Récup infos + moteur

2025-03-22 15:28:33 +01:00
parent aa017a2715
commit bf51e5292b
2 changed files with 54 additions and 9 deletions
@@ -0,0 +1,9 @@
+<html>
+    <head>
+        <script src="./script.js"></script>
+
+        <script>
+            run();
+        </script>
+    </head>
+</html>
@@ -1,8 +1,13 @@
 const URL = "192.168.185.20";
+const INFO_POSITION = 0x01;
+const INFO_LED = 0x02;
+
+const DEBUG = false;

 let socketMoteur = undefined;
 let socketInfos = undefined;
 let moteur = undefined;
+let position = undefined;


 const connectSockets = () => {
@@ -11,6 +16,7 @@ const connectSockets = () => {
    }
    socketMoteur = new WebSocket("ws://" + URL + "/motors.ws");
    socketInfos  = new WebSocket("ws://" + URL + "/infos.ws");
+    socketInfos.binaryType = "arraybuffer";

    socketMoteur.onclose = function(event) {
        if (event.wasClean) {
@@ -26,6 +32,7 @@ const connectSockets = () => {

    socketInfos.onopen = function(e) {
        console.log("[socketInfos] Connection established");
+        position.reset();
    };

    socketInfos.onclose = function(event) {
@@ -75,40 +82,69 @@ class Moteur {
    }

    avancer(v) {
-        this.send(-1, -1, 1);
+        this.send(-1, -1, v);
    }

    reculer(v) {
-        this.send(1, 1, 1);
+        this.send(1, 1, v);
    }

    droite(v) {
-        this.send(1, -1, 1);
+        this.send(1, -1, v);
    }

    gauche(v) {
-        this.send(-1, 1, 1);
+        this.send(-1, 1, v);
    }

-    stop(v) {
+    stop() {
        this.send(0, 0, 0);
    }


 }

+class Position {

+    posX = 0;
+    posY = 0;
+    Rot = 0;

+    constructor(socket) {
+        socket.addEventListener("message", e => {
+            const view = new DataView(e.data);
+            let pos = 0;
        
+            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);
+                
+                if (DEBUG) {
+                    console.log(
+                        {"posX": position_x, "posY": position_y, "Rot": position_a }
+                    );
+                }
+            }
+        });
+    }
+
+    reset() {
+        try {
+            const request = new XMLHttpRequest();
+            request.open("GET", "http://" + URL + "/position/reset");
+            request.send();
+        } catch (e) {}
+    }
+}


 function run() {
    connectSockets();
    moteur = new Moteur();
-
-    socketMoteur.onmessage = function(event) {
-        console.log(`[message] Data received from server: ${event.data}`);
-    };
+    position = new Position(socketInfos);
 }