point& point) {
+    
+    return fabs(x-point.x)+fabs(y-point.y);
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Point.h	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,34 @@
+/*
+ * Point.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef POINT_H_
+#define POINT_H_
+
+#include <cstdlib>
+
+/**
+ * This class stores the coordinates of a point in two dimensions.
+ */
+class Point {
+    
+    public:
+        
+        float           x;
+        float           y;
+        float           r;
+        float           alpha;
+        
+                        Point();
+                        Point(float r, float alpha);
+        virtual         ~Point();
+        float           distance();
+        float           distance(Point& point);
+        float           manhattanDistance();
+        float           manhattanDistance(Point& point);
+};
+
+#endif /* POINT_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThreadFlag.cpp	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,54 @@
+/*
+ * ThreadFlag.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include "ThreadFlag.h"
+
+using namespace std;
+
+unsigned int ThreadFlag::threadFlags = 0;
+
+/**
+ * Creates a signal object and assignes a unique flag.
+ */
+ThreadFlag::ThreadFlag() {
+    
+    mutex.lock();
+    
+    unsigned int n = 0;
+    while ((((1 << n) & threadFlags) > 0) && (n < 30)) n++;
+    threadFlag = (1 << n);
+    
+    mutex.unlock();
+}
+
+/**
+ * Deletes the signal object and releases the assigned flag.
+ */
+ThreadFlag::~ThreadFlag() {
+    
+    mutex.lock();
+    
+    threadFlags &= ~threadFlag;
+    
+    mutex.unlock();
+}
+
+/**
+ * Gets the assigned thread flag.
+ */
+unsigned int ThreadFlag::read() {
+    
+    return threadFlag;
+}
+
+/**
+ * The empty operator is a shorthand notation of the <code>read()</code> method.
+ */
+ThreadFlag::operator unsigned int() {
+    
+    return read();
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThreadFlag.h	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,33 @@
+/*
+ * ThreadFlag.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef THREAD_FLAG_H_
+#define THREAD_FLAG_H_
+
+#include <cstdlib>
+#include <mbed.h>
+
+/**
+ * This class manages the handling of unique thread flags to trigger rtos threads.
+ */
+class ThreadFlag {
+    
+    public:
+        
+                                ThreadFlag();
+        virtual                 ~ThreadFlag();
+        virtual unsigned int    read();
+                                operator unsigned int();
+        
+    private:
+        
+        static unsigned int threadFlags;    // variable that holds all assigned thread flags
+        unsigned int        threadFlag;     // thread flag of this object
+        Mutex               mutex;          // mutex to lock critical sections
+};
+
+#endif /* THREAD_FLAG_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9

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