int WiFiCmdRobot::ReplyKO ()
{
tcpClient.println("HTTP/1.1 500 Internal Server Error");
tcpClient.println("Content-Type: text/html");
tcpClient.println("Server: ChipkitEDH/0.1");
tcpClient.println();
return SUCCESS;
}
int WiFiCmdRobot::ReplyOK ()
{
int ret=SUCCESS;
if (cmd[0] == CMD_PICTURE)
{
Serial.println("cmd[0] == CMD_PICTURE");
if (tcpClient.isConnected()) Serial.println("tcpClient.isConnected");
else Serial.println("tcpClient.is not Connected");
tcpClient.println("HTTP/1.1 200 OK");
tcpClient.println("Content-Type: application/octet-stream");
tcpClient.println("Server: ChipkitEDH/0.1");
tcpClient.println();
ret= WiFiSendPicture (resp[0]);
if (ret != SUCCESS){ Serial.print("WiFiSendPicture error"); Serial.print(ret);}
}
else
{
tcpClient.println("HTTP/1.1 200 OK");
for(int i=0; i<resp_len; i++)
{
tcpClient.print("Field ");
tcpClient.print(String(i));
tcpClient.print(":");
tcpClient.print(String((int)resp[i]));
tcpClient.println(";");
}
tcpClient.println("Content-Type: text/html");
tcpClient.println("Server: ChipkitEDH/0.1");
tcpClient.println();
}
return ret;
}
int WiFiCmdRobot::Cmd (String s)
{
int cmdTag;
int And;
String szparam[10];
int iparam[10];
int paramTag;
int Start;
int Semicolumn;
int ret=SUCCESS;
//GET /Robot?CMD=MOVE_TILT_PAN&PARAM=122;118; HTTP/1.1[\r][\n]
//GET /Robot?CMD=INFOS HTTP/1.1[\r][\n]
cmdTag = s.indexOf("CMD=");
if (cmdTag > 0)
{
Serial.print("CMD=");
And = s.indexOf('&', cmdTag + 1);
if (And == -1) And = s.indexOf(' ', cmdTag + 1);
szcmd = s.substring(cmdTag + 4, And);
Serial.println(szcmd);
paramTag = s.indexOf("PARAM=");
if (paramTag > 0)
{
Start = paramTag + 6;
Semicolumn = s.indexOf('%3B', Start + 1); // semi column is encoded in URL
for (int p=0; Semicolumn != -1; p++)
{
szparam[p] = s.substring(Start, Semicolumn - 2);
iparam[p] = szparam[p].toInt();
Serial.print("param");
Serial.print(p);
Serial.print("=");
Serial.print(szparam[p]);
Serial.print("/");
Serial.println(iparam[p]);
Start = Semicolumn + 1;
Semicolumn = s.indexOf('%3B', Start + 1);
}
}
// CMD
if (szcmd == "START")
{
cmd[0] = CMD_START;
cmd[1] = iparam[0];
cmd[2] = 0;
cmd_GO[0]= 0; //reset GO command
}
if (szcmd == "STOP")
{
cmd[0] = CMD_STOP;
cmd[1] = 0;
cmd[2] = 0;
cmd_GO[0]= 0; //reset GO command
}
if (szcmd == "INFOS")
{
cmd[0] = CMD_INFOS;
cmd[1] = 0;
cmd[2] = 0;
}
if (szcmd == "PICTURE")
{
cmd[0] = CMD_PICTURE;
cmd[1] = 0;
cmd[2] = 0;
}
if (szcmd == "TURN_RIGHT")
{
cmd[0] = CMD_TURN_RIGHT;
cmd[1] = iparam[0];
cmd[2] = 0;
}
if (szcmd == "TURN_LEFT")
{
cmd[0] = CMD_TURN_LEFT;
cmd[1] = iparam[0];
cmd[2] = 0;
}
if (szcmd == "CHECK_AROUND")
{
cmd[0] = CMD_CHECK_AROUND;
cmd[1] = iparam[0];
cmd[2] = 0;
}
if (szcmd == "MOVE_TILT_PAN")
{
cmd[0] = CMD_MOVE_TILT_PAN;
cmd[1] = iparam[0];
cmd[2] = iparam[1];
}
if (szcmd == "GO")
{
cmd_GO[0] = CMD_GO;
cmd_GO[1] = iparam[0];
cmd_GO[2] = iparam[1];
cmd[0] = cmd_GO[0];
cmd[1] = t_GO;
cmd[2] = cmd_GO[2];
}
ret = CmdRobot (cmd, resp, &resp_len);
Serial.print("Call CmdRobot, ret: ");
Serial.print(ret);
Serial.print(" / resp_len: ");
Serial.println(resp_len);
return ret;
}
else
{
// no CMD
tcpClient.println("HTTP/1.1 400 Bad Request");
tcpClient.println("Content-Type: text/html");
tcpClient.println("Server: ChipkitEDH/0.1");
tcpClient.println();
return -400;
}
}