78 lines
1.8 KiB
JavaScript
78 lines
1.8 KiB
JavaScript
var express = require("express");
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var app = express();
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const WebSocket = require("ws");
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var last_status = {};
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var last_image;
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var received_picture = false;
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app.use(express.static("public"));
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app.use(express.json());
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var ws = new WebSocket("ws://10.100.0.40:9001/");
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var api_connected = false;
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console.log("connecting to API...");
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while (ws.readyState != 1) { }
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ws.on("open", function open() {
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console.log("connected with websockets to API!");
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api_connected = true;
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});
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ws.on("message", function message(message) {
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var msg = JSON.parse(message);
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if (msg.type == "STATUS") {
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last_status = msg.data;
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} else if (msg.type == "IMAGE") {
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console.log("got picture");
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console.log(msg.image);
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last_image = msg.image;
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received_picture = true;
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}
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// console.log("got type: " + msg.type);
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// console.log("RECEIVED: " + msg.data);
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});
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ws.on("error", console.error);
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// set the view engine to ejs
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app.set("view engine", "ejs");
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// use res.render to load up an ejs view file
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// index page
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app.get("/", function (req, res) {
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res.render("index", { api_connected: api_connected });
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});
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app.get("/status", function (req, res) {
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res.status(200).json(last_status);
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});
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app.get("/image", function (req, res) {
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console.log("got picture request");
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var request = JSON.stringify({
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command: 5
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});
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console.log("sending picture request")
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ws.send(request);
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while (received_picture == false) { }
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res.status(200).send(last_image);
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});
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app.post("/move", function (req, res) {
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console.log("got move request");
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var request = JSON.stringify({
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command: 3,
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up_down: req.body.up_down,
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left_right: req.body.left_right,
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forward_backward: req.body.forward_backward,
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yaw: req.body.turn_left_right
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});
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ws.send(request);
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});
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app.listen(8080);
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console.log("Server is listening on port 8080");
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