task main()
{
long rate = 0;
eraseDisplay();
bNxtLCDStatusDisplay = true; // Enable top status line display
writeDebugStream("Scanning for wifi sensor: ");
rate = scanBaudRate();
writeDebugStreamLine("%d baud", rate);
configureWiFi();
set_verbose(false);
Receive();
wait1Msec(100);
closeAllConns();
wait1Msec(1000);
clear_read_buffer();
startListen(80);
clear_read_buffer();
parseInput();
}
void startDemon() {
time1[T2] = 0;
while (true) {
if (time1[T2] > 1200000)
return;
SensorType[COLOUR] = sensorCOLORNONE;
PlaySound(soundBlip);
closeAllConns();
wait1Msec(500);
startListen(80);
SensorType[COLOUR] = sensorCOLORRED;
clear_read_buffer();
parseInput();
}
}
void genResponse(int cid) {
int power = motor[motorA];
string tmpString;
int index = 0;
ubyte linebuff[20];
StringFromChars(tmpString,rxbuffer);
index = StringFind(tmpString, "/");
StringDelete(tmpString, 0, index);
index = StringFind(tmpString, "HTTP");
StringDelete(tmpString, index, strlen(tmpString));
writeDebugStreamLine("Request:%s", tmpString);
nxtDisplayTextLine(2, "Request: ");
nxtDisplayTextLine(3, tmpString);
if (StringFind(tmpString, "MOTA") > 0) {
StringDelete(tmpString, 0, 6);
index = StringFind(tmpString, " ");
if (index > -1)
StringDelete(tmpString, index, strlen(tmpString));
//power = RC_atoix(tmpString);
power = clip(RC_atoix(tmpString), -100, 100);
writeDebugStreamLine("Power:%d", power);
} else {
writeDebugStreamLine("NO POWER: %s", tmpString);
}
sendHeader(cid);
while(nxtHS_Status == HS_SENDING) wait1Msec(5);
wait1Msec(100);
index = 0;
linebuff[0] = 27; // escape;
linebuff[1] = 'S'; // the CID;
linebuff[2] = (ubyte)cid + 48; // the CID;
index = appendToBuff(buffer, index, linebuff, 3);
StringFormat(tmpString, "MotorA=%d", power);
memcpy(linebuff, tmpString, strlen(tmpString));
index = appendToBuff(buffer, index, linebuff, strlen(tmpString));
linebuff[0] = 27; // escape;
linebuff[1] = 'E'; // the CID;
index = appendToBuff(buffer, index, endmarker, 2);
writeRawHS(buffer, index);
motor[motorA] = power;
closeConn(1);
memset(rxbuffer, 0, sizeof(rxbuffer));
wait1Msec(100);
clear_read_buffer();
}
void genResponse(int cid) {
int power = motor[motorA];
float temp = 0.0;
string tmpString;
int index = 0;
ubyte linebuff[20];
StringFromChars(tmpString,rxbuffer);
index = StringFind(tmpString, "/");
StringDelete(tmpString, 0, index);
index = StringFind(tmpString, "HTTP");
StringDelete(tmpString, index, strlen(tmpString));
writeDebugStreamLine("Request:%s", tmpString);
nxtDisplayTextLine(2, "Request: ");
nxtDisplayTextLine(3, tmpString);
if (StringFind(tmpString, "MOTA") > 0) {
StringDelete(tmpString, 0, 6);
index = StringFind(tmpString, " ");
if (index > -1)
StringDelete(tmpString, index, strlen(tmpString));
//power = RC_atoix(tmpString);
power = clip(atoi(tmpString), -100, 100);
writeDebugStreamLine("Power:%d", power);
} else {
writeDebugStreamLine("NO POWER: %s", tmpString);
}
sendHeader(cid);
while(nxtHS_Status == HS_SENDING) wait1Msec(5);
wait1Msec(100);
index = 0;
linebuff[0] = 27; // escape;
linebuff[1] = 'S'; // the CID;
linebuff[2] = (ubyte)cid + 48; // the CID;
index = appendToBuff(buffer, index, linebuff, 3);
StringFormat(tmpString, "MotorA=%d\n", power);
memcpy(linebuff, tmpString, strlen(tmpString));
index = appendToBuff(buffer, index, linebuff, strlen(tmpString));
DTMPreadTemp(DTMP, temp);
StringFormat(tmpString, "Temp: %2.2f C", temp);
memcpy(linebuff, tmpString, strlen(tmpString));
index = appendToBuff(buffer, index, linebuff, strlen(tmpString));
linebuff[0] = 27; // escape;
linebuff[1] = 'E'; // the CID;
index = appendToBuff(buffer, index, endmarker, 2);
writeRawHS(buffer, index);
if (power != 0) nMotorEncoderTarget[motorA] = 2000;
motor[motorA] = power;
if (power > 0)
SensorType[COLOUR] = sensorCOLORGREEN;
else if (power < 0)
SensorType[COLOUR] = sensorCOLORBLUE;
else if (nMotorRunState[motorA] == runStateIdle)
SensorType[COLOUR] = sensorCOLORRED;
else
SensorType[COLOUR] = sensorCOLORRED;
wait1Msec(300);
clear_read_buffer();
closeConn(1);
memset(rxbuffer, 0, sizeof(rxbuffer));
//wait1Msec(100);
Receive();
//clear_read_buffer();
}
