base

2025-03-22 13:58:36 +01:00
parent 5090b4c106
commit 42d5bc995f
2 changed files with 123 additions and 0 deletions
@@ -0,0 +1,9 @@
+<html>
+    <head>
+        <script src="./script.js"></script>
+
+        <script>
+            run();
+        </script>
+    </head>
+</html>
@@ -0,0 +1,114 @@
+const URL = "192.168.185.20";
+
+let socketMoteur = undefined;
+let socketInfos = undefined;
+let moteur = undefined;
+
+
+const connectSockets = () => {
+    if ((socketMoteur != undefined) || (socketInfos != undefined)) {
+        disconnectSocket();
+    }
+    socketMoteur = new WebSocket("ws://" + URL + "/motors.ws");
+    socketInfos  = new WebSocket("ws://" + URL + "/infos.ws");
+
+    socketMoteur.onclose = function(event) {
+        if (event.wasClean) {
+            console.log(`[socketMoteur] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
+        } else {
+            console.log('[socketMoteur] Connection died');
+        }
+    };
+
+    socketMoteur.onopen = function(e) {
+        console.log("[socketMoteur] Connection established");
+    };
+
+    socketInfos.onopen = function(e) {
+        console.log("[socketInfos] Connection established");
+    };
+
+    socketInfos.onclose = function(event) {
+        if (event.wasClean) {
+            console.log(`[socketInfos] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
+        } else {
+            console.log('[socketInfos] Connection died');
+        }
+    };
+
+    socketMoteur.onerror = function(error) {
+        console.log(`[socketMoteur] ERROR : ${error}`);
+    };
+
+    socketInfos.onerror = function(error) {
+        console.log(`[socketInfos] ERROR : ${error}`);
+    };
+}
+
+const disconnectSocket = () => {
+    if (socketMoteur != undefined) {
+        socketMoteur.close();
+    }
+    if (socketInfos != undefined) {
+        socketInfos.close();
+    }
+
+    socketMoteur = undefined;
+    socketInfos = undefined;
+}
+
+
+
+
+class Moteur {
+
+    motors_buf = new Float32Array(2);
+
+    send(d, g, v) {
+        if (socketMoteur == undefined) {
+            return;
+        }
+        this.motors_buf[0] = d * v;
+        this.motors_buf[1] = g * v;
+        
+        socketMoteur.send(this.motors_buf);
+    }
+
+    avancer(v) {
+        this.send(-1, -1, 1);
+    }
+
+    reculer(v) {
+        this.send(1, 1, 1);
+    }
+
+    droite(v) {
+        this.send(1, -1, 1);
+    }
+
+    gauche(v) {
+        this.send(-1, 1, 1);
+    }
+
+    stop(v) {
+        this.send(0, 0, 0);
+    }
+
+
+}
+
+
+
+
+
+
+function run() {
+    connectSockets();
+    moteur = new Moteur();
+
+    socketMoteur.onmessage = function(event) {
+        console.log(`[message] Data received from server: ${event.data}`);
+    };
+}
+
+