Hi,
I am currently working on a sketch using AccelStepper to conrol a rotator in azimuth and elevation on an ESP8266 board, compliant with rotctld protocol:
#include <ESP8266WiFi.h>
#include <ArduinoWiFiServer.h>
#include <Arduino.h>
#include <WString.h>
#define BUFFER_SIZE 256
#define BAUDRATE 9600
#ifndef STASSID
#define STASSID "********"
#define STAPSK "********"
#define PORT 4533
#endif
const char* ssid = STASSID;
const char* password = STAPSK;
ArduinoWiFiServer server(PORT);
class rotctld {
public:
void rotctld_init() {
Serial.begin(BAUDRATE);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
digitalWrite(WIFI_LED, HIGH);
server.begin();
IPAddress ip = WiFi.localIP();
Serial.println();
Serial.println("Connected!");
Serial.print("Telnet server listening on ");
Serial.print(ip);
Serial.print(":");
Serial.println(PORT);
}
void rotctld_proc() {
char buffer[BUFFER_SIZE];
char incomingByte;
char *Data = buffer;
char *rawData;
static uint16_t BufferCnt = 0;
char data[100];
String str1, str2;
// Returns first client which has data to read or a 'false' client
WiFiClient client = server.available();
// client is true only if it is connected and has data to read
if (client) {
//ESP.wdtFeed();
incomingByte = client.read();
// Read new data until '\n'
if (incomingByte == '\n' || incomingByte == '\r') {
buffer[BufferCnt] = 0;
if (buffer[0] == 'p') {
// Send current absolute position in deg
str1 = String(control_az.input, 1);
str2 = String(control_el.input, 1);
server.println(str1);
server.println(str2);
} else if (buffer[0] == 'P' && buffer[1] == ' ') {
// Get the absolute position in deg for azimuth
rotator.control_mode = position;
rawData = strtok_r(Data, " ", &Data);
strncpy(data, rawData + 2, 10);
char* az = strtok(data, " ");
char* el = strtok(NULL, "\0");
if (isNumber(az) && isNumber(el)) {
control_az.setpoint = atof(az);
control_el.setpoint = atof(el);
server.println("RPRT 0"); // Return OK
} else {
server.println("RPRT 1"); // Return ERROR
}
}
// Reset the buffer an clean the buffer
BufferCnt = 0;
server.flush(); // flush the buffers
} else {
// Fill the buffer with incoming data
buffer[BufferCnt] = incomingByte;
BufferCnt++;
}
}
}
private:
bool isNumber(char *input) {
for (uint16_t i = 0; input[i] != '\0'; i++) {
if (isalpha(input[i]))
return false;
}
return true;
}
};
Basicaly it works like that:
"P 180 45" sets the rotator to azimuth 180 and elevation 45
"p" requests the current position, the result is displayed like this:
180.00
45.00
In the real life, the program which interacts with the rotator (Gpredict) sets the wanted position (P 180 54) and polls the current position (p) during the movement every 0.5 seconds.
My concern is that each time the position is polled with "p" the motors stop running then continue.
server.print() locks the rest of the program until it has finished to sent the data.
If I use Serial.print() instead of server.print(), the motors run flawlessly.
Is there a way to sort this out?
