mirror of
https://github.com/supleed2/ELEC50003-P1-CW.git
synced 2024-12-22 21:45:49 +00:00
Merge code from temp.cpp into main.cpp
This commit is contained in:
parent
de87475e47
commit
87b16945f2
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@ -1,61 +1,450 @@
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#include <Arduino.h>
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#include <string>
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#include <SoftwareSerial.h>
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// #include <SoftwareSerial.h> Software Serial not currently needed
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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#include <ESPmDNS.h>
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#include <Ticker.h>
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#include <WebSocketsServer.h>
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#include <credentials.h>
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#include <ArduinoJson.h>
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#ifdef LOG_LOCAL_LEVEL
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#undef LOG_LOCAL_LEVEL
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#endif
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#define LOG_LOCAL_LEVEL ESP_LOG_VERBOSE
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#include "esp_log.h"
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#define RX1pin 14 // Pin 10 on expansion board
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#define TX1pin 4 // Pin 11 on expansion board
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#define RX2pin 15 // Pin 12 on expansion board
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#define TX2pin 2 // Pin 13 on expansion board
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#define RX3pin 18 // Pin 6 on expansion board
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#define TX3pin 5 // Pin 7 on expansion board
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#define RX4pin 17 // Pin 8 on expansion board
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#define TX4pin 16 // Pin 9 on expansion board
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#define RX1pin 14 // Pin 10 on expansion board, UART1
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#define TX1pin 4 // Pin 11 on expansion board, UART1
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void forwardprint1() {
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if(Serial1.available()){
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input1 = String(Serial1.readStringUntil('\n'));
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Serial2.println(input1);
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}
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// Function Declarations
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void printFPGAoutput();
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void returnSensorData();
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void notFound(AsyncWebServerRequest *request);
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void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length);
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// Global objects
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AsyncWebServer webserver(80);
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WebSocketsServer websocketserver(81);
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Ticker ticker(returnSensorData, 500, 0, MILLIS);
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// Global variables
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int battery_voltage = 0;
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int distance_travelled = 0;
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#pragma region HTMLsource
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char index_html[] PROGMEM = R"=====(
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<!DOCTYPE html>
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<html lang='en'>
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<head>
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<title>Rover Control Panel</title>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<style>
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* {
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box-sizing: border-box;
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}
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.section_container {
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float: left;
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width: 50%;
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padding: 10px;
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}
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void forwardprint2() {
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if(Serial2.available()){
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input2 = String(Serial2.readStringUntil('\n'));
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Serial3.println(input2);
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}
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.flex-container {
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display: flex;
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flex-wrap: nowrap;
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}
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void forwardprint3() {
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if(Serial3.available()){
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input3 = String(Serial3.readStringUntil('\n'));
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Serial4.println(input3);
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}
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ul {
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list-style-type: none;
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margin: 0;
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padding: 0;
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}
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void forwardprint4() {
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if(Serial4.available()){
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input4 = String(Serial4.readStringUntil('\n'));
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Serial.println(input4);
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li {
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padding: 0px;
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margin-bottom: 0px;
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}
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:is(h1, h2, h3, h4, h5, h6, label, strong, meter) {
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font-family: Arial, Helvetica, sans-serif;
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}
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.movement_control {
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text-align: center;
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}
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.sensor_data {
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text-align: center;
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}
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meter{
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width: 100%;
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height: 40px;
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transform: translateY(-8px);
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}
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meter::after {
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content : attr(value) attr(title);
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top:-28px;
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left:0px;
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position:relative;
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}
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.button {
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display: inline-block;
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padding: 15px 25px;
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font-size: 24px;
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cursor: pointer;
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text-align: center;
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text-decoration: none;
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outline: none;
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color: rgb(255, 255, 255);
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background-color: #161616;
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border: none;
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border-radius: 15px;
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box-shadow: 0 9px rgb(161, 161, 161);
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}
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.button:hover {background-color: #585858}
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.button:active {
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background-color: #107C10;
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box-shadow: 0 5px rgb(161, 161, 161);
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transform: translateY(4px);
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}
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.pressed {
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background-color: #107C10;
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box-shadow: 0 5px rgb(161, 161, 161);
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transform: translateY(4px);
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}
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.clearfix::after {
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content: "";
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clear: both;
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display: table;
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}
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</style>
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<script>
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var connection = new WebSocket('ws://'+location.hostname+':81/');
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var MVM_F_status = 0;
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var MVM_L_status = 0;
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var MVM_R_status = 0;
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var MVM_B_status = 0;
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var BTRY_VOLT = 0;
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var ODO_DIST = 0;
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function round(value, precision) {
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var multiplier = Math.pow(10, precision || 0);
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return Math.round(value * multiplier) / multiplier;
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}
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connection.onmessage = function(event){
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var raw_data = event.data;
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console.log(raw_data);
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var data = JSON.parse(raw_data);
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digiBTRY_VOLT = data.BTRY_VOLT;
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BTRY_VOLT = round((digiBTRY_VOLT*(4.8e-4)+4), 1)
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ODO_DIST = data.ODO_DIST;
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document.getElementById("btry_meter").value = BTRY_VOLT;
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document.getElementById("Odometer").innerHTML = ODO_DIST;
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}
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function send_data()
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{
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var raw_data = '{"MVM_F":'+MVM_F_status+',"MVM_L":'+MVM_L_status+',"MVM_R":'+MVM_R_status+',"MVM_B":'+MVM_B_status+'}';
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connection.send(raw_data);
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console.log(raw_data);
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}
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function left_pressed(){
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MVM_L_status = 1;
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send_data();
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}
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function left_unpressed(){
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MVM_L_status = 0;
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send_data();
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}
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function up_pressed(){
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MVM_F_status = 1;
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send_data();
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}
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function up_unpressed(){
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MVM_F_status = 0;
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send_data();
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}
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function right_pressed(){
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MVM_R_status = 1;
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send_data();
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}
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function right_unpressed(){
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MVM_R_status = 0;
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send_data();
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}
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function down_pressed(){
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MVM_B_status = 1;
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send_data();
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}
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function down_unpressed(){
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MVM_B_status = 0;
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send_data();
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}
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var timer = null;
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function up_mouseDown() {
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timer = setInterval(up_pressed, 100);
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}
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function up_mouseUp() {
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clearInterval(timer);
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up_unpressed();
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}
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function down_mouseDown() {
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timer = setInterval(down_pressed, 100);
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}
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function down_mouseUp() {
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clearInterval(timer);
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down_unpressed();
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}
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function right_mouseDown() {
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timer = setInterval(right_pressed, 100);
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}
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function right_mouseUp() {
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clearInterval(timer);
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right_unpressed();
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}
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function left_mouseDown() {
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timer = setInterval(left_pressed, 100);
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}
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function left_mouseUp() {
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clearInterval(timer);
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left_unpressed();
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}
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document.onkeydown = function(e) {
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switch (e.keyCode) {
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case 37:
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document.getElementById("left_arrow").className = "button pressed";
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left_pressed();
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break;
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case 38:
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document.getElementById("up_arrow").className = "button pressed";
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up_pressed();
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break;
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case 39:
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document.getElementById("right_arrow").className = "button pressed";
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right_pressed();
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break;
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case 40:
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document.getElementById("down_arrow").className = "button pressed";
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down_pressed();
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break;
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}
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};
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document.onkeyup = function(e) {
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switch (e.keyCode) {
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case 37:
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document.getElementById("left_arrow").className = "button";
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left_unpressed();
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break;
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case 38:
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document.getElementById("up_arrow").className = "button";
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up_unpressed();
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break;
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case 39:
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document.getElementById("right_arrow").className = "button";
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right_unpressed();
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break;
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case 40:
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document.getElementById("down_arrow").className = "button";
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down_unpressed();
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break;
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}
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};
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</script>
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</head>
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<body>
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<h1 style="text-align:center;">ROVER COMMAND CENTER</h1>
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<div class="clearfix">
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<div class="section_container">
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<div class ="movement_control">
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<h2>Movement Control</h2>
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<div style="transform: translateY(0px);">
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<button id="up_arrow" onmousedown="up_mouseDown()" onmouseup="up_mouseUp()" class="button" ><span>⇧</span></button>
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</div>
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<div style="transform: translateY(13px);">
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<button id="left_arrow" onmousedown="left_mouseDown()" onmouseup="left_mouseUp()" class="button"><span>⇦</span></button>
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<button id="down_arrow" onmousedown="down_mouseDown()" onmouseup="down_mouseUp()" class="button"><span>⇩</span></button>
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<button id="right_arrow" onmousedown="right_mouseDown()" onmouseup="right_mouseUp()" class="button"><span>⇨</span></button>
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</div>
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</div>
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</div>
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<div class="section_container">
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<div id="bleh" class="sensor_data">
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<h2>Sensor Data</h2>
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<ul>
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<li><div class="section_container">
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<label>Battery Voltage</label>
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</div>
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<div class="section_container">
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<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>
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</div>
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</li>
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<li><div class="section_container">
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<label>Odometer</label>
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</div>
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<div class="section_container">
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<strong id="Odometer">28</strong><strong>mm</strong>
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</div>
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</li>
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</ul>
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</div>
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</div>
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</div>
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</body>
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</html>
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)=====";
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#pragma endregion
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void setup()
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{
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esp_log_level_set("*", ESP_LOG_ERROR); // set all components to ERROR level
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esp_log_level_set("wifi", ESP_LOG_WARN); // enable WARN logs from WiFi stack
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esp_log_level_set("dhcpc", ESP_LOG_INFO); // enable INFO logs from DHCP client
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Serial.begin(115200); // Set up hardware UART0 (Connected to USB port)
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Serial1.begin(9600, SERIAL_8N1, RX1pin, TX1pin); // Set up hardware UART1
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// Set up remaining communication ports here (Energy, Drive, Vision)
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Serial.println("Connecting to AP");
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WiFi.begin(WIFI_SSID, WIFI_PW);
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while (WiFi.status() != WL_CONNECTED)
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{
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delay(500);
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Serial.print(".");
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}
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Serial.println("\nConnected to AP");
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while (!MDNS.begin("rover"))
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{
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Serial.println("Error setting up mDNS, retrying in 5s");
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delay(5000);
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}
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Serial.println("mDNS set up, access Control Panel at 'rover.local/'");
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webserver.on("/", [](AsyncWebServerRequest *request)
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{ request->send_P(200, "text/html", index_html); });
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webserver.onNotFound(notFound);
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webserver.begin();
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websocketserver.begin();
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websocketserver.onEvent(webSocketEvent);
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ticker.start();
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}
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void loop()
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{
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printFPGAoutput();
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String FPGAinput; // Forward serial monitor input to FPGA
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if (Serial.available())
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{
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FPGAinput = String(Serial.readStringUntil('\n'));
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Serial1.println(FPGAinput);
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}
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websocketserver.loop(); // Handle incoming client connections
|
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}
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void printFPGAoutput()
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{ // Print serial communication from FPGA to serial monitor
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String FPGAoutput;
|
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if (Serial1.available())
|
||||
{
|
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FPGAoutput = String(Serial1.readStringUntil('\n'));
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Serial.println(FPGAoutput);
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}
|
||||
}
|
||||
|
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int counter;
|
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String input, input1, input2, input3, input4;
|
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SoftwareSerial Serial3;
|
||||
SoftwareSerial Serial4;
|
||||
|
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void setup() {
|
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Serial.begin(115200); // Set up hardware UART 0 (Connected to USB port)
|
||||
Serial1.begin(9600, SERIAL_8N1, RX1pin, TX1pin); // Set up hardware UART 1
|
||||
Serial2.begin(9600, SERIAL_8N1, RX2pin, TX2pin); // Set up hardware UART 2
|
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Serial3.begin(9600, SWSERIAL_8N1, RX3pin, TX3pin); // Set up software UART 3
|
||||
Serial4.begin(9600, SWSERIAL_8N1, RX4pin, TX4pin); // Set up software UART 4
|
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void returnSensorData()
|
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{
|
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// Collect sensor data here?
|
||||
String JSON_Data = String("{\"BTRY_VOLT\":") + battery_voltage + String(",\"ODO_DIST\":") + distance_travelled + "}";
|
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websocketserver.broadcastTXT(JSON_Data);
|
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}
|
||||
|
||||
void loop() {
|
||||
if(Serial.available()){
|
||||
input = String(Serial.readStringUntil('\n'));
|
||||
Serial1.println(input);
|
||||
void notFound(AsyncWebServerRequest *request)
|
||||
{
|
||||
request->send(404, "text/plain", "Page Not found. Check URI/IP address.");
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
}
|
||||
forwardprint1();
|
||||
forwardprint2();
|
||||
forwardprint3();
|
||||
forwardprint4();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,447 +0,0 @@
|
|||
#include <WiFi.h>
|
||||
#include<ESPmDNS.h>
|
||||
#include <WebSocketsServer.h>
|
||||
#include <ESPAsyncWebServer.h>
|
||||
#include <ArduinoJson.h>
|
||||
#include "Ticker.h"
|
||||
|
||||
const int potPin = 34; //used to simulate battery voltage.
|
||||
const int butPin = 16; //used to increment a variable to simulate distance increasing.
|
||||
const int U_Led = 14; //LED subsitute for the 'movement forward command'.
|
||||
const int L_Led = 12; //LED subsitute for the 'movement left command'.
|
||||
const int R_Led = 15; //LED subsitute for the 'movement right command'.
|
||||
const int D_Led = 13; //LED subsitute for the 'movement back command'.
|
||||
|
||||
/* const char* ssid = "ssid";
|
||||
const char* password = "xxxxxxxx"; */
|
||||
|
||||
int potVal = 0;
|
||||
bool butState = 1; //Variables only for testing - will be removed in final
|
||||
|
||||
int d = 0; //Initializing variable for odometer distance.
|
||||
|
||||
void send_sensor();
|
||||
Ticker timer;
|
||||
|
||||
char index_html[] PROGMEM = R"=====(
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html lang='en'>
|
||||
<head>
|
||||
<title>Rover Command Center</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();
|
||||
}
|
||||
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>⇧</span></button>
|
||||
</div>
|
||||
<div style="transform: translateY(13px);">
|
||||
<button id="left_arrow" onmousedown="left_mouseDown()" onmouseup="left_mouseUp()" class="button"><span>⇦</span></button>
|
||||
<button id="down_arrow" onmousedown="down_mouseDown()" onmouseup="down_mouseUp()" class="button"><span>⇩</span></button>
|
||||
<button id="right_arrow" onmousedown="right_mouseDown()" onmouseup="right_mouseUp()" class="button"><span>⇨</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>
|
||||
|
||||
|
||||
)=====";
|
||||
|
||||
AsyncWebServer server(80); // server port 80 for initial HTTP request for the main webpage.
|
||||
WebSocketsServer websockets(81); // server port 81 for real time data flow through websockets.
|
||||
|
||||
void notFound(AsyncWebServerRequest *request)
|
||||
{
|
||||
request->send(404, "text/plain", "Page Not found. Check URI/IP address.");
|
||||
}
|
||||
|
||||
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 = websockets.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"];
|
||||
|
||||
digitalWrite(U_Led,MVM_F_status);
|
||||
digitalWrite(L_Led,MVM_L_status);
|
||||
digitalWrite(R_Led,MVM_R_status);
|
||||
digitalWrite(D_Led,MVM_B_status);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
|
||||
Serial.begin(115200);
|
||||
pinMode(U_Led,OUTPUT);
|
||||
pinMode(L_Led,OUTPUT);
|
||||
pinMode(R_Led,OUTPUT);
|
||||
pinMode(D_Led,OUTPUT);
|
||||
pinMode(butPin, INPUT_PULLUP);
|
||||
|
||||
|
||||
/* Serial.println();
|
||||
Serial.println();
|
||||
Serial.print("Connecting to ");
|
||||
Serial.println(ssid);
|
||||
|
||||
WiFi.begin(ssid, password);
|
||||
|
||||
while (WiFi.status() != WL_CONNECTED) {
|
||||
delay(500);
|
||||
Serial.print(".");
|
||||
}
|
||||
|
||||
Serial.println("");
|
||||
Serial.println("Rover connected to ");
|
||||
Serial.println(ssid);
|
||||
Serial.println();
|
||||
Serial.println("Rover IP address: ");
|
||||
Serial.println(WiFi.localIP()); */
|
||||
|
||||
WiFi.softAP("RoverAP", "SplendidCheeks");
|
||||
Serial.println();
|
||||
Serial.println("RoverAP running");
|
||||
Serial.print("Rover IP address: ");
|
||||
Serial.println(WiFi.softAPIP());
|
||||
|
||||
|
||||
if (!MDNS.begin("rover")) {
|
||||
Serial.println("Error setting up MDNS responder!");
|
||||
while (1) {
|
||||
delay(2000);
|
||||
}
|
||||
}
|
||||
Serial.println("mDNS responder started! Rover Command Center can now be accessed at 'rover.local' ");
|
||||
|
||||
|
||||
|
||||
server.on("/", [](AsyncWebServerRequest * request)
|
||||
{
|
||||
request->send_P(200, "text/html", index_html);
|
||||
});
|
||||
|
||||
server.onNotFound(notFound);
|
||||
|
||||
server.begin();
|
||||
websockets.begin();
|
||||
websockets.onEvent(webSocketEvent);
|
||||
timer.attach(0.5,send_sensor_data);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
websockets.loop();
|
||||
potVal = analogRead(potPin);
|
||||
}
|
||||
|
||||
void send_sensor_data()
|
||||
{
|
||||
|
||||
butState = digitalRead(butPin);
|
||||
if (butState == LOW) {
|
||||
//increment ODO:
|
||||
d += 10;
|
||||
}
|
||||
// JSON_Data = {"BTRY_VOLT":v,"ODO_DIST":d}
|
||||
String JSON_Data = "{\"BTRY_VOLT\":";
|
||||
JSON_Data += potVal;
|
||||
JSON_Data += ",\"ODO_DIST\":";
|
||||
JSON_Data += d;
|
||||
JSON_Data += "}";
|
||||
websockets.broadcastTXT(JSON_Data);
|
||||
}
|
||||
Loading…
Reference in a new issue