DAY 1: Connecting to the Aquabots Client

Day 1 of the Aquabots Autnomous Vessels Project: Connecting to the Aquabots Client.

Sep 24, 2018

•

1557 views

•

0 respects

robots

transportation

robots

Components and supplies

Grove Shield for Mega

Arduino Ethernet Shield 2

Arduino Mega 2560

Apps and platforms

Aquabots Client

Project description

Code

WebClient.h

c_cpp

Header files for Communicating with the Aquabots Client

1#ifndef WebClient_h
2#define WebClient_h
3
4#include <SPI.h>
5#include   <Ethernet.h>
6
7const unsigned long HTTP_TIMEOUT = 5000;// max respone time   from server
8
9/*
10  Web client
11
12  This sketch connects to a website
13   using an Arduino Wiznet Ethernet shield.
14
15  Circuit:
16   Ethernet shield   attached to pins 10, 11, 12, 13
17
18  created 18 Dec 2009
19  by David A. Mellis
20   modified 9 Apr 2012
21  by Tom Igoe, based on work by Adrian McEwen
22
23*/
24
25class   WebClient {
26
27  public: WebClient();
28    enum request {
29      UNKNOWN   = 0,
30      REGISTER_VESSEL = 1,
31      VESSEL_CONFIG = 2,
32      DEBUG =   3,
33      FIELD = 4,
34      UPDATE = 5,
35      WAYPOINTS = 6,
36      DATA   = 7,
37      NMEA = 8,
38      OPTIONS = 9,
39      LOG = 10,
40      WAYPOINT   = 11
41     };
42    
43    EthernetClient client;
44    void setup();
45    bool   connect();
46    void disconnect();
47    bool requestLog();
48    bool logMessage(   String message );
49    bool getWaypoint();
50    bool sendUpdate( String url   );
51    bool sendHttp( int request, String msg );
52    bool sendHttp( int request,   boolean post, String attrs );
53    String urlencode(String str);
54    String   printResponse( int request );
55    void logRequest( int request, boolean post,   String attrs );//for debugging
56    void logRequestStr( int request ); //dito
57     void loop();
58
59  private:
60    IPAddress server;
61    IPAddress ip;
62     String host;
63    int port;
64    bool connected;
65    String context;
66     String id;
67    int token;
68
69    // Enter a MAC address for your controller   below.
70    // Newer Ethernet shields have a MAC address printed on a sticker   on the shield
71    byte mac[6] = {0};
72
73    // Initialize the Ethernet client   library
74    // with the IP address and port of the server
75    // that you   want to connect to (port 80 is default for HTTP):
76    void requestService( int   request );
77    bool processResponse( int request );
78    boolean update( JsonObject&   root );
79    String urldecode(String str);
80    unsigned char h2int(char c);
81};
82
83#endif

#ifndef WebClient_h
#define WebClient_h

#include <SPI.h>
#include   <Ethernet.h>

const unsigned long HTTP_TIMEOUT = 5000;// max respone time   from server

/*
  Web client

  This sketch connects to a website
   using an Arduino Wiznet Ethernet shield.

  Circuit:
   Ethernet shield   attached to pins 10, 11, 12, 13

  created 18 Dec 2009
  by David A. Mellis
   modified 9 Apr 2012
  by Tom Igoe, based on work by Adrian McEwen

*/

class   WebClient {

  public: WebClient();
    enum request {
      UNKNOWN   = 0,
      REGISTER_VESSEL = 1,
      VESSEL_CONFIG = 2,
      DEBUG =   3,
      FIELD = 4,
      UPDATE = 5,
      WAYPOINTS = 6,
      DATA   = 7,
      NMEA = 8,
      OPTIONS = 9,
      LOG = 10,
      WAYPOINT   = 11
     };
    
    EthernetClient client;
    void setup();
    bool   connect();
    void disconnect();
    bool requestLog();
    bool logMessage(   String message );
    bool getWaypoint();
    bool sendUpdate( String url   );
    bool sendHttp( int request, String msg );
    bool sendHttp( int request,   boolean post, String attrs );
    String urlencode(String str);
    String   printResponse( int request );
    void logRequest( int request, boolean post,   String attrs );//for debugging
    void logRequestStr( int request ); //dito
     void loop();

  private:
    IPAddress server;
    IPAddress ip;
     String host;
    int port;
    bool connected;
    String context;
     String id;
    int token;

    // Enter a MAC address for your controller   below.
    // Newer Ethernet shields have a MAC address printed on a sticker   on the shield
    byte mac[6] = {0};

    // Initialize the Ethernet client   library
    // with the IP address and port of the server
    // that you   want to connect to (port 80 is default for HTTP):
    void requestService( int   request );
    bool processResponse( int request );
    boolean update( JsonObject&   root );
    String urldecode(String str);
    unsigned char h2int(char c);
};

#endif

WebClient.c

c_cpp

The implementation of the Web Client

1WebClient::WebClient() {}
2
3void WebClient::setup( ) {
4  Serial.println(F("SETUP   WEB CLIENT..."));
5  id = "AquaBoat";
6  token = "AquaPassphrase";
7   host = "http://www.condast.com";
8  port = 10081;
9  context = "/arnac/registration/";
10   String server_addr = "192.168.8.102"; //Aquabots Client IP Address
11  server.fromString(   server_addr);
12  Serial.print(F("SERVER ADDRESS:")); server.printTo( Serial   );
13  Serial.println();
14  String ip_addr = "192.168.8.102";
15  ip.fromString(   ip_addr);
16  Serial.print(F("IP ADDRESS:")); server.printTo( Serial );
17
18   String mc = "{0x90,0xA2,0xDA,0x11,0x12,0x3A}";
19  Serial.print(F("CONNECTING   TO ")); Serial.print( host ); Serial.print(F(":")); Serial.print( port ); Serial.println(   context );
20
21  // start the Ethernet connection:
22  Serial.println(F("SETUP   WEB CLIENT "));
23  if (Ethernet.begin(mac) == 0) {
24    Serial.println(F("Failed   to configure Ethernet using DHCP"));
25    // try to congifure using IP address   instead of DHCP:
26    Ethernet.begin(mac, ip);
27  }
28  connected = false;
29
30   // give the Ethernet shield a second to initialize:
31  delay(1000);
32  Serial.println(   F("done"));
33}
34
35bool WebClient::connect() {
36  //Serial.print(F("Connecting   to: ")); Serial.print( server ); Serial.print(F(":")); Serial.println( port );
37   client.setTimeout(3000);
38  bool result = client.connect(server, port);
39   //Serial.print(F("Connected: ")); Serial.println( result );
40  if ( result)   {
41    connected = result;
42    return result;
43  }
44  //if ( connected   )
45  //  Serial.print(F("Connection failed: ")); Serial.println( result );
46   client.stop();
47}
48
49void WebClient::disconnect() {
50  client.stop();
51   //if ( connected )
52  //  Serial.println(F("Disconnecting: Complete "));
53   connected = false;
54}
55
56void WebClient::requestService( int request ) {
57   switch ( request ) {
58     case REGISTER_VESSEL:
59      client.print(F("register"));
60       break;
61     case VESSEL_CONFIG:
62      client.print(F("config"));
63       break;
64    case DEBUG:
65      client.print(F("debug"));
66      break;
67     case FIELD:
68      client.print(F("field"));
69      break;
70    case   DATA:
71      client.print(F("data"));
72      break;
73    case NMEA:
74       client.print(F("nmea"));
75      break;
76    case OPTIONS:
77      client.print(F("options"));
78       break;
79    case LOG:
80      client.print(F("log"));
81      break;
82     case WAYPOINTS:
83      client.print(F("waypoints"));
84      break;
85     case WAYPOINT:
86      client.print(F("waypoint"));
87      break;
88    case   UPDATE:
89      client.print(F("update"));
90      break;
91    default:
92       client.print(F("unknown"));
93      break;
94  }
95}
96
97/**
98   Is   used to transform the int to a String
99*/
100void WebClient::logRequestStr( int   request ) {
101  switch ( request ) {
102     case REGISTER_VESSEL:
103      Serial.print(F("register"));
104       break;
105     case VESSEL_CONFIG:
106      Serial.print(F("config"));
107       break;
108    case DEBUG:
109      Serial.print(F("debug"));
110      break;
111     case FIELD:
112      Serial.print(F("field"));
113      break;
114    case   DATA:
115      Serial.print(F("data"));
116      break;
117    case NMEA:
118       Serial.print(F("nmea"));
119      break;
120    case LOG:
121      Serial.print(F("log"));
122       break;
123    case WAYPOINTS:
124      Serial.print(F("waypoints"));
125       break;
126    case WAYPOINT:
127      Serial.print(F("waypoint"));
128      break;
129     case UPDATE:
130      Serial.print(F("update"));
131      break;
132    case   OPTIONS:
133      Serial.print(F("options"));
134      break;
135    default:
136       Serial.print(F("unknown (")); Serial.print( request ); Serial.print(F(")"));
137       break;
138  }
139}
140
141boolean WebClient::sendHttp( int request, String   message ) {
142  String msg = message;
143  if ( msg.length() > 0 ) {
144    msg   = F("&msg=");
145    msg += message;
146  }
147  return sendHttp( request, false,   msg );
148}
149
150boolean WebClient::sendHttp( int request, boolean post, String   attrs ) {
151  if ( client.connected()) {
152    if( request != NMEA )
153      Serial.print(F("REQUEST   ")); logRequestStr( request ); Serial.print(F(": ")); Serial.println(attrs );
154     //logRequest( request, post, attrs );
155
156    // Make a HTTP request:
157     client.print( post ? F("POST ") : F("GET ") );
158    client.print( context   );
159    Serial.print( context );//Serial.print( register);
160    requestService(   request );
161    client.print(F("?id=" ));
162    client.print( id );
163    client.print(F("&token="));
164     client.print( token );
165    if ( !post && ( attrs.length() > 0 )) {
166      client.print(   attrs );
167    }
168    client.println(F(" HTTP/1.1" ));
169
170    client.print(F("Host:   "));
171    client.println( host );
172    client.println(F("Connection: close\
\
173"));
174     if ( post && ( attrs.length() > 0 )) {
175      client.println( F("Accept:   */*"));
176      client.println( F("Content-Type: application/x-www-form-urlencoded   ; charset=UTF-8" ));
177      client.print( F("Content-Length: "));
178      client.println(   attrs.length() );
179      client.println();
180      client.println( urlencode(   attrs ));
181    }
182    client.println();
183    return processResponse( request   );
184  }
185  return false;
186}
187
188/**
189   Handle the response, by taking   away header info and such
190*/
191bool WebClient::processResponse( int request   ) {
192  // Check HTTP status
193  char status[32] = {"\\0"};
194  client.setTimeout(HTTP_TIMEOUT);
195   client.readBytesUntil('\
', status, sizeof(status));
196  char http_ok[32] =   {"\\0"};
197  strcpy( http_ok, "HTTP/1.1 200 OK");
198  if (strcmp(status, http_ok)   != 0) {
199    Serial.print(F( "Unexpected response (" )); logRequestStr( request);   Serial.print(F( "):" ));
200    Serial.println(status);
201    return false;
202   }
203
204  // Skip HTTP headers
205  char endOfHeaders[] = "\
\
206\
\
207";
208   if (!client.find(endOfHeaders)) {
209    Serial.println( F( "Invalid response   (" )); logRequestStr( request); Serial.print(F( "):" ));
210    return false;
211   }
212  return true;
213}
214
215void WebClient::logRequest( int request, boolean   post, String attrs ) {
216  // Make a HTTP request:
217  Serial.print( post ? F("POST   ") : F("GET "));
218  Serial.print( context );
219  logRequestStr( request );
220   Serial.print(F( "?id=" ));
221  Serial.print( id );
222  Serial.print(F( "&token="   ));
223  Serial.print( token );
224  if ( !post && ( attrs.length() > 0 )) {
225     Serial.print( attrs );
226  }
227  Serial.print(F( " HTTP/1.1" ));
228  Serial.println();
229   Serial.print(F( "Host: "));
230  Serial.println( host );
231  Serial.println(F(   "Connection: close" ));
232  if ( post && ( attrs.length() > 0 )) {
233    Serial.println(F(   "Accept: */*" ));
234    Serial.println(F( "Content-Type: application/x-www-form-urlencoded   ; charset=UTF-8"));
235    Serial.print(F( "Content-Length: "));
236    Serial.println(   attrs.length() );
237    Serial.println();
238    Serial.println( attrs );
239  }
240}
241
242/**
243    Creates a String request from the client
244*/
245String WebClient::printResponse(   int request ) {
246  Serial.print( F("RESPONSE TO "));
247  logRequestStr( request   );
248  // Serial.print(" PROCESSING: ");
249  //Serial.print( client.available()   );
250  String retval = "";
251
252  //  Serial.println();
253  while (client.available())   {
254    char c = client.read();
255    retval += c;
256  }
257  Serial.print( F(   ": ")); Serial.println( retval );
258}
259
260void WebClient::loop() {
261  //   if there are incoming bytes available
262  // from the server, read them and print   them:
263  if (!client.connected()) {
264    connect();
265  }
266}
267
268/*
269   ESP8266 Hello World urlencode by Steve Nelson
270  URLEncoding is used all the   time with internet urls. This is how urls handle funny characters
271  in a URL.   For example a space is: %20
272  These functions simplify the process of encoding   and decoding the urlencoded format.
273
274  It has been tested on an esp12e (NodeMCU   development board)
275  This example code is in the public domain, use it however   you want.
276  Prerequisite Examples:
277  https://github.com/zenmanenergy/ESP8266-Arduino-Examples/tree/master/helloworld_serial
278*/
279String   WebClient::urldecode(String str) {
280  String encodedString = "";
281  char c;
282   char code0;
283  char code1;
284  for (int i = 0; i < str.length(); i++) {
285     c = str.charAt(i);
286    if (c == '+') {
287      encodedString += ' ';
288     } else if (c == '%') {
289      i++;
290      code0 = str.charAt(i);
291      i++;
292       code1 = str.charAt(i);
293      c = (h2int(code0) << 4) | h2int(code1);
294       encodedString += c;
295    } else {
296
297      encodedString += c;
298    }
299     yield();
300  }
301
302  return encodedString;
303}
304
305String WebClient::urlencode(String   str)
306{
307  String encodedString = "";
308  char c;
309  char code0;
310  char   code1;
311  char code2;
312  for (int i = 0; i < str.length(); i++) {
313    c =   str.charAt(i);
314    if (c == ' ') {
315      encodedString += '+';
316    } else   if (isalnum(c)) {
317      encodedString += c;
318    } else {
319      code1 =   (c & 0xf) + '0';
320      if ((c & 0xf) > 9) {
321        code1 = (c & 0xf) - 10   + 'A';
322      }
323      c = (c >> 4) & 0xf;
324      code0 = c + '0';
325      if   (c > 9) {
326        code0 = c - 10 + 'A';
327      }
328      code2 = '\\0';
329       encodedString += '%';
330      encodedString += code0;
331      encodedString   += code1;
332      //encodedString+=code2;
333    }
334    yield();
335  }
336  return   encodedString;
337
338}
339
340unsigned char WebClient::h2int(char c)
341{
342  if   (c >= '0' && c <= '9') {
343    return ((unsigned char)c - '0');
344  }
345  if   (c >= 'a' && c <= 'f') {
346    return ((unsigned char)c - 'a' + 10);
347  }
348   if (c >= 'A' && c <= 'F') {
349    return ((unsigned char)c - 'A' + 10);
350  }
351   return (0);
352}

WebClient::WebClient() {}

void WebClient::setup( ) {
  Serial.println(F("SETUP   WEB CLIENT..."));
  id = "AquaBoat";
  token = "AquaPassphrase";
   host = "http://www.condast.com";
  port = 10081;
  context = "/arnac/registration/";
   String server_addr = "192.168.8.102"; //Aquabots Client IP Address
  server.fromString(   server_addr);
  Serial.print(F("SERVER ADDRESS:")); server.printTo( Serial   );
  Serial.println();
  String ip_addr = "192.168.8.102";
  ip.fromString(   ip_addr);
  Serial.print(F("IP ADDRESS:")); server.printTo( Serial );

   String mc = "{0x90,0xA2,0xDA,0x11,0x12,0x3A}";
  Serial.print(F("CONNECTING   TO ")); Serial.print( host ); Serial.print(F(":")); Serial.print( port ); Serial.println(   context );

  // start the Ethernet connection:
  Serial.println(F("SETUP   WEB CLIENT "));
  if (Ethernet.begin(mac) == 0) {
    Serial.println(F("Failed   to configure Ethernet using DHCP"));
    // try to congifure using IP address   instead of DHCP:
    Ethernet.begin(mac, ip);
  }
  connected = false;

   // give the Ethernet shield a second to initialize:
  delay(1000);
  Serial.println(   F("done"));
}

bool WebClient::connect() {
  //Serial.print(F("Connecting   to: ")); Serial.print( server ); Serial.print(F(":")); Serial.println( port );
   client.setTimeout(3000);
  bool result = client.connect(server, port);
   //Serial.print(F("Connected: ")); Serial.println( result );
  if ( result)   {
    connected = result;
    return result;
  }
  //if ( connected   )
  //  Serial.print(F("Connection failed: ")); Serial.println( result );
   client.stop();
}

void WebClient::disconnect() {
  client.stop();
   //if ( connected )
  //  Serial.println(F("Disconnecting: Complete "));
   connected = false;
}

void WebClient::requestService( int request ) {
   switch ( request ) {
     case REGISTER_VESSEL:
      client.print(F("register"));
       break;
     case VESSEL_CONFIG:
      client.print(F("config"));
       break;
    case DEBUG:
      client.print(F("debug"));
      break;
     case FIELD:
      client.print(F("field"));
      break;
    case   DATA:
      client.print(F("data"));
      break;
    case NMEA:
       client.print(F("nmea"));
      break;
    case OPTIONS:
      client.print(F("options"));
       break;
    case LOG:
      client.print(F("log"));
      break;
     case WAYPOINTS:
      client.print(F("waypoints"));
      break;
     case WAYPOINT:
      client.print(F("waypoint"));
      break;
    case   UPDATE:
      client.print(F("update"));
      break;
    default:
       client.print(F("unknown"));
      break;
  }
}

/**
   Is   used to transform the int to a String
*/
void WebClient::logRequestStr( int   request ) {
  switch ( request ) {
     case REGISTER_VESSEL:
      Serial.print(F("register"));
       break;
     case VESSEL_CONFIG:
      Serial.print(F("config"));
       break;
    case DEBUG:
      Serial.print(F("debug"));
      break;
     case FIELD:
      Serial.print(F("field"));
      break;
    case   DATA:
      Serial.print(F("data"));
      break;
    case NMEA:
       Serial.print(F("nmea"));
      break;
    case LOG:
      Serial.print(F("log"));
       break;
    case WAYPOINTS:
      Serial.print(F("waypoints"));
       break;
    case WAYPOINT:
      Serial.print(F("waypoint"));
      break;
     case UPDATE:
      Serial.print(F("update"));
      break;
    case   OPTIONS:
      Serial.print(F("options"));
      break;
    default:
       Serial.print(F("unknown (")); Serial.print( request ); Serial.print(F(")"));
       break;
  }
}

boolean WebClient::sendHttp( int request, String   message ) {
  String msg = message;
  if ( msg.length() > 0 ) {
    msg   = F("&msg=");
    msg += message;
  }
  return sendHttp( request, false,   msg );
}

boolean WebClient::sendHttp( int request, boolean post, String   attrs ) {
  if ( client.connected()) {
    if( request != NMEA )
      Serial.print(F("REQUEST   ")); logRequestStr( request ); Serial.print(F(": ")); Serial.println(attrs );
     //logRequest( request, post, attrs );

    // Make a HTTP request:
     client.print( post ? F("POST ") : F("GET ") );
    client.print( context   );
    Serial.print( context );//Serial.print( register);
    requestService(   request );
    client.print(F("?id=" ));
    client.print( id );
    client.print(F("&token="));
     client.print( token );
    if ( !post && ( attrs.length() > 0 )) {
      client.print(   attrs );
    }
    client.println(F(" HTTP/1.1" ));

    client.print(F("Host:   "));
    client.println( host );
    client.println(F("Connection: close\
\
"));
     if ( post && ( attrs.length() > 0 )) {
      client.println( F("Accept:   */*"));
      client.println( F("Content-Type: application/x-www-form-urlencoded   ; charset=UTF-8" ));
      client.print( F("Content-Length: "));
      client.println(   attrs.length() );
      client.println();
      client.println( urlencode(   attrs ));
    }
    client.println();
    return processResponse( request   );
  }
  return false;
}

/**
   Handle the response, by taking   away header info and such
*/
bool WebClient::processResponse( int request   ) {
  // Check HTTP status
  char status[32] = {"\\0"};
  client.setTimeout(HTTP_TIMEOUT);
   client.readBytesUntil('\
', status, sizeof(status));
  char http_ok[32] =   {"\\0"};
  strcpy( http_ok, "HTTP/1.1 200 OK");
  if (strcmp(status, http_ok)   != 0) {
    Serial.print(F( "Unexpected response (" )); logRequestStr( request);   Serial.print(F( "):" ));
    Serial.println(status);
    return false;
   }

  // Skip HTTP headers
  char endOfHeaders[] = "\
\
\
\
";
   if (!client.find(endOfHeaders)) {
    Serial.println( F( "Invalid response   (" )); logRequestStr( request); Serial.print(F( "):" ));
    return false;
   }
  return true;
}

void WebClient::logRequest( int request, boolean   post, String attrs ) {
  // Make a HTTP request:
  Serial.print( post ? F("POST   ") : F("GET "));
  Serial.print( context );
  logRequestStr( request );
   Serial.print(F( "?id=" ));
  Serial.print( id );
  Serial.print(F( "&token="   ));
  Serial.print( token );
  if ( !post && ( attrs.length() > 0 )) {
     Serial.print( attrs );
  }
  Serial.print(F( " HTTP/1.1" ));
  Serial.println();
   Serial.print(F( "Host: "));
  Serial.println( host );
  Serial.println(F(   "Connection: close" ));
  if ( post && ( attrs.length() > 0 )) {
    Serial.println(F(   "Accept: */*" ));
    Serial.println(F( "Content-Type: application/x-www-form-urlencoded   ; charset=UTF-8"));
    Serial.print(F( "Content-Length: "));
    Serial.println(   attrs.length() );
    Serial.println();
    Serial.println( attrs );
  }
}

/**
    Creates a String request from the client
*/
String WebClient::printResponse(   int request ) {
  Serial.print( F("RESPONSE TO "));
  logRequestStr( request   );
  // Serial.print(" PROCESSING: ");
  //Serial.print( client.available()   );
  String retval = "";

  //  Serial.println();
  while (client.available())   {
    char c = client.read();
    retval += c;
  }
  Serial.print( F(   ": ")); Serial.println( retval );
}

void WebClient::loop() {
  //   if there are incoming bytes available
  // from the server, read them and print   them:
  if (!client.connected()) {
    connect();
  }
}

/*
   ESP8266 Hello World urlencode by Steve Nelson
  URLEncoding is used all the   time with internet urls. This is how urls handle funny characters
  in a URL.   For example a space is: %20
  These functions simplify the process of encoding   and decoding the urlencoded format.

  It has been tested on an esp12e (NodeMCU   development board)
  This example code is in the public domain, use it however   you want.
  Prerequisite Examples:
  https://github.com/zenmanenergy/ESP8266-Arduino-Examples/tree/master/helloworld_serial
*/
String   WebClient::urldecode(String str) {
  String encodedString = "";
  char c;
   char code0;
  char code1;
  for (int i = 0; i < str.length(); i++) {
     c = str.charAt(i);
    if (c == '+') {
      encodedString += ' ';
     } else if (c == '%') {
      i++;
      code0 = str.charAt(i);
      i++;
       code1 = str.charAt(i);
      c = (h2int(code0) << 4) | h2int(code1);
       encodedString += c;
    } else {

      encodedString += c;
    }
     yield();
  }

  return encodedString;
}

String WebClient::urlencode(String   str)
{
  String encodedString = "";
  char c;
  char code0;
  char   code1;
  char code2;
  for (int i = 0; i < str.length(); i++) {
    c =   str.charAt(i);
    if (c == ' ') {
      encodedString += '+';
    } else   if (isalnum(c)) {
      encodedString += c;
    } else {
      code1 =   (c & 0xf) + '0';
      if ((c & 0xf) > 9) {
        code1 = (c & 0xf) - 10   + 'A';
      }
      c = (c >> 4) & 0xf;
      code0 = c + '0';
      if   (c > 9) {
        code0 = c - 10 + 'A';
      }
      code2 = '\\0';
       encodedString += '%';
      encodedString += code0;
      encodedString   += code1;
      //encodedString+=code2;
    }
    yield();
  }
  return   encodedString;

}

unsigned char WebClient::h2int(char c)
{
  if   (c >= '0' && c <= '9') {
    return ((unsigned char)c - '0');
  }
  if   (c >= 'a' && c <= 'f') {
    return ((unsigned char)c - 'a' + 10);
  }
   if (c >= 'A' && c <= 'F') {
    return ((unsigned char)c - 'A' + 10);
  }
   return (0);
}

Vessels

c_cpp

The main programme for the Autonomous Vessels Project

1#include <ArduinoJson.h>
2
3#include "WebClient.h"
4#include "Registration.h"
5
6WebClient  webClient;
7Registration registration;
8
9void setup() {
10    Serial.begin(9600);
11    Serial.println("Initialised");
12    webClient.setup();
13    registration.setup();
14}
15
16void  loop() {
17  long id = registration.registerVessel( "AquaBoat", "AquaPassphrase",  51.0, 4.2 );
18  Serial.print(F("Vessel id: ")); Serial.println( id );
19  delay(2000);
20}

#include <ArduinoJson.h>

#include "WebClient.h"
#include "Registration.h"

WebClient  webClient;
Registration registration;

void setup() {
    Serial.begin(9600);
    Serial.println("Initialised");
    webClient.setup();
    registration.setup();
}

void  loop() {
  long id = registration.registerVessel( "AquaBoat", "AquaPassphrase",  51.0, 4.2 );
  Serial.print(F("Vessel id: ")); Serial.println( id );
  delay(2000);
}

Registration.h

c_cpp

This module manages the registration process of a vessel with the Aquabots Client

1#ifndef Registration_h
2#define Registration_h
3
4#define REGISTRATION  "Registration"
5#define REGISTRATION_ID "registration"
6
7class Registration  {
8
9  private:
10    bool enabled; //general purpose flag 
11    long vesselId;  
12
13  public: Registration(void);
14    void setup();
15    long registerVessel(  String name, String passphrase, double latitude, double longitude);
16    bool  getConfig();
17};
18
19#endif
20

#ifndef Registration_h
#define Registration_h

#define REGISTRATION  "Registration"
#define REGISTRATION_ID "registration"

class Registration  {

  private:
    bool enabled; //general purpose flag 
    long vesselId;  

  public: Registration(void);
    void setup();
    long registerVessel(  String name, String passphrase, double latitude, double longitude);
    bool  getConfig();
};

#endif

WebClient.h

c_cpp

Header files for Communicating with the Aquabots Client

1#ifndef WebClient_h
2#define WebClient_h
3
4#include <SPI.h>
5#include  <Ethernet.h>
6
7const unsigned long HTTP_TIMEOUT = 5000;// max respone time  from server
8
9/*
10  Web client
11
12  This sketch connects to a website
13  using an Arduino Wiznet Ethernet shield.
14
15  Circuit:
16   Ethernet shield  attached to pins 10, 11, 12, 13
17
18  created 18 Dec 2009
19  by David A. Mellis
20  modified 9 Apr 2012
21  by Tom Igoe, based on work by Adrian McEwen
22
23*/
24
25class  WebClient {
26
27  public: WebClient();
28    enum request {
29      UNKNOWN  = 0,
30      REGISTER_VESSEL = 1,
31      VESSEL_CONFIG = 2,
32      DEBUG =  3,
33      FIELD = 4,
34      UPDATE = 5,
35      WAYPOINTS = 6,
36      DATA  = 7,
37      NMEA = 8,
38      OPTIONS = 9,
39      LOG = 10,
40      WAYPOINT  = 11
41     };
42    
43    EthernetClient client;
44    void setup();
45    bool  connect();
46    void disconnect();
47    bool requestLog();
48    bool logMessage(  String message );
49    bool getWaypoint();
50    bool sendUpdate( String url  );
51    bool sendHttp( int request, String msg );
52    bool sendHttp( int request,  boolean post, String attrs );
53    String urlencode(String str);
54    String  printResponse( int request );
55    void logRequest( int request, boolean post,  String attrs );//for debugging
56    void logRequestStr( int request ); //dito
57    void loop();
58
59  private:
60    IPAddress server;
61    IPAddress ip;
62    String host;
63    int port;
64    bool connected;
65    String context;
66    String id;
67    int token;
68
69    // Enter a MAC address for your controller  below.
70    // Newer Ethernet shields have a MAC address printed on a sticker  on the shield
71    byte mac[6] = {0};
72
73    // Initialize the Ethernet client  library
74    // with the IP address and port of the server
75    // that you  want to connect to (port 80 is default for HTTP):
76    void requestService( int  request );
77    bool processResponse( int request );
78    boolean update( JsonObject&  root );
79    String urldecode(String str);
80    unsigned char h2int(char c);
81};
82
83#endif

#ifndef WebClient_h
#define WebClient_h

#include <SPI.h>
#include  <Ethernet.h>

const unsigned long HTTP_TIMEOUT = 5000;// max respone time  from server

/*
  Web client

  This sketch connects to a website
  using an Arduino Wiznet Ethernet shield.

  Circuit:
   Ethernet shield  attached to pins 10, 11, 12, 13

  created 18 Dec 2009
  by David A. Mellis
  modified 9 Apr 2012
  by Tom Igoe, based on work by Adrian McEwen

*/

class  WebClient {

  public: WebClient();
    enum request {
      UNKNOWN  = 0,
      REGISTER_VESSEL = 1,
      VESSEL_CONFIG = 2,
      DEBUG =  3,
      FIELD = 4,
      UPDATE = 5,
      WAYPOINTS = 6,
      DATA  = 7,
      NMEA = 8,
      OPTIONS = 9,
      LOG = 10,
      WAYPOINT  = 11
     };
    
    EthernetClient client;
    void setup();
    bool  connect();
    void disconnect();
    bool requestLog();
    bool logMessage(  String message );
    bool getWaypoint();
    bool sendUpdate( String url  );
    bool sendHttp( int request, String msg );
    bool sendHttp( int request,  boolean post, String attrs );
    String urlencode(String str);
    String  printResponse( int request );
    void logRequest( int request, boolean post,  String attrs );//for debugging
    void logRequestStr( int request ); //dito
    void loop();

  private:
    IPAddress server;
    IPAddress ip;
    String host;
    int port;
    bool connected;
    String context;
    String id;
    int token;

    // Enter a MAC address for your controller  below.
    // Newer Ethernet shields have a MAC address printed on a sticker  on the shield
    byte mac[6] = {0};

    // Initialize the Ethernet client  library
    // with the IP address and port of the server
    // that you  want to connect to (port 80 is default for HTTP):
    void requestService( int  request );
    bool processResponse( int request );
    boolean update( JsonObject&  root );
    String urldecode(String str);
    unsigned char h2int(char c);
};

#endif

WebClient.c

c_cpp

The implementation of the Web Client

1WebClient::WebClient() {}
2
3void WebClient::setup( ) {
4  Serial.println(F("SETUP  WEB CLIENT..."));
5  id = "AquaBoat";
6  token = "AquaPassphrase";
7  host = "http://www.condast.com";
8  port = 10081;
9  context = "/arnac/registration/";
10  String server_addr = "192.168.8.102"; //Aquabots Client IP Address
11  server.fromString(  server_addr);
12  Serial.print(F("SERVER ADDRESS:")); server.printTo( Serial  );
13  Serial.println();
14  String ip_addr = "192.168.8.102";
15  ip.fromString(  ip_addr);
16  Serial.print(F("IP ADDRESS:")); server.printTo( Serial );
17
18  String mc = "{0x90,0xA2,0xDA,0x11,0x12,0x3A}";
19  Serial.print(F("CONNECTING  TO ")); Serial.print( host ); Serial.print(F(":")); Serial.print( port ); Serial.println(  context );
20
21  // start the Ethernet connection:
22  Serial.println(F("SETUP  WEB CLIENT "));
23  if (Ethernet.begin(mac) == 0) {
24    Serial.println(F("Failed  to configure Ethernet using DHCP"));
25    // try to congifure using IP address  instead of DHCP:
26    Ethernet.begin(mac, ip);
27  }
28  connected = false;
29
30  // give the Ethernet shield a second to initialize:
31  delay(1000);
32  Serial.println(  F("done"));
33}
34
35bool WebClient::connect() {
36  //Serial.print(F("Connecting  to: ")); Serial.print( server ); Serial.print(F(":")); Serial.println( port );
37  client.setTimeout(3000);
38  bool result = client.connect(server, port);
39  //Serial.print(F("Connected: ")); Serial.println( result );
40  if ( result)  {
41    connected = result;
42    return result;
43  }
44  //if ( connected  )
45  //  Serial.print(F("Connection failed: ")); Serial.println( result );
46  client.stop();
47}
48
49void WebClient::disconnect() {
50  client.stop();
51  //if ( connected )
52  //  Serial.println(F("Disconnecting: Complete "));
53  connected = false;
54}
55
56void WebClient::requestService( int request ) {
57  switch ( request ) {
58     case REGISTER_VESSEL:
59      client.print(F("register"));
60      break;
61     case VESSEL_CONFIG:
62      client.print(F("config"));
63      break;
64    case DEBUG:
65      client.print(F("debug"));
66      break;
67    case FIELD:
68      client.print(F("field"));
69      break;
70    case  DATA:
71      client.print(F("data"));
72      break;
73    case NMEA:
74      client.print(F("nmea"));
75      break;
76    case OPTIONS:
77      client.print(F("options"));
78      break;
79    case LOG:
80      client.print(F("log"));
81      break;
82    case WAYPOINTS:
83      client.print(F("waypoints"));
84      break;
85    case WAYPOINT:
86      client.print(F("waypoint"));
87      break;
88    case  UPDATE:
89      client.print(F("update"));
90      break;
91    default:
92      client.print(F("unknown"));
93      break;
94  }
95}
96
97/**
98   Is  used to transform the int to a String
99*/
100void WebClient::logRequestStr( int  request ) {
101  switch ( request ) {
102     case REGISTER_VESSEL:
103      Serial.print(F("register"));
104      break;
105     case VESSEL_CONFIG:
106      Serial.print(F("config"));
107      break;
108    case DEBUG:
109      Serial.print(F("debug"));
110      break;
111    case FIELD:
112      Serial.print(F("field"));
113      break;
114    case  DATA:
115      Serial.print(F("data"));
116      break;
117    case NMEA:
118      Serial.print(F("nmea"));
119      break;
120    case LOG:
121      Serial.print(F("log"));
122      break;
123    case WAYPOINTS:
124      Serial.print(F("waypoints"));
125      break;
126    case WAYPOINT:
127      Serial.print(F("waypoint"));
128      break;
129    case UPDATE:
130      Serial.print(F("update"));
131      break;
132    case  OPTIONS:
133      Serial.print(F("options"));
134      break;
135    default:
136      Serial.print(F("unknown (")); Serial.print( request ); Serial.print(F(")"));
137      break;
138  }
139}
140
141boolean WebClient::sendHttp( int request, String  message ) {
142  String msg = message;
143  if ( msg.length() > 0 ) {
144    msg  = F("&msg=");
145    msg += message;
146  }
147  return sendHttp( request, false,  msg );
148}
149
150boolean WebClient::sendHttp( int request, boolean post, String  attrs ) {
151  if ( client.connected()) {
152    if( request != NMEA )
153      Serial.print(F("REQUEST  ")); logRequestStr( request ); Serial.print(F(": ")); Serial.println(attrs );
154    //logRequest( request, post, attrs );
155
156    // Make a HTTP request:
157    client.print( post ? F("POST ") : F("GET ") );
158    client.print( context  );
159    Serial.print( context );//Serial.print( register);
160    requestService(  request );
161    client.print(F("?id=" ));
162    client.print( id );
163    client.print(F("&token="));
164    client.print( token );
165    if ( !post && ( attrs.length() > 0 )) {
166      client.print(  attrs );
167    }
168    client.println(F(" HTTP/1.1" ));
169
170    client.print(F("Host:  "));
171    client.println( host );
172    client.println(F("Connection: close\
\
173"));
174    if ( post && ( attrs.length() > 0 )) {
175      client.println( F("Accept:  */*"));
176      client.println( F("Content-Type: application/x-www-form-urlencoded  ; charset=UTF-8" ));
177      client.print( F("Content-Length: "));
178      client.println(  attrs.length() );
179      client.println();
180      client.println( urlencode(  attrs ));
181    }
182    client.println();
183    return processResponse( request  );
184  }
185  return false;
186}
187
188/**
189   Handle the response, by taking  away header info and such
190*/
191bool WebClient::processResponse( int request  ) {
192  // Check HTTP status
193  char status[32] = {"\\0"};
194  client.setTimeout(HTTP_TIMEOUT);
195  client.readBytesUntil('\r', status, sizeof(status));
196  char http_ok[32] =  {"\\0"};
197  strcpy( http_ok, "HTTP/1.1 200 OK");
198  if (strcmp(status, http_ok)  != 0) {
199    Serial.print(F( "Unexpected response (" )); logRequestStr( request);  Serial.print(F( "):" ));
200    Serial.println(status);
201    return false;
202  }
203
204  // Skip HTTP headers
205  char endOfHeaders[] = "\
\
206\
\
207";
208  if (!client.find(endOfHeaders)) {
209    Serial.println( F( "Invalid response  (" )); logRequestStr( request); Serial.print(F( "):" ));
210    return false;
211  }
212  return true;
213}
214
215void WebClient::logRequest( int request, boolean  post, String attrs ) {
216  // Make a HTTP request:
217  Serial.print( post ? F("POST  ") : F("GET "));
218  Serial.print( context );
219  logRequestStr( request );
220  Serial.print(F( "?id=" ));
221  Serial.print( id );
222  Serial.print(F( "&token="  ));
223  Serial.print( token );
224  if ( !post && ( attrs.length() > 0 )) {
225    Serial.print( attrs );
226  }
227  Serial.print(F( " HTTP/1.1" ));
228  Serial.println();
229  Serial.print(F( "Host: "));
230  Serial.println( host );
231  Serial.println(F(  "Connection: close" ));
232  if ( post && ( attrs.length() > 0 )) {
233    Serial.println(F(  "Accept: */*" ));
234    Serial.println(F( "Content-Type: application/x-www-form-urlencoded  ; charset=UTF-8"));
235    Serial.print(F( "Content-Length: "));
236    Serial.println(  attrs.length() );
237    Serial.println();
238    Serial.println( attrs );
239  }
240}
241
242/**
243   Creates a String request from the client
244*/
245String WebClient::printResponse(  int request ) {
246  Serial.print( F("RESPONSE TO "));
247  logRequestStr( request  );
248  // Serial.print(" PROCESSING: ");
249  //Serial.print( client.available()  );
250  String retval = "";
251
252  //  Serial.println();
253  while (client.available())  {
254    char c = client.read();
255    retval += c;
256  }
257  Serial.print( F(  ": ")); Serial.println( retval );
258}
259
260void WebClient::loop() {
261  //  if there are incoming bytes available
262  // from the server, read them and print  them:
263  if (!client.connected()) {
264    connect();
265  }
266}
267
268/*
269  ESP8266 Hello World urlencode by Steve Nelson
270  URLEncoding is used all the  time with internet urls. This is how urls handle funny characters
271  in a URL.  For example a space is: %20
272  These functions simplify the process of encoding  and decoding the urlencoded format.
273
274  It has been tested on an esp12e (NodeMCU  development board)
275  This example code is in the public domain, use it however  you want.
276  Prerequisite Examples:
277  https://github.com/zenmanenergy/ESP8266-Arduino-Examples/tree/master/helloworld_serial
278*/
279String  WebClient::urldecode(String str) {
280  String encodedString = "";
281  char c;
282  char code0;
283  char code1;
284  for (int i = 0; i < str.length(); i++) {
285    c = str.charAt(i);
286    if (c == '+') {
287      encodedString += ' ';
288    } else if (c == '%') {
289      i++;
290      code0 = str.charAt(i);
291      i++;
292      code1 = str.charAt(i);
293      c = (h2int(code0) << 4) | h2int(code1);
294      encodedString += c;
295    } else {
296
297      encodedString += c;
298    }
299    yield();
300  }
301
302  return encodedString;
303}
304
305String WebClient::urlencode(String  str)
306{
307  String encodedString = "";
308  char c;
309  char code0;
310  char  code1;
311  char code2;
312  for (int i = 0; i < str.length(); i++) {
313    c =  str.charAt(i);
314    if (c == ' ') {
315      encodedString += '+';
316    } else  if (isalnum(c)) {
317      encodedString += c;
318    } else {
319      code1 =  (c & 0xf) + '0';
320      if ((c & 0xf) > 9) {
321        code1 = (c & 0xf) - 10  + 'A';
322      }
323      c = (c >> 4) & 0xf;
324      code0 = c + '0';
325      if  (c > 9) {
326        code0 = c - 10 + 'A';
327      }
328      code2 = '\\0';
329      encodedString += '%';
330      encodedString += code0;
331      encodedString  += code1;
332      //encodedString+=code2;
333    }
334    yield();
335  }
336  return  encodedString;
337
338}
339
340unsigned char WebClient::h2int(char c)
341{
342  if  (c >= '0' && c <= '9') {
343    return ((unsigned char)c - '0');
344  }
345  if  (c >= 'a' && c <= 'f') {
346    return ((unsigned char)c - 'a' + 10);
347  }
348  if (c >= 'A' && c <= 'F') {
349    return ((unsigned char)c - 'A' + 10);
350  }
351  return (0);
352}

WebClient::WebClient() {}

void WebClient::setup( ) {
  Serial.println(F("SETUP  WEB CLIENT..."));
  id = "AquaBoat";
  token = "AquaPassphrase";
  host = "http://www.condast.com";
  port = 10081;
  context = "/arnac/registration/";
  String server_addr = "192.168.8.102"; //Aquabots Client IP Address
  server.fromString(  server_addr);
  Serial.print(F("SERVER ADDRESS:")); server.printTo( Serial  );
  Serial.println();
  String ip_addr = "192.168.8.102";
  ip.fromString(  ip_addr);
  Serial.print(F("IP ADDRESS:")); server.printTo( Serial );

  String mc = "{0x90,0xA2,0xDA,0x11,0x12,0x3A}";
  Serial.print(F("CONNECTING  TO ")); Serial.print( host ); Serial.print(F(":")); Serial.print( port ); Serial.println(  context );

  // start the Ethernet connection:
  Serial.println(F("SETUP  WEB CLIENT "));
  if (Ethernet.begin(mac) == 0) {
    Serial.println(F("Failed  to configure Ethernet using DHCP"));
    // try to congifure using IP address  instead of DHCP:
    Ethernet.begin(mac, ip);
  }
  connected = false;

  // give the Ethernet shield a second to initialize:
  delay(1000);
  Serial.println(  F("done"));
}

bool WebClient::connect() {
  //Serial.print(F("Connecting  to: ")); Serial.print( server ); Serial.print(F(":")); Serial.println( port );
  client.setTimeout(3000);
  bool result = client.connect(server, port);
  //Serial.print(F("Connected: ")); Serial.println( result );
  if ( result)  {
    connected = result;
    return result;
  }
  //if ( connected  )
  //  Serial.print(F("Connection failed: ")); Serial.println( result );
  client.stop();
}

void WebClient::disconnect() {
  client.stop();
  //if ( connected )
  //  Serial.println(F("Disconnecting: Complete "));
  connected = false;
}

void WebClient::requestService( int request ) {
  switch ( request ) {
     case REGISTER_VESSEL:
      client.print(F("register"));
      break;
     case VESSEL_CONFIG:
      client.print(F("config"));
      break;
    case DEBUG:
      client.print(F("debug"));
      break;
    case FIELD:
      client.print(F("field"));
      break;
    case  DATA:
      client.print(F("data"));
      break;
    case NMEA:
      client.print(F("nmea"));
      break;
    case OPTIONS:
      client.print(F("options"));
      break;
    case LOG:
      client.print(F("log"));
      break;
    case WAYPOINTS:
      client.print(F("waypoints"));
      break;
    case WAYPOINT:
      client.print(F("waypoint"));
      break;
    case  UPDATE:
      client.print(F("update"));
      break;
    default:
      client.print(F("unknown"));
      break;
  }
}

/**
   Is  used to transform the int to a String
*/
void WebClient::logRequestStr( int  request ) {
  switch ( request ) {
     case REGISTER_VESSEL:
      Serial.print(F("register"));
      break;
     case VESSEL_CONFIG:
      Serial.print(F("config"));
      break;
    case DEBUG:
      Serial.print(F("debug"));
      break;
    case FIELD:
      Serial.print(F("field"));
      break;
    case  DATA:
      Serial.print(F("data"));
      break;
    case NMEA:
      Serial.print(F("nmea"));
      break;
    case LOG:
      Serial.print(F("log"));
      break;
    case WAYPOINTS:
      Serial.print(F("waypoints"));
      break;
    case WAYPOINT:
      Serial.print(F("waypoint"));
      break;
    case UPDATE:
      Serial.print(F("update"));
      break;
    case  OPTIONS:
      Serial.print(F("options"));
      break;
    default:
      Serial.print(F("unknown (")); Serial.print( request ); Serial.print(F(")"));
      break;
  }
}

boolean WebClient::sendHttp( int request, String  message ) {
  String msg = message;
  if ( msg.length() > 0 ) {
    msg  = F("&msg=");
    msg += message;
  }
  return sendHttp( request, false,  msg );
}

boolean WebClient::sendHttp( int request, boolean post, String  attrs ) {
  if ( client.connected()) {
    if( request != NMEA )
      Serial.print(F("REQUEST  ")); logRequestStr( request ); Serial.print(F(": ")); Serial.println(attrs );
    //logRequest( request, post, attrs );

    // Make a HTTP request:
    client.print( post ? F("POST ") : F("GET ") );
    client.print( context  );
    Serial.print( context );//Serial.print( register);
    requestService(  request );
    client.print(F("?id=" ));
    client.print( id );
    client.print(F("&token="));
    client.print( token );
    if ( !post && ( attrs.length() > 0 )) {
      client.print(  attrs );
    }
    client.println(F(" HTTP/1.1" ));

    client.print(F("Host:  "));
    client.println( host );
    client.println(F("Connection: close\
\
"));
    if ( post && ( attrs.length() > 0 )) {
      client.println( F("Accept:  */*"));
      client.println( F("Content-Type: application/x-www-form-urlencoded  ; charset=UTF-8" ));
      client.print( F("Content-Length: "));
      client.println(  attrs.length() );
      client.println();
      client.println( urlencode(  attrs ));
    }
    client.println();
    return processResponse( request  );
  }
  return false;
}

/**
   Handle the response, by taking  away header info and such
*/
bool WebClient::processResponse( int request  ) {
  // Check HTTP status
  char status[32] = {"\\0"};
  client.setTimeout(HTTP_TIMEOUT);
  client.readBytesUntil('\r', status, sizeof(status));
  char http_ok[32] =  {"\\0"};
  strcpy( http_ok, "HTTP/1.1 200 OK");
  if (strcmp(status, http_ok)  != 0) {
    Serial.print(F( "Unexpected response (" )); logRequestStr( request);  Serial.print(F( "):" ));
    Serial.println(status);
    return false;
  }

  // Skip HTTP headers
  char endOfHeaders[] = "\
\
\
\
";
  if (!client.find(endOfHeaders)) {
    Serial.println( F( "Invalid response  (" )); logRequestStr( request); Serial.print(F( "):" ));
    return false;
  }
  return true;
}

void WebClient::logRequest( int request, boolean  post, String attrs ) {
  // Make a HTTP request:
  Serial.print( post ? F("POST  ") : F("GET "));
  Serial.print( context );
  logRequestStr( request );
  Serial.print(F( "?id=" ));
  Serial.print( id );
  Serial.print(F( "&token="  ));
  Serial.print( token );
  if ( !post && ( attrs.length() > 0 )) {
    Serial.print( attrs );
  }
  Serial.print(F( " HTTP/1.1" ));
  Serial.println();
  Serial.print(F( "Host: "));
  Serial.println( host );
  Serial.println(F(  "Connection: close" ));
  if ( post && ( attrs.length() > 0 )) {
    Serial.println(F(  "Accept: */*" ));
    Serial.println(F( "Content-Type: application/x-www-form-urlencoded  ; charset=UTF-8"));
    Serial.print(F( "Content-Length: "));
    Serial.println(  attrs.length() );
    Serial.println();
    Serial.println( attrs );
  }
}

/**
   Creates a String request from the client
*/
String WebClient::printResponse(  int request ) {
  Serial.print( F("RESPONSE TO "));
  logRequestStr( request  );
  // Serial.print(" PROCESSING: ");
  //Serial.print( client.available()  );
  String retval = "";

  //  Serial.println();
  while (client.available())  {
    char c = client.read();
    retval += c;
  }
  Serial.print( F(  ": ")); Serial.println( retval );
}

void WebClient::loop() {
  //  if there are incoming bytes available
  // from the server, read them and print  them:
  if (!client.connected()) {
    connect();
  }
}

/*
  ESP8266 Hello World urlencode by Steve Nelson
  URLEncoding is used all the  time with internet urls. This is how urls handle funny characters
  in a URL.  For example a space is: %20
  These functions simplify the process of encoding  and decoding the urlencoded format.

  It has been tested on an esp12e (NodeMCU  development board)
  This example code is in the public domain, use it however  you want.
  Prerequisite Examples:
  https://github.com/zenmanenergy/ESP8266-Arduino-Examples/tree/master/helloworld_serial
*/
String  WebClient::urldecode(String str) {
  String encodedString = "";
  char c;
  char code0;
  char code1;
  for (int i = 0; i < str.length(); i++) {
    c = str.charAt(i);
    if (c == '+') {
      encodedString += ' ';
    } else if (c == '%') {
      i++;
      code0 = str.charAt(i);
      i++;
      code1 = str.charAt(i);
      c = (h2int(code0) << 4) | h2int(code1);
      encodedString += c;
    } else {

      encodedString += c;
    }
    yield();
  }

  return encodedString;
}

String WebClient::urlencode(String  str)
{
  String encodedString = "";
  char c;
  char code0;
  char  code1;
  char code2;
  for (int i = 0; i < str.length(); i++) {
    c =  str.charAt(i);
    if (c == ' ') {
      encodedString += '+';
    } else  if (isalnum(c)) {
      encodedString += c;
    } else {
      code1 =  (c & 0xf) + '0';
      if ((c & 0xf) > 9) {
        code1 = (c & 0xf) - 10  + 'A';
      }
      c = (c >> 4) & 0xf;
      code0 = c + '0';
      if  (c > 9) {
        code0 = c - 10 + 'A';
      }
      code2 = '\\0';
      encodedString += '%';
      encodedString += code0;
      encodedString  += code1;
      //encodedString+=code2;
    }
    yield();
  }
  return  encodedString;

}

unsigned char WebClient::h2int(char c)
{
  if  (c >= '0' && c <= '9') {
    return ((unsigned char)c - '0');
  }
  if  (c >= 'a' && c <= 'f') {
    return ((unsigned char)c - 'a' + 10);
  }
  if (c >= 'A' && c <= 'F') {
    return ((unsigned char)c - 'A' + 10);
  }
  return (0);
}

Vessels

c_cpp

The main programme for the Autonomous Vessels Project

1#include <ArduinoJson.h>
2
3#include "WebClient.h"
4#include "Registration.h"
5
6WebClient
7  webClient;
8Registration registration;
9
10void setup() {
11    Serial.begin(9600);
12
13    Serial.println("Initialised");
14    webClient.setup();
15    registration.setup();
16}
17
18void
19  loop() {
20  long id = registration.registerVessel( "AquaBoat", "AquaPassphrase",
21  51.0, 4.2 );
22  Serial.print(F("Vessel id: ")); Serial.println( id );
23  delay(2000);
24}

#include <ArduinoJson.h>

#include "WebClient.h"
#include "Registration.h"

WebClient
  webClient;
Registration registration;

void setup() {
    Serial.begin(9600);

    Serial.println("Initialised");
    webClient.setup();
    registration.setup();
}

void
  loop() {
  long id = registration.registerVessel( "AquaBoat", "AquaPassphrase",
  51.0, 4.2 );
  Serial.print(F("Vessel id: ")); Serial.println( id );
  delay(2000);
}

Registration.c

c_cpp

The Implementation of the Registration Module

1Registration::Registration() {};
2
3void Registration::setup( ) {
4  enabled = true;
5}
6
7long Registration::registerVessel( String name, String  passphrase, double latitude, double longitude ) {
8  if ( !enabled )
9    return  -1;
10  if ( ! webClient.connect() )
11    return -2;
12
13  String url = F("&name=");
14  url += String( name );
15  url += F("&passphrase=");
16  url += String( passphrase);
17  url += F("&latitude=");
18  url += String( latitude);
19  url += F("&longitude=");
20  url += String( longitude);
21
22  boolean result = webClient.sendHttp( WebClient::REGISTER_VESSEL,  false, url);
23  if (!result ) {
24    webClient.disconnect();
25    return -3;
26  }
27  String retval = "";
28  while (webClient.client.available()) {
29    char  c = webClient.client.read();
30    retval += c;
31  }
32  Serial.println( retval);
33  vesselId = atol( retval.c_str() );
34  webClient.disconnect();
35  return vesselId;
36}
37
38bool  Registration::getConfig() {
39}
40

Registration::Registration() {};

void Registration::setup( ) {
  enabled = true;
}

long Registration::registerVessel( String name, String  passphrase, double latitude, double longitude ) {
  if ( !enabled )
    return  -1;
  if ( ! webClient.connect() )
    return -2;

  String url = F("&name=");
  url += String( name );
  url += F("&passphrase=");
  url += String( passphrase);
  url += F("&latitude=");
  url += String( latitude);
  url += F("&longitude=");
  url += String( longitude);

  boolean result = webClient.sendHttp( WebClient::REGISTER_VESSEL,  false, url);
  if (!result ) {
    webClient.disconnect();
    return -3;
  }
  String retval = "";
  while (webClient.client.available()) {
    char  c = webClient.client.read();
    retval += c;
  }
  Serial.println( retval);
  vesselId = atol( retval.c_str() );
  webClient.disconnect();
  return vesselId;
}

bool  Registration::getConfig() {
}

Registration.h

c_cpp

This module manages the registration process of a vessel with the Aquabots Client

1#ifndef Registration_h
2#define Registration_h
3
4#define REGISTRATION
5  "Registration"
6#define REGISTRATION_ID "registration"
7
8class Registration
9  {
10
11  private:
12    bool enabled; //general purpose flag 
13    long vesselId;
14  
15
16  public: Registration(void);
17    void setup();
18    long registerVessel(
19  String name, String passphrase, double latitude, double longitude);
20    bool
21  getConfig();
22};
23
24#endif
25

#ifndef Registration_h
#define Registration_h

#define REGISTRATION
  "Registration"
#define REGISTRATION_ID "registration"

class Registration
  {

  private:
    bool enabled; //general purpose flag 
    long vesselId;
  

  public: Registration(void);
    void setup();
    long registerVessel(
  String name, String passphrase, double latitude, double longitude);
    bool
  getConfig();
};

#endif

Comments

Only logged in users can leave comments

keesp

0 Followers

•

0 Projects

Intro

Trademarks & CopyrightsWhistleblowingDigital Services ActTerms of ServicePrivacy PolicySecurityCookie Settings

Report content