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esp8266 ESC control example
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‎examples/esp8266/EscControl/EscControl/EscControl.ino

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/********************
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Arduino generic menu system
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Feb. 2019 Rui Azevedo - ruihfazevedo(@rrob@)gmail.com
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IMPORTANT!:
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this requires the data folder to be stored on esp8266 spiff
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Extra libraries should be present
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arduinoWebSockets - https://github.com/Links2004/arduinoWebSockets
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ESP8266WiFi - https://github.com/esp8266/Arduino/tree/master/libraries/ESP8266WiFi
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ESP8266WebServer - https://github.com/esp8266/Arduino/tree/master/libraries/ESP8266WebServer
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*/
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#include <Servo.h>
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#include <menu.h>
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#include <menuIO/esp8266Out.h>
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#include <menuIO/xmlFmt.h>//to write a menu has html page
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#include <menuIO/serialIn.h>
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#include <menuIO/xmlFmt.h>//to write a menu has xml page
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#include <menuIO/jsonFmt.h>//to write a menu has xml page
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#ifndef ARDUINO_STREAMING
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#include <streamFlow.h>//https://github.com/neu-rah/streamFlow
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#else
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#include <Streaming.h>//https://github.com/scottdky/Streaming
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#endif
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//#include <menuIO/jsFmt.h>//to send javascript thru web socket (live update)
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#include <FS.h>
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#include <Hash.h>
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extern "C" {
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#include "user_interface.h"
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}
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using namespace Menu;
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#ifdef WEB_DEBUG
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// on debug mode I put aux files on external server to allow changes without SPIFF update
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// on this mode the browser MUST be instructed to accept cross domain files
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String xslt("http://neurux:8080/");
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#else
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String xslt("");
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#endif
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menuOut& operator<<(menuOut& o,unsigned long int i) {
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o.print(i);
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return o;
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}
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menuOut& operator<<(menuOut& o,endlObj) {
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o.println();
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return o;
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}
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//this version numbers MUST be the same as data/1.2
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#define CUR_VERSION "1.4"
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#define APName "EscControl"
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#define ESCPIN 2
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Servo myservo;
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#ifndef MENU_SSID
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#error "need to define WiFi SSID here"
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#define MENU_SSID "r-site.net"
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#endif
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#ifndef MENU_PASS
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#error "need to define WiFi password here"
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#define MENU_PASS ""
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#endif
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// char wifiSSID[wifiSSIDLen+1];//=" ";
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// char wifiPwd [wifiPwdLen+1];//=" ";
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const char* ssid = MENU_SSID;
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const char* password = MENU_PASS;
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const char* serverName="192.168.1.79";
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#define HTTP_PORT 80
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#define WS_PORT 81
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#define USE_SERIAL Serial
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ESP8266WebServer server(80);
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WebSocketsServer webSocket(81);
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#define MAX_DEPTH 2
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idx_t web_tops[MAX_DEPTH];
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PANELS(webPanels,{0,0,80,100});
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xmlFmt<esp8266_WebServerStreamOut> serverOut(server,web_tops,webPanels);
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jsonFmt<esp8266_WebServerStreamOut> jsonOut(server,web_tops,webPanels);
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jsonFmt<esp8266BufferedOut> wsOut(web_tops,webPanels);
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int speed=0;//0 to 180
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result setEsc() {
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myservo.write(speed);
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}
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result armEsc() {
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Serial.println("arming ESC");
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serverOut<<"arming ESC<br/>";
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// arm the speed controller, modify as necessary for your ESC
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speed=0;
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setEsc();
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delay(1000); //delay 1 second, some speed controllers may need longer
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return proceed;
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}
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result stopEsc() {
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Serial.println("ESC stop");
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serverOut<<"ESC stop<br/>";
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speed=0;
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setEsc();
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return proceed;
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}
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//the menu
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MENU(mainMenu,"Main menu",doNothing,noEvent,wrapStyle
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,OP("Stop",stopEsc,enterEvent)
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,OP("Arm",armEsc,enterEvent)
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,FIELD(speed,"Speed","%",0,100,10,1, setEsc, enterEvent, noStyle)
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,EXIT("Exit!")
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);
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result idle(menuOut& o,idleEvent e) {
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//if (e==idling)
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Serial.println("suspended");
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o<<"suspended..."<<endl<<"press [select]"<<endl<<"to continue"<<endl<<(millis()%1000);
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return quit;
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}
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template<typename T>//some utill to help us calculate array sizes (known at compile time)
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constexpr inline size_t len(T& o) {return sizeof(o)/sizeof(decltype(o[0]));}
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//serial menu navigation
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MENU_OUTLIST(out,&serverOut);
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serialIn serial(Serial);
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NAVROOT(nav,mainMenu,MAX_DEPTH,serial,out);
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//xml+http navigation control
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noInput none;//web uses its own API
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menuOut* web_outputs[]={&serverOut};
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outputsList web_out(web_outputs,len(web_outputs));
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navNode web_cursors[MAX_DEPTH];
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navRoot webNav(mainMenu, web_cursors, MAX_DEPTH, none, web_out);
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//json+http navigation control
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menuOut* json_outputs[]={&jsonOut};
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outputsList json_out(json_outputs,len(json_outputs));
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navNode json_cursors[MAX_DEPTH];
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navRoot jsonNav(mainMenu, json_cursors, MAX_DEPTH, none, json_out);
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//websockets navigation control
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menuOut* ws_outputs[]={&wsOut};
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outputsList ws_out(ws_outputs,len(ws_outputs));
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navNode ws_cursors[MAX_DEPTH];
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navRoot wsNav(mainMenu, ws_cursors, MAX_DEPTH, none, ws_out);
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//config myOptions('*','-',defaultNavCodes,false);
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void webSocketEvent(uint8_t num, WStype_t type, uint8_t * payload, size_t length) {
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switch(type) {
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case WStype_DISCONNECTED:
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//USE_SERIAL.printf("[%u] Disconnected!\n", num);
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break;
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case WStype_CONNECTED: {
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IPAddress ip = webSocket.remoteIP(num);
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//USE_SERIAL.printf("[%u] Connected from %d.%d.%d.%d url: %s\n", num, ip[0], ip[1], ip[2], ip[3], payload);
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webSocket.sendTXT(num, "console.log('ArduinoMenu Connected')");
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}
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break;
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case WStype_TEXT: {
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//USE_SERIAL.printf("[%u] get Text: %s\n", num, payload);
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// nav.async((const char*)payload);//this is slow!!!!!!!!
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__trace(Serial.printf("[%u] get Text: %s\n", num, payload));
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char*s=(char*)payload;
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_trace(Serial<<"serve websocket menu"<<endl);
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wsOut.response.remove(0);
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wsOut<<"{\"output\":\"";
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wsNav.async((const char*)payload);
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wsOut<<"\",\n\"menu\":";
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wsNav.doOutput();
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wsOut<<"\n}";
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webSocket.sendTXT(num,wsOut.response);
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// wsOut.response.remove(0);
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// jsonEnd();
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} break;
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case WStype_BIN: {
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USE_SERIAL<<"[WSc] get binary length:"<<length<<"[";
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for(int c=0;c<length;c++) {
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USE_SERIAL.print(*(char*)(payload+c),HEX);
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USE_SERIAL.write(',');
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}
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USE_SERIAL<<"]"<<endl;
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uint16_t id=*(uint16_t*) payload++;
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idx_t len=*((idx_t*)++payload);
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idx_t* pathBin=(idx_t*)++payload;
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const char* inp=(const char*)(payload+len);
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//Serial<<"id:"<<id<<endl;
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if (id==nav.active().hash()) {
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//Serial<<"id ok."<<endl;Serial.flush();
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//Serial<<"input:"<<inp<<endl;
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//StringStream inStr(inp);
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//while(inStr.available())
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nav.doInput(inp);
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webSocket.sendTXT(num, "binBusy=false;");//send javascript to unlock the state
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} //else Serial<<"id not ok!"<<endl;
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//Serial<<endl;
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}
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break;
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default:break;
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}
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}
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void pageStart() {
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_trace(Serial<<"pasgeStart!"<<endl);
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serverOut<<"HTTP/1.1 200 OK\r\n"
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<<"Content-Type: text/xml\r\n"
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<<"Connection: close\r\n"
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<<"Expires: 0\r\n"
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<<"\r\n";
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serverOut<<"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\r\n"
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"<?xml-stylesheet type=\"text/xsl\" href=\"";
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serverOut<<xslt;
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serverOut<<CUR_VERSION"/device.xslt";
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serverOut<<"\"?>\r\n<menuLib"
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#ifdef WEB_DEBUG
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<<" debug=\"yes\""
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#endif
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<<" host=\"";
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serverOut.print(APName);
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serverOut<<"\">\r\n<sourceURL ver=\"" CUR_VERSION "/\">";
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if (server.hasHeader("host"))
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serverOut.print(server.header("host"));
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else
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serverOut.print(APName);
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serverOut<<"</sourceURL>";
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}
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void pageEnd() {
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serverOut<<"</menuLib>";
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server.client().stop();
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}
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void jsonStart() {
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_trace(Serial<<"jsonStart!"<<endl);
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serverOut<<"HTTP/1.1 200 OK\r\n"
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<<"Content-Type: application/json; charset=utf-8\r\n"
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<<"Connection: close\r\n"
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<<"Expires: 0\r\n"
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<<"\r\n";
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}
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void jsonEnd() {
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server.client().stop();
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}
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bool handleMenu(navRoot& nav){
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_trace(
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uint32_t free = system_get_free_heap_size();
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Serial.print(F("free memory:"));
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Serial.print(free);
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Serial.print(F(" handleMenu "));
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Serial.println(server.arg("at").c_str());
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);
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String at=server.arg("at");
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bool r;
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r=nav.async(server.hasArg("at")?at.c_str():"/");
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return r;
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}
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//redirect to version folder,
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//this allows agressive caching with no need to cache reset on version change
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auto mainPage= []() {
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_trace(Serial<<"serving main page from root!"<<endl);
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server.sendHeader("Location", CUR_VERSION "/index.html", true);
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server.send ( 302, "text/plain", "");
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if (server.hasArg("at"))
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nav.async(server.arg("at").c_str());
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};
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void setup(){
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Serial.begin(115200);
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while(!Serial);
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myservo.attach(ESCPIN);
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webNav.canExit=false;
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jsonNav.canExit=false;
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wsNav.canExit=false;
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for(uint8_t t = 4; t > 0; t--) {
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Serial.printf("[SETUP] BOOT WAIT %d...\n", t);
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Serial.flush();
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delay(1000);
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}
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Serial.println();
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Serial.println("Arduino menu webserver example");
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SPIFFS.begin();
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Serial.print("Connecting to ");
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Serial.println(ssid);
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WiFi.begin(ssid, password);
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// Wait for connection
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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Serial.print(".");
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}
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webSocket.begin();
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Serial.println("");
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webSocket.onEvent(webSocketEvent);
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Serial.println("Connected.");
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Serial.print("IP address: ");
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Serial.println(WiFi.localIP());
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webSocket.begin();
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nav.idleTask=idle;//point a function to be used when menu is suspended
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server.on("/",HTTP_GET,mainPage);
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//menu xml server over http
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server.on("/menu", HTTP_GET, []() {
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pageStart();
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serverOut<<"<output state=\""<<((int)&webNav.idleTask)<<"\"><![CDATA[";
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_trace(Serial<<"output count"<<webNav.out.cnt<<endl);
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handleMenu(webNav);//do navigation (read input) and produce output messages or reports
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serverOut<<"]]></output>";
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webNav.doOutput();
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pageEnd();
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});
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//menu json server over http
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server.on("/json", HTTP_GET, []() {
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_trace(Serial<<"json request!"<<endl);
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jsonStart();
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serverOut<<"{\"output\":\"";
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handleMenu(jsonNav);
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serverOut<<"\",\n\"menu\":";
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jsonNav.doOutput();
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serverOut<<"\n}";
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jsonEnd();
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});
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server.begin();
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Serial.println("HTTP server started");
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Serial.println("Serving ArduinoMenu example.");
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#ifdef MENU_DEBUG
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server.serveStatic("/", SPIFFS, "/","max-age=30");
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#else
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server.serveStatic("/", SPIFFS, "/","max-age=31536000");
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#endif
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}
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void loop(void){
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wsOut.response.remove(0);//clear websocket json buffer
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webSocket.loop();
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server.handleClient();
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delay(1);
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}

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