mirror of
https://github.com/MeowLynxSea/MarsCar.git
synced 2025-07-09 10:44:35 +00:00
129 lines
3.1 KiB
C++
129 lines
3.1 KiB
C++
#ifndef WIFI_SERVER_H
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#define WIFI_SERVER_H
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#include <string>
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#include <vector>
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#include "parameter.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_system.h"
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#include "esp_wifi.h"
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#include "esp_event.h"
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#include "esp_log.h"
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#include "nvs_flash.h"
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#include "lwip/err.h"
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#include "lwip/sys.h"
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#include "lwip/sockets.h"
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#include "driver/gpio.h"
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#include <driver/uart.h>
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// 常量定义
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#define READ_DELAY_MS 10
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#define SHORT_DELAY_MS 1
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// 按钮常量定义
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#define BUTTON_SELECT 0x0001
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#define BUTTON_L3 0x0002
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#define BUTTON_R3 0x0004
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#define BUTTON_START 0x0008
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#define BUTTON_PAD_UP 0x0010
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#define BUTTON_PAD_RIGHT 0x0020
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#define BUTTON_PAD_DOWN 0x0040
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#define BUTTON_PAD_LEFT 0x0080
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#define BUTTON_L2 0x0100
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#define BUTTON_R2 0x0200
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#define BUTTON_L1 0x0400
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#define BUTTON_R1 0x0800
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#define BUTTON_TRIANGLE 0x1000
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#define BUTTON_CIRCLE 0x2000
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#define BUTTON_CROSS 0x4000
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#define BUTTON_SQUARE 0x8000
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#define W_LX 0
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#define W_LY 1
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#define W_RX 2
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#define W_RY 3
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#define W_UP 0
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#define W_DOWN 1
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#define W_FORWARD 2
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#define W_BACKWARD 3
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#define W_RIGHT 4
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#define W_LEFT 5
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class WifiServer
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{
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public:
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// 初始化配置
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struct Config
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{
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const char *wifi_ssid;
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const char *wifi_pass;
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uart_port_t uart_port;
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gpio_num_t txd_pin;
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gpio_num_t rxd_pin;
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int web_port = 80;
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int max_clients = 5;
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};
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WifiServer(const Config &config);
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int get_reset(){return reset;}
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int get_ball(){return getBall;}
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double* get_catcherData(){return catcherData;}
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double* get_carData(){return carData;}
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double getUP(){return catcherData[W_UP];}
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double getDOWN(){return catcherData[W_DOWN];}
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double getLEFT(){return catcherData[W_LEFT];}
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double getRIGHT(){return catcherData[W_RIGHT];}
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double getFORWARD(){return catcherData[W_FORWARD];}
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double getBACKWARD(){return catcherData[W_BACKWARD];}
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double getLx(){return carData[W_LX];};
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double getLy(){return carData[W_LY];};
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double getRx(){return carData[W_RX];};
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double getRy(){return carData[W_RY];};
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double getPaw(){return pawData;}
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// 启动服务
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void start();
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void normlized();
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// 停止服务
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void stop();
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void print();
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private:
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double carData[4];
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double catcherData[6];
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int reset;
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int getBall;
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double pawData;
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// 解析 GET 参数
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std::pair<std::string, std::vector<std::pair<std::string, std::string>>>
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parse_get_params(const std::string &request);
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// WiFi 初始化
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void wifi_init_sta();
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// HTTP 服务器任务
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static void udp_server_task(void *arg);
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// 任务句柄
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TaskHandle_t server_task_handle = nullptr;
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// 配置
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Config config;
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// HTML 响应内容
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const char *html_response =
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"HTTP/1.1 200 OK\r\n"
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"Content-Type: text/html\r\n\r\n"
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"<!DOCTYPE html>"
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"<html>"
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"<head>"
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" <title>MarsCar Web Server</title>"
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"</head>"
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"<body>"
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" <h1>Hello from ESP32!</h1>"
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" <p>这是一个运行在 ESP32 上的基本 Web 服务器。</p>"
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"</body>"
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"</html>";
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};
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#endif // WIFI_SERVER_H
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