/// <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();
}
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>");
//Break apart the request
//request.URL.ToString()
string[] commands = request.URL.Split('&');
try
{
int cmdCount = 0;
foreach (string c in commands)
{
cmdCount++;
}
if (cmdCount != 6){request.SendResponse("<html><body>Invalid Number of Commands</body></html>");}
}
catch (Exception ex)
{
request.SendResponse("<html><body>" + ex + "</body></html>");
}
try
{
string direction = commands[0];
int t = Int32.Parse(commands[1]);
int d = Int32.Parse(commands[2]);
string dir = commands[3].ToString();
int deg = Int32.Parse(commands[4]);
int spe = Int32.Parse(commands[5]);
// sent to output
if (direction.ToLower() == "/forward" || direction.ToLower() == "/reverse")
{
//TrySendFile(request);
//OutputPort D0 = new OutputPort(Pins.GPIO_PIN_D0, false);
//D0.Write(true);
if (Navigate(direction, t, d, spe, dir, deg))
{
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 { request.Send404(); }
}
//else if (direction == "/backward" || direction == "/test2.html")
//{
// //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>");
//}
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);
}
catch (Exception ex)
{
request.SendResponse("<html><body>" + ex + "</body></html>");
}
}
