mirror of
https://github.com/eddyem/eddys_snippets.git
synced 2025-12-06 10:45:12 +03:00
First approach to websocket WEB-GUI
This commit is contained in:
eddyem
parent
1a63497f04
commit
b53a659d40
@ -38,7 +38,7 @@ double t0; // start time
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uint32_t motor_speed = 10; // motor speed
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FILE *fout = NULL; // file for messages duplicating
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char *comdev = "/dev/ttyUSB0";
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char *comdev = "/dev/ttyUSB1";
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int BAUD_RATE = B115200;
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struct termio oldtty, tty; // TTY flags
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struct termios oldt, newt; // terminal flags
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@ -209,11 +209,12 @@ void help(){
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"R/L\tRotate motor 1 right/left\n"
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"r/l\tRotate motor 2 right/left\n"
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"S/s\tStop 1st or 2nd motor\n"
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"W/w\tSet ustepping to 1/16\n"
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"D/d\tSet ustepping to 1/16\n"
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"E/e\tSet ustepping to 1/4\n"
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"Z/z\tSet to zero current position\n"
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"G/g\tGet current position\n"
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"A/a\tGet ALL information about\n"
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"W/w\tWait until position reached\n"
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"q\tQuit\n"
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);
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}
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@ -351,7 +352,7 @@ void con_sig(int rb){
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case 's': // stop motor
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*cmd = 3; // STP
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break;
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case 'w': // 1/16
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case 'd': // 1/16
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*cmd = 5; // SAP
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command[2] = 140; // ustep resolution
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value = 4;
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@ -386,6 +387,12 @@ void con_sig(int rb){
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}
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tcsetattr(STDIN_FILENO, TCSANOW, &newt); // omit echo
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break;
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case 'w': // wait till reached
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*cmd = 138; // WAIT DIRECT
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// set motor bit mask:
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value = 5; // both motors
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//value = 1 << command[3];
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break;
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}
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if(*cmd){
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// copy param to buffer
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@ -447,6 +454,16 @@ void copy_buf_to_file(uint8_t *buffer, int *cmd){
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free(buff);
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}
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static inline uint32_t log_2(const uint32_t x) {
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uint32_t y;
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asm ( "\tbsr %1, %0\n"
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: "=r"(y)
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: "r" (x)
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);
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return y;
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}
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#define log2(x) ((int)log_2((uint32_t)x))
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int main(int argc, char *argv[]){
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int rb, oldcmd = -1;
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@ -478,6 +495,10 @@ int main(int argc, char *argv[]){
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uint8_t *ptr = buff;
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int ii;
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int32_t val = get_integer(buff);
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const uint8_t pattern[] = {2,1,128,138,0,0,0};
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if(memcmp((void*)buff, (void*)pattern, sizeof(pattern)) == 0){ // motor has reached position
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printf("Motor %d has reached position!\n", log2(val));
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}else{
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printf("value = %d (full answer: ", val);
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for(ii = L - 1; ii > 0; ii--){
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uint8_t C = *ptr++;
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@ -485,7 +506,8 @@ int main(int argc, char *argv[]){
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//if(C > 31) printf("(%c)", C);
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printf(",");
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}
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printf("%u)\n", *ptr);
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printf("%u\n", *ptr);
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}
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if(fout){
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copy_buf_to_file(buff, &oldcmd);
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}
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@ -1,5 +1,5 @@
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PROGRAM = websocktest
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LDFLAGS = $(shell pkg-config --libs libwebsockets)
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LDFLAGS = $(shell pkg-config --libs libwebsockets) -lpthread
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SRCS = test.c
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CC = gcc
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DEFINES = -D_XOPEN_SOURCE=501 -DCUR_PATH=\"$(shell pwd)\"
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@ -13,18 +13,157 @@
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#include <sys/stat.h> // read
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#include <fcntl.h> // read
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#include <pthread.h>
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#define _U_ __attribute__((__unused__))
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#define MESSAGE_QUEUE_SIZE 3
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#define MESSAGE_LEN 128
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// individual data per session
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typedef struct{
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int num;
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int idxwr;
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int idxrd;
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char message[MESSAGE_QUEUE_SIZE][MESSAGE_LEN];
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}per_session_data;
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per_session_data global_queue;
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pthread_mutex_t command_mutex;
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char cmd_buf[5] = {0};
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int data_in_buf = 0; // signals that there's some data in cmd_buf to send to motors
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void put_message_to_queue(char *msg, per_session_data *dat){
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int L = strlen(msg);
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if(dat->num >= MESSAGE_QUEUE_SIZE) return;
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dat->num++;
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if(L < 1 || L > MESSAGE_LEN - 1) L = MESSAGE_LEN - 1;
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strncpy(dat->message[dat->idxwr], msg, L);
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dat->message[dat->idxwr][L] = 0;
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if((++(dat->idxwr)) >= MESSAGE_QUEUE_SIZE) dat->idxwr = 0;
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}
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char *get_message_from_queue(per_session_data *dat){
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char *R = dat->message[dat->idxrd];
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if(dat->num <= 0) return NULL;
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if((++dat->idxrd) >= MESSAGE_QUEUE_SIZE) dat->idxrd = 0;
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dat->num--;
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return R;
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}
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int force_exit = 0;
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uint8_t buf[9];
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#define TTYBUFLEN 128
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uint8_t ttybuff[TTYBUFLEN];
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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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uint32_t motor_speed = 50;
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//**************************************************************************//
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int32_t get_integer(uint8_t *buff){
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int32_t val;
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int ii;
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uint8_t *valptr = (uint8_t*) &val + 3;
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for(ii = 4; ii < 8; ii++)
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*valptr-- = buff[ii];
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return val;
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}
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void inttobuf(uint8_t *buf, int32_t value){// copy param to buffer
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int i;
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uint8_t *bytes = (uint8_t*) &value + 3;
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for(i = 4; i < 8; i++)
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buf[i] = *bytes--;
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}
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/**
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* read tty
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* @return number of readed symbols
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*/
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size_t read_tty(){
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ssize_t L = 0, l, buffsz = TTYBUFLEN;
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struct timeval tv;
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int sel;
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fd_set rfds;
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FD_ZERO(&rfds);
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FD_SET(comfd, &rfds);
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tv.tv_sec = 0; tv.tv_usec = 100000;
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sel = select(comfd + 1, &rfds, NULL, NULL, &tv);
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if(sel > 0){
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if(FD_ISSET(comfd, &rfds)){
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if((L = read(comfd, ttybuff, buffsz)) < 1){ // disconnect or other troubles
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fprintf(stderr, "USB error or disconnected!\n");
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exit(1);
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}else{
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if(L == 0){ // USB disconnected
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fprintf(stderr, "USB disconnected!\n");
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exit(1);
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}
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if(L == 9) return 9;
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// all OK continue reading
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//DBG("readed %zd bytes, try more.. ", L);
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buffsz -= L;
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select(comfd + 1, &rfds, NULL, NULL, &tv);
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while(L < 9 && buffsz > 0 && (l = read(comfd, ttybuff+L, buffsz)) > 0){
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L += l;
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buffsz -= l;
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select(comfd + 1, &rfds, NULL, NULL, &tv);
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}
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}
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}
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}
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return (size_t) L;
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}
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static inline uint32_t log_2(const uint32_t x){
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uint32_t y;
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asm ( "\tbsr %1, %0\n"
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: "=r"(y)
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: "r" (x)
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);
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return y;
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}
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int send_command(uint8_t *ninebytes);
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#define log2(x) ((int)log_2((uint32_t)x))
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/*
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* check L bytes of ttybuf (maybe there was a command to check endpoint)
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*/
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void check_tty_sig(size_t l){
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int L = l;
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uint8_t movbk[]= {1,4,1,0,0,0,0,0,0};
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//if(L < 9) return; // WTF?
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uint8_t* buf = ttybuff;
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char msg[128];
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const uint8_t pattern[] = {2,1,128,138,0,0,0};
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while(L > 0){
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int32_t Ival = get_integer(buf);
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if(memcmp((void*)buf, (void*)pattern, sizeof(pattern)) == 0){ // motor has reached position
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int motnum = log2(Ival);
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snprintf(msg, 127, "Motor %d has reached position!", motnum);
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printf(" %s (%d)\n", msg, Ival);
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put_message_to_queue(msg, &global_queue);
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if(motnum == 0){ // move motor 0 to 2000 usteps
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inttobuf(movbk, 2000);
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send_command(movbk);
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}else if(motnum == 2){ // move motor 2 to 3450 usteps
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movbk[3] = 2;
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inttobuf(movbk, 3450);
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send_command(movbk);
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}else{
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printf(" WTF?\n");
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}
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}else printf(" %d\n", Ival);
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L -= 9;
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buf += 9;
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};
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}
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int send_command(uint8_t *ninebytes){
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uint8_t crc = 0;
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size_t L;
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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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@ -35,67 +174,225 @@ int send_command(uint8_t *ninebytes){
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perror("Can't write to Trinamic");
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return 0;
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}
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if((L = read_tty())){
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printf("got %zd bytes from tty: ", L);
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check_tty_sig(L);
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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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void process_buf(char *command){
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memset(buf, 0, 9);
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buf[0] = 1; // controller #
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if(command[0] == 'W'){ // 1/16
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buf[1] = 5;
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buf[2] = 140; // ustep resolution
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buf[7] = 4; // 1/16
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send_command(buf);
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buf[3] = 2; // motor #2
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send_command(buf);
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return;
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}else if(command[0] == 'S'){ // change current speed
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long X = strtol(&command[1], NULL, 10);
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if(X > 9 && X < 501){
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motor_speed = (uint32_t) X;
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printf("set speed to %u\n", motor_speed);
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buf[1] = 5; // SAP
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buf[2] = 4; // max pos speed
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inttobuf(buf, motor_speed);
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send_command(buf);
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buf[3] = 2; // 2nd motor
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send_command(buf);
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}
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return;
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}
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if(command[1] == '0'){ // go to start point for further moving to middle
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if(command[0] == 'U') return;
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uint8_t wt[] = {1,138,0,0,0,0,0,5,0};
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uint8_t movbk[]= {1,4,1,0,0,0,0,0,0};
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inttobuf(movbk, -4500); // 1st motor
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send_command(movbk);
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movbk[3] = 2;
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inttobuf(movbk, -7300); // 2nd motor
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send_command(movbk);
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send_command(wt); // wait
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return;
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}
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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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else if(command[1] == 'Y') 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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else if(command[2] == '-') buf[1] = 2; // ROL
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}else if(command[0] == 'U'){ // 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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inttobuf(buf, motor_speed);
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if(!send_command(buf)){
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printf("Can't send command");
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};
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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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#define MESG(X) do{if(dat) put_message_to_queue(X, dat);}while(0)
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void websig(char *command, per_session_data *dat){
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if(command[0] == 'W' || command[1] == '0' || command[0] == 'S'){
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if(command[0] == 'W'){
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MESG("Set microstepping to 1/16");
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}else if(command[1] == '0'){
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MESG("Go to the middle. Please, wait!");
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}else{
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MESG("Change speed");
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}
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goto ret;
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}
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if(command[1] != 'X' && command[1] != 'Y'){ // error
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MESG("Undefined coordinate");
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return;
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}
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if(command[0] != 'D' && command[0] != 'U'){
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MESG("Undefined command");
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return;
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}
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ret:
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pthread_mutex_lock(&command_mutex);
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strncpy(cmd_buf, command, 4);
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data_in_buf = 1;
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pthread_mutex_unlock(&command_mutex);
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while(data_in_buf); // wait for execution
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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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static void dump_handshake_info(struct libwebsocket *wsi){
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int n;
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static const char *token_names[] = {
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"GET URI",
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"POST URI",
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"OPTIONS URI",
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"Host",
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"Connection",
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"key 1",
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"key 2",
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"Protocol",
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"Upgrade",
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"Origin",
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"Draft",
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"Challenge",
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/* new for 04 */
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"Key",
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"Version",
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"Sworigin",
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/* new for 05 */
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"Extensions",
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/* client receives these */
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"Accept",
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"Nonce",
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"Http",
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/* http-related */
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"Accept:",
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"Ac-Request-Headers:",
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"If-Modified-Since:",
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"If-None-Match:",
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"Accept-Encoding:",
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"Accept-Language:",
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"Pragma:",
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"Cache-Control:",
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"Authorization:",
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"Cookie:",
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"Content-Length:",
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"Content-Type:",
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"Date:",
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"Range:",
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"Referer:",
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"Uri-Args:",
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"MuxURL",
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/* use token storage to stash these */
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"Client sent protocols",
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"Client peer address",
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"Client URI",
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"Client host",
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"Client origin",
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/* always last real token index*/
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"WSI token count"
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};
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char buf[256];
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int L = sizeof(token_names) / sizeof(token_names[0]);
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for (n = 0; n < L; n++) {
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if (!lws_hdr_total_length(wsi, n))
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continue;
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lws_hdr_copy(wsi, buf, sizeof buf, n);
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printf(" %s = %s\n", token_names[n], buf);
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}
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}
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static int 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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_U_ void *user, void *in, _U_ size_t len){
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unsigned char buf[LWS_SEND_BUFFER_PRE_PADDING + MESSAGE_LEN +
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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 client_name[128];
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char client_ip[128];
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char *M, *msg = (char*) in;
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per_session_data *dat = (per_session_data *) user;
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int L, W;
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void parse_queue_msg(per_session_data *d){
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if((M = get_message_from_queue(d))){
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L = strlen(M);
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strncpy((char *)p, M, L);
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W = libwebsocket_write(wsi, p, L, LWS_WRITE_TEXT);
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if(L != W){
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lwsl_err("Can't write to socket");
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}
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}
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}
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//struct lws_tokens *tok = (struct lws_tokens *) user;
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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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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;
|
||||
}
|
||||
//**************************************************************************//
|
||||
//**************************************************************************//
|
||||
int main(_U_ int argc, _U_ char **argv)
|
||||
{
|
||||
int n = 0;
|
||||
|
||||
void *websock_thread(_U_ void *buf){
|
||||
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);
|
||||
@ -160,24 +451,50 @@ int main(_U_ int argc, _U_ char **argv)
|
||||
info.options = opts;
|
||||
|
||||
context = libwebsocket_create_context(&info);
|
||||
if (context == NULL) {
|
||||
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, 50);
|
||||
|
||||
};//while n>=0
|
||||
|
||||
|
||||
while(n >= 0 && !force_exit){
|
||||
n = libwebsocket_service(context, 500);
|
||||
}//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
|
||||
|
||||
@ -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";
|
||||
document.getElementById("connected").textContent = "Connection opened";
|
||||
$("connected").style.backgroundColor = "#40ff40";
|
||||
$("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";
|
||||
document.getElementById("connected").textContent = "Connection closed";
|
||||
document.getElementById("answer").textContent = "";
|
||||
$("connected").style.backgroundColor = "#ff4040";
|
||||
$("connected").textContent = "Connection closed";
|
||||
$("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
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user