arduino - 如何通过 WiFiSever 向 ESP32 发送字符串命令？

#define ULTRATACT_VERSION "2.1" const char* ssid = "UltraTactile Master"; const char* ssidMaster = "UltraTactile Master"; const char* password = "12345678"; #define BUTTON_PIN 12 #define MOD_PERIODS_DEFAULT 10 WiFiServer server(80); #define N_TRANS 256 const float TRANS_POS[N_TRANS*3] = { -0.078749985, 0.0, 0.07874999, -0.05774999, 0.0, 0.07874999, -0.04724999, 0.0, 0.07874999, -0.068249986, 0.0, 0.06824999, -0.078749985, 0.0, 0.06824999, -0.04724999, 0.0, 0.06824999, -0.05774999, 0.0, 0.06824999, -0.068249986, 0.0, 0.07874999, -0.078749985, 0.0, 0.057749998, -0.05774999, 0.0, 0.057749998, -0.04724999, 0.0, 0.057749998, -0.068249986, 0.0, 0.04725, -0.078749985, 0.0, 0.04725, -0.04724999, 0.0, 0.04725, -0.05774999, 0.0, 0.04725, -0.068249986, 0.0, 0.057749998, -0.078749985, 0.0, 0.036750004, -0.05774999, 0.0, 0.036750004, -0.04724999, 0.0, 0.036750004, -0.068249986, 0.0, 0.026250003, -0.078749985, 0.0, 0.026250003, -0.04724999, 0.0, 0.026250003, -0.05774999, 0.0, 0.026250003, -0.068249986, 0.0, 0.036750004, -0.078749985, 0.0, 0.015750004, -0.05774999, 0.0, 0.015750004, -0.04724999, 0.0, 0.015750004, -0.068249986, 0.0, 0.0052500046, -0.078749985, 0.0, 0.0052500046, -0.04724999, 0.0, 0.0052500046, -0.05774999, 0.0, 0.0052500046, -0.068249986, 0.0, 0.015750004, -0.078749985, 0.0, -0.005249995, -0.05774999, 0.0, -0.005249995, -0.04724999, 0.0, -0.005249995, -0.068249986, 0.0, -0.015749995, -0.078749985, 0.0, -0.015749995, -0.04724999, 0.0, -0.015749995, -0.05774999, 0.0, -0.015749995, -0.068249986, 0.0, -0.005249995, -0.078749985, 0.0, -0.026249994, -0.05774999, 0.0, -0.026249994, -0.04724999, 0.0, -0.026249994, -0.068249986, 0.0, -0.036749996, -0.078749985, 0.0, -0.036749996, -0.04724999, 0.0, -0.036749996, -0.05774999, 0.0, -0.036749996, -0.068249986, 0.0, -0.026249994, -0.078749985, 0.0, -0.04724999, -0.05774999, 0.0, -0.04724999, -0.04724999, 0.0, -0.04724999, -0.068249986, 0.0, -0.05774999, -0.078749985, 0.0, -0.05774999, -0.04724999, 0.0, -0.05774999, -0.05774999, 0.0, -0.05774999, -0.068249986, 0.0, -0.04724999, -0.078749985, 0.0, -0.068249986, -0.05774999, 0.0, -0.068249986, -0.04724999, 0.0, -0.068249986, -0.068249986, 0.0, -0.078749985, -0.078749985, 0.0, -0.078749985, -0.04724999, 0.0, -0.078749985, -0.05774999, 0.0, -0.078749985, -0.068249986, 0.0, -0.068249986, -0.036749996, 0.0, 0.07874999, -0.015749995, 0.0, 0.07874999, -0.005249995, 0.0, 0.07874999, -0.026249994, 0.0, 0.06824999, -0.036749996, 0.0, 0.06824999, -0.005249995, 0.0, 0.06824999, -0.015749995, 0.0, 0.06824999, -0.026249994, 0.0, 0.07874999, -0.036749996, 0.0, 0.057749998, -0.015749995, 0.0, 0.057749998, -0.005249995, 0.0, 0.057749998, -0.026249994, 0.0, 0.04725, -0.036749996, 0.0, 0.04725, -0.005249995, 0.0, 0.04725, -0.015749995, 0.0, 0.04725, -0.026249994, 0.0, 0.057749998, -0.036749996, 0.0, 0.036750004, -0.015749995, 0.0, 0.036750004, -0.005249995, 0.0, 0.036750004, -0.026249994, 0.0, 0.026250003, -0.036749996, 0.0, 0.026250003, -0.005249995, 0.0, 0.026250003, -0.015749995, 0.0, 0.026250003, -0.026249994, 0.0, 0.036750004, -0.036749996, 0.0, 0.015750004, -0.015749995, 0.0, 0.015750004, -0.005249995, 0.0, 0.015750004, -0.026249994, 0.0, 0.0052500046, -0.036749996, 0.0, 0.0052500046, -0.005249995, 0.0, 0.0052500046, -0.015749995, 0.0, 0.0052500046, -0.026249994, 0.0, 0.015750004, -0.036749996, 0.0, -0.005249995, -0.015749995, 0.0, -0.005249995, -0.005249995, 0.0, -0.005249995, -0.026249994, 0.0, -0.015749995, -0.036749996, 0.0, -0.015749995, -0.005249995, 0.0, -0.015749995, -0.015749995, 0.0, -0.015749995, -0.026249994, 0.0, -0.005249995, -0.036749996, 0.0, -0.026249994, -0.015749995, 0.0, -0.026249994, -0.005249995, 0.0, -0.026249994, -0.026249994, 0.0, -0.036749996, -0.036749996, 0.0, -0.036749996, -0.005249995, 0.0, -0.036749996, -0.015749995, 0.0, -0.036749996, -0.026249994, 0.0, -0.026249994, -0.036749996, 0.0, -0.04724999, -0.015749995, 0.0, -0.04724999, -0.005249995, 0.0, -0.04724999, -0.026249994, 0.0, -0.05774999, -0.036749996, 0.0, -0.05774999, -0.005249995, 0.0, -0.05774999, -0.015749995, 0.0, -0.05774999, -0.026249994, 0.0, -0.04724999, -0.036749996, 0.0, -0.068249986, -0.015749995, 0.0, -0.068249986, -0.005249995, 0.0, -0.068249986, -0.026249994, 0.0, -0.078749985, -0.036749996, 0.0, -0.078749985, -0.005249995, 0.0, -0.078749985, -0.015749995, 0.0, -0.078749985, -0.026249994, 0.0, -0.068249986, 0.0052500046, 0.0, 0.07874999, 0.026250003, 0.0, 0.07874999, 0.036750004, 0.0, 0.07874999, 0.015750004, 0.0, 0.06824999, 0.0052500046, 0.0, 0.06824999, 0.036750004, 0.0, 0.06824999, 0.026250003, 0.0, 0.06824999, 0.015750004, 0.0, 0.07874999, 0.0052500046, 0.0, 0.057749998, 0.026250003, 0.0, 0.057749998, 0.036750004, 0.0, 0.057749998, 0.015750004, 0.0, 0.04725, 0.0052500046, 0.0, 0.04725, 0.036750004, 0.0, 0.04725, 0.026250003, 0.0, 0.04725, 0.015750004, 0.0, 0.057749998, 0.0052500046, 0.0, 0.036750004, 0.026250003, 0.0, 0.036750004, 0.036750004, 0.0, 0.036750004, 0.015750004, 0.0, 0.026250003, 0.0052500046, 0.0, 0.026250003, 0.036750004, 0.0, 0.026250003, 0.026250003, 0.0, 0.026250003, 0.015750004, 0.0, 0.036750004, 0.0052500046, 0.0, 0.015750004, 0.026250003, 0.0, 0.015750004, 0.036750004, 0.0, 0.015750004, 0.015750004, 0.0, 0.0052500046, 0.0052500046, 0.0, 0.0052500046, 0.036750004, 0.0, 0.0052500046, 0.026250003, 0.0, 0.0052500046, 0.015750004, 0.0, 0.015750004, 0.0052500046, 0.0, -0.005249995, 0.026250003, 0.0, -0.005249995, 0.036750004, 0.0, -0.005249995, 0.015750004, 0.0, -0.015749995, 0.0052500046, 0.0, -0.015749995, 0.036750004, 0.0, -0.015749995, 0.026250003, 0.0, -0.015749995, 0.015750004, 0.0, -0.005249995, 0.0052500046, 0.0, -0.026249994, 0.026250003, 0.0, -0.026249994, 0.036750004, 0.0, -0.026249994, 0.015750004, 0.0, -0.036749996, 0.0052500046, 0.0, -0.036749996, 0.036750004, 0.0, -0.036749996, 0.026250003, 0.0, -0.036749996, 0.015750004, 0.0, -0.026249994, 0.0052500046, 0.0, -0.04724999, 0.026250003, 0.0, -0.04724999, 0.036750004, 0.0, -0.04724999, 0.015750004, 0.0, -0.05774999, 0.0052500046, 0.0, -0.05774999, 0.036750004, 0.0, -0.05774999, 0.026250003, 0.0, -0.05774999, 0.015750004, 0.0, -0.04724999, 0.0052500046, 0.0, -0.068249986, 0.026250003, 0.0, -0.068249986, 0.036750004, 0.0, -0.068249986, 0.015750004, 0.0, -0.078749985, 0.0052500046, 0.0, -0.078749985, 0.036750004, 0.0, -0.078749985, 0.026250003, 0.0, -0.078749985, 0.015750004, 0.0, -0.068249986, 0.04725, 0.0, 0.07874999, 0.06824999, 0.0, 0.07874999, 0.07874999, 0.0, 0.07874999, 0.057749998, 0.0, 0.06824999, 0.04725, 0.0, 0.06824999, 0.07874999, 0.0, 0.06824999, 0.06824999, 0.0, 0.06824999, 0.057749998, 0.0, 0.07874999, 0.04725, 0.0, 0.057749998, 0.06824999, 0.0, 0.057749998, 0.07874999, 0.0, 0.057749998, 0.057749998, 0.0, 0.04725, 0.04725, 0.0, 0.04725, 0.07874999, 0.0, 0.04725, 0.06824999, 0.0, 0.04725, 0.057749998, 0.0, 0.057749998, 0.04725, 0.0, 0.036750004, 0.06824999, 0.0, 0.036750004, 0.07874999, 0.0, 0.036750004, 0.057749998, 0.0, 0.026250003, 0.04725, 0.0, 0.026250003, 0.07874999, 0.0, 0.026250003, 0.06824999, 0.0, 0.026250003, 0.057749998, 0.0, 0.036750004, 0.04725, 0.0, 0.015750004, 0.06824999, 0.0, 0.015750004, 0.07874999, 0.0, 0.015750004, 0.057749998, 0.0, 0.0052500046, 0.04725, 0.0, 0.0052500046, 0.07874999, 0.0, 0.0052500046, 0.06824999, 0.0, 0.0052500046, 0.057749998, 0.0, 0.015750004, 0.04725, 0.0, -0.005249995, 0.06824999, 0.0, -0.005249995, 0.07874999, 0.0, -0.005249995, 0.057749998, 0.0, -0.015749995, 0.04725, 0.0, -0.015749995, 0.07874999, 0.0, -0.015749995, 0.06824999, 0.0, -0.015749995, 0.057749998, 0.0, -0.005249995, 0.04725, 0.0, -0.026249994, 0.06824999, 0.0, -0.026249994, 0.07874999, 0.0, -0.026249994, 0.057749998, 0.0, -0.036749996, 0.04725, 0.0, -0.036749996, 0.07874999, 0.0, -0.036749996, 0.06824999, 0.0, -0.036749996, 0.057749998, 0.0, -0.026249994, 0.04725, 0.0, -0.04724999, 0.06824999, 0.0, -0.04724999, 0.07874999, 0.0, -0.04724999, 0.057749998, 0.0, -0.05774999, 0.04725, 0.0, -0.05774999, 0.07874999, 0.0, -0.05774999, 0.06824999, 0.0, -0.05774999, 0.057749998, 0.0, -0.04724999, 0.04725, 0.0, -0.068249986, 0.06824999, 0.0, -0.068249986, 0.07874999, 0.0, -0.068249986, 0.057749998, 0.0, -0.078749985, 0.04725, 0.0, -0.078749985, 0.07874999, 0.0, -0.078749985, 0.06824999, 0.0, -0.078749985, 0.057749998, 0.0, -0.068249986}; const byte PHASES_FOR_LINE[N_TRANS] = {14,6,20,15,3,10,27,24,20,14,29,22,4,14,31,5,16,14,28,14,25,6,26,4,0,2,14,25,3,18,7,21,3,7,18,21,0,14,2,25,25,26,6,4,16,28,14,14,4,31,14,5,20,29,14,22,3,27,10,24,14,20,6,15,31,0,2,28,21,25,22,3,9,11,14,3,26,0,29,17,9,12,15,29,20,26,23,18,27,31,2,9,31,6,3,5,31,3,6,5,27,2,31,9,20,23,26,18,9,15,12,29,26,29,0,17,9,14,11,3,21,22,25,3,31,2,0,28,3,9,0,5,25,22,31,14,14,19,10,11,0,27,5,25,15,19,10,5,26,21,31,26,2,6,29,17,6,0,10,13,6,10,0,13,2,29,6,17,26,31,21,26,15,10,19,5,0,5,27,25,14,10,19,11,25,31,22,14,3,0,9,5,21,3,17,8,11,5,24,17,0,10,22,11,19,5,26,27,4,6,17,3,16,27,16,25,25,23,2,14,29,5,26,10,29,26,5,10,25,2,23,14,16,16,27,25,4,17,6,3,19,26,5,27,0,22,10,11,11,24,5,17,21,17,3,8}; byte bufferToSend[N_TRANS + 2]; unsigned long millisFromLastButtonPress = 0; byte buttonPresses = 0; /* Array control functions */ void swichOffArray() { bufferToSend[0] = 254; //start phases command bufferToSend[N_TRANS + 1] = 253; //swap double buffer command (like a commit) for (int i = 1; i < N_TRANS + 1; i += 1) bufferToSend[i] = 32; //32 is the value for switching of the transducer Serial2.write( bufferToSend, N_TRANS + 2 ); Serial2.flush(); } void changeModulation(byte periods){ if (periods < 1) periods = 1; else if(periods > 31) periods = 31; Serial2.write( 0b10100000 | periods); } const float WAVELENGTH = 0.00865f; const float PHASE_DIV = 32.0f; void focusArrayAt(const float posX, const float posY, const float posZ) { //positions are in meters in respect to the center of the array bufferToSend[0] = 254; //start phases command bufferToSend[N_TRANS + 1] = 253; //swap double buffer command (i.e. commit) for (int i = 1; i < N_TRANS+1; i += 1) { const float diffX = TRANS_POS[(i-1)*3 + 0] - posX; const float diffY = TRANS_POS[(i-1)*3 + 1] - posY; const float diffZ = TRANS_POS[(i-1)*3 + 2] - posZ; const float distInWavelengths = sqrt(diffX * diffX + diffY * diffY + diffZ * diffZ) / WAVELENGTH; const byte phase = (byte)((ceil(distInWavelengths) - distInWavelengths) * PHASE_DIV); bufferToSend[i] = phase; } Serial2.write( bufferToSend, N_TRANS + 2 ); Serial2.flush(); } void makeBeeps(int nBeeps, int modulation=7){ if (nBeeps < 1) nBeeps = 1; else if(nBeeps > 10) nBeeps = 10; swichOffArray(); changeModulation( modulation ); for (int i = 0; i < nBeeps; i+=1 ){ focusArrayAt(0,0.1,0); delay(250); swichOffArray(); delay(250); } changeModulation( MOD_PERIODS_DEFAULT ); } void sendPhasePattern(const byte* pattern){ Serial2.write( 254 ); Serial2.write( pattern, N_TRANS); Serial2.write( 253 ); Serial2.flush(); } /* Network functions*/ void configWifiAsAccessPoint(const char* ssidName){ Serial.println("Configuring as access point..."); WiFi.mode(WIFI_AP); WiFi.softAP( ssidName, password ); Serial.println("Wait 100 ms for AP_START..."); delay(100); Serial.println("Set softAPConfig"); IPAddress Ip(192, 168, 1, 1); IPAddress NMask(255, 255, 255, 0); WiFi.softAPConfig(Ip, Ip, NMask); IPAddress myIP = WiFi.softAPIP(); Serial.print("AP IP address: "); Serial.println(myIP); } boolean configWifiAsSlave(const byte lastIPDigit){ Serial.println("Configuring as station..."); WiFi.mode(WIFI_STA); IPAddress local_IP(192, 168, 1, lastIPDigit); IPAddress gateway(192, 168, 1, 1); IPAddress subnet(255, 255, 255, 0); IPAddress primaryDNS(8, 8, 8, 8); //optional IPAddress secondaryDNS(8, 8, 4, 4); //optional if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) { Serial.println("STA Failed to configure"); } Serial.println("Conecting to master"); WiFi.begin(ssidMaster, password); for (int tries = 0; WiFi.status() != WL_CONNECTED; tries+= 1) { delay(250); Serial.print("."); if (tries >= 4*5){ //after 5 seconds trying to connect Serial.println("failure connecting to the master SSID"); return false; } } IPAddress myIP = WiFi.localIP(); Serial.print("Station IP address: "); Serial.println(myIP); return true; } void setup() { Serial.begin(230400); // this serial is for receiving commands and sending debug info to the computer Serial2.begin(230400, SERIAL_8N1, 17, 16); //RX2 TX2 This serial communicates with the array pinMode(BUTTON_PIN, INPUT_PULLUP); Serial.println(ULTRATACT_VERSION); Serial.println( ssid ); configWifiAsAccessPoint( ssid ); //start as access point with regular ssid server.begin(); delay(200); Serial.println("Switching off the array..."); makeBeeps( 1 ); } int previousButton = HIGH; int itersButtonHigh = 0; bool randomMode = false; unsigned long randomModeTriggerMillis = 0; void loop() { const unsigned long currentMillis = millis(); /* Button pres input */ if ( currentMillis - millisFromLastButtonPress > 1000 && buttonPresses > 0){ randomMode = false; swichOffArray(); if (buttonPresses == 1){ //switch off the emitter Serial.println("Button pressed once, switching off the array"); }else if (buttonPresses >= 2){ //try to connect to the master ssid, const int lastIPDigit = 98 + buttonPresses; //with increasing IP numbers (.101 .102 ...) Serial.print("Button pressed >=2, connecting with ip "); Serial.println(lastIPDigit); const boolean conectedToMaster = configWifiAsSlave(lastIPDigit); if (conectedToMaster == false ){ //we failed connecting to the master, so we become the master configWifiAsAccessPoint(ssidMaster); makeBeeps( 1, 5 ); }else{ makeBeeps( buttonPresses ); } } delay(500); buttonPresses = 0; } const int currentButtonState = digitalRead(BUTTON_PIN); if (previousButton == HIGH && currentButtonState == LOW && itersButtonHigh > 100){ //when the button is pressed. last part is for avoid bouncing buttonPresses += 1; millisFromLastButtonPress = currentMillis; } if ( currentButtonState == HIGH && itersButtonHigh < 0x0FFF){ itersButtonHigh += 1; }else{ itersButtonHigh = 0; } previousButton = currentButtonState; /* Serial control, mainly to debug*/ if (Serial.available() > 1) { byte letter = Serial.read(); Serial.read(); //read the newline if (letter == 's') { swichOffArray(); } else if (letter == 'f') { focusArrayAt( 0, 0.1f, 0); } else { Serial.println("Yeah, I am still alive"); } } /* random mode*/ if (randomMode && randomModeTriggerMillis <= currentMillis){ randomModeTriggerMillis = currentMillis + random(20,150); focusArrayAt( random(-40,40) / 1000.0f, random(90,110) / 1000.0f, random(-40,40) / 1000.0f); } /* Commands comming from HTTP */ WiFiClient client = server.available(); if (client) { String request = client.readStringUntil('\r'); Serial.print( currentMillis ); Serial.print(' '); Serial.println( request ); client.println("HTTP/1.1 200 OK\nContent-type:text/html\nConnection: close\n\n"); // /focus/x_y_z // /off // /mode/number number 1 to 4, mainly affects the modulation frequency // /line at 10cm, 0 degrees // /noise at 10cm, sparks (random mode) int sep1 = request.indexOf('/'); if (sep1 == -1) return; //disable randomMode (noise pop...) randomMode = false; //command if ((sep1 = request.indexOf("focus", sep1+1)) != -1){ const int sep2 = request.indexOf('/', sep1 + 1); const int sep3 = request.indexOf('_', sep2 + 1); const int sep4 = request.indexOf('_', sep3 + 1); const int sep5 = request.indexOf(' ', sep4 + 1); if (sep2 == -1 || sep3 == -1 || sep4 == -1 || sep5 == -1) return; const float posX = request.substring(sep2 + 1, sep3).toFloat(); const float posY = request.substring(sep3 + 1, sep4).toFloat(); const float posZ = request.substring(sep4 + 1, sep5).toFloat(); Serial.printf("Focusing at %f %f %f\n", posX, posY, posZ); focusArrayAt( -posX, posY, posZ); Serial.println("Focused"); client.printf("Focused at %f %f %f\n", posX, posY, posZ); }else if((sep1 = request.indexOf("off", sep1+1)) != -1){ Serial.println("Switching off the array..."); swichOffArray(); }else if((sep1 = request.indexOf("mode", sep1+1)) != -1){ const int sep2 = request.indexOf('/', sep1 + 1); const int sep3 = request.indexOf(' ', sep2 + 1); const int mod = request.substring(sep2 + 1, sep3).toInt(); if (mod == 1){ changeModulation( MOD_PERIODS_DEFAULT ); }else if (mod == 2){ changeModulation( 7 ); }else if (mod == 3){ changeModulation( 15 ); }else if (mod == 4){ changeModulation( 8 ); }else{ changeModulation( MOD_PERIODS_DEFAULT ); } }else if((sep1 = request.indexOf("line", sep1+1)) != -1){ Serial.println("Emitting a line..."); sendPhasePattern( PHASES_FOR_LINE ); }else if((sep1 = request.indexOf("sparks", sep1+1)) != -1){ Serial.println("Emitting noise..."); randomMode = true; randomModeTriggerMillis = currentMillis; }else if((sep1 = request.indexOf("version", sep1+1)) != -1){ Serial.println("Version is"); client.printf("Version is %s\n", ULTRATACT_VERSION); } client.stop(); } }