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