supleed2/ELEC50003-P1-CW
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ELEC50003-P1-CW/Control/src/main.cpp

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Control Module Initial Commit
2021-05-18 11:18:36 +00:00
#include <Arduino.h>
UART Test program for ESP32 expansion board Uses ESP32 hardware serial UARTs with pins of Arduino HAT board
2021-05-22 17:06:39 +00:00
#include <string>
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
// #include <SoftwareSerial.h> Software Serial not currently needed
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <ESPmDNS.h>
#include <Ticker.h>
#include <WebSocketsServer.h>
#include <credentials.h>
#include <ArduinoJson.h>
#ifdef LOG_LOCAL_LEVEL
#undef LOG_LOCAL_LEVEL
#endif
#define LOG_LOCAL_LEVEL ESP_LOG_VERBOSE
#include "esp_log.h"
#define RX1pin 14 // Pin 10 on expansion board, UART1
#define TX1pin 4 // Pin 11 on expansion board, UART1
// Function Declarations
void printFPGAoutput();
void returnSensorData();
void notFound(AsyncWebServerRequest *request);
void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length);
// Global objects
AsyncWebServer webserver(80);
WebSocketsServer websocketserver(81);
Ticker ticker(returnSensorData, 500, 0, MILLIS);
// Global variables
int battery_voltage = 0;
int distance_travelled = 0;
#pragma region HTMLsource
char index_html[] PROGMEM = R"=====(
<!DOCTYPE html>
<html lang='en'>
<head>
<title>Rover Control Panel</title>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
<style>
* {
box-sizing: border-box;
}
.section_container {
float: left;
width: 50%;
padding: 10px;
}
.flex-container {
display: flex;
flex-wrap: nowrap;
}
ul {
list-style-type: none;
margin: 0;
padding: 0;
}
li {
padding: 0px;
margin-bottom: 0px;
}
:is(h1, h2, h3, h4, h5, h6, label, strong, meter) {
font-family: Arial, Helvetica, sans-serif;
}
.movement_control {
text-align: center;
}
.sensor_data {
text-align: center;
}
meter{
width: 100%;
height: 40px;
transform: translateY(-8px);
}
meter::after {
content : attr(value) attr(title);
top:-28px;
left:0px;
position:relative;
}
.button {
display: inline-block;
padding: 15px 25px;
font-size: 24px;
cursor: pointer;
text-align: center;
text-decoration: none;
outline: none;
color: rgb(255, 255, 255);
background-color: #161616;
border: none;
border-radius: 15px;
box-shadow: 0 9px rgb(161, 161, 161);
}
.button:hover {background-color: #585858}
.button:active {
background-color: #107C10;
box-shadow: 0 5px rgb(161, 161, 161);
transform: translateY(4px);
}
.pressed {
background-color: #107C10;
box-shadow: 0 5px rgb(161, 161, 161);
transform: translateY(4px);
}
.clearfix::after {
content: "";
clear: both;
display: table;
}
</style>
<script>
var connection = new WebSocket('ws://'+location.hostname+':81/');
var MVM_F_status = 0;
var MVM_L_status = 0;
var MVM_R_status = 0;
var MVM_B_status = 0;
var BTRY_VOLT = 0;
var ODO_DIST = 0;
function round(value, precision) {
var multiplier = Math.pow(10, precision || 0);
return Math.round(value * multiplier) / multiplier;
}
connection.onmessage = function(event){
var raw_data = event.data;
console.log(raw_data);
var data = JSON.parse(raw_data);
digiBTRY_VOLT = data.BTRY_VOLT;
BTRY_VOLT = round((digiBTRY_VOLT*(4.8e-4)+4), 1)
ODO_DIST = data.ODO_DIST;
document.getElementById("btry_meter").value = BTRY_VOLT;
document.getElementById("Odometer").innerHTML = ODO_DIST;
}
function send_data()
{
var raw_data = '{"MVM_F":'+MVM_F_status+',"MVM_L":'+MVM_L_status+',"MVM_R":'+MVM_R_status+',"MVM_B":'+MVM_B_status+'}';
connection.send(raw_data);
console.log(raw_data);
}
function left_pressed(){
MVM_L_status = 1;
send_data();
}
function left_unpressed(){
MVM_L_status = 0;
send_data();
}
function up_pressed(){
MVM_F_status = 1;
send_data();
}
function up_unpressed(){
MVM_F_status = 0;
send_data();
}
function right_pressed(){
MVM_R_status = 1;
send_data();
Add software serial library and demo Connect each TX/RX pair as loopback: results in message passing through both pairs of hardware and software UARTs and echoing back input to serial monitor
2021-06-01 16:46:31 +00:00
}
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
function right_unpressed(){
MVM_R_status = 0;
send_data();
}
function down_pressed(){
MVM_B_status = 1;
send_data();
}
function down_unpressed(){
MVM_B_status = 0;
send_data();
}
var timer = null;
function up_mouseDown() {
timer = setInterval(up_pressed, 100);
}
function up_mouseUp() {
clearInterval(timer);
up_unpressed();
}
function down_mouseDown() {
timer = setInterval(down_pressed, 100);
}
function down_mouseUp() {
clearInterval(timer);
down_unpressed();
}
function right_mouseDown() {
timer = setInterval(right_pressed, 100);
}
function right_mouseUp() {
clearInterval(timer);
right_unpressed();
}
function left_mouseDown() {
timer = setInterval(left_pressed, 100);
}
function left_mouseUp() {
clearInterval(timer);
left_unpressed();
}
document.onkeydown = function(e) {
switch (e.keyCode) {
case 37:
document.getElementById("left_arrow").className = "button pressed";
left_pressed();
break;
case 38:
document.getElementById("up_arrow").className = "button pressed";
up_pressed();
break;
case 39:
document.getElementById("right_arrow").className = "button pressed";
right_pressed();
break;
case 40:
document.getElementById("down_arrow").className = "button pressed";
down_pressed();
break;
}
};
document.onkeyup = function(e) {
switch (e.keyCode) {
case 37:
document.getElementById("left_arrow").className = "button";
left_unpressed();
break;
case 38:
document.getElementById("up_arrow").className = "button";
up_unpressed();
break;
case 39:
document.getElementById("right_arrow").className = "button";
right_unpressed();
break;
case 40:
document.getElementById("down_arrow").className = "button";
down_unpressed();
break;
}
};
</script>
</head>
<body>
<h1 style="text-align:center;">ROVER COMMAND CENTER</h1>
<div class="clearfix">
<div class="section_container">
<div class ="movement_control">
<h2>Movement Control</h2>
<div style="transform: translateY(0px);">
<button id="up_arrow" onmousedown="up_mouseDown()" onmouseup="up_mouseUp()" class="button" ><span>&#8679;</span></button>
</div>
<div style="transform: translateY(13px);">
<button id="left_arrow" onmousedown="left_mouseDown()" onmouseup="left_mouseUp()" class="button"><span>&#8678;</span></button>
<button id="down_arrow" onmousedown="down_mouseDown()" onmouseup="down_mouseUp()" class="button"><span>&#8681;</span></button>
<button id="right_arrow" onmousedown="right_mouseDown()" onmouseup="right_mouseUp()" class="button"><span>&#8680;</span></button>
</div>
</div>
</div>
<div class="section_container">
<div id="bleh" class="sensor_data">
<h2>Sensor Data</h2>
<ul>
<li><div class="section_container">
<label>Battery Voltage</label>
</div>
<div class="section_container">
<meter id="btry_meter" min="4.0" max="6.0" low ="4.5" optimum="5.0" high="4.8" value="5.8" title="V"></meter>
</div>
</li>
<li><div class="section_container">
<label>Odometer</label>
</div>
<div class="section_container">
<strong id="Odometer">28</strong><strong>mm</strong>
</div>
</li>
</ul>
</div>
</div>
</div>
</body>
</html>
)=====";
#pragma endregion
void setup()
{
esp_log_level_set("*", ESP_LOG_ERROR); // set all components to ERROR level
esp_log_level_set("wifi", ESP_LOG_WARN); // enable WARN logs from WiFi stack
esp_log_level_set("dhcpc", ESP_LOG_INFO); // enable INFO logs from DHCP client
Serial.begin(115200); // Set up hardware UART0 (Connected to USB port)
Serial1.begin(9600, SERIAL_8N1, RX1pin, TX1pin); // Set up hardware UART1
// Set up remaining communication ports here (Energy, Drive, Vision)
Serial.println("Connecting to AP");
WiFi.begin(WIFI_SSID, WIFI_PW);
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
Serial.print(".");
}
Serial.println("\nConnected to AP");
while (!MDNS.begin("rover"))
{
Serial.println("Error setting up mDNS, retrying in 5s");
delay(5000);
Add software serial library and demo Connect each TX/RX pair as loopback: results in message passing through both pairs of hardware and software UARTs and echoing back input to serial monitor
2021-06-01 16:46:31 +00:00
}
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
Serial.println("mDNS set up, access Control Panel at 'rover.local/'");
webserver.on("/", [](AsyncWebServerRequest *request)
{ request->send_P(200, "text/html", index_html); });
webserver.onNotFound(notFound);
webserver.begin();
websocketserver.begin();
websocketserver.onEvent(webSocketEvent);
ticker.start();
Add software serial library and demo Connect each TX/RX pair as loopback: results in message passing through both pairs of hardware and software UARTs and echoing back input to serial monitor
2021-06-01 16:46:31 +00:00
}
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
void loop()
{
printFPGAoutput();
String FPGAinput; // Forward serial monitor input to FPGA
if (Serial.available())
{
FPGAinput = String(Serial.readStringUntil('\n'));
Serial1.println(FPGAinput);
Add software serial library and demo Connect each TX/RX pair as loopback: results in message passing through both pairs of hardware and software UARTs and echoing back input to serial monitor
2021-06-01 16:46:31 +00:00
}
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
websocketserver.loop(); // Handle incoming client connections
Add software serial library and demo Connect each TX/RX pair as loopback: results in message passing through both pairs of hardware and software UARTs and echoing back input to serial monitor
2021-06-01 16:46:31 +00:00
}
Merge code from temp.cpp into main.cpp
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void printFPGAoutput()
{ // Print serial communication from FPGA to serial monitor
String FPGAoutput;
if (Serial1.available())
{
FPGAoutput = String(Serial1.readStringUntil('\n'));
Serial.println(FPGAoutput);
Add software serial library and demo Connect each TX/RX pair as loopback: results in message passing through both pairs of hardware and software UARTs and echoing back input to serial monitor
2021-06-01 16:46:31 +00:00
}
}
UART Test program for ESP32 expansion board Uses ESP32 hardware serial UARTs with pins of Arduino HAT board
2021-05-22 17:06:39 +00:00
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
void returnSensorData()
{
// Collect sensor data here?
String JSON_Data = String("{\"BTRY_VOLT\":") + battery_voltage + String(",\"ODO_DIST\":") + distance_travelled + "}";
websocketserver.broadcastTXT(JSON_Data);
}
Control Module Initial Commit
2021-05-18 11:18:36 +00:00
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
void notFound(AsyncWebServerRequest *request)
{
request->send(404, "text/plain", "Page Not found. Check URI/IP address.");
Control Module Initial Commit
2021-05-18 11:18:36 +00:00
}
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
{
switch (type)
{
case WStype_DISCONNECTED:
{
Serial.printf("Client[%u] Disconnected!\n", num);
}
break;
case WStype_CONNECTED:
{
IPAddress ip = websocketserver.remoteIP(num);
Serial.printf("Client[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload);
}
break;
case WStype_TEXT:
{
Serial.printf("Client[%u] sent Text: %s\n", num, payload);
String command = String((char *)(payload));
DynamicJsonDocument doc(200); //creating an instance of a DynamicJsonDocument allocating 200bytes on the heap.
DeserializationError error = deserializeJson(doc, command); // deserialize 'doc' and parse for parameters we expect to receive.
if (error)
{
Serial.print("deserializeJson() failed: ");
Serial.println(error.c_str());
return;
}
int MVM_F_status = doc["MVM_F"];
int MVM_L_status = doc["MVM_L"];
int MVM_R_status = doc["MVM_R"];
int MVM_B_status = doc["MVM_B"];
Serial.println('<' + MVM_F_status + ',' + MVM_B_status + ',' + MVM_L_status + ',' + MVM_R_status + '>');
}
break;
case WStype_PONG:
{
Serial.println("Websocket keep-alive PONG");
}
default:
{
Serial.println(String("Websocket received invalid event type: ") + type + String(", exiting"));
exit(1);
}
UART Test program for ESP32 expansion board Uses ESP32 hardware serial UARTs with pins of Arduino HAT board
2021-05-22 17:06:39 +00:00
}
Merge code from temp.cpp into main.cpp
2021-06-03 20:29:14 +00:00
}
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