library/CodeRacer_MKII/Webserver.cpp

#include "Webserver.h"

/**	@brief Constructor for the webserver
*   @param ssid Network SSID 
*   @param password password of the network the CodeRacer is connected to 
*		@return	nothing
*/
Codeserver::Codeserver(char *ssid, char *password){
    Ssid= ssid;
    Password= password;
}

/**	@brief Sends an error if no valid answer to a GET request has been found
*/
void notFound(AsyncWebServerRequest *request) {
    request->send(404, "text/plain", "Not found");
}

/**	@brief The bread-and-butter-routine of the webserver. Connects to a Wifi network with the SSID and password defined by the constructor. Contains various routines
 * telling the server what to do if a GET request comes in by the client.
 */
void Codeserver::Run(){
  //Connecting to Wifi network
  Serial.print("Connecting to");
  Serial.println(Ssid);
  WiFi.begin(Ssid, Password);
  while (WiFi.status() != WL_CONNECTED) {
      delay(500);
      Serial.print(".");
  }
  Serial.println("");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());

  
    
  // Definition for events triggered by the GET request of the client.You can add events using server.on() here to call routines of the CodeRacer-
  // if you define the GET request correctly in the HTML code.

  server.on("/", HTTP_GET, [] (AsyncWebServerRequest *request){
    String message;
    request->send(200, "text/html", String(indexHTML));
    Serial.printf("Webpage sent\n");
  });

  server.on("/SetInactive", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.set_inactive();
    request->send(200, "text/plain", "Hello world");  
    //this text is returned with the AJAX GET- request, but not shown on the website. Needed for appropiate handling of the request though.
  });

  server.on("/SetActive", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.set_active();
    request->send(200, "text/plain", "Hello world");
  });

  server.on("/DriveForward", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.drive_forward();
    request->send(200, "text/plain", "Hello world");
  });

  server.on("/DriveBackward", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.drive_backward();
    request->send(200, "text/plain", "Hello, world");
  });

  server.on("/StopDriving", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.stop_driving();
    request->send(200, "text/plain", "Hello, world");
  });

  server.on("/TurnLeft", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.turn_degree(-90);
    request->send(200, "text/plain", "Hello, world");
  });

  server.on("/TurnRight", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.turn_degree(90);
    request->send(200, "text/plain", "Hello, world");
  });

  server.on("/ResetTable", HTTP_GET, [] (AsyncWebServerRequest *request){
    Coderacer.Reset_Stats();
    request->send(200, "text/plain", "Hello, world");
  });

  server.on("/SetSpeed", HTTP_GET, [] (AsyncWebServerRequest *request){
    String Message;
    if(request->hasParam("speed"))
    {
      Message= request->getParam("speed")->value();
      Coderacer.speed_settings(Message.toInt(), Message.toInt());
      Serial.printf("New Speed: %s", Message.c_str());
    }
    else {
    request->send(200, "text/plain", "No speed sent");      
    }
    request->send(200, "text/plain", "OK");
  });

  // Returns the many values contained by the table on the website via query string. 
  // Notice how before this routine ends, the debug_message variable on the Coderacer is resetted to avoid memory overflow.
  server.on("/Values", HTTP_GET, [] (AsyncWebServerRequest *request){
    String Message= "";
    
    int leftsteps= Coderacer.show_left_stepcounter();
    int leftspeed= Coderacer.drive_left_speed();
    int distance= Coderacer.usonic_measure_single_shot_cm();
    int drivendistancemm= Coderacer.show_distance_mm();
    int rightsteps= Coderacer.show_right_stepcounter();
    int rightspeed= Coderacer.drive_right_speed();
    int servodegree= Coderacer.servo_position();
    float drivendistancem= (float)drivendistancemm/1000.0;
    String Text=Coderacer.wifi_printf();
    request->send(200, "text/plain", Message+"?"+"leftstep="+leftsteps+"&leftspeed="+leftspeed+"&distance="+distance+"&DistanceMM="+drivendistancemm+"&rightstep="+rightsteps+"&rightspeed="+rightspeed+"&ServoPosition="+servodegree+"&DistanceM="+drivendistancem+"&TheMessage="+Text);
    Coderacer.wifi_printf("");
  });

  server.on("/TurnServo", HTTP_GET, [] (AsyncWebServerRequest *request){
    String message;
    if(request->hasParam("degree"))
    {
      message= request->getParam("degree")->value();
      Coderacer.servo_set_position_wait(message.toInt());
      Serial.printf("New Servo Position: %s", message.c_str());
    } else {
      message= "No Servo message sent.";
    }
    request->send(200, "text/plain", "HELLO, Post"+ message);
  });

  // Sends an error if no valid answer has been found
  server.onNotFound(notFound);
  
  // At least, initializes the asynchronous webserver
  server.begin(); 
    
}