ELEC50003-P1-CW/Command/main/main.ino

167 lines
4.6 KiB
C++

#include <WiFi.h>
#include <SPIFFS.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;
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);
}
case WStype_BIN:
case WStype_ERROR:
case WStype_FRAGMENT_TEXT_START:
case WStype_FRAGMENT_BIN_START:
case WStype_FRAGMENT:
case WStype_FRAGMENT_FIN:
default:
break;
}
}
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);
if(!SPIFFS.begin(true)){
Serial.println("An Error has occurred while mounting SPIFFS");
return;
}
/* 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("/", HTTP_GET, [](AsyncWebServerRequest *request){
request->send(SPIFFS, "/index.html", "text/html");
});
server.on("/favicon.ico", HTTP_GET, [](AsyncWebServerRequest *request){
request->send(SPIFFS, "/favicon.ico", "image/png");
});
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);
}