#include #include //#include "Chassis.h" //#include "ServerWeb.h" int Web_nouvelle_entree; int type_requete; struct chassis_emission_t chassis_emission_web; #define FORM \ "\n" \ "\n" \ "\n" \ "\n" \ "A simple form\n" \ "\n" \ "\n" \ "\n" \ "\n" \ "\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[] = "A simple form\ \n

Statu du robot

\n\

Chassis: %s

Gradin: %d

Triangulation: %d

Detection_adversaire: %d

"; 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, "NOK"); }else{ strcpy(statu_str, "OK"); } }