*

ui/bootstrap-5.3.3-dist/css/bootstrap.css

@@ -12119,3 +12119,26 @@ input:checked + .slider:before {
 .slider.round:before {
   border-radius: 50%;
 } 
+
+#map {
+  max-width: 100%;
+  max-height: 100%;
+}
+
+.pico canvas {
+  display: inline-block;
+}
+
+.pico :where(audio, canvas, iframe, img, svg, video) {
+  vertical-align: middle;
+}
+
+*, ::after, ::before {
+  box-sizing: border-box;
+  background-repeat: no-repeat;
+}
+
+canvas {
+  overflow-clip-margin: content-box;
+  overflow: clip;
+}

ui/bootstrap-5.3.3-dist/js/bootstrap.js

@@ -4473,25 +4473,38 @@
    * --------------------------------------------------------------------------
    */
   
-  const index_umd = {
-    Alert,
-    Button,
-    Carousel,
-    Collapse,
-    Dropdown,
-    Modal,
-    Offcanvas,
-    Popover,
-    ScrollSpy,
-    Tab,
-    Toast,
-    Tooltip
+
+const motors_buf = new Float32Array(2);
+const motors_ml = document.getElementById("motors_ml")
+const motors_mr = document.getElementById("motors_mr")
+const motors_stop = document.getElementById("motors_stop")
+const motors_joystick = document.getElementById('motors_joystick');
+const motors_canvas = document.getElementById('motors_canvas');
+
+let motors_ws = null;
+
+const send_motors = (vl, vr) => {
+	/*if (motors_ws && motors_ws.readyState == WebSocket.OPEN) {
+		const lim = v => Math.max(-1, Math.min(v, 1));
+		motors_buf[0] = lim(vl);
+		motors_buf[1] = lim(vr);
+		motors_ml.value = vl * 100;
+		motors_mr.value = vr * 100;
+		motors_ws.send(motors_buf);
+	} else if (!motors_ws || motors_ws.readyState != WebSocket.CONNECTING) {
+		motors_ws = new WebSocket('ws://' + document.location.host + '/motors.ws');
+		motors_ws.addEventListener("open", () => send_motors(vl, vr));
+	}*/
 };
 
-  document.getElementById("colorLed").onchange=function(){
-    // do whatever you want with value
-    console.log(this.value);
-  };
+const update_motors = () => {
+	const vl = motors_ml.value / 100;
+	const vr = motors_mr.value / 100;
+	send_motors(vl, vr);
+}
+
+
+
 
   const btnsz = 40;
   let positionX = 0, positionY = 0;
@@ -4503,20 +4516,19 @@
     const h = motors_joystick.height;
     ctx.clearRect(0, 0, w, h);
   
-    ctx.fillStyle = "#00aa0040";
+    ctx.fillStyle = "#00aaff40";
     ctx.beginPath();
     ctx.arc(w/2, h/2, w/2-btnsz, 0, 2 * Math.PI);
     ctx.fill();
   
     ctx.lineWidth = 2;
-    ctx.strokeStyle = "#009900";
-    ctx.fillStyle = "#00aa00";
+    ctx.strokeStyle = "#0099ee";
+    ctx.fillStyle = "#00aaff";
     ctx.beginPath();
     ctx.arc(w/2 + positionX, h/2 + positionY, btnsz, 0, 2 * Math.PI);
     ctx.fill();
     ctx.stroke();
   }
-
   const updatePosition = e => {
     const clientX = e.clientX || e.touches[0].clientX;
     const clientY = e.clientY || e.touches[0].clientY;
@@ -4531,11 +4543,9 @@
     }
     positionX = vx * kw;
     positionY = vy * kw;
-    console.log("PositionX : "+ Math.round(positionX))
-    console.log("PositionY : "+ Math.round(positionY))
     vy *= -1;
     if (performance.now() - lastsend > 250) {
-      //send_motors(vy+vx, vy-vx);
+      send_motors(vy+vx, vy-vx);
       lastsend = performance.now();
     }
     joystick_draw();
@@ -4552,7 +4562,7 @@
   };
   const onup = () => {
     if (clicked) {
-      //send_motors(0, 0);
+      send_motors(0, 0);
       motors_joystick.style.cursor = ''
       clicked = false;
       positionX = positionY = 0;
@@ -4569,14 +4579,69 @@
   motors_joystick.addEventListener('touchend', onup);
   motors_joystick.addEventListener('touchcancel', onup);
   
-  function onclick(){
-    send_motors(vy+vx, vy-vx);
+  //const text_color = getComputedStyle(motors_canvas).color;
+  document.body.addEventListener('h:infos:motors', e => {
+    const ctx = motors_canvas.getContext("2d");
+    const w = motors_canvas.width;
+    const h = motors_canvas.height;
+    const m = 5;
+    const ml = e.detail[0];
+    const mr = e.detail[1];
+    ctx.clearRect(0, 0, w, h);
+    ctx.lineWidth = 3;
+    ctx.strokeStyle = "#808080"
+    ctx.fillStyle = "#008000"
   
-  }
+    ctx.beginPath();
+    ctx.rect(m, m, w-2*m, (h/2-m));
+    ctx.stroke();
+  
+    ctx.beginPath();
+    ctx.rect(m, (h/2-m)+m, w-2*m, (h/2-m));
+    ctx.stroke();
+  
+    ctx.beginPath();
+    if (ml > 0)
+      ctx.rect(w/2, m+1, ml*(w/2-m), (h/2-m)-2);
+    else
+      ctx.rect(w/2+ml*(w/2-m), m+1, -ml*(w/2-m), (h/2-m)-2);
+    ctx.fill();
+  
+    ctx.beginPath();
+    if (ml > 0)
+      ctx.rect(w/2, (h/2-m)+m+1, mr*(w/2-m), (h/2-m)-2);
+    else
+      ctx.rect(w/2+mr*(w/2-m), (h/2-m)+m+1, -mr*(w/2-m), (h/2-m)-2);
+    ctx.fill();
+  });
+  
+  /*document.body.addEventListener('h:section:statechanged', e => {
+    infos_mask(INFOS_MOTORS, e.detail['on']);
+  });
+  infos_mask(INFOS_MOTORS, true);*/
+
+  document.getElementById("colorLed").value = "#ffffff"
+  document.getElementById("colorLed").onchange=function(){
+    // do whatever you want with value
+    console.log(this.value);
+  };
+
+  const index_umd = {
+    Alert,
+    Button,
+    Carousel,
+    Collapse,
+    Dropdown,
+    Modal,
+    Offcanvas,
+    Popover,
+    ScrollSpy,
+    Tab,
+    Toast,
+    Tooltip
+  };
 
   return index_umd;
 
-  
-
 }));
 //# sourceMappingURL=bootstrap.js.map

ui/bootstrap-5.3.3-dist/js/infos.js

@@ -0,0 +1 @@
+

ui/bootstrap-5.3.3-dist/js/main.js

@@ -0,0 +1,482 @@
+//Infos
+
+const INFOS_POSITION = 0x01;
+const INFOS_LED = 0x02;
+const INFOS_MOTORS = 0x04;
+const INFOS_WHEELS = 0x08;
+const INFOS_SPEED = 0x10;
+const INFOS_RANGEFINDER = 0x20;
+
+let infos_ws = null;
+let period_ms = 500;
+let mask = 0;
+
+function on_msg(e) {
+	const view = new DataView(e.data);
+	let pos = 0;
+
+	const mask = view.getUint8(pos);
+	pos++;
+
+	if (mask & INFOS_POSITION) {
+		const position_x = view.getFloat32(pos + 0);
+		const position_y = view.getFloat32(pos + 4);
+		const position_a = view.getFloat32(pos + 8);
+		pos += 3*4;
+		document.body.dispatchEvent(new CustomEvent('h:infos:position', {
+			'detail': [position_x, position_y, position_a]
+		}));
+	}
+
+	if (mask & INFOS_LED) {
+		const led_r = view.getUint8(pos + 0);
+		const led_g = view.getUint8(pos + 1);
+		const led_b = view.getUint8(pos + 2);
+		pos += 3;
+
+		document.body.dispatchEvent(new CustomEvent('h:infos:led', {
+			'detail': [led_r, led_g, led_b]
+		}));
+	}
+
+	if (mask & INFOS_MOTORS) {
+		const ml = view.getFloat32(pos + 0);
+		const mr = view.getFloat32(pos + 4);
+		pos += 2*4;
+
+		document.body.dispatchEvent(new CustomEvent('h:infos:motors', {
+			'detail': [ml, mr]
+		}));
+	}
+
+	if (mask & INFOS_WHEELS) {
+		const wl = view.getInt16(pos + 0);
+		const wr = view.getInt16(pos + 2);
+		const tl = view.getInt16(pos + 4);
+		const tr = view.getInt16(pos + 6);
+		pos += 4*2;
+
+		document.body.dispatchEvent(new CustomEvent('h:infos:wheels', {
+			'detail': [wl, wr, tl, tr]
+		}));
+	}
+
+	if (mask & INFOS_SPEED) {
+		const w = view.getFloat32(pos + 0);
+		const v = view.getFloat32(pos + 4);
+		pos += 4*2;
+
+		document.body.dispatchEvent(new CustomEvent('h:infos:speed', {
+			'detail': [w, v]
+		}));
+	}
+
+	if (mask & INFOS_RANGEFINDER) {
+		const d = view.getUint16(pos + 0);
+		pos += 2;
+
+		console.log(d);
+
+		document.body.dispatchEvent(new CustomEvent('h:infos:rangefinder', {
+			'detail': [d]
+		}));
+	}
+}
+
+function send_mask() {
+	/*if (mask == 0) {
+		if (infos_ws) {
+			infos_ws.close();
+			infos_ws = null;
+		}
+	} else {
+		if (infos_ws) {
+			if (infos_ws.readyState == WebSocket.OPEN) {
+				const buf = new Uint8Array(2);
+				buf[0] = period_ms / 10;
+				buf[1] = mask;
+				infos_ws.send(buf);
+			}
+		} else {
+			infos_ws = new WebSocket('ws://' + document.location.host + '/infos.ws');
+			infos_ws.binaryType = "arraybuffer";
+			infos_ws.addEventListener("open", send_mask);
+			infos_ws.addEventListener("message", on_msg);
+		}
+	}*/
+}
+
+function infos_mask(v, on) {
+	if (on)
+		mask |= v;
+	else
+		mask &= ~v;
+	send_mask();
+}
+
+
+
+
+//--------------------------------
+
+//main
+document.body.innerHTML = `
+	<header class="pico">
+		<details class="dropdown">
+			<summary>Sections…</summary>
+			<ul id="ul_header_menu"></ul>
+		</details>
+		<h1>MinHAUMtaure</h1>
+	</header>
+`;
+
+const sections_opened = new Set();
+if (sessionStorage.getItem('sections_opened')) {
+	for (const s of sessionStorage.getItem('sections_opened').split('\n'))
+		sections_opened.add(s);
+}
+
+const sections = [
+	{ 'id': 'led', 'title': 'Led' },
+	{ 'id': 'motors', 'title': 'Moteurs' },
+	{ 'id': 'wheels', 'title': 'Retour roues' },
+	{ 'id': 'position', 'title': 'Position' },
+	{ 'id': 'turtle', 'title': 'Turtle' },
+	{ 'id': 'rangefinder', 'title': 'Télémètre' },
+	{ 'id': 'config', 'title': 'Config' },
+	{ 'id': 'wlan', 'title': 'Wifi' },
+];
+const ul_header_menu = document.getElementById('ul_header_menu');
+for (const d of sections) {
+	const s = document.createElement('section');
+	const id = d['id'];
+	const title = d['title'];
+	s.id = 'section_' + id;
+	document.body.append(s);
+
+	const li = document.createElement('li');
+	ul_header_menu.append(li);
+	const label = document.createElement('label');
+	li.append(label);type="module"
+	const checkbox = document.createElement('input');
+	checkbox.type = 'checkbox';
+	checkbox.checked = false;
+	label.append(checkbox, title);
+
+	const h2 = document.createElement('h2');
+	const b_spans = document.createElement('b');
+	const span_fs = document.createElement('span');
+	span_fs.innerText = "⛶";
+	const span_close = document.createElement('span');
+	span_close.innerText = "×";
+	b_spans.append(span_fs, span_close);
+	h2.append(title, b_spans);
+	s.insertBefore(h2, s.firstChild);
+	s.classList.add('pico');
+	span_close.addEventListener('click', () => {
+		if (document.fullscreenElement != null)
+			document.exitFullscreen();
+		toggle(false);
+	});
+	span_fs.addEventListener('click', () => {
+		if (document.fullscreenElement == null)
+			s.requestFullscreen();
+		else
+			document.exitFullscreen();
+	});
+
+	const toggle = on => {
+		s.classList.toggle('opened', on);
+		checkbox.checked = on;
+		if (on)
+			sections_opened.add(id);
+		else
+			sections_opened.delete(id);
+		sessionStorage.setItem('sections_opened', Array.from(sections_opened).join('\n'));
+		if (on)
+			import('./' + id + '.js');
+		document.body.dispatchEvent(new CustomEvent('h:section:statechanged', {
+			'detail': {
+				'id': id,
+				'on': on,
+				'section': s
+			}
+		}));
+	}
+	checkbox.addEventListener('click', e => toggle(e.target.checked));
+	if (sections_opened.has(id)) toggle(true);
+}
+
+async function form_post(form) {
+		const data = new URLSearchParams();
+		for (const pair of new FormData(form)) {
+			data.append(pair[0], pair[1]);
+		}
+		return await fetch(form.action, {
+			method: 'post',
+			headers: { "Content-Type": "application/x-www-form-urlencoded" },
+			body: data
+		});
+}
+
+//--------------------------------
+
+//motors
+
+const section = document.getElementById('section_motors');
+section.insertAdjacentHTML('beforeend', `
+	<div class="grid">
+		<p><canvas id="motors_joystick" width="400" height="400"></canvas></p>
+		<p>
+			<input type="range" min="-100" max="100" value="0" id="motors_ml" /><br/>
+			<input type="range" min="-100" max="100" value="0" id="motors_mr" /><br/>
+			<input type="button" id="motors_stop" value="Stop" />
+			<canvas id="motors_canvas" width="350" height="40"></canvas>
+		</p>
+	</div>
+`);
+
+const motors_buf = new Float32Array(2);
+const motors_ml = document.getElementById("motors_ml")
+const motors_mr = document.getElementById("motors_mr")
+const motors_stop = document.getElementById("motors_stop")
+const motors_joystick = document.getElementById('motors_joystick');
+const motors_canvas = document.getElementById('motors_canvas');
+
+let motors_ws = null;
+
+const send_motors = (vl, vr) => {
+	/*if (motors_ws && motors_ws.readyState == WebSocket.OPEN) {
+		const lim = v => Math.max(-1, Math.min(v, 1));
+		motors_buf[0] = lim(vl);
+		motors_buf[1] = lim(vr);
+		motors_ml.value = vl * 100;
+		motors_mr.value = vr * 100;
+		motors_ws.send(motors_buf);
+	} else if (!motors_ws || motors_ws.readyState != WebSocket.CONNECTING) {
+		motors_ws = new WebSocket('ws://' + document.location.host + '/motors.ws');
+		motors_ws.addEventListener("open", () => send_motors(vl, vr));
+	}*/
+};
+
+const update_motors = () => {
+	const vl = motors_ml.value / 100;
+	const vr = motors_mr.value / 100;
+	send_motors(vl, vr);
+}
+
+motors_ml.addEventListener('change', update_motors);
+motors_mr.addEventListener('change', update_motors);
+motors_stop.addEventListener('click', e => {
+	e.preventDefault();
+	motors_ml.value = 0;
+	motors_mr.value = 0;
+	update_motors();
+});
+
+const btnsz = 40;
+let positionX = 0, positionY = 0;
+let clicked = false;
+let lastsend = performance.now();
+const joystick_draw = () => {
+	const ctx = motors_joystick.getContext("2d");
+	const w = motors_joystick.width;
+	const h = motors_joystick.height;
+	ctx.clearRect(0, 0, w, h);
+
+	ctx.fillStyle = "#00aaff40";
+	ctx.beginPath();
+	ctx.arc(w/2, h/2, w/2-btnsz, 0, 2 * Math.PI);
+	ctx.fill();
+
+	ctx.lineWidth = 2;
+	ctx.strokeStyle = "#0099ee";
+	ctx.fillStyle = "#00aaff";
+	ctx.beginPath();
+	ctx.arc(w/2 + positionX, h/2 + positionY, btnsz, 0, 2 * Math.PI);
+	ctx.fill();
+	ctx.stroke();
+}
+const updatePosition = e => {
+	const clientX = e.clientX || e.touches[0].clientX;
+	const clientY = e.clientY || e.touches[0].clientY;
+	const r = motors_joystick.getBoundingClientRect();
+	const kw = r.width/2 - btnsz;
+	let vx = Math.max(-1, Math.min((clientX - r.left - r.width/2) / kw, 1));
+	let vy = Math.max(-1, Math.min((clientY - r.top - r.height/2) / kw, 1));
+	if (vx*vx + vy*vy > 1) {
+		const a = Math.atan2(vy, vx);
+		vx = Math.cos(a);
+		vy = Math.sin(a);
+	}
+	positionX = vx * kw;
+	positionY = vy * kw;
+	vy *= -1;
+	if (performance.now() - lastsend > 250) {
+		send_motors(vy+vx, vy-vx);
+		lastsend = performance.now();
+	}
+	joystick_draw();
+}
+const ondown = e => {
+	clicked = true;
+	motors_joystick.style.cursor = 'none'
+	updatePosition(e);
+};
+const onmove = e => {
+	if (clicked) {
+		updatePosition(e);
+	}
+};
+const onup = () => {
+	if (clicked) {
+		send_motors(0, 0);
+		motors_joystick.style.cursor = ''
+		clicked = false;
+		positionX = positionY = 0;
+		joystick_draw();
+	}
+};
+joystick_draw();
+motors_joystick.addEventListener('mousedown', ondown);
+motors_joystick.addEventListener('mousemove', onmove);
+motors_joystick.addEventListener('mouseup', onup);
+motors_joystick.addEventListener('mouseleave', onup);
+motors_joystick.addEventListener('touchstart', ondown);
+motors_joystick.addEventListener('touchmove', onmove);
+motors_joystick.addEventListener('touchend', onup);
+motors_joystick.addEventListener('touchcancel', onup);
+
+const text_color = getComputedStyle(motors_canvas).color;
+document.body.addEventListener('h:infos:motors', e => {
+	const ctx = motors_canvas.getContext("2d");
+	const w = motors_canvas.width;
+	const h = motors_canvas.height;
+	const m = 5;
+	const ml = e.detail[0];
+	const mr = e.detail[1];
+	ctx.clearRect(0, 0, w, h);
+	ctx.lineWidth = 3;
+	ctx.strokeStyle = "#808080"
+	ctx.fillStyle = "#008000"
+
+	ctx.beginPath();
+	ctx.rect(m, m, w-2*m, (h/2-m));
+	ctx.stroke();
+
+	ctx.beginPath();
+	ctx.rect(m, (h/2-m)+m, w-2*m, (h/2-m));
+	ctx.stroke();
+
+	ctx.beginPath();
+	if (ml > 0)
+		ctx.rect(w/2, m+1, ml*(w/2-m), (h/2-m)-2);
+	else
+		ctx.rect(w/2+ml*(w/2-m), m+1, -ml*(w/2-m), (h/2-m)-2);
+	ctx.fill();
+
+	ctx.beginPath();
+	if (ml > 0)
+		ctx.rect(w/2, (h/2-m)+m+1, mr*(w/2-m), (h/2-m)-2);
+	else
+		ctx.rect(w/2+mr*(w/2-m), (h/2-m)+m+1, -mr*(w/2-m), (h/2-m)-2);
+	ctx.fill();
+});
+
+document.body.addEventListener('h:section:statechanged', e => {
+	infos_mask(INFOS_MOTORS, e.detail['on']);
+});
+infos_mask(INFOS_MOTORS, true);
+
+ //--------------------------------------------------
+
+ //position
+
+ const section2 = document.getElementById('section_position');
+section2.insertAdjacentHTML('beforeend', `
+	<p>
+		<input type="range" min="190" max="1000" value="1000" id="map_scale" /><br/>
+		<input type="button" value="RàZ position" id="position_reset" /><br/>
+		<canvas id="map" width="800" height="800"></canvas>
+	</p>
+`);
+
+const position_reset = document.getElementById('position_reset');
+position_reset.addEventListener('click', async () => {
+	position_reset.disabled = true;
+	await fetch('/position/reset')
+	position_reset.disabled = false;
+});
+
+const map_canvas = document.getElementById('map');
+const map_scale_range = document.getElementById('map_scale');
+const pos_hist = [];
+const text_color2 = getComputedStyle(map_canvas).color;
+const map_draw = (x, y, a) => {
+	const ctx = map_canvas.getContext("2d");
+	const w = map_canvas.width;
+	const h = map_canvas.height;
+	const map_scale = Number(map_scale_range.value);
+	ctx.clearRect(0, 0, w, h);
+
+	pos_hist.unshift([x, y]);
+	if (pos_hist.length > 10) pos_hist.pop();
+
+	ctx.font = '30px sans-serif';
+	ctx.fillStyle = text_color2;
+	ctx.textAlign = 'right';
+	ctx.fillText(Math.round(x*1000) + ' mm <X>', w-5, 30);
+	ctx.fillText(Math.round(y*1000) + ' mm <Y>', w-5, 60);
+	ctx.fillText(Math.round(a*180/Math.PI) + ' deg <A>', w-5, 90);
+
+	ctx.save();
+	ctx.translate(w/2, h/2);
+	ctx.scale(map_scale/1000, map_scale/1000);
+	ctx.lineWidth = Math.round(2*1000/map_scale);
+
+	ctx.beginPath();
+	for (let i = -10; i <= 11; i++) {
+		ctx.moveTo(-95+190*i, -95-2090);
+		ctx.lineTo(-95+190*i, -95+2090+190);
+		ctx.moveTo(-95-2090, -95+190*i);
+		ctx.lineTo(-95+2090+190, -95+190*i);
+	}
+	ctx.strokeStyle = 'rgba(180, 180, 180, 50%)';
+	ctx.stroke();
+
+	const hl = pos_hist.length;
+	for (let i = 1; i < hl; i++) {
+		ctx.beginPath();
+		ctx.moveTo(1000*pos_hist[i-1][0], -1000*pos_hist[i-1][1]);
+		ctx.lineTo(1000*pos_hist[i][0], -1000*pos_hist[i][1]);
+		const v = Math.round((hl-i)/(hl-1)*100);
+		ctx.strokeStyle = 'rgba(180, 200, 0, ' + v + '%)';
+		ctx.stroke();
+	}
+
+	ctx.translate(x*1000, -y*1000);
+	ctx.rotate(-a);
+	ctx.beginPath();
+	ctx.moveTo(40, 0);
+	ctx.lineTo(35, 77/4);
+	ctx.lineTo(24, 77/2);
+	ctx.lineTo(-68, 77/2);
+	ctx.lineTo(-68, -77/2);
+	ctx.lineTo(24, -77/2);
+	ctx.lineTo(35, -77/4);
+	ctx.lineTo(40, 0);
+	ctx.strokeStyle = '#008000'
+	ctx.stroke();
+
+	ctx.restore();
+};
+
+document.body.addEventListener('h:infos:position', e => {
+	 map_draw(...e.detail);
+});
+
+document.body.addEventListener('h:section:statechanged', e => {
+	infos_mask(INFOS_POSITION, e.detail['on']);
+});
+infos_mask(INFOS_POSITION, true);
+

ui/bootstrap-5.3.3-dist/js/motors.js

@@ -0,0 +1,166 @@
+import { infos_mask, INFOS_MOTORS } from "./infos.js";
+
+const section = document.getElementById('section_motors');
+section.insertAdjacentHTML('beforeend', `
+	<div class="grid">
+		<p><canvas id="motors_joystick" width="400" height="400"></canvas></p>
+		<p>
+			<input type="range" min="-100" max="100" value="0" id="motors_ml" /><br/>
+			<input type="range" min="-100" max="100" value="0" id="motors_mr" /><br/>
+			<input type="button" id="motors_stop" value="Stop" />
+			<canvas id="motors_canvas" width="350" height="40"></canvas>
+		</p>
+	</div>
+`);
+
+const motors_buf = new Float32Array(2);
+const motors_ml = document.getElementById("motors_ml")
+const motors_mr = document.getElementById("motors_mr")
+const motors_stop = document.getElementById("motors_stop")
+const motors_joystick = document.getElementById('motors_joystick');
+const motors_canvas = document.getElementById('motors_canvas');
+
+let motors_ws = null;
+
+const send_motors = (vl, vr) => {
+	if (motors_ws && motors_ws.readyState == WebSocket.OPEN) {
+		const lim = v => Math.max(-1, Math.min(v, 1));
+		motors_buf[0] = lim(vl);
+		motors_buf[1] = lim(vr);
+		motors_ml.value = vl * 100;
+		motors_mr.value = vr * 100;
+		motors_ws.send(motors_buf);
+	} else if (!motors_ws || motors_ws.readyState != WebSocket.CONNECTING) {
+		motors_ws = new WebSocket('ws://' + document.location.host + '/motors.ws');
+		motors_ws.addEventListener("open", () => send_motors(vl, vr));
+	}
+};
+
+const update_motors = () => {
+	const vl = motors_ml.value / 100;
+	const vr = motors_mr.value / 100;
+	send_motors(vl, vr);
+}
+
+motors_ml.addEventListener('change', update_motors);
+motors_mr.addEventListener('change', update_motors);
+motors_stop.addEventListener('click', e => {
+	e.preventDefault();
+	motors_ml.value = 0;
+	motors_mr.value = 0;
+	update_motors();
+});
+
+const btnsz = 40;
+let positionX = 0, positionY = 0;
+let clicked = false;
+let lastsend = performance.now();
+const joystick_draw = () => {
+	const ctx = motors_joystick.getContext("2d");
+	const w = motors_joystick.width;
+	const h = motors_joystick.height;
+	ctx.clearRect(0, 0, w, h);
+
+	ctx.fillStyle = "#00aaff40";
+	ctx.beginPath();
+	ctx.arc(w/2, h/2, w/2-btnsz, 0, 2 * Math.PI);
+	ctx.fill();
+
+	ctx.lineWidth = 2;
+	ctx.strokeStyle = "#0099ee";
+	ctx.fillStyle = "#00aaff";
+	ctx.beginPath();
+	ctx.arc(w/2 + positionX, h/2 + positionY, btnsz, 0, 2 * Math.PI);
+	ctx.fill();
+	ctx.stroke();
+}
+const updatePosition = e => {
+	const clientX = e.clientX || e.touches[0].clientX;
+	const clientY = e.clientY || e.touches[0].clientY;
+	const r = motors_joystick.getBoundingClientRect();
+	const kw = r.width/2 - btnsz;
+	let vx = Math.max(-1, Math.min((clientX - r.left - r.width/2) / kw, 1));
+	let vy = Math.max(-1, Math.min((clientY - r.top - r.height/2) / kw, 1));
+	if (vx*vx + vy*vy > 1) {
+		const a = Math.atan2(vy, vx);
+		vx = Math.cos(a);
+		vy = Math.sin(a);
+	}
+	positionX = vx * kw;
+	positionY = vy * kw;
+	vy *= -1;
+	if (performance.now() - lastsend > 250) {
+		send_motors(vy+vx, vy-vx);
+		lastsend = performance.now();
+	}
+	joystick_draw();
+}
+const ondown = e => {
+	clicked = true;
+	motors_joystick.style.cursor = 'none'
+	updatePosition(e);
+};
+const onmove = e => {
+	if (clicked) {
+		updatePosition(e);
+	}
+};
+const onup = () => {
+	if (clicked) {
+		send_motors(0, 0);
+		motors_joystick.style.cursor = ''
+		clicked = false;
+		positionX = positionY = 0;
+		joystick_draw();
+	}
+};
+joystick_draw();
+motors_joystick.addEventListener('mousedown', ondown);
+motors_joystick.addEventListener('mousemove', onmove);
+motors_joystick.addEventListener('mouseup', onup);
+motors_joystick.addEventListener('mouseleave', onup);
+motors_joystick.addEventListener('touchstart', ondown);
+motors_joystick.addEventListener('touchmove', onmove);
+motors_joystick.addEventListener('touchend', onup);
+motors_joystick.addEventListener('touchcancel', onup);
+
+const text_color = getComputedStyle(motors_canvas).color;
+document.body.addEventListener('h:infos:motors', e => {
+	const ctx = motors_canvas.getContext("2d");
+	const w = motors_canvas.width;
+	const h = motors_canvas.height;
+	const m = 5;
+	const ml = e.detail[0];
+	const mr = e.detail[1];
+	ctx.clearRect(0, 0, w, h);
+	ctx.lineWidth = 3;
+	ctx.strokeStyle = "#808080"
+	ctx.fillStyle = "#008000"
+
+	ctx.beginPath();
+	ctx.rect(m, m, w-2*m, (h/2-m));
+	ctx.stroke();
+
+	ctx.beginPath();
+	ctx.rect(m, (h/2-m)+m, w-2*m, (h/2-m));
+	ctx.stroke();
+
+	ctx.beginPath();
+	if (ml > 0)
+		ctx.rect(w/2, m+1, ml*(w/2-m), (h/2-m)-2);
+	else
+		ctx.rect(w/2+ml*(w/2-m), m+1, -ml*(w/2-m), (h/2-m)-2);
+	ctx.fill();
+
+	ctx.beginPath();
+	if (ml > 0)
+		ctx.rect(w/2, (h/2-m)+m+1, mr*(w/2-m), (h/2-m)-2);
+	else
+		ctx.rect(w/2+mr*(w/2-m), (h/2-m)+m+1, -mr*(w/2-m), (h/2-m)-2);
+	ctx.fill();
+});
+
+document.body.addEventListener('h:section:statechanged', e => {
+	infos_mask(INFOS_MOTORS, e.detail['on']);
+});
+infos_mask(INFOS_MOTORS, true);

ui/bootstrap-5.3.3-dist/js/position.js

@@ -0,0 +1,89 @@
+import { infos_mask, INFOS_POSITION } from "./infos.js";
+
+const section = document.getElementById('section_position');
+section.insertAdjacentHTML('beforeend', `
+	<p>
+		<input type="range" min="190" max="1000" value="1000" id="map_scale" /><br/>
+		<input type="button" value="RàZ position" id="position_reset" /><br/>
+		<canvas id="map" width="800" height="800"></canvas>
+	</p>
+`);
+
+const position_reset = document.getElementById('position_reset');
+position_reset.addEventListener('click', async () => {
+	position_reset.disabled = true;
+	await fetch('/position/reset')
+	position_reset.disabled = false;
+});
+
+const map_canvas = document.getElementById('map');
+const map_scale_range = document.getElementById('map_scale');
+const pos_hist = [];
+const text_color = getComputedStyle(map_canvas).color;
+const map_draw = (x, y, a) => {
+	const ctx = map_canvas.getContext("2d");
+	const w = map_canvas.width;
+	const h = map_canvas.height;
+	const map_scale = Number(map_scale_range.value);
+	ctx.clearRect(0, 0, w, h);
+
+	pos_hist.unshift([x, y]);
+	if (pos_hist.length > 10) pos_hist.pop();
+
+	ctx.font = '30px sans-serif';
+	ctx.fillStyle = text_color;
+	ctx.textAlign = 'right';
+	ctx.fillText(Math.round(x*1000) + ' mm <X>', w-5, 30);
+	ctx.fillText(Math.round(y*1000) + ' mm <Y>', w-5, 60);
+	ctx.fillText(Math.round(a*180/Math.PI) + ' deg <A>', w-5, 90);
+
+	ctx.save();
+	ctx.translate(w/2, h/2);
+	ctx.scale(map_scale/1000, map_scale/1000);
+	ctx.lineWidth = Math.round(2*1000/map_scale);
+
+	ctx.beginPath();
+	for (let i = -10; i <= 11; i++) {
+		ctx.moveTo(-95+190*i, -95-2090);
+		ctx.lineTo(-95+190*i, -95+2090+190);
+		ctx.moveTo(-95-2090, -95+190*i);
+		ctx.lineTo(-95+2090+190, -95+190*i);
+	}
+	ctx.strokeStyle = 'rgba(180, 180, 180, 50%)';
+	ctx.stroke();
+
+	const hl = pos_hist.length;
+	for (let i = 1; i < hl; i++) {
+		ctx.beginPath();
+		ctx.moveTo(1000*pos_hist[i-1][0], -1000*pos_hist[i-1][1]);
+		ctx.lineTo(1000*pos_hist[i][0], -1000*pos_hist[i][1]);
+		const v = Math.round((hl-i)/(hl-1)*100);
+		ctx.strokeStyle = 'rgba(180, 200, 0, ' + v + '%)';
+		ctx.stroke();
+	}
+
+	ctx.translate(x*1000, -y*1000);
+	ctx.rotate(-a);
+	ctx.beginPath();
+	ctx.moveTo(40, 0);
+	ctx.lineTo(35, 77/4);
+	ctx.lineTo(24, 77/2);
+	ctx.lineTo(-68, 77/2);
+	ctx.lineTo(-68, -77/2);
+	ctx.lineTo(24, -77/2);
+	ctx.lineTo(35, -77/4);
+	ctx.lineTo(40, 0);
+	ctx.strokeStyle = '#008000'
+	ctx.stroke();
+
+	ctx.restore();
+};
+
+document.body.addEventListener('h:infos:position', e => {
+	 map_draw(...e.detail);
+});
+
+document.body.addEventListener('h:section:statechanged', e => {
+	infos_mask(INFOS_POSITION, e.detail['on']);
+});
+infos_mask(INFOS_POSITION, true);

ui/index.html

@@ -6,27 +6,30 @@
             <link rel="stylesheet" href="./bootstrap-5.3.3-dist/css/bootstrap.css">
             <title>MinHAUMTaure</title>
     </header>
-    <body>
+    <body background="./images/labyrinth-1080p-wallpaper-1920x1080.jpg">
 
-        <div class="container-fluid">
+        <div class="container-fluid text-white">
             <div class="row mb-5 mt-5">
                 <div class="col">
                     <h1 class="text-center">Bienvenue sur MinHAUMTaure</h1>
                 </div>
             </div>
-            <div class="row">
-                <div class="col mt-5">
-                    <div class="row flex-nowrap">
+            <div class="row justify-content-around">
+                <div class="col-5 mt-5">
+                    <div class="row mb-3">
+                        <h2 class="text-center">Fonctionnalités</h2>
+                    </div>
+                    <div class="row flex-nowrap align-items-center bg-dark bg-opacity-75 rounded-5">
                         <div class="col ">
-                            <h2 class="text-center">Directions</h2>
-                            <canvas id="motors_joystick"width="400"height="400"></canvas>
+                            <h2 class="text-center pt-4">Directions</h2>
+                            <canvas id="motors_joystick"width="400"height="400">
                         </div>
                         <div class="col">
-                            <h2 class="text-center"> Fonctionnalités</h2>
+                            <h2 >Changement de couleur LED</h2>
                             <p>Sélection de la couleur</p>
                             <input type="color" id="colorLed">
     
-                            <h2 class="text-center">Automatique</h2>
+                            <h2>Automatique</h2>
                             <div class="form-check-inline form-switch">
                                 <input class="form-check-input" type="checkbox" role="switch" id="flexSwitchCheckDefault">
                                 <label class="form-check-label" for="flexSwitchCheckDefault">Mode Auto</label>
@@ -34,12 +37,16 @@
                         </div>
                     </div>
                 </div>
-                <div class="col mt-5">
+                <div class="col-5 mt-5">
+                    <div class="row mb-3">
                         <h2 class="text-center">Repère Spatial</h2>
+                    </div>
+                    <div class="row flex-nowrap align-items-center bg-dark bg-opacity-75 rounded-5">
                         
                     </div>
                 </div>
             </div>
+        </div>
         
     </body>
     <script src="./bootstrap-5.3.3-dist/js/bootstrap.js"></script>