142 lines
4.9 KiB
C++
142 lines
4.9 KiB
C++
#include "Webserver.h"
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/** @brief Constructor for the webserver
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* @param ssid Network SSID
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* @param password password of the network the CodeRacer is connected to
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* @return nothing
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*/
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Codeserver::Codeserver(char *ssid, char *password){
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Ssid= ssid;
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Password= password;
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}
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/** @brief Sends an error if no valid answer to a GET request has been found
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*/
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void notFound(AsyncWebServerRequest *request) {
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request->send(404, "text/plain", "Not found");
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}
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/** @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
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* telling the server what to do if a GET request comes in by the client.
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*/
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void Codeserver::Run(){
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//Connecting to Wifi network
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Serial.print("Connecting to");
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Serial.println(Ssid);
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WiFi.begin(Ssid, Password);
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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Serial.print(".");
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}
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Serial.println("");
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Serial.println("IP address: ");
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Serial.println(WiFi.localIP());
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// 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-
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// if you define the GET request correctly in the HTML code.
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server.on("/", HTTP_GET, [] (AsyncWebServerRequest *request){
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String message;
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request->send(200, "text/html", String(indexHTML));
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Serial.printf("Webpage sent\n");
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});
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server.on("/SetInactive", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.set_inactive();
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request->send(200, "text/plain", "Hello world");
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//this text is returned with the AJAX GET- request, but not shown on the website. Needed for appropiate handling of the request though.
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});
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server.on("/SetActive", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.set_active();
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request->send(200, "text/plain", "Hello world");
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});
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server.on("/DriveForward", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.drive_forward();
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request->send(200, "text/plain", "Hello world");
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});
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server.on("/DriveBackward", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.drive_backward();
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request->send(200, "text/plain", "Hello, world");
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});
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server.on("/StopDriving", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.stop_driving();
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request->send(200, "text/plain", "Hello, world");
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});
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server.on("/TurnLeft", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.turn_degree(-90);
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request->send(200, "text/plain", "Hello, world");
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});
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server.on("/TurnRight", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.turn_degree(90);
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request->send(200, "text/plain", "Hello, world");
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});
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server.on("/ResetTable", HTTP_GET, [] (AsyncWebServerRequest *request){
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Coderacer.Reset_Stats();
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request->send(200, "text/plain", "Hello, world");
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});
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server.on("/SetSpeed", HTTP_GET, [] (AsyncWebServerRequest *request){
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String Message;
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if(request->hasParam("speed"))
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{
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Message= request->getParam("speed")->value();
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Coderacer.speed_settings(Message.toInt(), Message.toInt());
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Serial.printf("New Speed: %s", Message.c_str());
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}
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else {
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request->send(200, "text/plain", "No speed sent");
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}
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request->send(200, "text/plain", "OK");
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});
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// Returns the many values contained by the table on the website via query string.
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// Notice how before this routine ends, the debug_message variable on the Coderacer is resetted to avoid memory overflow.
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server.on("/Values", HTTP_GET, [] (AsyncWebServerRequest *request){
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String Message= "";
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int leftsteps= Coderacer.show_left_stepcounter();
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int leftspeed= Coderacer.drive_left_speed();
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int distance= Coderacer.usonic_measure_single_shot_cm();
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int drivendistancemm= Coderacer.show_distance_mm();
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int rightsteps= Coderacer.show_right_stepcounter();
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int rightspeed= Coderacer.drive_right_speed();
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int servodegree= Coderacer.servo_position();
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float drivendistancem= (float)drivendistancemm/1000.0;
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String Text=Coderacer.wifi_printf();
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request->send(200, "text/plain", Message+"?"+"leftstep="+leftsteps+"&leftspeed="+leftspeed+"&distance="+distance+"&DistanceMM="+drivendistancemm+"&rightstep="+rightsteps+"&rightspeed="+rightspeed+"&ServoPosition="+servodegree+"&DistanceM="+drivendistancem+"&TheMessage="+Text);
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Coderacer.wifi_printf("");
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});
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server.on("/TurnServo", HTTP_GET, [] (AsyncWebServerRequest *request){
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String message;
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if(request->hasParam("degree"))
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{
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message= request->getParam("degree")->value();
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Coderacer.servo_set_position_wait(message.toInt());
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Serial.printf("New Servo Position: %s", message.c_str());
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} else {
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message= "No Servo message sent.";
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}
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request->send(200, "text/plain", "HELLO, Post"+ message);
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});
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// Sends an error if no valid answer has been found
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server.onNotFound(notFound);
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// At least, initializes the asynchronous webserver
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server.begin();
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}
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