private static void RequestReceived(Request request)
{
// Use this for a really basic check that it's working
//request.SendResponse("<html><body><p>Request from " + request.Client.ToString() + " received at " + DateTime.Now.ToString() + "</p><p>Method: " + request.Method + "<br />URL: " + request.URL +"</p></body></html>");
// sent to output
if (request.URL.ToString() == "/forward" || request.URL.ToString().ToString() == "/test.html")
{
//TrySendFile(request);
//OutputPort D0 = new OutputPort(Pins.GPIO_PIN_D0, false);
//D0.Write(true);
//Thread.Sleep(500);
//D0.Write(false);
//Thread.Sleep(500);
//D0.Dispose();
// Sweep the wheels from left to right
for (int i = 0; i <= 30; i++)
{
steering.Degree = i * 6;
Thread.Sleep(30);
}
// Center steering
steering.Degree = 90.5;
xl5.DriveMode = SpeedController.DriveModes.Forward;
for (int j = 50; j >= 0; j--)
{
xl5.Throttle = j;
Thread.Sleep(30);
}
//Thread.Sleep(10000);
//xl5.Throttle = 0;
request.SendResponse("<html><body><p>FORWARD<BR><BR>Request from " + request.Client.ToString() + " received at " + DateTime.Now.ToString() + "</p><p>Method: " + request.Method + "<br />URL: " + request.URL + "</p></body></html>");
}
else if (request.URL.ToString() == "/backward" || request.URL.ToString().ToString() == "/test2.html")
{
// Sweep the wheels from left to right
for (int i = 0; i <= 30; i++)
{
steering.Degree = i * 6;
Thread.Sleep(30);
}
// Center steering
steering.Degree = 90.5;
xl5.DriveMode = SpeedController.DriveModes.Reverse;
for (int j = 50; j >= 0; j--)
{
xl5.Throttle = j;
Thread.Sleep(30);
}
request.SendResponse("<html><body><p>BACKWARD<BR><BR>Request from " + request.Client.ToString() + " received at " + DateTime.Now.ToString() + "</p><p>Method: " + request.Method + "<br />URL: " + request.URL + "</p></body></html>");
//TrySendFile(request);
//OutputPort D0 = new OutputPort(Pins.GPIO_PIN_D0, false);
//D0.Write(true);
//Thread.Sleep(1500);
//D0.Write(false);
//Thread.Sleep(1500);
//D0.Dispose();
}
else
{
request.SendResponse("<html><body><p>UNKNOWN COMMAND<BR><BR>Request from " + request.Client.ToString() + " received at " + DateTime.Now.ToString() + "</p><p>Method: " + request.Method + "<br />URL: " + request.URL + "</p></body></html>");
}
// Send a file
//TrySendFile(request);
}
/// <summary>
/// Look for a file on the SD card and send it back if it exists
/// </summary>
/// <param name="request"></param>
private static void TrySendFile(Request request)
{
// Replace / with \
string filePath = WebFolder + request.URL.Replace('/', '\\');
if (File.Exists(filePath))
request.SendFile(filePath);
else
request.Send404();
}
