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ADD LOCAL CONNECT

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Sem van der Hoeven
2023-06-07 10:52:35 +02:00
parent 1c855540ef
commit 258e5cf289
1 changed files with 101 additions and 53 deletions
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154
api/views/index.ejs
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@@ -13,35 +13,35 @@
<h1 class="header">5G Drone API</h1>
<!-- <div class="video"> -->
<div class="mainvideo">
<p id="cameraview">Camera view:</p>
<p id="cameraview">Camera view: Not connected</p>
<canvas id="result-video" style="border: 1px solid blue;" width="800" height="600"></canvas>
<div id="connectedbuttons">
<div id="connectedstatus">
<h2 id="connectedlabel">Not connected to drone</h2>
<button id="connectbutton" onclick="connect()">Connect</button>
</div>
<div id="buttons">
<button id="take_picture" onclick="take_picture()">Take picture</button>
<br>
<button id="arm_disarm" onclick="arm_disarm()">Arm/Disarm</button>
</div>
<div id="connectedbuttons">
<div id="connectedstatus">
<h2 id="connectedlabel">Not connected to drone</h2>
<button id="connectbutton" onclick="local_connect()">Connect</button>
</div>
<div id="controls">
<h2>Controls</h2>
<div id="buttons">
<button class="movebutton" id="button_turnleft">Turn left</button>
<button class="movebutton" id="button_turnright">Turn right</button>
<button class="movebutton" id="button_up">Up</button>
<button class="movebutton" id="button_down">Down</button>
<button class="movebutton" id="button_forward">Forward</button>
<button class="movebutton" id="button_backward">Backward</button>
<button class="movebutton" id="button_left">Left</button>
<button class="movebutton" id="button_right">Right</button>
<button id="button_land" onclick="land()">Land</button>
<button id="button_estop" onclick="estop()"><strong>Emergency Stop</strong></button>
<div id="buttons">
<button id="take_picture" onclick="take_picture()">Take picture</button>
<br>
<button id="arm_disarm" onclick="arm_disarm()">Arm/Disarm</button>
</div>
</div>
<div id="controls">
<h2>Controls</h2>
<div id="buttons">
<button class="movebutton" id="button_turnleft">Turn left</button>
<button class="movebutton" id="button_turnright">Turn right</button>
<button class="movebutton" id="button_up">Up</button>
<button class="movebutton" id="button_down">Down</button>
<button class="movebutton" id="button_forward">Forward</button>
<button class="movebutton" id="button_backward">Backward</button>
<button class="movebutton" id="button_left">Left</button>
<button class="movebutton" id="button_right">Right</button>
<button id="button_land" onclick="land()">Land</button>
<button id="button_estop" onclick="estop()"><strong>Emergency Stop</strong></button>
</div>
</div>
</div>
</div>
<div class="lastpicture">
<p>Last picture:</p>
@@ -61,6 +61,7 @@
</body>
<script>
var ws;
assign_button_callbacks();
openSocket = () => {
@@ -111,7 +112,7 @@
try {
const data = JSON.parse(event.data);
if (data.type == "STATUS") {
document.getElementById("batterypercentage").innerHTML = "Battery percentage: " + data.data.battery_percentage.toString().substring(0,4) + "%";
document.getElementById("batterypercentage").innerHTML = "Battery percentage: " + data.data.battery_percentage.toString().substring(0, 4) + "%";
document.getElementById("cpuload").innerHTML = "CPU load: " + data.data.cpu_usage.toString().substring(0, 6).substring(2, 4) + "%";
document.getElementById("armed").innerHTML = "Armed: " + data.data.armed;
document.getElementById("control_mode").innerHTML = "Control mode: " + data.data.control_mode;
@@ -131,8 +132,6 @@
console.error(error);
}
}
openSocket();
};
function assign_button_callbacks() {
@@ -174,64 +173,62 @@
}
function send_move_request(data) {
// console.log("sending move request " + data);
var xhr = new XMLHttpRequest();
xhr.open("POST", "/move", true);
xhr.setRequestHeader("Content-Type", "application/json");
xhr.send(data);
console.log("sending move request");
if (ws != null)
ws.send(data);
}
function turn_left() {
console.log("turnleft");
send_move_request(JSON.stringify({ "up_down": 0.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": -10.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": 0.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": -10.0 }));
}
function turn_right() {
console.log("turnright");
send_move_request(JSON.stringify({ "up_down": 0.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 10.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": 0.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 10.0 }));
}
function up() {
console.log("up");
send_move_request(JSON.stringify({ "up_down": 1.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 0.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": 1.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 0.0 }));
}
function down() {
console.log("down");
send_move_request(JSON.stringify({ "up_down": -1.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 0.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": -1.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 0.0 }));
}
function forward() {
console.log("forward"); send_move_request(JSON.stringify({ "up_down": 0.0, "forward_backward": 1.0, "left_right": 0.0, "turn_left_right": 0.0 }));
console.log("forward"); send_move_request(JSON.stringify({ "command": 3, "up_down": 0.0, "forward_backward": 1.0, "left_right": 0.0, "turn_left_right": 0.0 }));
}
function backward() {
console.log("backward");
send_move_request(JSON.stringify({ "up_down": 0.0, "forward_backward": -1.0, "left_right": 0.0, "turn_left_right": 0.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": 0.0, "forward_backward": -1.0, "left_right": 0.0, "turn_left_right": 0.0 }));
}
function left() {
console.log("left");
send_move_request(JSON.stringify({ "up_down": 0.0, "forward_backward": 0.0, "left_right": -1.0, "turn_left_right": 0.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": 0.0, "forward_backward": 0.0, "left_right": -1.0, "turn_left_right": 0.0 }));
}
function right() {
console.log("right");
send_move_request(JSON.stringify({ "up_down": 0.0, "forward_backward": 0.0, "left_right": 1.0, "turn_left_right": 0.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": 0.0, "forward_backward": 0.0, "left_right": 1.0, "turn_left_right": 0.0 }));
}
function stop() {
console.log("stop");
send_move_request(JSON.stringify({ "up_down": 0.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 0.0 }));
send_move_request(JSON.stringify({ "command": 3, "up_down": 0.0, "forward_backward": 0.0, "left_right": 0.0, "turn_left_right": 0.0 }));
}
function land_takeoff() {
function land() {
console.log("land");
var xhr = new XMLHttpRequest();
xhr.open("POST", "/land", true);
xhr.send();
var request = JSON.stringify({ command: 0 });
ws.send(request);
}
function estop() {
console.log("estop");
var xhr = new XMLHttpRequest();
xhr.open("POST", "/estop", true);
xhr.send();
var request = JSON.stringify({
command: 6,
});
ws.send(request);
}
function take_picture() {
@@ -245,9 +242,8 @@
function arm_disarm() {
console.log("arm/disarm");
var xhr = new XMLHttpRequest();
xhr.open("POST", "/arm_disarm", true);
xhr.send();
var request = JSON.stringify({ command: 1 });
ws.send(request);
}
function connect_to_video_stream() {
@@ -285,6 +281,58 @@
}
function handle_ws_message(message) {
console.log("Handling message " + message);
var data = JSON.parse(message);
if (data.type == "STATUS") {
document.getElementById("batterypercentage").innerHTML = "Battery percentage: " + data.data.battery_percentage.toString().substring(0, 4) + "%";
document.getElementById("cpuload").innerHTML = "CPU load: " + data.data.cpu_usage.toString().substring(0, 6).substring(2, 4) + "%";
document.getElementById("armed").innerHTML = "Armed: " + data.data.armed;
document.getElementById("control_mode").innerHTML = "Control mode: " + data.data.control_mode;
document.getElementById("speed").innerHTML = "Current speed (m/s): x: " + data.data.velocity[0] + " y: " + data.data.velocity[1] + " z: " + data.data.velocity[2];
document.getElementById("position").innerHTML = "Current position (m): x: " + data.data.position[0] + " y: " + data.data.position[1] + " z: " + data.data.position[2];
} else if (data.type == "FAILSAFE") {
document.getElementById("failsafe").innerHTML = "Failsafe: ACTIVATED";
document.getElementById("failsafe").style.backgroundColor = "red";
document.getElementById("failsafe").style.color = "white";
document.getElementById("failsafe").style.textDecoration = "bold";
alert("Failsafe enabled! Drone is landing. The failsafe message is:\n" + data.message);
} else {
// decodeBase64Image(data.image, document.getElementById("result-video"));
}
}
function local_connect() {
console.log("Connecting to API");
ws = new WebSocket("ws://10.100.0.40:9001/");
ws.on("open", function open() {
console.log("connected with websockets to API!");
document.getElementById("connectedlabel").innerHTML = "Connected to drone";
document.getElementById("connectbutton").disabled = true;
openSocket();
});
ws.on("message", function message(message) {
try {
var msg = JSON.parse(message);
handle_ws_message(msg);
} catch (error) {
console.log("could not parse as json");
// send_image_data_to_clients(message);
}
});
ws.on("error", function error(err) {
console.log("there was an error");
console.error("error: " + err);
alert("There was an error connecting to the API!");
document.getElementById("connectedlabel").innerHTML = "Not connected to drone";
document.getElementById("connectbutton").disabled = false;
});
}
function connect() {
var received = false;
var xhr = new XMLHttpRequest();
@@ -298,7 +346,7 @@
document.getElementById("connectedlabel").innerHTML = "Connected to drone";
document.getElementById("connectbutton").disabled = true;
// connect_to_video_stream();
}
} else {
console.log("error");