Samuel
2513404cfd
L'algorythme d'approche du gradin prend forme. Les capteurs sont bien lus et interprétés. Côté Wifi : - Les identifiants sont renseignés dans un fichier qui n'est pas suivi par Git. - Début d'une page statu pour le cerveau
127 lines
3.4 KiB
C++
127 lines
3.4 KiB
C++
#include <Arduino.h>
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#include <WebServer.h>
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//#include "Chassis.h"
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//#include "ServerWeb.h"
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int Web_nouvelle_entree;
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int type_requete;
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struct chassis_emission_t chassis_emission_web;
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#define FORM \
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"<!DOCTYPE html>\n" \
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"<html>\n" \
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"<head>\n" \
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"<meta charset=\"UTF-8\">\n" \
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"<title>A simple form</title>\n" \
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"</head>\n" \
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"<body>\n" \
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"<form action=\"/form\" method=\"post\">\n" \
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"<br>" \
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"<label for=\"X\">X : en mm</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"X\" name=\"X\">\n" \
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"<br>" \
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"<label for=\"Y\">Y : en mm</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"Y\" name=\"Y\">\n" \
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"<br>" \
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"<label for=\"R\">Rotation : en degres</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"R\" name=\"R\">\n" \
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"<br>" \
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"<label for=\"V\">Vitesse : </label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"V\" name=\"V\" value=\"2000\">\n" \
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"<br>" \
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"<br>" \
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"<label for=\"A\">Accel : </label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"A\" name=\"A\"value=\"1500\">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"submit\" value=\" Vas-Y \">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"reset\" value=\"Reset\">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"submit\" value=\" STOP \">\n" \
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"</form>\n" \
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"</body>\n" \
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"</html>\n"
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WebServer server(80);
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void Web_init(){
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server.begin();
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server.on("/form", handleForm);
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server.on("/statu", showStatus);
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}
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bool Web_nouveau_message(){
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if(Web_nouvelle_entree){
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Web_nouvelle_entree = 0;
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return 1;
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}
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return 0;
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}
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int Web_type_requete(){
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return type_requete;
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}
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void Web_gestion(){
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server.handleClient();
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}
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struct chassis_emission_t Web_get_donnees(){
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return chassis_emission_web;
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}
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void handleForm() {
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String message;
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type_requete = WEB_DEPLACEMENT_RELATIF;
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message += FORM;
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server.send(200, "text/html", message);
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String myString0 = server.arg("X"); //positon de cmd en X mm
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// x= myString0.toInt() * coef_mvt/10;
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chassis_emission_web.translation_x_mm = myString0.toInt();
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String myString1 = server.arg("Y"); //positon de cmd en Y mm
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// y= myString1.toInt() * coef_mvt/10;
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chassis_emission_web.translation_y_mm = myString1.toInt();
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String myString2 = server.arg("R"); //positon de cmd en Rotation Deg °
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chassis_emission_web.rotation_z_rad = myString2.toInt() / 180 * M_PI;
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String myString3 = server.arg("V"); // Vitesse de cmd en
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chassis_emission_web.vitesse = myString3.toInt();
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String myString4 = server.arg("A"); // Acceleration de cmd
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chassis_emission_web.acceleration = myString4.toInt();
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Web_nouvelle_entree=1;
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}
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void showStatus() {
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char chassis[50], gradin[50], triangulation[50], detection_adversaire[50];
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char message_statu[500];
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const char message_statu_tmplt[] = "<!DOCTYPE html><html><head><meta charset=\"UTF-8\"><title>A simple form</title></head>\
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<body>\n<h1>Statu du robot</h1>\n\
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<p>Chassis: %s</p><p>Gradin: %d</p><p>Triangulation: %d</p><p>Detection_adversaire: %d</p>";
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struct chassis_reception_t chassis_reception;
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statu_to_string(chassis, !Scan_chassis(&chassis_reception) );
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sprintf(message_statu, message_statu_tmplt, chassis, 0, 0, 0);
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server.send(200, "text/html", message_statu);
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}
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/// @brief convertir un statu boolean en message web.
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/// @param statu 0 NOK, 1 OK
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void statu_to_string(char * statu_str, bool statu){
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if(!statu){
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strcpy(statu_str, "<span style=\"color:red;\">NOK</span>");
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}else{
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strcpy(statu_str, "<span style=\"color:green;\">OK</span>");
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}
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}
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