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INF2004_Project
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Merge pull request #19 from OldManSteve/main

This commit is contained in:
Richie Wang 2023-11-25 21:20:38 +08:00 committed by GitHub
parent bb9450a5aa 6e1a5f38bc
commit d3ec0e8652
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GPG Key ID: 4AEE18F83AFDEB23
11 changed files with 438 additions and 298 deletions
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33
README.md
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@ -69,4 +69,37 @@ The final version of the magnetometer uses a **moving average filter** to smooth
## Barcode (Line) Sensor ## Barcode (Line) Sensor
## WiFi (Web Server) Module ## WiFi (Web Server) Module
The WiFi (Web Server) Module within this project integrates Server-Side Includes (SSI) and Common Gateway Interface (CGI) handlers from the lwIP library, facilitating a web interface to display information and receive controls from a webpage.
### Components Overview
1. **[frontend.h](frtos/frontend/frontend.h):** This component initializes and manages the web server frontend. It establishes the initial connection to the WiFi network using environment variables such as WIFI_SSID and WIFI_PASSWORD.
2. **[html_files](frtos/frontend/html_files):** This directory contains HTML files used for the web server display. These files are linked into lwIP to enable server-side processing and rendering.
3. **[ssi.h](frtos/frontend/ssi.h):** Handles Server-Side Includes (SSI), which dynamically inserts content into web pages, allowing the display of real-time or changing information.
4. **[cgi.h](frtos/frontend/cgi.h):** Manages Common Gateway Interface (CGI) handlers, enabling the reception of controls and user interactions from the web interface.
5. **makefsdata Utility:** This tool generates `htmldata.c` by converting HTML files into hexadecimal representation to link them into lwIP. It involves converting filenames into hex, defining HTTP headers for file extensions, and converting HTML content into a hex array for efficient storage and retrieval.
- **Automatic Generation of htmldata.c:**
- `makefsdata.c` creates `makefsdata.exe` automatically upon build, as specified in `CMakeLists.txt`.
- `makefsdata.exe` in turn generates `htmldata.c`, which links the HTML pages to lwIP for server-side processing, enabling seamless integration of web content.
### Functionality and Implementation Details
The WiFi (Web Server) Module offers the following functionalities:
- **Dynamic Content Display:** SSI allows the server to include dynamic content in web pages, facilitating real-time updates or information display.
- **User Interaction Handling:** CGI enables the server to process user interactions received from the web interface, enabling control and interaction with the Pico-based car.
- **WiFi Connectivity:** `frontend.h` establishes a connection to the designated WiFi network using the environment variables WIFI_SSID and WIFI_PASSWORD. This connection is essential for enabling communication between the Pico device and the network.
The integration of SSI, CGI, and the makefsdata tool empowers the WiFi (Web Server) Module to provide a user-friendly interface for monitoring and controlling the Pico-based car within the defined network environment.

1
frtos/CMakeLists.txt
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@ -33,6 +33,7 @@ target_link_libraries(rtos_car
hardware_adc hardware_adc
hardware_pwm hardware_pwm
hardware_i2c hardware_i2c
pico_lwip_http
) )
pico_enable_stdio_usb(rtos_car 1) pico_enable_stdio_usb(rtos_car 1)
pico_add_extra_outputs(rtos_car) pico_add_extra_outputs(rtos_car)

5
frtos/frontend/CMakeLists.txt
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@ -28,5 +28,10 @@ target_include_directories(frontend PRIVATE
${CMAKE_CURRENT_LIST_DIR} ${CMAKE_CURRENT_LIST_DIR}
) )
target_compile_definitions(frontend PRIVATE
WIFI_SSID=\"${WIFI_SSID}\"
WIFI_PASSWORD=\"${WIFI_PASSWORD}\"
)
pico_enable_stdio_usb(frontend 1) pico_enable_stdio_usb(frontend 1)
pico_add_extra_outputs(frontend) pico_add_extra_outputs(frontend)

15
frtos/frontend/cgi.h
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@ -2,6 +2,8 @@
#include "pico/cyw43_arch.h" #include "pico/cyw43_arch.h"
#include "stdio.h" #include "stdio.h"
#include "car_config.h"
// CGI handler for start/stop car // CGI handler for start/stop car
const char * cgi_status_handler(int iIndex, int iNumParams, char *pcParam[], char *pcValue[]) const char * cgi_status_handler(int iIndex, int iNumParams, char *pcParam[], char *pcValue[])
{ {
@ -12,9 +14,17 @@ const char * cgi_status_handler(int iIndex, int iNumParams, char *pcParam[], cha
if(strcmp(pcValue[0], "0") == 0){ if(strcmp(pcValue[0], "0") == 0){
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0); cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0);
printf("CAR STOP"); // call car stop func printf("CAR STOP"); // call car stop func
/*
set_wheel_direction(DIRECTION_MASK);
set_wheel_speed_synced(0u, car_struct);
*/
}else if(strcmp(pcValue[0], "1") == 0){ }else if(strcmp(pcValue[0], "1") == 0){
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1); cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
printf("CAR START"); // call car start func printf("CAR START"); // call car start func
/*
set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct);
*/
} }
} }
@ -54,7 +64,8 @@ static const tCGI cgi_handlers[] = {
}, },
}; };
void cgi_init(void) void cgi_init(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params;
http_set_cgi_handlers(cgi_handlers, 2); http_set_cgi_handlers(cgi_handlers, 2);
} }

76
frtos/frontend/frontend.c
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@ -1,71 +1,23 @@
#include "lwip/apps/httpd.h"
#include "pico/stdlib.h" #include "pico/stdlib.h"
#include "pico/cyw43_arch.h"
#include "lwipopts.h"
#include "ssi.h"
#include "cgi.h"
#include "FreeRTOS.h"
#include "task.h"
// WIFI Credentials - take care if pushing to GitHub! #include "frontend.h"
const char WIFI_SSID[] = "XXX"; #include "car_config.h"
const char WIFI_PASSWORD[] = "XXX";
void print_ip_address() {
struct netif *netif = netif_list;
while (netif != NULL) {
if (netif_is_up(netif)) {
printf("IP Address: %s\n", ipaddr_ntoa(&(netif->ip_addr)));
}
netif = netif->next;
}
}
static void webserver_run(){
// Initialize web server
httpd_init();
printf("Http server initialized\n");
// Configure SSI and CGI handler
ssi_init();
printf("SSI Handler initialized\n");
cgi_init();
printf("CGI Handler initialized\n");
// Infinite loop
while (1) {
// Add any required delay or use other FreeRTOS features here if needed
vTaskDelay(pdMS_TO_TICKS(1000));
}
}
static void webserver_task(){
if (cyw43_arch_init())
{
printf("failed to initialise\n");
return;
}
cyw43_arch_enable_sta_mode();
printf("Connecting to WiFi...\n");
// Connect to the WiFI network - loop until connected
while (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000) != 0) {
printf("Attempting to connect...\n");
}
// Print a success message once connected
printf("Connected! \n");
print_ip_address();
webserver_run();
cyw43_arch_deinit();
}
int main() { int main() {
stdio_init_all(); stdio_init_all();
// Create the FreeRTOS task for the web server obs_t obs;
TaskHandle_t task_handle; motor_t motor_right;
xTaskCreate(webserver_task, "WebServerTask", configMINIMAL_STACK_SIZE, NULL, 1, &task_handle); motor_t motor_left;
motor_pid_t pid;
car_struct_t car_struct = { .p_right_motor = &motor_right,
.p_left_motor = &motor_left,
.p_pid = &pid,
.obs = &obs};
webserver_init(&car_struct); //to test webserver only, remove car_struct from all frontend files
// Start the FreeRTOS scheduler // Start the FreeRTOS scheduler
vTaskStartScheduler(); vTaskStartScheduler();

75
frtos/frontend/frontend.h Normal file
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@ -0,0 +1,75 @@
#include "lwip/apps/httpd.h"
#include "pico/stdlib.h"
#include "pico/cyw43_arch.h"
#include "lwipopts.h"
#include "ssi.h"
#include "cgi.h"
#include "FreeRTOS.h"
#include "task.h"
#include "car_config.h"
// print assigned ip addr
void print_ip_address() {
struct netif *netif = netif_list;
while (netif != NULL) {
if (netif_is_up(netif)) {
printf("IP Address: %s\n", ipaddr_ntoa(&(netif->ip_addr)));
}
netif = netif->next;
}
}
// initializes server and handlers
static void webserver_run(void *params){
car_struct_t *car_struct = (car_struct_t *)params;
// Initialize web server
httpd_init();
printf("Http server initialized\n");
// Configure SSI and CGI handler
ssi_init(&car_struct);
printf("SSI Handler initialized\n");
cgi_init(&car_struct);
printf("CGI Handler initialized\n");
// Infinite loop
while (1) {
// Add any required delay or use other FreeRTOS features here if needed
vTaskDelay(pdMS_TO_TICKS(1000));
}
}
// webserver task connect wifi & start webserver_run
static void webserver_task(void *params){
car_struct_t *car_struct = (car_struct_t *)params;
if (cyw43_arch_init())
{
printf("failed to initialise\n");
return;
}
cyw43_arch_enable_sta_mode();
printf("Connecting to WiFi...\n");
// Connect to the WiFI network - loop until connected
while (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000) != 0) {
printf("Attempting to connect...\n");
}
// Print a success message once connected
printf("Connected! \n");
print_ip_address();
webserver_run(&car_struct);
cyw43_arch_deinit();
}
// frontend initialize - create task
void webserver_init(void *params)
{
car_struct_t *car_struct = (car_struct_t *)params;
// Create the FreeRTOS task for the web server
TaskHandle_t task_handle;
xTaskCreate(webserver_task, "WebServerTask", configMINIMAL_STACK_SIZE, (void *)&car_struct, 1, &task_handle);
}

8
frtos/frontend/html_files/index.shtml
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@ -54,6 +54,11 @@
margin-top: 20px; margin-top: 20px;
} }
.obstacle-output {
font-size: 24px;
margin-top: 20px;
}
.orientation-output { .orientation-output {
font-size: 24px; font-size: 24px;
margin-top: 20px; margin-top: 20px;
@ -92,6 +97,9 @@
<div class="pid-output"> <div class="pid-output">
<p>PID Controller Output: <!--#pid--></p> <p>PID Controller Output: <!--#pid--></p>
</div> </div>
<div class="obstacle-output">
<p>Obstacle: <!--#obstacle--></p>
</div>
<div class="orientation-output"> <div class="orientation-output">
<p>Orientation: <!--#orient--></p> <p>Orientation: <!--#orient--></p>
</div> </div>

473
frtos/frontend/htmldata.c
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@ -125,258 +125,279 @@ static const unsigned char data_index_shtml[] = {
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const struct fsdata_file file_index_shtml[] = {{ NULL, data_index_shtml, data_index_shtml + 13, sizeof(data_index_shtml) - 13, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }}; const struct fsdata_file file_index_shtml[] = {{ NULL, data_index_shtml, data_index_shtml + 13, sizeof(data_index_shtml) - 13, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }};

BIN
frtos/frontend/makefsdata.exe
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Binary file not shown.

46
frtos/frontend/ssi.h
View File

@ -3,8 +3,11 @@
#include "hardware/adc.h" #include "hardware/adc.h"
#include "pico/stdlib.h" #include "pico/stdlib.h"
#include "car_config.h"
car_struct_t *car_struct;
// SSI tags - tag length limited to 8 bytes by default // SSI tags - tag length limited to 8 bytes by default
const char * ssi_tags[] = {"speed","barcode","pid","orient"}; const char * ssi_tags[] = {"speed","barcode","pid","obstacle","orient"};
u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) { u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
size_t printed; size_t printed;
@ -12,8 +15,15 @@ u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
case 0: // Speed case 0: // Speed
{ {
// call getSpeed() function // call getSpeed() function
const float Speed = adc_read() * 3.3f / (1 << 12);
printed = snprintf(pcInsert, iInsertLen, "%f ",Speed); /*
const float c_speed = car_struct->p_right_motor->speed.current_cms;
printf("\n\t%f\n",c_speed);
printed = snprintf(pcInsert, iInsertLen, "%f ",c_speed);
*/
const float speed = adc_read() * 3.3f / (1 << 12);
printed = snprintf(pcInsert, iInsertLen, "%f ",speed);
} }
break; break;
case 1: // barcode case 1: // barcode
@ -25,15 +35,32 @@ u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
break; break;
case 2: //PID case 2: //PID
{ {
// whatever to display for PID // whatever to display for PID
const char* PID = "54" ; const char* PID = "-" ;
printed = snprintf(pcInsert, iInsertLen, "%s", PID); printed = snprintf(pcInsert, iInsertLen, "%s", PID);
} }
break; break;
case 3: //Orientation case 3: //Obstacle detected
{
// call getObstacleDetected() function
/*
bool obstacle = car_struct->obs->ultrasonic_detected;
if (obstacle){
printed = snprintf(pcInsert, iInsertLen, "%s", "YES");
}
else{
printed = snprintf(pcInsert, iInsertLen, "%s", "NO");
}
*/
printed = snprintf(pcInsert, iInsertLen, "%s", "YES");
}
case 4: //Orientation
{ {
// call getOrientation() function // call getOrientation() function
const char* orien = "South" ;
const char* orien = "South";
printed = snprintf(pcInsert, iInsertLen, "%s", orien); printed = snprintf(pcInsert, iInsertLen, "%s", orien);
} }
break; break;
@ -46,7 +73,10 @@ u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
} }
// Initialise the SSI handler // Initialise the SSI handler
void ssi_init() { void ssi_init(void *params) {
car_struct = (car_struct_t *)params;
// Initialise ADC (internal pin) // Initialise ADC (internal pin)
adc_init(); adc_init();
adc_set_temp_sensor_enabled(true); adc_set_temp_sensor_enabled(true);

4
frtos/rtos_car.c
View File

@ -3,6 +3,7 @@
#include "ultrasonic_sensor.h" #include "ultrasonic_sensor.h"
#include "car_config.h" #include "car_config.h"
#include "motor_init.h" #include "motor_init.h"
#include "frontend.h"
/*! /*!
* @brief Check if the car is on the line * @brief Check if the car is on the line
@ -151,6 +152,9 @@ main(void)
.obs = &obs, .obs = &obs,
.p_direction = &direction }; .p_direction = &direction };
// webserver frontend
webserver_init(&car_struct);
// Magnetometer // Magnetometer
magnetometer_init(&car_struct); magnetometer_init(&car_struct);
// magnetometer_tasks_init(&car_struct); // magnetometer_tasks_init(&car_struct);