#include <Arduino.h>
#include <WebServer.h>
//#include "Chassis.h"
//#include "ServerWeb.h"
int Web_nouvelle_entree;
int type_requete;
struct chassis_emission_t chassis_emission_web;
#define FORM \
"<!DOCTYPE html>\n" \
"<html>\n" \
"<head>\n" \
"<meta charset=\"UTF-8\">\n" \
"<title>A simple form</title>\n" \
"</head>\n" \
"<body>\n" \
"<form action=\"/form\" method=\"post\">\n" \
"<br>" \
"<label for=\"X\">X : en mm</label>\n" \
"<br>" \
"<input type=\"text\" id=\"X\" name=\"X\">\n" \
"<br>" \
"<label for=\"Y\">Y : en mm</label>\n" \
"<br>" \
"<input type=\"text\" id=\"Y\" name=\"Y\">\n" \
"<br>" \
"<label for=\"R\">Rotation : en degres</label>\n" \
"<br>" \
"<input type=\"text\" id=\"R\" name=\"R\">\n" \
"<br>" \
"<label for=\"V\">Vitesse : </label>\n" \
"<br>" \
"<input type=\"text\" id=\"V\" name=\"V\" value=\"2000\">\n" \
"<br>" \
"<br>" \
"<label for=\"A\">Accel : </label>\n" \
"<br>" \
"<input type=\"text\" id=\"A\" name=\"A\"value=\"1500\">\n" \
"<br>" \
"<br>" \
"<input type=\"submit\" value=\" Vas-Y \">\n" \
"<br>" \
"<br>" \
"<input type=\"reset\" value=\"Reset\">\n" \
"<br>" \
"<br>" \
"<input type=\"submit\" value=\" STOP \">\n" \
"</form>\n" \
"</body>\n" \
"</html>\n"
WebServer server(80);
void Web_init(){
server.begin();
server.on("/form", handleForm);
server.on("/statu", showStatus);
}
bool Web_nouveau_message(){
if(Web_nouvelle_entree){
Web_nouvelle_entree = 0;
return 1;
}
return 0;
}
int Web_type_requete(){
return type_requete;
}
void Web_gestion(){
server.handleClient();
}
struct chassis_emission_t Web_get_donnees(){
return chassis_emission_web;
}
void handleForm() {
String message;
type_requete = WEB_DEPLACEMENT_RELATIF;
message += FORM;
server.send(200, "text/html", message);
String myString0 = server.arg("X"); //positon de cmd en X mm
// x= myString0.toInt() * coef_mvt/10;
chassis_emission_web.translation_x_mm = myString0.toInt();
String myString1 = server.arg("Y"); //positon de cmd en Y mm
// y= myString1.toInt() * coef_mvt/10;
chassis_emission_web.translation_y_mm = myString1.toInt();
String myString2 = server.arg("R"); //positon de cmd en Rotation Deg °
chassis_emission_web.rotation_z_rad = myString2.toInt() / 180 * M_PI;
String myString3 = server.arg("V"); // Vitesse de cmd en
chassis_emission_web.vitesse = myString3.toInt();
String myString4 = server.arg("A"); // Acceleration de cmd
chassis_emission_web.acceleration = myString4.toInt();
Web_nouvelle_entree=1;
}
void showStatus() {
char chassis[50], gradin[50], triangulation[50], detection_adversaire[50];
char message_statu[500];
const char message_statu_tmplt[] = "<!DOCTYPE html><html><head><meta charset=\"UTF-8\"><title>A simple form</title></head>\
<body>\n<h1>Statu du robot</h1>\n\
<p>Chassis: %s</p><p>Gradin: %d</p><p>Triangulation: %d</p><p>Detection_adversaire: %d</p>";
struct chassis_reception_t chassis_reception;
statu_to_string(chassis, !Scan_chassis(&chassis_reception) );
sprintf(message_statu, message_statu_tmplt, chassis, 0, 0, 0);
server.send(200, "text/html", message_statu);
}
/// @brief convertir un statu boolean en message web.
/// @param statu 0 NOK, 1 OK
void statu_to_string(char * statu_str, bool statu){
if(!statu){
strcpy(statu_str, "<span style=\"color:red;\">NOK</span>");
}else{
strcpy(statu_str, "<span style=\"color:green;\">OK</span>");
}
}