I know, it isn't my original code, but im using this for a larger project that I am currently working on. I keep getting this error message: "cannot declare 'client' to be of abstract type 'Client'". heres the code:
// RoboSapienServer.cpp
// RobosapienServer - Web enable a RoboSapien
// Kevin N. Haw
// http://www.KevinHaw.com/RoboSapienServer.php
// This project combines the default webserver example in the IDE distribution and Karl Castleton's(http://home.mesastate.edu/~kcastlet) RoboSapienIR (http://playground.arduino.cc/Main/RoboSapienIR).
// Source code merged from those two sources.
// Include files
#include <Ethernet.h>
#include <string.h>
#include <WebServer.h>
//////////////////////////////////////////////////////////////////
// Begin Web Server specific variable deinitions
//////////////////////////////////////////////////////////////////
byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
// KNH, 02/09/2010 - Change IP address to use local subnet at home
//byte ip[] = { 10, 0, 0, 177 };
byte ip[] = { 192, 168, 1, 177 };
// Server for web requests
EthernetServer server(80);
// Define field name in the submitted form
#define SUBMIT_BUTTON_FIELDNAME "RSCmd"
// String for HTTP request variables
char pcHttpReqRsCmd[20] = {'\0'};
volatile int viRobsapienUrlCmd = -1; // A robosapien command sent over the URL of a webpage HTTP request
//////////////////////////////////////////////////////////////////
// Begin Robosapien specific variable deinitions
//////////////////////////////////////////////////////////////////
// Some but not all RS commands are defined
#define RSTurnRight 0x80
#define RSRightArmUp 0x81
#define RSRightArmOut 0x82
#define RSTiltBodyRight 0x83
#define RSRightArmDown 0x84
#define RSRightArmIn 0x85
#define RSWalkForward 0x86
#define RSWalkBackward 0x87
#define RSTurnLeft 0x88
#define RSLeftArmUp 0x89
#define RSLeftArmOut 0x8A
#define RSTiltBodyLeft 0x8B
#define RSLeftArmDown 0x8C
#define RSLeftArmIn 0x8D
#define RSStop 0x8E
#define RSWakeUp 0xB1
#define RSBurp 0xC2
#define RSRightHandStrike 0xC0
#define RSNoOp 0xEF
// Subset of additional codes pulled from http://www.contrib.andrew.cmu.edu/~ebuehl/robosapien-lirc/ir_codes.htm
#define RSRightHandSweep 0xC1
#define RSRightHandStrike2 0xC3
#define RSHigh5 0xC4
#define RSFart 0xC7
#define RSLeftHandStrike 0xC8
#define RSLeftHandSweep 0xC9
#define RSWhistle 0xCA
#define RSRoar 0xCE
int IRIn = 2; // We will use an interrupt
int IROut = 3; // Where the echoed command will be sent from
boolean RSEcho = true; // Should Arduino Echo RS commands
boolean RSUsed = true; // Has the last command been used
volatile int RSBit = 9; // Total bits of data
volatile int RSCommand; // Single byte command from IR
int bitTime = 516; // Bit time (Theoretically 833 but 516)
// works for transmission and is faster
int last; // Previous command from IR
//////////////////////////////////////////////////////////////////
// Begin Robosapien specific code
//////////////////////////////////////////////////////////////////
// Receive a bit at a time.
// NOTE: Unused in the RoboServer aplication
void RSReadCommand() {
delayMicroseconds(833 + 208); // about 1 1/4 bit times
int bit = digitalRead(IRIn);
if (RSBit == 9) { // Must be start of new command
RSCommand = 0;
RSBit = 0;
RSUsed = true;
}
if (RSBit < 8) {
RSCommand <<= 1;
RSCommand |= bit;
}
RSBit++;
if (RSBit == 9) RSUsed = false;
}
// send the whole 8 bits
void RSSendCommand(int command) {
digitalWrite(IROut, LOW);
delayMicroseconds(8 * bitTime);
for (int i = 0; i < 8; i++) {
digitalWrite(IROut, HIGH);
delayMicroseconds(bitTime);
if ((command & 128) != 0) delayMicroseconds(3 * bitTime);
digitalWrite(IROut, LOW);
delayMicroseconds(bitTime);
command <<= 1;
}
digitalWrite(IROut, HIGH);
delay(250); // Give a 1/4 sec before next
}
// Set up RoboSpapien functionality
void RSSetup()
{
pinMode(IRIn, INPUT);
pinMode(IROut, OUTPUT);
pinMode(10, OUTPUT);
digitalWrite(IROut, HIGH);
attachInterrupt(0, RSReadCommand, RISING);
last = RSNoOp;
// Make robot burp to indicate setup is complete
RSSendCommand(RSBurp);
}
// Loop for RoboSapien functionality
// Write only functionality - send the command from the web page to the robot, ignoring any input from the remote
void RSLoop()
{
// Has a new command come in from the server?
if (viRobsapienUrlCmd != -1)
{
// New command - send it to robot
Serial.print("Sending command to RoboSapien: ");
Serial.println(viRobsapienUrlCmd, HEX);
RSSendCommand(viRobsapienUrlCmd);
// Now clear command
viRobsapienUrlCmd = -1;
}
}
//////////////////////////////////////////////////////////////////
// Begin Webserver Specific Code
//////////////////////////////////////////////////////////////////
// Print ourt MIME and HTML header at top of webpage
void HtmlHeader(Client client)
{
client.println("HTTP/1.1 200 OK");
client.println("Content-Type: text/html");
client.println();
client.println("<HTML>\n<HEAD>");
client.println(" <TITLE>Kevin's Arduino Webserver</TITLE>");//
// client.println(" <META HTTP-EQUIV=\"refresh\" CONTENT=\"5\">");
client.println("</HEAD><BODY bgcolor=\"#9bbad6\">");
}
// Print the footer at the bottom of the webpage
void HtmlFooter(Client client)
{
client.println("</BODY></HTML>");
}
// Print a submit button with the indicated label wrapped in a form for the indicated hex command
void SubmitButton(Client &client, char *pcLabel, int iCmd)
{
client.print("<form method=post action=\"/?");
client.print(iCmd, HEX);
client.print("\"><input type=submit value=\"");
client.print(pcLabel);
client.print("\" name=\"" SUBMIT_BUTTON_FIELDNAME "\">");
client.println("</form>");
}
// Parse an HTTP request header one character at a time, seeking string variables
void ParseHttpHeader(Client &client)
{
char c;
// Skip through until we hit a question mark (first one)
while ((c = client.read()) != '?' && client.available())
{
// Debug - print data
Serial.print(c);
}
// Are we here for a question mark or did we run out of data?
if (client.available() > 2)
{
char pcUrlNum[3], *pc;
// We have enough data for a hex number - read it
for (int i = 0; i < 2; i++)
{
// Read and dump data to debug port
Serial.print(c = pcUrlNum[i] = client.read());
}
// Null terminate string
pcUrlNum[2] = '\0';
// Get hex number
viRobsapienUrlCmd = strtol(pcUrlNum, &pc, 0x10);
}
// Skip through and discard all remaining data
while (client.available())
{
// Debug - print data
Serial.print(c = client.read());
}
}
// Set up webserver functionality
void WebServerSetup()
{
Ethernet.begin(mac, ip);
server.begin();
}
// Web server loop
void WebServerLoop()
{
Client client = server.available();
boolean bPendingHttpResponse = false; // True when we've received a whole HTTP request and need to output the webpage
char c; // For reading in HTTP request one character at a time
if (client) {
// Loop as long as there's a connection
while (client.connected()) {
// Do we have pending data (an HTTP request)?
if (client.available()) {
// Indicate we need to respond to the HTTP request as soon as we're done processing it
bPendingHttpResponse = true;
ParseHttpHeader(client);
}
else
{
// There's no data waiting to be read in on the client socket. Do we have a pending HTTP request?
if (bPendingHttpResponse)
{
// Yes, we have a pending request. Clear the flag and then send the webpage to the client
bPendingHttpResponse = false;
// send a standard http response header and HTML header
HtmlHeader(client);
// Put out a text header
client.println("<H1>Kevin's RoboSapien Webserver</H1>");
client.println("<table border cellspacing=0 cellpadding=5><tr>");
client.println("<td>");
// Create buttons
SubmitButton(client, "WakeUp", RSWakeUp);
SubmitButton(client, "Roar", RSRoar);
SubmitButton(client, "Whistle", RSWhistle);
SubmitButton(client, "High5", RSHigh5);
client.println("<br>");
client.println("</td><td>");
SubmitButton(client, "LeftArmUp", RSLeftArmUp);
SubmitButton(client, "LeftArmIn", RSLeftArmIn);
SubmitButton(client, "LeftArmOut", RSLeftArmOut);
SubmitButton(client, "LeftArmDown", RSLeftArmDown);
SubmitButton(client, "LeftArmSweep", RSLeftHandSweep);
client.println("<br>");
client.println("</td><td>");
SubmitButton(client, "RightArmUp", RSRightArmUp);
SubmitButton(client, "RightArmIn", RSRightArmIn);
SubmitButton(client, "RightArmOut", RSRightArmOut);
SubmitButton(client, "RightArmDown", RSRightArmDown);
SubmitButton(client, "RightArmSweep", RSRightHandSweep);
client.println("<br>");
client.println("</td></tr></table>");
client.print("<br><br><br>URL Hex no: ");
client.print(viRobsapienUrlCmd, HEX);
client.println("<br />");
// send HTML footer
HtmlFooter(client);
// give the web browser time to receive the data
delay(1);
client.stop();
}
}
} // End while(connected)
}
}
//////////////////////////////////////////////////////////////////
// Begin arduino entry points
//////////////////////////////////////////////////////////////////
void setup()
{
// open the serial port at 9600 bps:
Serial.begin(9600);
// Print greeting
Serial.println("Kevin's RobSapien Server");
RSSetup();
WebServerSetup();
}
void loop()
{
RSLoop();
WebServerLoop();
}
I know, it isn't my original code, but I'm using this for a larger project that I am currently working on. I keep getting this error message: "cannot declare 'client' to be of abstract type 'Client'". here's the code:
// RoboSapienServer.cpp
// RobosapienServer - Web enable a RoboSapien
// Kevin N. Haw
// http://www.KevinHaw.com/RoboSapienServer.php
// This project combines the default webserver example in the IDE distribution and Karl Castleton's(http://home.mesastate.edu/~kcastlet) RoboSapienIR (http://playground.arduino.cc/Main/RoboSapienIR).
// Source code merged from those two sources.
// Include files
#include <Ethernet.h>
#include <string.h>
#include <WebServer.h>
//////////////////////////////////////////////////////////////////
// Begin Web Server specific variable deinitions
//////////////////////////////////////////////////////////////////
byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
// KNH, 02/09/2010 - Change IP address to use local subnet at home
//byte ip[] = { 10, 0, 0, 177 };
byte ip[] = { 192, 168, 1, 177 };
// Server for web requests
EthernetServer server(80);
// Define field name in the submitted form
#define SUBMIT_BUTTON_FIELDNAME "RSCmd"
// String for HTTP request variables
char pcHttpReqRsCmd[20] = {'\0'};
volatile int viRobsapienUrlCmd = -1; // A robosapien command sent over the URL of a webpage HTTP request
//////////////////////////////////////////////////////////////////
// Begin Robosapien specific variable deinitions
//////////////////////////////////////////////////////////////////
// Some but not all RS commands are defined
#define RSTurnRight 0x80
#define RSRightArmUp 0x81
#define RSRightArmOut 0x82
#define RSTiltBodyRight 0x83
#define RSRightArmDown 0x84
#define RSRightArmIn 0x85
#define RSWalkForward 0x86
#define RSWalkBackward 0x87
#define RSTurnLeft 0x88
#define RSLeftArmUp 0x89
#define RSLeftArmOut 0x8A
#define RSTiltBodyLeft 0x8B
#define RSLeftArmDown 0x8C
#define RSLeftArmIn 0x8D
#define RSStop 0x8E
#define RSWakeUp 0xB1
#define RSBurp 0xC2
#define RSRightHandStrike 0xC0
#define RSNoOp 0xEF
// Subset of additional codes pulled from http://www.contrib.andrew.cmu.edu/~ebuehl/robosapien-lirc/ir_codes.htm
#define RSRightHandSweep 0xC1
#define RSRightHandStrike2 0xC3
#define RSHigh5 0xC4
#define RSFart 0xC7
#define RSLeftHandStrike 0xC8
#define RSLeftHandSweep 0xC9
#define RSWhistle 0xCA
#define RSRoar 0xCE
int IRIn = 2; // We will use an interrupt
int IROut = 3; // Where the echoed command will be sent from
boolean RSEcho = true; // Should Arduino Echo RS commands
boolean RSUsed = true; // Has the last command been used
volatile int RSBit = 9; // Total bits of data
volatile int RSCommand; // Single byte command from IR
int bitTime = 516; // Bit time (Theoretically 833 but 516)
// works for transmission and is faster
int last; // Previous command from IR
//////////////////////////////////////////////////////////////////
// Begin Robosapien specific code
//////////////////////////////////////////////////////////////////
// Receive a bit at a time.
// NOTE: Unused in the RoboServer aplication
void RSReadCommand() {
delayMicroseconds(833 + 208); // about 1 1/4 bit times
int bit = digitalRead(IRIn);
if (RSBit == 9) { // Must be start of new command
RSCommand = 0;
RSBit = 0;
RSUsed = true;
}
if (RSBit < 8) {
RSCommand <<= 1;
RSCommand |= bit;
}
RSBit++;
if (RSBit == 9) RSUsed = false;
}
// send the whole 8 bits
void RSSendCommand(int command) {
digitalWrite(IROut, LOW);
delayMicroseconds(8 * bitTime);
for (int i = 0; i < 8; i++) {
digitalWrite(IROut, HIGH);
delayMicroseconds(bitTime);
if ((command & 128) != 0) delayMicroseconds(3 * bitTime);
digitalWrite(IROut, LOW);
delayMicroseconds(bitTime);
command <<= 1;
}
digitalWrite(IROut, HIGH);
delay(250); // Give a 1/4 sec before next
}
// Set up RoboSpapien functionality
void RSSetup()
{
pinMode(IRIn, INPUT);
pinMode(IROut, OUTPUT);
pinMode(10, OUTPUT);
digitalWrite(IROut, HIGH);
attachInterrupt(0, RSReadCommand, RISING);
last = RSNoOp;
// Make robot burp to indicate setup is complete
RSSendCommand(RSBurp);
}
// Loop for RoboSapien functionality
// Write only functionality - send the command from the web page to the robot, ignoring any input from the remote
void RSLoop()
{
// Has a new command come in from the server?
if (viRobsapienUrlCmd != -1)
{
// New command - send it to robot
Serial.print("Sending command to RoboSapien: ");
Serial.println(viRobsapienUrlCmd, HEX);
RSSendCommand(viRobsapienUrlCmd);
// Now clear command
viRobsapienUrlCmd = -1;
}
}
//////////////////////////////////////////////////////////////////
// Begin Webserver Specific Code
//////////////////////////////////////////////////////////////////
// Print ourt MIME and HTML header at top of webpage
void HtmlHeader(Client client)
{
client.println("HTTP/1.1 200 OK");
client.println("Content-Type: text/html");
client.println();
client.println("<HTML>\n<HEAD>");
client.println(" <TITLE>Kevin's Arduino Webserver</TITLE>");//
// client.println(" <META HTTP-EQUIV=\"refresh\" CONTENT=\"5\">");
client.println("</HEAD><BODY bgcolor=\"#9bbad6\">");
}
// Print the footer at the bottom of the webpage
void HtmlFooter(Client client)
{
client.println("</BODY></HTML>");
}
// Print a submit button with the indicated label wrapped in a form for the indicated hex command
void SubmitButton(Client &client, char *pcLabel, int iCmd)
{
client.print("<form method=post action=\"/?");
client.print(iCmd, HEX);
client.print("\"><input type=submit value=\"");
client.print(pcLabel);
client.print("\" name=\"" SUBMIT_BUTTON_FIELDNAME "\">");
client.println("</form>");
}
// Parse an HTTP request header one character at a time, seeking string variables
void ParseHttpHeader(Client &client)
{
char c;
// Skip through until we hit a question mark (first one)
while ((c = client.read()) != '?' && client.available())
{
// Debug - print data
Serial.print(c);
}
// Are we here for a question mark or did we run out of data?
if (client.available() > 2)
{
char pcUrlNum[3], *pc;
// We have enough data for a hex number - read it
for (int i = 0; i < 2; i++)
{
// Read and dump data to debug port
Serial.print(c = pcUrlNum[i] = client.read());
}
// Null terminate string
pcUrlNum[2] = '\0';
// Get hex number
viRobsapienUrlCmd = strtol(pcUrlNum, &pc, 0x10);
}
// Skip through and discard all remaining data
while (client.available())
{
// Debug - print data
Serial.print(c = client.read());
}
}
// Set up webserver functionality
void WebServerSetup()
{
Ethernet.begin(mac, ip);
server.begin();
}
// Web server loop
void WebServerLoop()
{
Client client = server.available();
boolean bPendingHttpResponse = false; // True when we've received a whole HTTP request and need to output the webpage
char c; // For reading in HTTP request one character at a time
if (client) {
// Loop as long as there's a connection
while (client.connected()) {
// Do we have pending data (an HTTP request)?
if (client.available()) {
// Indicate we need to respond to the HTTP request as soon as we're done processing it
bPendingHttpResponse = true;
ParseHttpHeader(client);
}
else
{
// There's no data waiting to be read in on the client socket. Do we have a pending HTTP request?
if (bPendingHttpResponse)
{
// Yes, we have a pending request. Clear the flag and then send the webpage to the client
bPendingHttpResponse = false;
// send a standard http response header and HTML header
HtmlHeader(client);
// Put out a text header
client.println("<H1>Kevin's RoboSapien Webserver</H1>");
client.println("<table border cellspacing=0 cellpadding=5><tr>");
client.println("<td>");
// Create buttons
SubmitButton(client, "WakeUp", RSWakeUp);
SubmitButton(client, "Roar", RSRoar);
SubmitButton(client, "Whistle", RSWhistle);
SubmitButton(client, "High5", RSHigh5);
client.println("<br>");
client.println("</td><td>");
SubmitButton(client, "LeftArmUp", RSLeftArmUp);
SubmitButton(client, "LeftArmIn", RSLeftArmIn);
SubmitButton(client, "LeftArmOut", RSLeftArmOut);
SubmitButton(client, "LeftArmDown", RSLeftArmDown);
SubmitButton(client, "LeftArmSweep", RSLeftHandSweep);
client.println("<br>");
client.println("</td><td>");
SubmitButton(client, "RightArmUp", RSRightArmUp);
SubmitButton(client, "RightArmIn", RSRightArmIn);
SubmitButton(client, "RightArmOut", RSRightArmOut);
SubmitButton(client, "RightArmDown", RSRightArmDown);
SubmitButton(client, "RightArmSweep", RSRightHandSweep);
client.println("<br>");
client.println("</td></tr></table>");
client.print("<br><br><br>URL Hex no: ");
client.print(viRobsapienUrlCmd, HEX);
client.println("<br />");
// send HTML footer
HtmlFooter(client);
// give the web browser time to receive the data
delay(1);
client.stop();
}
}
} // End while(connected)
}
}
//////////////////////////////////////////////////////////////////
// Begin arduino entry points
//////////////////////////////////////////////////////////////////
void setup()
{
// open the serial port at 9600 bps:
Serial.begin(9600);
// Print greeting
Serial.println("Kevin's RobSapien Server");
RSSetup();
WebServerSetup();
}
void loop()
{
RSLoop();
WebServerLoop();
}
