int WiFiCmdRobot::WiFiCmdRobot_main() {
String stringRead;
int conx = 0;
unsigned long timeout = 5; // 5s
unsigned long start = 0;
int ret=SUCCESS;
// not specifically needed, we could go right to AVAILABLECLIENT
// but this is a nice way to print to the serial monitor that we are
// actively listening.
// Remember, this can have non-fatal falures, so check the status
while (1) {
if(tcpServer.isListening(&status))
{
Serial.print("Listening on port: ");
Serial.println(portServer, DEC);
digitalWrite(Led_Yellow, HIGH); // turn on led yellow
break;
}
else if(DNETcK::isStatusAnError(status))
{
Serial.println("Error Listening");
tcpClient.close();
tcpServer.close();
return -1;
}
}
// wait for a connection until timeout
conx = 0;
start = millis();
while ((millis() - start < timeout*1000) && (conx == 0)) {
if((count = tcpServer.availableClients()) > 0)
{
Serial.print("Got ");
Serial.print(count, DEC);
Serial.println(" clients pending");
conx = 1;
// probably unneeded, but just to make sure we have
// tcpClient in the "just constructed" state
tcpClient.close();
}
}
// accept the client
if((conx == 1) && (tcpServer.acceptClient(&tcpClient)))
{
Serial.println("Got a Connection");
lcd.clear();
lcd.print("Got a Connection");
stringRead = "";
while (tcpClient.isConnected())
{
if (tcpClient.available())
{
char c = tcpClient.readByte();
if (c == '\n')
{
Serial.println (stringRead);
if (stringRead.startsWith("GET"))
{
Serial.println("GET");
ret = Cmd (stringRead);
if (ret == SUCCESS)
{
ret = ReplyOK ();
}
else
{
cmd_GO[0] = 0; //reset GO command
ret = ReplyKO ();
}
break;
}
else if (stringRead.startsWith("\r"))
{
// empty line => end
Serial.println("empty line => end");
break;
}
else
{
// no GET
Serial.println("no GET => ignore");
}
stringRead = "";
}
else
{
stringRead += c;
}
}
} // end while
}
else if((cmd_GO[0] == CMD_GO) && (cmd_GO[1] > t_GO+(uint16_t)timeout)) // GO ongoing
{
Serial.println("Continue command GO");
cmd_GO[1] = cmd_GO[1] - t_GO - (uint16_t)timeout;
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);
}
else if(cmd_GO[0] == CMD_GO) // end GO
{
Serial.println("End command GO");
cmd_GO[0] = 0; //reset GO command
cmd[0] = CMD_STOP; // Stop after GO
cmd[1] = 0;
cmd[2] = 0;
ret = CmdRobot (cmd, resp, &resp_len);
Serial.print("Call CmdRobot, ret: ");
Serial.print(ret);
Serial.print(" / resp_len: ");
Serial.println(resp_len);
}
// Close
tcpClient.close();
digitalWrite(Led_Yellow, LOW); // turn off led yellow
Serial.println("Closing TcpClient");
return SUCCESS;
}
