139 lines
2.8 KiB
JavaScript
139 lines
2.8 KiB
JavaScript
const URL = "192.168.185.20";
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let socketMoteur = undefined;
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let socketInfos = undefined;
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let moteur = undefined;
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let led = undefined;
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const connectSockets = () => {
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if ((socketMoteur != undefined) || (socketInfos != undefined)) {
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disconnectSocket();
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}
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socketMoteur = new WebSocket("ws://" + URL + "/motors.ws");
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socketInfos = new WebSocket("ws://" + URL + "/infos.ws");
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socketMoteur.onclose = function(event) {
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if (event.wasClean) {
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console.log(`[socketMoteur] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
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} else {
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console.log('[socketMoteur] Connection died');
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}
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};
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socketMoteur.onopen = function(e) {
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console.log("[socketMoteur] Connection established");
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};
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socketInfos.onopen = function(e) {
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console.log("[socketInfos] Connection established");
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};
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socketInfos.onclose = function(event) {
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if (event.wasClean) {
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console.log(`[socketInfos] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
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} else {
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console.log('[socketInfos] Connection died');
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}
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};
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socketMoteur.onerror = function(error) {
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console.log(`[socketMoteur] ERROR : ${error}`);
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};
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socketInfos.onerror = function(error) {
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console.log(`[socketInfos] ERROR : ${error}`);
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};
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}
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const disconnectSocket = () => {
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if (socketMoteur != undefined) {
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socketMoteur.close();
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}
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if (socketInfos != undefined) {
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socketInfos.close();
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}
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socketMoteur = undefined;
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socketInfos = undefined;
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}
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class Moteur {
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motors_buf = new Float32Array(2);
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send(d, g, v) {
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if (socketMoteur == undefined) {
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return;
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}
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this.motors_buf[0] = d * v;
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this.motors_buf[1] = g * v;
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socketMoteur.send(this.motors_buf);
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}
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avancer(v) {
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this.send(-1, -1, 1);
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}
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reculer(v) {
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this.send(1, 1, 1);
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}
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droite(v) {
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this.send(1, -1, 1);
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}
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gauche(v) {
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this.send(-1, 1, 1);
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}
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stop(v) {
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this.send(0, 0, 0);
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}
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}
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class Led {
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http = undefined;
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send(color){
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this.http = new XMLHttpRequest();
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this.http.open('POST', 'http://' + URL + '/led/set_color', true);
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this.http.setRequestHeader('Content-type', 'application/x-www-form-urlencoded');
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this.http.send('ledcolor=' + color);
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}
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red(){
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this.send("#ff0000")
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}
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green(){
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this.send("#00ff00")
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}
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blue(){
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this.send("#0000ff")
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}
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}
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function run() {
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connectSockets();
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moteur = new Moteur();
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led = new Led();
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socketMoteur.onmessage = function(event) {
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console.log(`[message] Data received from server: ${event.data}`);
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};
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}
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