Simulateur

script.js

@@ -1,4 +1,4 @@
-const URL = "192.168.185.20";
+const URL = "192.168.185.166";
 const INFO_POSITION = 0x01;
 const INFO_LED = 0x02;
 
@@ -9,6 +9,7 @@ let socketInfos = undefined;
 let moteur = undefined;
 let led = undefined;
 let position = undefined;
+let pid = undefined;
 
 
 const connectSockets = () => {
@@ -34,6 +35,7 @@ const connectSockets = () => {
     socketInfos.onopen = function(e) {
         console.log("[socketInfos] Connection established");
         position.reset();
+        led.green();
     };
 
     socketInfos.onclose = function(event) {
@@ -101,7 +103,75 @@ class Moteur {
     stop() {
         this.send(0, 0, 0);
     }
+}
 
+class PID {
+
+    kpx = 0;
+    kix = 0;
+    kdx = 0;
+
+    kpy = 0;
+    kiy = 0;
+    kdy = 0;
+
+    kpr = 0;
+    kir = 0;
+    kdr = 0;
+
+    px = 0;
+    ix = 0;
+    dx = 0;
+
+    py = 0;
+    iy = 0;
+    dy = 0;
+
+    pr = 0;
+    ir = 0;
+    dr = 0;
+
+    tagetX = 0;
+    tagetY = 0;
+    targetR = 0;
+    run = false;
+
+    lastTime = undefined;
+
+    set(targetX, targetY, targetR) {
+        this.targetX = targetX;
+        this.px = 0;
+        this.ix = 0;
+        this.dx = 0;
+
+        this.targetY = targetY;
+        this.py = 0;
+        this.iy = 0;
+        this.dy = 0;
+
+        this.targetR = targetR;
+        this.pr = 0;
+        this.ir = 0;
+        this.dr = 0;
+
+        this.lastTime = Date.now().valueOf();
+        this.run = true;
+    }
+    
+
+    get(currentX, currentY, currentR) {
+        if (!this.run) {
+            return;
+        }
+        const currentTime = Date.now().valueOf();
+        const deltaTime = (currentTime - this.lastTime) / 1000.0;
+
+        this.p
+
+
+        console.log("Time delta : " + deltaTime);
+        this.lastTime = currentTime;
+    }
 
 }
 
@@ -109,23 +179,29 @@ class Led {
 
     http = undefined;
 
-    send(color){
-        this.http = new XMLHttpRequest();
-        this.http.open('POST', 'http://' + URL + '/led/set_color', true);
-        this.http.setRequestHeader('Content-type', 'application/x-www-form-urlencoded');
-        this.http.send('ledcolor=' + color);
+    async send(color){
+        await fetch('http://' + URL + '/led/set_color', {
+            method: 'post',
+            headers: { "Content-Type": "application/x-www-form-urlencoded" },
+            mode: "no-cors",
+            body: 'ledcolor=' + color
+        });
     }
 
     red(){
-        this.send("#ff0000")
+        this.send("#ff0000");
     }
 
     green(){
-        this.send("#00ff00")
+        this.send("#00ff00");
     }
 
     blue(){
-        this.send("#0000ff")
+        this.send("#0000ff");
+    }
+
+    off(){
+        this.send("#000000");
     }
 
 }
@@ -144,34 +220,69 @@ class Position {
             const mask = view.getUint8(0);
         
             if (mask & INFO_POSITION) {
-                const position_x = view.getFloat32(1);
-                const position_y = view.getFloat32(5);
-                const position_a = view.getFloat32(9);
+                const posX = view.getFloat32(1);
+                const poxY = view.getFloat32(5);
+                const posR = view.getFloat32(9);
                 
                 if (DEBUG) {
                     console.log(
-                        {"posX": position_x, "posY": position_y, "Rot": position_a }
+                        {"posX": posX, "posY": poxY, "Rot": posR}
                     );
                 }
+
+                pid.get(posX, this.posY, posR);
             }
         });
     }
 
-    reset() {
-        try {
-            const request = new XMLHttpRequest();
-            request.open("GET", "http://" + URL + "/position/reset");
-            request.send();
-        } catch (e) {}
+    async reset() {
+        await fetch("http://" + URL + "/position/reset", {
+            method: 'get',
+            headers: { "Content-Type": "application/x-www-form-urlencoded" },
+            mode: "no-cors"
+        });
     }
 }
 
 
-function run() {
+async function run() {
+
+
     connectSockets();
     moteur = new Moteur();
     led = new Led();
     position = new Position(socketInfos);
+    pid = new PID();
+    led.red();
+
+/*
+
+
+    const socket  = new WebSocket("ws://127.0.0.1:1337/ws");
+    socket.onclose = function(event) {
+        if (event.wasClean) {
+            console.log(`[socket] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
+        } else {
+            console.log('[socket] Connection died');
+        }
+    };
+
+    socket.onopen = function(e) {
+        console.log("[socket] Connection established");
+        socket.send("Test");
+    };
+
+    socket.onerror = function(error) {
+        console.log(`[socket] ERROR : ${error}`);
+    };
+    
+    socket.addEventListener("message", e => {
+        const data = e.data;
+        console.log(data);
+    });
+
+    */
+    
 }
 
 

simulateur/main.py

@@ -0,0 +1,47 @@
+#!/usr/bin/python3.7
+
+import aiohttp
+from aiohttp import web, WSCloseCode
+import asyncio
+
+
+async def http_handler(request):
+    return web.Response(text='Hello, world')
+
+
+async def websocket_handler(request):
+    ws = web.WebSocketResponse()
+    await ws.prepare(request)
+
+    async for msg in ws:
+        if msg.type == aiohttp.WSMsgType.TEXT:
+            if msg.data == 'close':
+                await ws.close()
+            else:
+                await ws.send_str('some websocket message payload')
+        elif msg.type == aiohttp.WSMsgType.ERROR:
+            print('ws connection closed with exception %s' % ws.exception())
+
+    return ws
+
+
+def create_runner():
+    app = web.Application()
+    app.add_routes([
+        web.get('/',   http_handler),
+        web.get('/ws', websocket_handler),
+    ])
+    return web.AppRunner(app)
+
+
+async def start_server(host="127.0.0.1", port=1337):
+    runner = create_runner()
+    await runner.setup()
+    site = web.TCPSite(runner, host, port)
+    await site.start()
+
+
+if __name__ == "__main__":
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(start_server())
+    loop.run_forever()