First approach to websocket WEB-GUI

Trinamic/client/client.c

@@ -38,7 +38,7 @@ double t0; // start time
 uint32_t motor_speed = 10; // motor speed
 
 FILE *fout = NULL; // file for messages duplicating
-char *comdev = "/dev/ttyUSB0";
+char *comdev = "/dev/ttyUSB1";
 int BAUD_RATE = B115200;
 struct termio oldtty, tty; // TTY flags
 struct termios oldt, newt; // terminal flags
@@ -209,11 +209,12 @@ void help(){
 		"R/L\tRotate motor 1 right/left\n"
 		"r/l\tRotate motor 2 right/left\n"
 		"S/s\tStop 1st or 2nd motor\n"
-		"W/w\tSet ustepping to 1/16\n"
+		"D/d\tSet ustepping to 1/16\n"
 		"E/e\tSet ustepping to 1/4\n"
 		"Z/z\tSet to zero current position\n"
 		"G/g\tGet current position\n"
 		"A/a\tGet ALL information about\n"
+		"W/w\tWait until position reached\n"
 		"q\tQuit\n"
 	);
 }
@@ -351,7 +352,7 @@ void con_sig(int rb){
 		case 's': // stop motor
 			*cmd = 3; // STP
 		break;
-		case 'w': // 1/16
+		case 'd': // 1/16
 			*cmd = 5; // SAP
 			command[2] = 140; // ustep resolution
 			value = 4;
@@ -386,6 +387,12 @@ void con_sig(int rb){
 			}
 			tcsetattr(STDIN_FILENO, TCSANOW, &newt); // omit echo
 		break;
+		case 'w': // wait till reached
+			*cmd = 138; // WAIT DIRECT
+			// set motor bit mask:
+			value = 5; // both motors
+			//value = 1 << command[3];
+		break;
 	}
 	if(*cmd){
 		// copy param to buffer
@@ -447,6 +454,16 @@ void copy_buf_to_file(uint8_t *buffer, int *cmd){
 	free(buff);
 }
 
+static inline uint32_t log_2(const uint32_t x) {
+	uint32_t y;
+	asm ( "\tbsr %1, %0\n"
+		: "=r"(y)
+		: "r" (x)
+	);
+	return y;
+}
+
+#define log2(x) ((int)log_2((uint32_t)x))
 
 int main(int argc, char *argv[]){
 	int rb, oldcmd = -1;
@@ -478,6 +495,10 @@ int main(int argc, char *argv[]){
 				uint8_t *ptr = buff;
 				int ii;
 				int32_t val = get_integer(buff);
+				const uint8_t pattern[] = {2,1,128,138,0,0,0};
+				if(memcmp((void*)buff, (void*)pattern, sizeof(pattern)) == 0){ // motor has reached position
+					printf("Motor %d has reached position!\n", log2(val));
+				}else{
 					printf("value = %d (full answer: ", val);
 					for(ii = L - 1; ii > 0; ii--){
 						uint8_t C = *ptr++;
@@ -485,7 +506,8 @@ int main(int argc, char *argv[]){
 						//if(C > 31) printf("(%c)", C);
 						printf(",");
 					}
-				printf("%u)\n", *ptr);
+					printf("%u\n", *ptr);
+				}
 				if(fout){
 					copy_buf_to_file(buff, &oldcmd);
 				}

Trinamic/websock_simple/Makefile

@@ -1,5 +1,5 @@
 PROGRAM = websocktest
-LDFLAGS = $(shell pkg-config --libs libwebsockets)
+LDFLAGS = $(shell pkg-config --libs libwebsockets) -lpthread
 SRCS = test.c
 CC = gcc
 DEFINES = -D_XOPEN_SOURCE=501 -DCUR_PATH=\"$(shell pwd)\"

Trinamic/websock_simple/test.c

@@ -13,18 +13,157 @@
 #include <sys/stat.h>		// read
 #include <fcntl.h>			// read
 
+#include <pthread.h>
 
 #define _U_    __attribute__((__unused__))
 
+#define MESSAGE_QUEUE_SIZE 3
+#define MESSAGE_LEN        128
+// individual data per session
+typedef struct{
+	int num;
+	int idxwr;
+	int idxrd;
+	char message[MESSAGE_QUEUE_SIZE][MESSAGE_LEN];
+}per_session_data;
+
+per_session_data global_queue;
+pthread_mutex_t command_mutex;
+
+char cmd_buf[5] = {0};
+int data_in_buf = 0; // signals that there's some data in cmd_buf to send to motors
+
+void put_message_to_queue(char *msg, per_session_data *dat){
+	int L = strlen(msg);
+	if(dat->num >= MESSAGE_QUEUE_SIZE) return;
+	dat->num++;
+	if(L < 1 || L > MESSAGE_LEN - 1) L = MESSAGE_LEN - 1;
+	strncpy(dat->message[dat->idxwr], msg, L);
+	dat->message[dat->idxwr][L] = 0;
+	if((++(dat->idxwr)) >= MESSAGE_QUEUE_SIZE) dat->idxwr = 0;
+}
+
+char *get_message_from_queue(per_session_data *dat){
+	char *R = dat->message[dat->idxrd];
+	if(dat->num <= 0) return NULL;
+	if((++dat->idxrd) >= MESSAGE_QUEUE_SIZE) dat->idxrd = 0;
+	dat->num--;
+	return R;
+}
+
 int force_exit = 0;
 
 uint8_t buf[9];
-
+#define TTYBUFLEN 128
+uint8_t ttybuff[TTYBUFLEN];
 char *comdev = "/dev/ttyUSB0";
 int BAUD_RATE = B115200;
 int comfd = -1; // TTY fd
+uint32_t motor_speed = 50;
+
+//**************************************************************************//
+int32_t get_integer(uint8_t *buff){
+	int32_t val;
+	int ii;
+	uint8_t *valptr = (uint8_t*) &val + 3;
+	for(ii = 4; ii < 8; ii++)
+		*valptr-- = buff[ii];
+	return val;
+}
+void inttobuf(uint8_t *buf, int32_t value){// copy param to buffer
+	int i;
+	uint8_t *bytes = (uint8_t*) &value + 3;
+	for(i = 4; i < 8; i++)
+		buf[i] = *bytes--;
+}
+
+/**
+ * read tty
+ * @return number of readed symbols
+ */
+size_t read_tty(){
+	ssize_t L = 0, l, buffsz = TTYBUFLEN;
+	struct timeval tv;
+	int sel;
+	fd_set rfds;
+	FD_ZERO(&rfds);
+	FD_SET(comfd, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 100000;
+	sel = select(comfd + 1, &rfds, NULL, NULL, &tv);
+	if(sel > 0){
+		if(FD_ISSET(comfd, &rfds)){
+			if((L = read(comfd, ttybuff, buffsz)) < 1){ // disconnect or other troubles
+				fprintf(stderr, "USB error or disconnected!\n");
+				exit(1);
+			}else{
+				if(L == 0){ // USB disconnected
+					fprintf(stderr, "USB disconnected!\n");
+					exit(1);
+				}
+				if(L == 9) return 9;
+				// all OK continue reading
+				//DBG("readed %zd bytes, try more.. ", L);
+				buffsz -= L;
+				select(comfd + 1, &rfds, NULL, NULL, &tv);
+				while(L < 9 && buffsz > 0 && (l = read(comfd, ttybuff+L, buffsz)) > 0){
+					L += l;
+					buffsz -= l;
+					select(comfd + 1, &rfds, NULL, NULL, &tv);
+				}
+			}
+		}
+	}
+	return (size_t) L;
+}
+
+static inline uint32_t log_2(const uint32_t x){
+	uint32_t y;
+	asm ( "\tbsr %1, %0\n"
+		: "=r"(y)
+		: "r" (x)
+	);
+	return y;
+}
+
+int send_command(uint8_t *ninebytes);
+
+#define log2(x) ((int)log_2((uint32_t)x))
+/*
+ * check L bytes of ttybuf (maybe there was a command to check endpoint)
+ */
+void check_tty_sig(size_t l){
+	int L = l;
+	uint8_t movbk[]= {1,4,1,0,0,0,0,0,0};
+	//if(L < 9) return; // WTF?
+	uint8_t* buf = ttybuff;
+	char msg[128];
+	const uint8_t pattern[] = {2,1,128,138,0,0,0};
+	while(L > 0){
+		int32_t Ival = get_integer(buf);
+		if(memcmp((void*)buf, (void*)pattern, sizeof(pattern)) == 0){ // motor has reached position
+			int motnum = log2(Ival);
+			snprintf(msg, 127, "Motor %d has reached position!", motnum);
+			printf(" %s (%d)\n", msg, Ival);
+			put_message_to_queue(msg, &global_queue);
+			if(motnum == 0){ // move motor 0 to 2000 usteps
+				inttobuf(movbk, 2000);
+				send_command(movbk);
+			}else if(motnum == 2){ // move motor 2 to 3450 usteps
+				movbk[3] = 2;
+				inttobuf(movbk, 3450);
+				send_command(movbk);
+			}else{
+				printf(" WTF?\n");
+			}
+		}else printf(" %d\n", Ival);
+		L -= 9;
+		buf += 9;
+	};
+}
+
 int send_command(uint8_t *ninebytes){
 	uint8_t crc = 0;
+	size_t L;
 	int i;
 	printf("send: ");
 	for(i = 0; i < 8; crc += ninebytes[i++])
@@ -35,67 +174,225 @@ int send_command(uint8_t *ninebytes){
 		perror("Can't write to Trinamic");
 		return 0;
 	}
+	if((L = read_tty())){
+		printf("got %zd bytes from tty: ", L);
+		check_tty_sig(L);
+	}
 	return 1;
 }
 
-void fillbuf(char *command){
+void process_buf(char *command){
 	memset(buf, 0, 9);
 	buf[0] = 1; // controller #
-	if(command[1] == 'X') buf[3] = 2; // X motor -> #2
+	if(command[0] == 'W'){ // 1/16
-	else buf[3] = 0; // Y motor -> #0
+		buf[1] = 5;
-	if(command[0] == 'D'){ // start moving
+		buf[2] = 140; // ustep resolution
-		if(command[2] == '+') buf[1] = 1; // ROR
+		buf[7] = 4; // 1/16
-		else buf[1] = 2; // ROL
+		send_command(buf);
-	}else{ // stop
+		buf[3] = 2; // motor #2
-		buf[1] = 3; // STP
+		send_command(buf);
-	}
+		return;
-	buf[7] = 50; // speed = 50
+	}else if(command[0] == 'S'){ // change current speed
+		long X = strtol(&command[1], NULL, 10);
+		if(X > 9 && X < 501){
+			motor_speed = (uint32_t) X;
+			printf("set speed to %u\n", motor_speed);
+			buf[1] = 5; // SAP
+			buf[2] = 4; // max pos speed
+			inttobuf(buf, motor_speed);
+			send_command(buf);
+			buf[3] = 2; // 2nd motor
 			send_command(buf);
 		}
-
+		return;
-void move_motor(char *where){
-	printf("moving %s\n", where);
-
 	}
-void stop_motor(char *where){
+	if(command[1] == '0'){ // go to start point for further moving to middle
-	printf("stoping %s\n", where);
+		if(command[0] == 'U') return;
+		uint8_t wt[] = {1,138,0,0,0,0,0,5,0};
+		uint8_t movbk[]= {1,4,1,0,0,0,0,0,0};
+		inttobuf(movbk, -4500); // 1st motor
+		send_command(movbk);
+		movbk[3] = 2;
+		inttobuf(movbk, -7300); // 2nd motor
+		send_command(movbk);
+		send_command(wt); // wait
+		return;
+	}
+	if(command[1] == 'X') buf[3] = 2; // X motor -> #2
+	else if(command[1] == 'Y') buf[3] = 0; // Y motor -> #0
+	if(command[0] == 'D'){ // start moving
+		if(command[2] == '+') buf[1] = 1; // ROR
+		else if(command[2] == '-') buf[1] = 2; // ROL
+	}else if(command[0] == 'U'){ // stop
+		buf[1] = 3; // STP
+	}
+	inttobuf(buf, motor_speed);
+	if(!send_command(buf)){
+		printf("Can't send command");
+	};
 }
 
-static int
+#define MESG(X) do{if(dat) put_message_to_queue(X, dat);}while(0)
-my_protocol_callback(_U_ struct libwebsocket_context *context,
+void websig(char *command, per_session_data *dat){
+	if(command[0] == 'W' || command[1] == '0' || command[0] == 'S'){
+		if(command[0] == 'W'){
+			MESG("Set microstepping to 1/16");
+		}else if(command[1] == '0'){
+			MESG("Go to the middle. Please, wait!");
+		}else{
+			MESG("Change speed");
+		}
+		goto ret;
+	}
+	if(command[1] != 'X' && command[1] != 'Y'){ // error
+		MESG("Undefined coordinate");
+		return;
+	}
+	if(command[0] != 'D' && command[0] != 'U'){
+		MESG("Undefined command");
+		return;
+	}
+ret:
+	pthread_mutex_lock(&command_mutex);
+	strncpy(cmd_buf, command, 4);
+	data_in_buf = 1;
+	pthread_mutex_unlock(&command_mutex);
+	while(data_in_buf); // wait for execution
+}
+
+static void dump_handshake_info(struct libwebsocket *wsi){
+	int n;
+	static const char *token_names[] = {
+		"GET URI",
+		"POST URI",
+		"OPTIONS URI",
+		"Host",
+		"Connection",
+		"key 1",
+		"key 2",
+		"Protocol",
+		"Upgrade",
+		"Origin",
+		"Draft",
+		"Challenge",
+
+		/* new for 04 */
+		"Key",
+		"Version",
+		"Sworigin",
+
+		/* new for 05 */
+		"Extensions",
+
+		/* client receives these */
+		"Accept",
+		"Nonce",
+		"Http",
+
+		/* http-related */
+		"Accept:",
+		"Ac-Request-Headers:",
+		"If-Modified-Since:",
+		"If-None-Match:",
+		"Accept-Encoding:",
+		"Accept-Language:",
+		"Pragma:",
+		"Cache-Control:",
+		"Authorization:",
+		"Cookie:",
+		"Content-Length:",
+		"Content-Type:",
+		"Date:",
+		"Range:",
+		"Referer:",
+		"Uri-Args:",
+
+
+		"MuxURL",
+
+		/* use token storage to stash these */
+
+		"Client sent protocols",
+		"Client peer address",
+		"Client URI",
+		"Client host",
+		"Client origin",
+
+		/* always last real token index*/
+		"WSI token count"
+	};
+	char buf[256];
+	int L = sizeof(token_names) / sizeof(token_names[0]);
+	for (n = 0; n < L; n++) {
+		if (!lws_hdr_total_length(wsi, n))
+			continue;
+		lws_hdr_copy(wsi, buf, sizeof buf, n);
+		printf("    %s = %s\n", token_names[n], buf);
+	}
+}
+
+static int my_protocol_callback(_U_ struct libwebsocket_context *context,
 			_U_ struct libwebsocket *wsi,
 			enum libwebsocket_callback_reasons reason,
-				_U_ void *user, void *in, _U_ size_t len)
+				_U_ void *user, void *in, _U_ size_t len){
-{
+	unsigned char buf[LWS_SEND_BUFFER_PRE_PADDING + MESSAGE_LEN +
-	//int n, m;
+				  LWS_SEND_BUFFER_POST_PADDING];
-	//unsigned char buf[LWS_SEND_BUFFER_PRE_PADDING + 512 +
+	unsigned char *p = &buf[LWS_SEND_BUFFER_PRE_PADDING];
-	//					  LWS_SEND_BUFFER_POST_PADDING];
+	char client_name[128];
-	//unsigned char *p = &buf[LWS_SEND_BUFFER_PRE_PADDING];
+	char client_ip[128];
-
+	char *M, *msg = (char*) in;
-	char *msg = (char*) in;
+	per_session_data *dat = (per_session_data *) user;
-
+	int L, W;
+	void parse_queue_msg(per_session_data *d){
+		if((M = get_message_from_queue(d))){
+			L = strlen(M);
+			strncpy((char *)p, M, L);
+			W = libwebsocket_write(wsi, p, L, LWS_WRITE_TEXT);
+			if(L != W){
+				lwsl_err("Can't write to socket");
+			}
+		}
+	}
+	//struct lws_tokens *tok = (struct lws_tokens *) user;
 	switch (reason) {
-
 		case LWS_CALLBACK_ESTABLISHED:
 			printf("New Connection\n");
+			memset(dat, 0, sizeof(per_session_data));
+			libwebsocket_callback_on_writable(context, wsi);
 		break;
-
 		case LWS_CALLBACK_SERVER_WRITEABLE:
+			if(dat->num == 0 && global_queue.num == 0){
+				libwebsocket_callback_on_writable(context, wsi);
+				return 0;
+			}else{
+				parse_queue_msg(dat);
+				parse_queue_msg(&global_queue);
+				libwebsocket_callback_on_writable(context, wsi);
+			}
 		break;
-
 		case LWS_CALLBACK_RECEIVE:
-		fillbuf(msg);
+			websig(msg, dat);
+		break;
+		case LWS_CALLBACK_FILTER_NETWORK_CONNECTION:
+			libwebsockets_get_peer_addresses(context, wsi, (int)(long)in,
+				client_name, 127, client_ip, 127);
+			printf("Received network connection from %s (%s)\n",
+							client_name, client_ip);
 		break;
-
 		case LWS_CALLBACK_FILTER_PROTOCOL_CONNECTION:
+			printf("Client asks for %s\n", msg);
+			dump_handshake_info(wsi);
+		break;
+		case LWS_CALLBACK_CLOSED:
+			printf("Client disconnected\n");
 		break;
-
 		default:
 		break;
 	}
 
 	return 0;
 }
+
 //**************************************************************************//
 /* list of supported protocols and callbacks */
 //**************************************************************************//
@@ -105,43 +402,37 @@ static struct libwebsocket_protocols protocols[] = {
 	{
 		"XY-protocol",				// name
 		my_protocol_callback,		// callback
-		30,						// per_session_data_size
+		sizeof(per_session_data),	// per_session_data_size
 		10,							// max frame size / rx buffer
 		0, NULL, 0
 	},
 	{ NULL, NULL, 0, 0, 0, NULL, 0} /* terminator */
 };
+
 //**************************************************************************//
 void sighandler(_U_ int sig){
 	close(comfd);
 	force_exit = 1;
 }
-//**************************************************************************//
+
-//**************************************************************************//
+void *websock_thread(_U_ void *buf){
-int main(_U_ int argc, _U_ char **argv)
-{
-	int n = 0;
 	struct libwebsocket_context *context;
+	int n = 0;
 	int opts = 0;
 	const char *iface = NULL;
 	int syslog_options = LOG_PID | LOG_PERROR;
 	//unsigned int oldus = 0;
 	struct lws_context_creation_info info;
-
 	int debug_level = 7;
 
+	if(pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL)){
+		force_exit = 1;
+		return NULL;
+	}
+
 	memset(&info, 0, sizeof info);
 	info.port = 9999;
 
-	signal(SIGINT, sighandler);
-
-	printf("\nOpen port...\n");
-	if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
-		fprintf(stderr,"Can't use port %s\n",comdev);
-		return 1;
-	}
-
-
 	/* we will only try to log things according to our debug_level */
 	setlogmask(LOG_UPTO (LOG_DEBUG));
 	openlog("lwsts", syslog_options, LOG_DAEMON);
@@ -162,22 +453,48 @@ int main(_U_ int argc, _U_ char **argv)
 	context = libwebsocket_create_context(&info);
 	if (context == NULL){
 		lwsl_err("libwebsocket init failed\n");
-		return -1;
+		force_exit = 1;
+		return NULL;
 	}
 
-	n = 0;
 	while(n >= 0 && !force_exit){
-
+		n = libwebsocket_service(context, 500);
-		n = libwebsocket_service(context, 50);
+	}//while n>=0
-
-	};//while n>=0
-
-
 	libwebsocket_context_destroy(context);
-
 	lwsl_notice("libwebsockets-test-server exited cleanly\n");
-
 	closelog();
+	return NULL;
+}
 
+//**************************************************************************//
+int main(_U_ int argc, _U_ char **argv){
+	pthread_t w_thread;
+	size_t L;
+
+	signal(SIGINT, sighandler);
+
+	if(argc == 2) comdev = argv[1];
+
+	printf("\nOpen port %s...\n", comdev);
+	if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		fprintf(stderr,"Can't use port %s\n",comdev);
+		return 1;
+	}
+
+	process_buf("W"); // step: 1/16
+
+	pthread_create(&w_thread, NULL, websock_thread, NULL);
+
+	while(!force_exit){
+		if((L = read_tty())){
+			printf("got %zd bytes from tty:\n", L);
+			check_tty_sig(L);
+		}
+		pthread_mutex_lock(&command_mutex);
+		if(data_in_buf) process_buf(cmd_buf);
+		data_in_buf = 0;
+		pthread_mutex_unlock(&command_mutex);
+	}
+	pthread_join(w_thread, NULL); // wait for closing of libsockets thread
 	return 0;
 }//main

Trinamic/websock_simple/test.html

@@ -16,13 +16,17 @@
 		<td></td></tr>
 		<tr>
 			<td align='center'><button id='X-'>X-</button></td>
-			<td></td>
+			<td><button id='0'>0</button></td>
 			<td align='center'><button id='X+'>X+</button></td>
 		</tr>
 		<tr><td></td>
 			<td align='center'><button id='Y-'>Y-</button></td>
 		<td></td></tr>
 	</table>
+	<div class="content">
+		Speed: <input type="range" min="10" max="200" step="1" id="speed">
+		<span id="curspeed">50</span>
+	</div>
 	<p></p>
 	<div id = "connected">No connection</div>
 	<div id = "answer"></div>
@@ -31,6 +35,8 @@
 Global = function(){
 	var socket = null;
 	var connected = 0;
+	var globSpeed = 50;
+	function $(nm){return document.getElementById(nm);}
 	function get_appropriate_ws_url(){
 		var pcol;
 		var u = document.URL;
@@ -55,19 +61,23 @@ Global = function(){
 			socket = new WebSocket(get_appropriate_ws_url(),
 						"XY-protocol");
 		}
+		if(!socket){
+			alert("Error: can't create websocket!\nMake sure that your browser supports websockets");
+			return;
+		}
 		try {
 			socket.onopen = function(){
-				document.getElementById("connected").style.backgroundColor = "#40ff40";
+				$("connected").style.backgroundColor = "#40ff40";
-				document.getElementById("connected").textContent = "Connection opened";
+				$("connected").textContent = "Connection opened";
 				connected = 1;
 			}
 			socket.onmessage = function got_packet(msg) {
-				document.getElementById("answer").textContent = msg.data + "\n";
+				$("answer").textContent = msg.data;
 			}
 			socket.onclose = function(){
-				document.getElementById("connected").style.backgroundColor = "#ff4040";
+				$("connected").style.backgroundColor = "#ff4040";
-				document.getElementById("connected").textContent = "Connection closed";
+				$("connected").textContent = "Connection closed";
-				document.getElementById("answer").textContent = "";
+				$("answer").textContent = "";
 				connected = 0;
 				setTimeout(TryConnect, 1000);
 			}
@@ -83,20 +93,36 @@ Global = function(){
 			//Buttons[i].addEventListener("click", btnclick);
 			Buttons[i].addEventListener("mousedown", btnmousedown);
 			Buttons[i].addEventListener("mouseup", btnmouseup);
+			Buttons[i].addEventListener("mouseout", btnmouseup);
+			Buttons[i].pressed = 0;
 		}
+		$("speed").value = globSpeed
+		$("speed").addEventListener("input", ChSpd);
+		$("speed").addEventListener("mouseup", SetSpd);
 		TryConnect();
 	}
 	/*function btnclick(){
 		console.log("Click: " + this.id);
 	}*/
 	function btnmouseup(){
+		if(this.pressed == 0) return; // this function calls also from "mouseout", so we must prevent stopping twice
+		this.pressed = 0;
 		console.log("Mouse up: " + this.id);
 		if(connected) socket.send("U"+this.id);
 	}
 	function btnmousedown(){
+		this.pressed = 1;
 		console.log("Mouse down: " + this.id);
 		if(connected) socket.send("D"+this.id);
 	}
+	function ChSpd(){
+		if(globSpeed == this.value) return;
+		globSpeed = this.value;
+		$("curspeed").textContent = globSpeed;
+	}
+	function SetSpd(){
+		if(connected) socket.send("S"+globSpeed);
+	}
 	return{
 		init: init
 	}