refactor(server): ♻️ extract server logic from main file
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@ -7,15 +7,10 @@
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#include "config.h" // Configuration des entrées/sorties et delais.
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#include "controls.h" // Fonctions pour se déplacer.
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#include "convert.h" // Utilitaires pour convertir des mesures en steps.
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#include "server.h" // Configure et demarre le server HTTP.
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// Variables de commande :
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struct command_t
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{
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bool running; // Une commande doit être exécutée
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bool stopped; // La commande doit être stoppée
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String name; // Nom de la commande
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int value; // Valeur (nombre de pas à effectuer)
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} command = {false, false};
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// État global de la commande en cours
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command_t command = {.running = false, .stopped = false};
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// Création du serveur asynchrone :
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AsyncWebServer server(80);
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@ -59,98 +54,6 @@ void loop()
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}
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}
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// Configuration du serveur asynchrone
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void serverConfig()
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{
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server.on("/get", HTTP_GET, [](AsyncWebServerRequest *request)
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{
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String commandName;
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float commandValue;
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// Parse request params and update command and value
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parseRequestParams(request, commandName, commandValue);
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Serial.print(commandName);
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Serial.print(": ");
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Serial.println(commandValue);
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request->send(200, "text/plain", commandName); });
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}
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void parseRequestParams(AsyncWebServerRequest *request, String &commandName, float &commandValue)
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{
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// Stop here with error message if wrong command
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if (!request->hasParam("command"))
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{
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commandName = "No command provided";
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return;
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}
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// Update command from params
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commandName = request->getParam("command")->value();
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// Update value from params and use "0" as default
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commandValue = request->hasParam("value") ? request->getParam("value")->value().toFloat() : 0;
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requestCheck(commandName, commandValue);
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}
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// Lorsqu'une commande arrive au serveur, cette fonction permet
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void requestCheck(String commandName, float commandValue)
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{
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if (commandName == "stop")
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{
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command.name = "stop";
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command.running = true;
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command.stopped = true;
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}
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else
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{
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setGlobals(commandName, commandValue);
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}
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if (commandValue == 0)
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{
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command.value = 474;
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}
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}
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void setGlobals(String commandName, float commandValue)
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{
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// Assert command before updating globals
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if (commandName != "forward" && commandName != "backward" && commandName != "left" && commandName != "right")
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{
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return;
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}
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// Update globals
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command.name = commandName;
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command.running = true;
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command.stopped = false;
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command.value = convertLengthToSteps(commandValue);
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}
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void connectWiFi()
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{
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// For simulator only
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WiFi.mode(WIFI_STA);
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WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
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if (WiFi.waitForConnectResult() != WL_CONNECTED)
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{
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Serial.printf("WiFi Failed!\n");
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return;
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}
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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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// WiFi.mode(WIFI_AP);
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// WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
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// Serial.print("[+] AP Created with IP Gateway ");
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// Serial.println(WiFi.softAPIP());
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// Serial.println("");
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}
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void chooseCommand()
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{
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if (command.name == "forward")
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120
server/src/server.h
Normal file
120
server/src/server.h
Normal file
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@ -0,0 +1,120 @@
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/************************************
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Configuration et handlers du server
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************************************/
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// Type de la variable globale command
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struct command_t
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{
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bool running; // Une commande doit être exécutée
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bool stopped; // La commande doit être stoppée
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String name; // Nom de la commande
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int value; // Valeur (nombre de pas à effectuer)
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};
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// Configuration du serveur asynchrone.
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void serverConfig()
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{
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server.on("/get", HTTP_GET, [](AsyncWebServerRequest *request)
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{
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String commandName;
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float commandValue;
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// Parse request params and update command and value
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parseRequestParams(request, commandName, commandValue);
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Serial.print(commandName);
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Serial.print(": ");
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Serial.println(commandValue);
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request->send(200, "text/plain", commandName); });
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}
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// Démarre le point d'accès WiFi.
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void connectWiFi()
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{
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// For simulator only
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WiFi.mode(WIFI_STA);
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WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
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if (WiFi.waitForConnectResult() != WL_CONNECTED)
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{
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Serial.printf("WiFi Failed!\n");
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return;
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}
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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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// WiFi.mode(WIFI_AP);
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// WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
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// Serial.print("[+] AP Created with IP Gateway ");
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// Serial.println(WiFi.softAPIP());
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// Serial.println("");
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}
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/**
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* Parse la requête GET (vers "/get") du serveur et résout le nom de la commande et sa valeur.
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*
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* Example
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* String commandName;
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* float commandValue;
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* parseRequestParams(request, commandName, commandValue);
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*/
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void parseRequestParams(AsyncWebServerRequest *request, String &commandName, float &commandValue)
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{
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// Stop here with error message if wrong command
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if (!request->hasParam("command"))
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{
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commandName = "No command provided";
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return;
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}
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// Update command from params
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commandName = request->getParam("command")->value();
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// Update value from params and use "0" as default
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commandValue = request->hasParam("value") ? request->getParam("value")->value().toFloat() : 0;
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requestCheck(commandName, commandValue);
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}
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/**
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* @brief Lorsqu'une commande arrive au serveur, cette fonction permet.
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* @internal
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*
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* @param commandName Nom de la commande.
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* @param commandValue Valeur de la command (si 0 assigné à 474).
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*/
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void requestCheck(String commandName, float commandValue)
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{
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if (commandName == "stop")
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{
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command.name = "stop";
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command.running = true;
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command.stopped = true;
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}
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else
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{
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setGlobals(commandName, commandValue);
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}
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if (commandValue == 0)
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{
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command.value = 474;
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}
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}
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// Met à jour la command globale.
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void setGlobals(String commandName, float commandValue)
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{
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// Assert command before updating globals
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if (commandName != "forward" && commandName != "backward" && commandName != "left" && commandName != "right")
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{
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return;
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}
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// Update globals
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command.name = commandName;
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command.running = true;
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command.stopped = false;
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command.value = convertLengthToSteps(commandValue);
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}
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