From fc53ad0af3c8dea64f9109d237c1d45889bcb910 Mon Sep 17 00:00:00 2001
From: mhby1g21 <mhby1g21@soton.ac.uk>
Date: Tue, 18 Feb 2025 11:17:06 +0000
Subject: [PATCH] a bit more robust http handler
---
wifi-test/wifi-test.ino | 109 +++++++++++++++++++++++++---------------
1 file changed, 69 insertions(+), 40 deletions(-)
diff --git a/wifi-test/wifi-test.ino b/wifi-test/wifi-test.ino
index bba90ed..5186562 100644
--- a/wifi-test/wifi-test.ino
+++ b/wifi-test/wifi-test.ino
@@ -2,7 +2,6 @@
#include <Servo.h>
// WiFi credentials
-
// For robotic Arm 2, mac address is 30:C6:F7:03:60:80
// the password is pUguZXWtBDzl
const char ssid[] = "SOTON-IoT"; // Your network SSID
@@ -19,7 +18,6 @@ Servo ring;
Servo pinky;
// Servo pins
-
const int indexPin = 5;
const int middlePin = 4;
const int ringPin = 3;
@@ -29,14 +27,12 @@ void setup() {
Serial.begin(9600);
// Initialize servos
-
index_f.attach(indexPin);
middle.attach(middlePin);
ring.attach(ringPin);
pinky.attach(pinkyPin);
// Set initial positions
-
index_f.write(90);
middle.write(90);
ring.write(90);
@@ -64,56 +60,89 @@ void setup() {
void loop() {
WiFiClient client = server.available();
+
if (client) {
- String currentLine = "";
- while (client.connected()) {
+ Serial.println("New client connected");
+ String request = "";
+ boolean currentLineIsBlank = true;
+ unsigned long timeout = millis();
+
+ while (client.connected() && millis() - timeout < 1000) {
if (client.available()) {
char c = client.read();
+ request += c;
+
+ // If you've gotten to the end of the line (received a newline
+ // character) and the line is blank, the http request has ended,
+ // so you can send a reply
+ if (c == '\n' && currentLineIsBlank) {
+ // Send a standard http response header
+ client.println("HTTP/1.1 200 OK");
+ client.println("Content-Type: text/html");
+ client.println("Connection: close");
+ client.println();
+
+ // Send a simple confirmation page
+ client.println("<html><body>");
+ client.println("<h1>Command received</h1>");
+ client.println("</body></html>");
+ break;
+ }
if (c == '\n') {
- if (currentLine.length() == 0) {
- client.println("HTTP/1.1 200 OK");
- client.println("Content-type:text/html");
- client.println();
- client.println();
- break;
- } else {
- currentLine = "";
- }
+ currentLineIsBlank = true;
} else if (c != '\r') {
- currentLine += c;
- }
-
- // Process commands
- // Format: /finger/angle (e.g., /thumb/180)
- if (currentLine.startsWith("GET /")) {
- processCommand(currentLine);
+ currentLineIsBlank = false;
}
}
}
+
+ // Process the request
+ if (request.indexOf("GET /") != -1) {
+ Serial.println("Received request: " + request);
+ processRequest(request);
+ }
+
+ // Give the web browser time to receive the data
+ delay(10);
client.stop();
+ Serial.println("Client disconnected");
}
}
-void processCommand(String command) {
- Serial.println(command);
- // Extract finger and angle from command
- int firstSlash = command.indexOf('/');
- int secondSlash = command.indexOf('/', firstSlash + 1);
- int space = command.indexOf(' ', secondSlash);
+void processRequest(String request) {
+ // Extract the command path
+ int start = request.indexOf("GET ") + 4;
+ int end = request.indexOf(" HTTP");
- if (firstSlash != -1 && secondSlash != -1 && space != -1) {
- String finger = command.substring(firstSlash + 1, secondSlash);
- int angle = command.substring(secondSlash + 1, space).toInt();
-
- // Constrain angle between 0 and 180
- angle = constrain(angle, 0, 90);
+ if (start != -1 && end != -1) {
+ String command = request.substring(start, end);
+ Serial.println("Command: " + command);
- // Move appropriate servo
-
- if (finger == "index") index_f.write(angle);
- else if (finger == "middle") middle.write(angle);
- else if (finger == "ring") ring.write(angle);
- else if (finger == "pinky") pinky.write(angle);
+ // Parse command and move servos
+ if (command.startsWith("/index/")) {
+ int angle = command.substring(7).toInt();
+ angle = constrain(angle, 0, 90);
+ index_f.write(angle);
+ Serial.println("Moving index to " + String(angle));
+ }
+ else if (command.startsWith("/middle/")) {
+ int angle = command.substring(8).toInt();
+ angle = constrain(angle, 0, 90);
+ middle.write(angle);
+ Serial.println("Moving middle to " + String(angle));
+ }
+ else if (command.startsWith("/ring/")) {
+ int angle = command.substring(6).toInt();
+ angle = constrain(angle, 0, 90);
+ ring.write(angle);
+ Serial.println("Moving ring to " + String(angle));
+ }
+ else if (command.startsWith("/pinky/")) {
+ int angle = command.substring(7).toInt();
+ angle = constrain(angle, 0, 90);
+ pinky.write(angle);
+ Serial.println("Moving pinky to " + String(angle));
+ }
}
}
--
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