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Roomba-eps8266.ino
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Roomba-eps8266.ino
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// Includes
#include <Time.h>
#include <TimeLib.h>
#include <ESP8266mDNS.h>
#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
//#include <EEPROM.h>
#include <SoftwareSerial.h>
#include "Base64.h"
#include <FS.h>
String roombotVersion = "0.3.7";
String WMode = "1";
#define Wake_Pin 16
#define SERIAL_RX 14 // pin for SoftwareSerial RX
#define SERIAL_TX 12 // pin for SoftwareSerial TX
SoftwareSerial mySerial(SERIAL_RX, SERIAL_TX); // (RX, TX. inverted, buffer)
// Div
File UploadFile;
String fileName;
String BSlocal = "0";
int FSTotal;
int FSUsed;
//-------------- FSBrowser application -----------
//format bytes
String formatBytes(size_t bytes) {
if (bytes < 1024) {
return String(bytes) + "B";
} else if (bytes < (1024 * 1024)) {
return String(bytes / 1024.0) + "KB";
} else if (bytes < (1024 * 1024 * 1024)) {
return String(bytes / 1024.0 / 1024.0) + "MB";
} else {
return String(bytes / 1024.0 / 1024.0 / 1024.0) + "GB";
}
}
// WIFI
String ssid = "WIFI-NETWORK";
String password = "WIFI-PASS";
String espName = "roomba1";
// webserver
ESP8266WebServer server(80);
MDNSResponder mdns;
WiFiClient client;
// AP mode when WIFI not available
const char *APssid = "roombawifi";
const char *APpassword = "roombawifipass";
// Pimatic settings
String host = "192.168.1.23";
const int httpPort = 80;
String Username = "admin";
String Password = "password";
String chargevar = "chargestatus";
String distancevar = "distance";
char authVal[40];
char authValEncoded[40];
String ClientIP;
#define BASE64_LEN 40
char unameenc[BASE64_LEN];
// HTML
String header = "<html lang='en'><head><title>Roombot control panel</title><meta charset='utf-8'><meta name='viewport' content='width=device-width, initial-scale=1'><link rel='stylesheet' href='http://maxcdn.bootstrapcdn.com/bootstrap/3.3.4/css/bootstrap.min.css'><script src='https://ajax.googleapis.com/ajax/libs/jquery/1.11.1/jquery.min.js'></script><script src='http://maxcdn.bootstrapcdn.com/bootstrap/3.3.4/js/bootstrap.min.js'></script></head><body>";
String navbar = "<nav class='navbar navbar-default'><div class='container-fluid'><div class='navbar-header'><a class='navbar-brand' href='/'>Roombot control panel</a></div><div><ul class='nav navbar-nav'><li><a href='/'><span class='glyphicon glyphicon-info-sign'></span> Status</a></li><li class='dropdown'><a class='dropdown-toggle' data-toggle='dropdown' href='#'><span class='glyphicon glyphicon-cog'></span> Tools<span class='caret'></span></a><ul class='dropdown-menu'><li><a href='/updatefwm'><span class='glyphicon glyphicon-upload'></span> Firmware</a></li><li><a href='/filemanager.html'><span class='glyphicon glyphicon-file'></span> File manager</a></li><li><a href='/fupload'> File upload</a></li></ul></li><li><a href='https://github.com/incmve/roomba-eps8266/wiki' target='_blank'><span class='glyphicon glyphicon-question-sign'></span> Help</a></li></ul></div></div></nav>";
String containerStart = "<div class='container'><div class='row'>";
String containerEnd = "<div class='clearfix visible-lg'></div></div></div>";
String siteEnd = "</body></html>";
String panelHeaderName = "<div class='col-md-4'><div class='page-header'><h1>";
String panelHeaderEnd = "</h1></div>";
String panelEnd = "</div>";
String panelBodySymbol = "<div class='panel panel-default'><div class='panel-body'><span class='glyphicon glyphicon-";
String panelBodyName = "'></span> ";
String panelBodyValue = "<span class='pull-right'>";
String panelcenter = "<div class='row'><div class='span6' style='text-align:center'>";
String panelBodyEnd = "</span></div></div>";
String inputBodyStart = "<form action='' method='POST'><div class='panel panel-default'><div class='panel-body'>";
String inputBodyName = "<div class='form-group'><div class='input-group'><span class='input-group-addon' id='basic-addon1'>";
String inputBodyPOST = "</span><input type='text' name='";
String inputBodyClose = "' class='form-control' aria-describedby='basic-addon1'></div></div>";
String roombacontrol = "<a href='/roombastart'<button type='button' class='btn btn-default'><span class='glyphicon glyphicon-play' aria-hidden='true'></span> Start</button></a><a href='/roombastop'<button type='button' class='btn btn-default'><span class='glyphicon glyphicon-stop' aria-hidden='true'></span> Stop</button></a></div><a href='/roombaspot'<button type='button' class='btn btn-default'><span class='glyphicon glyphicon-search' aria-hidden='true'></span> Spot</button></a></div><a href='/roombadock'<button type='button' class='btn btn-default'><span class='glyphicon glyphicon-home' aria-hidden='true'></span> Dock</button></a></div>";
// ROOT page
void handle_root()
{
// get IP
IPAddress ip = WiFi.localIP();
ClientIP = String(ip[0]) + '.' + String(ip[1]) + '.' + String(ip[2]) + '.' + String(ip[3]);
delay(500);
String title1 = panelHeaderName + String("Roombot Settings") + panelHeaderEnd;
String IPAddClient = panelBodySymbol + String("globe") + panelBodyName + String("IP Address") + panelBodyValue + ClientIP + panelBodyEnd;
String ClientName = panelBodySymbol + String("tag") + panelBodyName + String("Client Name") + panelBodyValue + espName + panelBodyEnd;
String Version = panelBodySymbol + String("info-sign") + panelBodyName + String("Roombot Version") + panelBodyValue + roombotVersion + panelBodyEnd;
String Uptime = panelBodySymbol + String("time") + panelBodyName + String("Uptime") + panelBodyValue + hour() + String(" h ") + minute() + String(" min ") + second() + String(" sec") + panelBodyEnd + panelEnd;
String title2 = panelHeaderName + String("Pimatic server") + panelHeaderEnd;
String IPAddServ = panelBodySymbol + String("globe") + panelBodyName + String("IP Address") + panelBodyValue + host + panelBodyEnd;
String User = panelBodySymbol + String("user") + panelBodyName + String("Username") + panelBodyValue + Username + panelBodyEnd + panelEnd;
String title3 = panelHeaderName + String("Commands") + panelHeaderEnd;
String commands = panelBodySymbol + panelBodyName + panelcenter + roombacontrol + panelBodyEnd;
server.send ( 200, "text/html", header + navbar + containerStart + title1 + IPAddClient + ClientName + Version + Uptime + title3 + commands + containerEnd + siteEnd);
}
// Setup
void setup(void)
{
Serial.begin(115200);
mySerial.begin(115200);
pinMode(SERIAL_RX, INPUT);
pinMode(SERIAL_TX, OUTPUT);
pinMode(Wake_Pin, OUTPUT);
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(Wake_Pin,LOW);
// Check if SPIFFS is OK
if (!SPIFFS.begin())
{
Serial.println("SPIFFS failed, needs formatting");
handleFormat();
delay(500);
ESP.restart();
}
else
{
FSInfo fs_info;
if (!SPIFFS.info(fs_info))
{
Serial.println("fs_info failed");
}
else
{
FSTotal = fs_info.totalBytes;
FSUsed = fs_info.usedBytes;
}
}
//mySerial.begin(115200); // uncomment this line to use SoftSerial
WiFi.begin(ssid.c_str(), password.c_str());
int i = 0;
while (WiFi.status() != WL_CONNECTED && i < 31)
{
delay(1000);
Serial.print(".");
++i;
}
if (WiFi.status() != WL_CONNECTED && i >= 30)
{
WiFi.disconnect();
delay(1000);
Serial.println("");
Serial.println("Couldn't connect to network :( ");
Serial.println("Setting up access point");
Serial.println("SSID: ");
Serial.println(APssid);
Serial.println("password: ");
Serial.println(APpassword);
WiFi.mode(WIFI_AP);
WiFi.softAP(APssid, APpassword);
WMode = "AP";
Serial.print("Connected to ");
Serial.println(APssid);
IPAddress myIP = WiFi.softAPIP();
Serial.print("IP address: ");
Serial.println(myIP);
}
else
{
Serial.println("");
Serial.print("Connected to ");
Serial.println(ssid);
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
Serial.print("Hostname: ");
Serial.println(espName);
}
server.on ( "/format", handleFormat );
server.on("/", handle_root);
server.on("/", handle_fupload_html);
server.on("/api", handle_api);
server.on("/updatefwm", handle_updatefwm_html);
server.on("/fupload", handle_fupload_html);
server.on("/filemanager_ajax", handle_filemanager_ajax);
server.on("/delete", handleFileDelete);
server.on("/roombastart", handle_roomba_start);
server.on("/roombadock", handle_roomba_dock);
server.on("/roombaspot", handle_roomba_spot);
server.on("/roombastop", handle_roomba_stop);
server.on("/restart", handle_esp_restart);
// Upload firmware:
server.on("/updatefw2", HTTP_POST, []() {
server.sendHeader("Connection", "close");
server.sendHeader("Access-Control-Allow-Origin", "*");
server.send(200, "text/plain", (Update.hasError()) ? "FAIL" : "OK");
ESP.restart();
}, []()
{
HTTPUpload& upload = server.upload();
if (upload.status == UPLOAD_FILE_START)
{
fileName = upload.filename;
Serial.setDebugOutput(true);
Serial.printf("Update: %s\n", upload.filename.c_str());
uint32_t maxSketchSpace = (ESP.getFreeSketchSpace() - 0x1000) & 0xFFFFF000;
if (!Update.begin(maxSketchSpace)) { //start with max available size
Update.printError(Serial);
}
}
else if (upload.status == UPLOAD_FILE_WRITE)
{
if (Update.write(upload.buf, upload.currentSize) != upload.currentSize)
{
Update.printError(Serial);
}
}
else if (upload.status == UPLOAD_FILE_END)
{
if (Update.end(true)) //true to set the size to the current progress
{
Serial.printf("Update Success: %u\nRebooting...\n", upload.totalSize);
}
else
{
Update.printError(Serial);
}
Serial.setDebugOutput(false);
}
yield();
});
// upload file to SPIFFS
server.on("/fupload2", HTTP_POST, []() {
server.sendHeader("Connection", "close");
server.sendHeader("Access-Control-Allow-Origin", "*");
server.send(200, "text/plain", (Update.hasError()) ? "FAIL" : "OK");
}, []() {
HTTPUpload& upload = server.upload();
if (upload.status == UPLOAD_FILE_START)
{
fileName = upload.filename;
Serial.setDebugOutput(true);
//fileName = upload.filename;
Serial.println("Upload Name: " + fileName);
String path;
if (fileName.indexOf(".css") >= 0)
{
path = "/css/" + fileName;
}
else if (fileName.indexOf(".js") >= 0)
{
path = "/js/" + fileName;
}
else if (fileName.indexOf(".otf") >= 0 || fileName.indexOf(".eot") >= 0 || fileName.indexOf(".svg") >= 0 || fileName.indexOf(".ttf") >= 0 || fileName.indexOf(".woff") >= 0 || fileName.indexOf(".woff2") >= 0)
{
path = "/fonts/" + fileName;
}
else
{
path = "/" + fileName;
}
UploadFile = SPIFFS.open(path, "w");
// already existing file will be overwritten!
}
else if (upload.status == UPLOAD_FILE_WRITE)
{
if (UploadFile)
UploadFile.write(upload.buf, upload.currentSize);
Serial.println(fileName + " size: " + upload.currentSize);
}
else if (upload.status == UPLOAD_FILE_END)
{
Serial.print("Upload Size: ");
Serial.println(upload.totalSize); // need 2 commands to work!
if (UploadFile)
UploadFile.close();
}
yield();
});
//called when the url is not defined here
//use it to load content from SPIFFS
server.onNotFound([]() {
if (!handleFileRead(server.uri()))
server.send(404, "text/plain", "FileNotFound");
});
if (!mdns.begin(espName.c_str(), WiFi.localIP())) {
Serial.println("Error setting up MDNS responder!");
while (1) {
delay(1000);
}
}
server.begin();
Serial.println("HTTP server started");
}
String getContentType(String filename) {
if (server.hasArg("download")) return "application/octet-stream";
else if (filename.endsWith(".htm")) return "text/html";
else if (filename.endsWith(".html")) return "text/html";
else if (filename.endsWith(".css")) return "text/css";
else if (filename.endsWith(".js")) return "application/javascript";
else if (filename.endsWith(".png")) return "image/png";
else if (filename.endsWith(".gif")) return "image/gif";
else if (filename.endsWith(".jpg")) return "image/jpeg";
else if (filename.endsWith(".ico")) return "image/x-icon";
else if (filename.endsWith(".xml")) return "text/xml";
else if (filename.endsWith(".pdf")) return "application/x-pdf";
else if (filename.endsWith(".zip")) return "application/x-zip";
else if (filename.endsWith(".gz")) return "application/x-gzip";
return "text/plain";
}
bool handleFileRead(String path)
{
Serial.println("handleFileRead: " + path);
String contentType = getContentType(path);
String pathWithGz = path + ".gz";
if (SPIFFS.exists(pathWithGz) || SPIFFS.exists(path))
{
if (SPIFFS.exists(pathWithGz))
path += ".gz";
File file = SPIFFS.open(path, "r");
if ( (path.startsWith("/css/") || path.startsWith("/js/") || path.startsWith("/fonts/")) && !path.startsWith("/js/insert"))
{
server.sendHeader("Cache-Control", " max-age=31104000");
}
else
{
server.sendHeader("Connection", "close");
}
size_t sent = server.streamFile(file, contentType);
size_t contentLength = file.size();
file.close();
return true;
}
else
{
//Serial.println(path);
}
return false;
}
// LOOP
void loop(void)
{
if (mySerial.available()) {
Serial.print(mySerial.read());
}
server.handleClient();
}
// handles
void handle_api()
{
// Get vars for all commands
String action = server.arg("action");
String value = server.arg("value");
String api = server.arg("api");
if (action == "clean" && value == "start")
{
handle_roomba_start();
}
if (action == "dock" && value == "home")
{
handle_roomba_dock();
}
if (action == "reset" && value == "true")
{
server.send ( 200, "text/html", "Reset ESP OK");
delay(500);
Serial.println("RESET");
ESP.restart();
}
}
void handle_updatefwm_html()
{
server.send ( 200, "text/html", "<form method='POST' action='/updatefw2' enctype='multipart/form-data'><input type='file' name='update'><input type='submit' value='Update'></form><br<b>For firmware only!!</b>");
}
void handle_fupload_html()
{
String HTML = "<br>Files on flash:<br>";
Dir dir = SPIFFS.openDir("/");
while (dir.next())
{
fileName = dir.fileName();
size_t fileSize = dir.fileSize();
HTML += fileName.c_str();
HTML += " ";
HTML += formatBytes(fileSize).c_str();
HTML += " , ";
HTML += fileSize;
HTML += "<br>";
//Serial.printf("FS File: %s, size: %s\n", fileName.c_str(), formatBytes(fileSize).c_str());
}
server.send ( 200, "text/html", "<form method='POST' action='/fupload2' enctype='multipart/form-data'><input type='file' name='update' multiple><input type='submit' value='Update'></form><br<b>For webfiles only!!</b>Multiple files possible<br>" + HTML);
}
void handle_update_upload()
{
if (server.uri() != "/update2") return;
HTTPUpload& upload = server.upload();
if (upload.status == UPLOAD_FILE_START) {
Serial.setDebugOutput(true);
Serial.printf("Update: %s\n", upload.filename.c_str());
uint32_t maxSketchSpace = (ESP.getFreeSketchSpace() - 0x1000) & 0xFFFFF000;
if (!Update.begin(maxSketchSpace)) { //start with max available size
Update.printError(Serial);
}
} else if (upload.status == UPLOAD_FILE_WRITE) {
if (Update.write(upload.buf, upload.currentSize) != upload.currentSize) {
Update.printError(Serial);
}
} else if (upload.status == UPLOAD_FILE_END) {
if (Update.end(true)) { //true to set the size to the current progress
Serial.printf("Update Success: %u\nRebooting...\n", upload.totalSize);
} else {
Update.printError(Serial);
}
Serial.setDebugOutput(false);
}
yield();
}
void handle_update_html2()
{
server.sendHeader("Connection", "close");
server.sendHeader("Access-Control-Allow-Origin", "*");
server.send(200, "text/plain", (Update.hasError()) ? "FAIL" : "OK");
ESP.restart();
}
void handleFileDelete()
{
if (server.args() == 0) return server.send(500, "text/plain", "BAD ARGS");
String path = server.arg(0);
if (!path.startsWith("/")) path = "/" + path;
Serial.println("handleFileDelete: " + path);
if (path == "/")
return server.send(500, "text/plain", "BAD PATH");
if (!SPIFFS.exists(path))
return server.send(404, "text/plain", "FileNotFound");
SPIFFS.remove(path);
server.send(200, "text/plain", "");
path = String();
}
void handleFormat()
{
server.send ( 200, "text/html", "OK");
Serial.println("Format SPIFFS");
if (SPIFFS.format())
{
if (!SPIFFS.begin())
{
Serial.println("Format SPIFFS failed");
}
}
else
{
Serial.println("Format SPIFFS failed");
}
if (!SPIFFS.begin())
{
Serial.println("SPIFFS failed, needs formatting");
}
else
{
Serial.println("SPIFFS mounted");
}
}
void handle_filemanager_ajax()
{
String form = server.arg("form");
if (form != "filemanager")
{
String HTML;
Dir dir = SPIFFS.openDir("/");
while (dir.next())
{
fileName = dir.fileName();
size_t fileSize = dir.fileSize();
HTML += String("<option>") + fileName + String("</option>");
}
// Glue everything together and send to client
server.send(200, "text/html", HTML);
}
}
void handle_roomba_wake(){
digitalWrite(Wake_Pin, HIGH);
delay(100);
digitalWrite(Wake_Pin, LOW);
delay(500);
digitalWrite(Wake_Pin, HIGH);
delay(100);
}
void handle_roomba_start()
{
handle_roomba_wake();
Serial.println("Starting");
mySerial.write(128);
delay(50);
mySerial.write(131);
delay(50);
mySerial.write(135);
Serial.println("I will clean master");
handle_root();
}
void handle_roomba_dock()
{
handle_roomba_wake();
mySerial.write(128);
delay(50);
mySerial.write(131);
delay(50);
mySerial.write(143);
Serial.println("Thank you for letting me rest, going home master");
handle_root();
}
void handle_roomba_spot()
{
handle_roomba_wake();
mySerial.write(128);
delay(50);
mySerial.write(131);
delay(50);
mySerial.write(134);
Serial.println("Spot cleaning");
handle_root();
}
void handle_roomba_stop()
{
handle_roomba_wake();
mySerial.write(128);
delay(50);
mySerial.write(131);
delay(50);
mySerial.write(133);
Serial.println("STOP");
handle_root();
}
void handle_esp_restart() {
ESP.restart();
}
void handle_esp_charging() {
int charge = 0;
// int data;
mySerial.write(142);
delay(50);
mySerial.write(21);
delay(50);
if (mySerial.available()) {
charge = Serial.read();
Serial.println("..");
Serial.print(charge);
switch (charge) {
case 0:{
//do something when var equals 1
String data = String(charge);
handle_esp_pimatic(data, chargevar);
break;}
case 1:{
//do something when var equals 2
String data = String(charge);
handle_esp_pimatic(data, chargevar);
break;}
case 2:{
//do something when var equals 2
String data = String(charge);
handle_esp_pimatic(data, chargevar);
break;}
case 3:{
//do something when var equals 2
String data = String(charge);
handle_esp_pimatic(data, chargevar);
break;}
case 4:{
//do something when var equals 2
String data = String(charge);
handle_esp_pimatic(data, chargevar);
break;}
case 5:{
//do something when var equals 2
String data = String(charge);
String variable = String(charge);
handle_esp_pimatic(data, chargevar);
break;}
default:
// if nothing else matches, do the default
// default is optional
break;
}
}
Serial.println("Charging status");
}
void handle_esp_distance() {
mySerial.write(142);
delay(50);
mySerial.write(19);
delay(50);
if (mySerial.available()) {
Serial.println("..");
Serial.print(Serial.read());
}
String data = String(Serial.read());
Serial.println("Distance traveled");
handle_esp_pimatic(data, distancevar);
}
void handle_esp_pimatic(String data, String variable) {
String yourdata;
char uname[BASE64_LEN];
String str = String(Username) + ":" + String(Password);
str.toCharArray(uname, BASE64_LEN);
memset(unameenc, 0, sizeof(unameenc));
// base64_encode(unameenc, uname, strlen(uname));
base64 encoder;
String auth = Username;
auth += ":";
auth += Password;
if (!client.connect(host.c_str(), httpPort))
{
Serial.println("connection failed");
return;
}
yourdata = "{\"type\": \"value\", \"valueOrExpression\": \"" + data + "\"}";
client.print("PATCH /api/variables/");
client.print(variable);
client.print(" HTTP/1.1\r\n");
client.print("Authorization: Basic ");
client.print(unameenc);
client.print("\r\n");
client.print("Host: " + host +"\r\n");
client.print("Content-Type:application/json\r\n");
client.print("Content-Length: ");
client.print(yourdata.length());
client.print("\r\n\r\n");
client.print(yourdata);
delay(500);
// Read all the lines of the reply from server and print them to Serial
while (client.available()) {
String line = client.readStringUntil('\r');
//Serial.print(line);
}
}