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https://github.com/eddyem/eddys_snippets.git
synced 2026-03-21 09:11:03 +03:00
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Eddy
22
Trinamic/websock_simple/Makefile
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22
Trinamic/websock_simple/Makefile
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PROGRAM = websocktest
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LDFLAGS = $(shell pkg-config --libs libwebsockets)
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SRCS = test.c
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CC = gcc
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DEFINES = -D_XOPEN_SOURCE=501 -DCUR_PATH=\"$(shell pwd)\"
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CXX = gcc
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CFLAGS = -Wall -Werror -Wextra $(DEFINES) $(shell pkg-config --cflags libwebsockets)
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OBJS = $(SRCS:.c=.o)
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all : $(PROGRAM) clean
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$(PROGRAM) : $(OBJS)
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$(CC) $(CFLAGS) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
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# some addition dependencies
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# %.o: %.c
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# $(CC) $(LDFLAGS) $(CFLAGS) $< -o $@
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#$(SRCS) : %.c : %.h $(INDEPENDENT_HEADERS)
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# @touch $@
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clean:
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/bin/rm -f *.o *~
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depend:
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$(CXX) -MM $(CXX.SRCS)
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183
Trinamic/websock_simple/test.c
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183
Trinamic/websock_simple/test.c
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <syslog.h>
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#include <signal.h>
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#include <libwebsockets.h>
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#include <termios.h> // tcsetattr
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#include <stdint.h> // int types
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#include <sys/stat.h> // read
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#include <fcntl.h> // read
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#define _U_ __attribute__((__unused__))
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int force_exit = 0;
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uint8_t buf[9];
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char *comdev = "/dev/ttyUSB0";
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int BAUD_RATE = B115200;
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int comfd = -1; // TTY fd
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int send_command(uint8_t *ninebytes){
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uint8_t crc = 0;
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int i;
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printf("send: ");
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for(i = 0; i < 8; crc += ninebytes[i++])
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printf("%u,", ninebytes[i]);
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ninebytes[8] = crc;
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printf("%u\n",ninebytes[8]);
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if(9 != write(comfd, ninebytes, 9)){
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perror("Can't write to Trinamic");
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return 0;
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}
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return 1;
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}
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void fillbuf(char *command){
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memset(buf, 0, 9);
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buf[0] = 1; // controller #
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if(command[1] == 'X') buf[3] = 2; // X motor -> #2
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else buf[3] = 0; // Y motor -> #0
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if(command[0] == 'D'){ // start moving
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if(command[2] == '+') buf[1] = 1; // ROR
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else buf[1] = 2; // ROL
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}else{ // stop
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buf[1] = 3; // STP
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}
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buf[7] = 50; // speed = 50
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send_command(buf);
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}
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void move_motor(char *where){
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printf("moving %s\n", where);
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}
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void stop_motor(char *where){
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printf("stoping %s\n", where);
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}
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static int
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my_protocol_callback(_U_ struct libwebsocket_context *context,
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_U_ struct libwebsocket *wsi,
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enum libwebsocket_callback_reasons reason,
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_U_ void *user, void *in, _U_ size_t len)
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{
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//int n, m;
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//unsigned char buf[LWS_SEND_BUFFER_PRE_PADDING + 512 +
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// LWS_SEND_BUFFER_POST_PADDING];
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//unsigned char *p = &buf[LWS_SEND_BUFFER_PRE_PADDING];
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char *msg = (char*) in;
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switch (reason) {
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case LWS_CALLBACK_ESTABLISHED:
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printf("New Connection\n");
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break;
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case LWS_CALLBACK_SERVER_WRITEABLE:
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break;
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case LWS_CALLBACK_RECEIVE:
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fillbuf(msg);
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break;
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case LWS_CALLBACK_FILTER_PROTOCOL_CONNECTION:
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break;
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default:
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break;
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}
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return 0;
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}
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//**************************************************************************//
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/* list of supported protocols and callbacks */
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//**************************************************************************//
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static struct libwebsocket_protocols protocols[] = {
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/* first protocol must always be HTTP handler */
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{
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"XY-protocol", // name
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my_protocol_callback, // callback
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30, // per_session_data_size
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10, // max frame size / rx buffer
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0, NULL, 0
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},
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{ NULL, NULL, 0, 0, 0, NULL, 0} /* terminator */
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};
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//**************************************************************************//
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void sighandler(_U_ int sig){
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close(comfd);
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force_exit = 1;
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}
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//**************************************************************************//
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//**************************************************************************//
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int main(_U_ int argc, _U_ char **argv)
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{
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int n = 0;
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struct libwebsocket_context *context;
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int opts = 0;
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const char *iface = NULL;
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int syslog_options = LOG_PID | LOG_PERROR;
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//unsigned int oldus = 0;
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struct lws_context_creation_info info;
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int debug_level = 7;
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memset(&info, 0, sizeof info);
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info.port = 9999;
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signal(SIGINT, sighandler);
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printf("\nOpen port...\n");
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if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
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fprintf(stderr,"Can't use port %s\n",comdev);
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return 1;
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}
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/* we will only try to log things according to our debug_level */
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setlogmask(LOG_UPTO (LOG_DEBUG));
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openlog("lwsts", syslog_options, LOG_DAEMON);
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/* tell the library what debug level to emit and to send it to syslog */
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lws_set_log_level(debug_level, lwsl_emit_syslog);
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info.iface = iface;
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info.protocols = protocols;
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info.extensions = libwebsocket_get_internal_extensions();
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info.ssl_cert_filepath = NULL;
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info.ssl_private_key_filepath = NULL;
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info.gid = -1;
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info.uid = -1;
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info.options = opts;
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context = libwebsocket_create_context(&info);
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if (context == NULL) {
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lwsl_err("libwebsocket init failed\n");
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return -1;
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}
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n = 0;
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while (n >= 0 && !force_exit) {
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n = libwebsocket_service(context, 50);
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};//while n>=0
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libwebsocket_context_destroy(context);
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lwsl_notice("libwebsockets-test-server exited cleanly\n");
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closelog();
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return 0;
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}//main
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106
Trinamic/websock_simple/test.html
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106
Trinamic/websock_simple/test.html
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@@ -0,0 +1,106 @@
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<html>
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<head>
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<meta charset=koi8-r http-equiv="Content-Language" content="ru"/>
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<title>A test</title>
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<style type="text/css">
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.content { vertical-align:top; text-align:center; background:#fffff0; padding:12px; border-radius:10px; }
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button { display: block; width: 70px; text-align: center; }
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.container {border: solid 1px; border-radius:10px; padding:12px; }
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</style>
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</head>
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<body onload="Global.init()">
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<div class="container" id="cont">
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<table class="content" id="tab">
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<tr><td></td>
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<td align='center'><button id='Y+'>Y+</button></td>
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<td></td></tr>
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<tr>
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<td align='center'><button id='X-'>X-</button></td>
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<td></td>
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<td align='center'><button id='X+'>X+</button></td>
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</tr>
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<tr><td></td>
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<td align='center'><button id='Y-'>Y-</button></td>
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<td></td></tr>
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</table>
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<p></p>
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<div id = "connected">No connection</div>
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<div id = "answer"></div>
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</div>
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<script>
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Global = function(){
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var socket = null;
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var connected = 0;
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function get_appropriate_ws_url(){
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var pcol;
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var u = document.URL;
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if (u.substring(0, 5) == "https") {
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pcol = "wss://";
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u = u.substr(8);
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} else {
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pcol = "ws://";
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if (u.substring(0, 4) == "http")
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u = u.substr(7);
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}
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u = u.split('/');
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return pcol + u[0] + ":9999";
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}
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function TryConnect(){
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if(connected) return;
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if(socket) delete socket;
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if (typeof MozWebSocket != "undefined") {
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socket = new MozWebSocket(get_appropriate_ws_url(),
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"XY-protocol");
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} else {
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socket = new WebSocket(get_appropriate_ws_url(),
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"XY-protocol");
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}
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try {
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socket.onopen = function(){
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document.getElementById("connected").style.backgroundColor = "#40ff40";
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document.getElementById("connected").textContent = "Connection opened";
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connected = 1;
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}
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socket.onmessage = function got_packet(msg) {
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document.getElementById("answer").textContent = msg.data + "\n";
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}
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socket.onclose = function(){
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document.getElementById("connected").style.backgroundColor = "#ff4040";
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document.getElementById("connected").textContent = "Connection closed";
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document.getElementById("answer").textContent = "";
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connected = 0;
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setTimeout(TryConnect, 1000);
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}
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} catch(exception) {
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alert('Error' + exception);
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}
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}
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function init(){
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console.log("init");
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document.getElementById("cont").style.width = document.getElementById("tab").clientWidth;
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var Buttons = document.getElementsByTagName("button");
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for(var i = 0; i < Buttons.length; i++){
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//Buttons[i].addEventListener("click", btnclick);
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Buttons[i].addEventListener("mousedown", btnmousedown);
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Buttons[i].addEventListener("mouseup", btnmouseup);
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}
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TryConnect();
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}
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/*function btnclick(){
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console.log("Click: " + this.id);
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}*/
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function btnmouseup(){
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console.log("Mouse up: " + this.id);
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if(connected) socket.send("U"+this.id);
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}
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function btnmousedown(){
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console.log("Mouse down: " + this.id);
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if(connected) socket.send("D"+this.id);
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}
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return{
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init: init
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}
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}();
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</script>
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</body>
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</html>
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