diff --git a/README.md b/README.md index 6f28fd7..786d625 100644 --- a/README.md +++ b/README.md @@ -28,10 +28,7 @@ **Web Application** --_WebSockets_--> **Server** --_Serial_--> **Firmware** -Also static files are served by Apache web server. - ## Requirements - * Apache web server to serve static files * uv4l to send video stream * Working UART * Python requirements @@ -41,7 +38,7 @@ Also static files are served by Apache web server. * `sudo apt install ./turtlerover-tcs_*_all.deb` ## How to run - * Open in browser http://10.0.0.1/client/dist (for more detailed network configuration look at [Turtle OS repo](https://github.com/TurtleRover/turtleos)) + * Open in browser http://10.0.0.1/ (for more detailed network configuration look at [Turtle OS repo](https://github.com/TurtleRover/turtleos)) ## How to build * Run `yarn install` diff --git a/apache_conf/apache2.conf b/apache_conf/apache2.conf deleted file mode 100644 index 9c7ea83..0000000 --- a/apache_conf/apache2.conf +++ /dev/null @@ -1,237 +0,0 @@ -# This is the main Apache server configuration file. It contains the -# configuration directives that give the server its instructions. -# See http://httpd.apache.org/docs/2.4/ for detailed information about -# the directives and /usr/share/doc/apache2/README.Debian about Debian specific -# hints. -# -# -# Summary of how the Apache 2 configuration works in Debian: -# The Apache 2 web server configuration in Debian is quite different to -# upstream's suggested way to configure the web server. This is because Debian's -# default Apache2 installation attempts to make adding and removing modules, -# virtual hosts, and extra configuration directives as flexible as possible, in -# order to make automating the changes and administering the server as easy as -# possible. - -# It is split into several files forming the configuration hierarchy outlined -# below, all located in the /etc/apache2/ directory: -# -# /etc/apache2/ -# |-- apache2.conf -# | `-- ports.conf -# |-- mods-enabled -# | |-- *.load -# | `-- *.conf -# |-- conf-enabled -# | `-- *.conf -# `-- sites-enabled -# `-- *.conf -# -# -# * apache2.conf is the main configuration file (this file). It puts the pieces -# together by including all remaining configuration files when starting up the -# web server. -# -# * ports.conf is always included from the main configuration file. It is -# supposed to determine listening ports for incoming connections which can be -# customized anytime. -# -# * Configuration files in the mods-enabled/, conf-enabled/ and sites-enabled/ -# directories contain particular configuration snippets which manage modules, -# global configuration fragments, or virtual host configurations, -# respectively. -# -# They are activated by symlinking available configuration files from their -# respective *-available/ counterparts. These should be managed by using our -# helpers a2enmod/a2dismod, a2ensite/a2dissite and a2enconf/a2disconf. See -# their respective man pages for detailed information. -# -# * The binary is called apache2. Due to the use of environment variables, in -# the default configuration, apache2 needs to be started/stopped with -# /etc/init.d/apache2 or apache2ctl. Calling /usr/bin/apache2 directly will not -# work with the default configuration. - - -# Global configuration -# - -# -# ServerRoot: The top of the directory tree under which the server's -# configuration, error, and log files are kept. -# -# NOTE! If you intend to place this on an NFS (or otherwise network) -# mounted filesystem then please read the Mutex documentation (available -# at ); -# you will save yourself a lot of trouble. -# -# Do NOT add a slash at the end of the directory path. -# -#ServerRoot "/etc/apache2" - -# -# The accept serialization lock file MUST BE STORED ON A LOCAL DISK. -# -#Mutex file:${APACHE_LOCK_DIR} default - -# -# The directory where shm and other runtime files will be stored. -# - -DefaultRuntimeDir ${APACHE_RUN_DIR} - -# -# PidFile: The file in which the server should record its process -# identification number when it starts. -# This needs to be set in /etc/apache2/envvars -# -PidFile ${APACHE_PID_FILE} - -# -# Timeout: The number of seconds before receives and sends time out. -# -Timeout 300 - -# -# KeepAlive: Whether or not to allow persistent connections (more than -# one request per connection). Set to "Off" to deactivate. -# -KeepAlive On - -# -# MaxKeepAliveRequests: The maximum number of requests to allow -# during a persistent connection. Set to 0 to allow an unlimited amount. -# We recommend you leave this number high, for maximum performance. -# -MaxKeepAliveRequests 100 - -# -# KeepAliveTimeout: Number of seconds to wait for the next request from the -# same client on the same connection. -# -KeepAliveTimeout 5 - - -# These need to be set in /etc/apache2/envvars -User ${APACHE_RUN_USER} -Group ${APACHE_RUN_GROUP} - -# -# HostnameLookups: Log the names of clients or just their IP addresses -# e.g., www.apache.org (on) or 204.62.129.132 (off). -# The default is off because it'd be overall better for the net if people -# had to knowingly turn this feature on, since enabling it means that -# each client request will result in AT LEAST one lookup request to the -# nameserver. -# -HostnameLookups Off - -# ErrorLog: The location of the error log file. -# If you do not specify an ErrorLog directive within a -# container, error messages relating to that virtual host will be -# logged here. If you *do* define an error logfile for a -# container, that host's errors will be logged there and not here. -# -ErrorLog ${APACHE_LOG_DIR}/error.log - -# -# LogLevel: Control the severity of messages logged to the error_log. -# Available values: trace8, ..., trace1, debug, info, notice, warn, -# error, crit, alert, emerg. -# It is also possible to configure the log level for particular modules, e.g. -# "LogLevel info ssl:warn" -# -LogLevel warn - -# Include module configuration: -IncludeOptional mods-enabled/*.load -IncludeOptional mods-enabled/*.conf - -# Include list of ports to listen on -Include ports.conf - - -# Sets the default security model of the Apache2 HTTPD server. It does -# not allow access to the root filesystem outside of /usr/share and /var/www. -# The former is used by web applications packaged in Debian, -# the latter may be used for local directories served by the web server. If -# your system is serving content from a sub-directory in /srv you must allow -# access here, or in any related virtual host. - - Options FollowSymLinks - AllowOverride None - Require all denied - - - - AllowOverride None - Require all granted - - - - Options Indexes FollowSymLinks - AllowOverride None - Require all granted - - -ScriptAlias /cgi-bin/ /opt/turtlerover/tcs// - - AllowOverride None - Options +ExecCGI -MultiViews +SymLinksIfOwnerMatch - Order allow,deny - Allow from all - SetEnvIfNoCase Content-Type "^multipart/form-data;" "MODSEC_NOPOSTBUFFERING=Do not buffer file uploads" - SetEnv no-gzip dont-vary - - -# -# Options Indexes FollowSymLinks -# AllowOverride None -# Require all granted -# - - - - -# AccessFileName: The name of the file to look for in each directory -# for additional configuration directives. See also the AllowOverride -# directive. -# -AccessFileName .htaccess - -# -# The following lines prevent .htaccess and .htpasswd files from being -# viewed by Web clients. -# - - Require all denied - - - -# -# The following directives define some format nicknames for use with -# a CustomLog directive. -# -# These deviate from the Common Log Format definitions in that they use %O -# (the actual bytes sent including headers) instead of %b (the size of the -# requested file), because the latter makes it impossible to detect partial -# requests. -# -# Note that the use of %{X-Forwarded-For}i instead of %h is not recommended. -# Use mod_remoteip instead. -# -LogFormat "%v:%p %h %l %u %t \"%r\" %>s %O \"%{Referer}i\" \"%{User-Agent}i\"" vhost_combined -LogFormat "%h %l %u %t \"%r\" %>s %O \"%{Referer}i\" \"%{User-Agent}i\"" combined -LogFormat "%h %l %u %t \"%r\" %>s %O" common -LogFormat "%{Referer}i -> %U" referer -LogFormat "%{User-agent}i" agent - -# Include of directories ignores editors' and dpkg's backup files, -# see README.Debian for details. - -# Include generic snippets of statements -IncludeOptional conf-enabled/*.conf - -# Include the virtual host configurations: -IncludeOptional sites-enabled/*.conf - -# vim: syntax=apache ts=4 sw=4 sts=4 sr noet diff --git a/apache_conf/sites-available/000-default.conf b/apache_conf/sites-available/000-default.conf deleted file mode 100644 index c604a49..0000000 --- a/apache_conf/sites-available/000-default.conf +++ /dev/null @@ -1,31 +0,0 @@ - - # The ServerName directive sets the request scheme, hostname and port that - # the server uses to identify itself. This is used when creating - # redirection URLs. In the context of virtual hosts, the ServerName - # specifies what hostname must appear in the request's Host: header to - # match this virtual host. For the default virtual host (this file) this - # value is not decisive as it is used as a last resort host regardless. - # However, you must set it for any further virtual host explicitly. - #ServerName www.example.com - - ServerAdmin webmaster@localhost - DocumentRoot /opt/turtlerover/tcs/ - - # Available loglevels: trace8, ..., trace1, debug, info, notice, warn, - # error, crit, alert, emerg. - # It is also possible to configure the loglevel for particular - # modules, e.g. - #LogLevel info ssl:warn - - ErrorLog ${APACHE_LOG_DIR}/error.log - CustomLog ${APACHE_LOG_DIR}/access.log combined - - # For most configuration files from conf-available/, which are - # enabled or disabled at a global level, it is possible to - # include a line for only one particular virtual host. For example the - # following line enables the CGI configuration for this host only - # after it has been globally disabled with "a2disconf". - #Include conf-available/serve-cgi-bin.conf - - -# vim: syntax=apache ts=4 sw=4 sts=4 sr noet diff --git a/apache_conf/sites-available/default-ssl.conf b/apache_conf/sites-available/default-ssl.conf deleted file mode 100644 index 7e37a9c..0000000 --- a/apache_conf/sites-available/default-ssl.conf +++ /dev/null @@ -1,134 +0,0 @@ - - - ServerAdmin webmaster@localhost - - DocumentRoot /var/www/html - - # Available loglevels: trace8, ..., trace1, debug, info, notice, warn, - # error, crit, alert, emerg. - # It is also possible to configure the loglevel for particular - # modules, e.g. - #LogLevel info ssl:warn - - ErrorLog ${APACHE_LOG_DIR}/error.log - CustomLog ${APACHE_LOG_DIR}/access.log combined - - # For most configuration files from conf-available/, which are - # enabled or disabled at a global level, it is possible to - # include a line for only one particular virtual host. For example the - # following line enables the CGI configuration for this host only - # after it has been globally disabled with "a2disconf". - #Include conf-available/serve-cgi-bin.conf - - # SSL Engine Switch: - # Enable/Disable SSL for this virtual host. - SSLEngine on - - # A self-signed (snakeoil) certificate can be created by installing - # the ssl-cert package. See - # /usr/share/doc/apache2/README.Debian.gz for more info. - # If both key and certificate are stored in the same file, only the - # SSLCertificateFile directive is needed. - SSLCertificateFile /etc/ssl/certs/ssl-cert-snakeoil.pem - SSLCertificateKeyFile /etc/ssl/private/ssl-cert-snakeoil.key - - # Server Certificate Chain: - # Point SSLCertificateChainFile at a file containing the - # concatenation of PEM encoded CA certificates which form the - # certificate chain for the server certificate. Alternatively - # the referenced file can be the same as SSLCertificateFile - # when the CA certificates are directly appended to the server - # certificate for convinience. - #SSLCertificateChainFile /etc/apache2/ssl.crt/server-ca.crt - - # Certificate Authority (CA): - # Set the CA certificate verification path where to find CA - # certificates for client authentication or alternatively one - # huge file containing all of them (file must be PEM encoded) - # Note: Inside SSLCACertificatePath you need hash symlinks - # to point to the certificate files. Use the provided - # Makefile to update the hash symlinks after changes. - #SSLCACertificatePath /etc/ssl/certs/ - #SSLCACertificateFile /etc/apache2/ssl.crt/ca-bundle.crt - - # Certificate Revocation Lists (CRL): - # Set the CA revocation path where to find CA CRLs for client - # authentication or alternatively one huge file containing all - # of them (file must be PEM encoded) - # Note: Inside SSLCARevocationPath you need hash symlinks - # to point to the certificate files. Use the provided - # Makefile to update the hash symlinks after changes. - #SSLCARevocationPath /etc/apache2/ssl.crl/ - #SSLCARevocationFile /etc/apache2/ssl.crl/ca-bundle.crl - - # Client Authentication (Type): - # Client certificate verification type and depth. Types are - # none, optional, require and optional_no_ca. Depth is a - # number which specifies how deeply to verify the certificate - # issuer chain before deciding the certificate is not valid. - #SSLVerifyClient require - #SSLVerifyDepth 10 - - # SSL Engine Options: - # Set various options for the SSL engine. - # o FakeBasicAuth: - # Translate the client X.509 into a Basic Authorisation. This means that - # the standard Auth/DBMAuth methods can be used for access control. The - # user name is the `one line' version of the client's X.509 certificate. - # Note that no password is obtained from the user. Every entry in the user - # file needs this password: `xxj31ZMTZzkVA'. - # o ExportCertData: - # This exports two additional environment variables: SSL_CLIENT_CERT and - # SSL_SERVER_CERT. These contain the PEM-encoded certificates of the - # server (always existing) and the client (only existing when client - # authentication is used). This can be used to import the certificates - # into CGI scripts. - # o StdEnvVars: - # This exports the standard SSL/TLS related `SSL_*' environment variables. - # Per default this exportation is switched off for performance reasons, - # because the extraction step is an expensive operation and is usually - # useless for serving static content. So one usually enables the - # exportation for CGI and SSI requests only. - # o OptRenegotiate: - # This enables optimized SSL connection renegotiation handling when SSL - # directives are used in per-directory context. - #SSLOptions +FakeBasicAuth +ExportCertData +StrictRequire - - SSLOptions +StdEnvVars - - - SSLOptions +StdEnvVars - - - # SSL Protocol Adjustments: - # The safe and default but still SSL/TLS standard compliant shutdown - # approach is that mod_ssl sends the close notify alert but doesn't wait for - # the close notify alert from client. When you need a different shutdown - # approach you can use one of the following variables: - # o ssl-unclean-shutdown: - # This forces an unclean shutdown when the connection is closed, i.e. no - # SSL close notify alert is send or allowed to received. This violates - # the SSL/TLS standard but is needed for some brain-dead browsers. Use - # this when you receive I/O errors because of the standard approach where - # mod_ssl sends the close notify alert. - # o ssl-accurate-shutdown: - # This forces an accurate shutdown when the connection is closed, i.e. a - # SSL close notify alert is send and mod_ssl waits for the close notify - # alert of the client. This is 100% SSL/TLS standard compliant, but in - # practice often causes hanging connections with brain-dead browsers. Use - # this only for browsers where you know that their SSL implementation - # works correctly. - # Notice: Most problems of broken clients are also related to the HTTP - # keep-alive facility, so you usually additionally want to disable - # keep-alive for those clients, too. Use variable "nokeepalive" for this. - # Similarly, one has to force some clients to use HTTP/1.0 to workaround - # their broken HTTP/1.1 implementation. Use variables "downgrade-1.0" and - # "force-response-1.0" for this. - # BrowserMatch "MSIE [2-6]" \ - # nokeepalive ssl-unclean-shutdown \ - # downgrade-1.0 force-response-1.0 - - - - -# vim: syntax=apache ts=4 sw=4 sts=4 sr noet diff --git a/apache_conf/sites-enabled/000-default.conf b/apache_conf/sites-enabled/000-default.conf deleted file mode 100644 index c604a49..0000000 --- a/apache_conf/sites-enabled/000-default.conf +++ /dev/null @@ -1,31 +0,0 @@ - - # The ServerName directive sets the request scheme, hostname and port that - # the server uses to identify itself. This is used when creating - # redirection URLs. In the context of virtual hosts, the ServerName - # specifies what hostname must appear in the request's Host: header to - # match this virtual host. For the default virtual host (this file) this - # value is not decisive as it is used as a last resort host regardless. - # However, you must set it for any further virtual host explicitly. - #ServerName www.example.com - - ServerAdmin webmaster@localhost - DocumentRoot /opt/turtlerover/tcs/ - - # Available loglevels: trace8, ..., trace1, debug, info, notice, warn, - # error, crit, alert, emerg. - # It is also possible to configure the loglevel for particular - # modules, e.g. - #LogLevel info ssl:warn - - ErrorLog ${APACHE_LOG_DIR}/error.log - CustomLog ${APACHE_LOG_DIR}/access.log combined - - # For most configuration files from conf-available/, which are - # enabled or disabled at a global level, it is possible to - # include a line for only one particular virtual host. For example the - # following line enables the CGI configuration for this host only - # after it has been globally disabled with "a2disconf". - #Include conf-available/serve-cgi-bin.conf - - -# vim: syntax=apache ts=4 sw=4 sts=4 sr noet diff --git a/client/src/js/actions/index.js b/client/src/js/actions/index.js index 98fa7c6..afb2787 100644 --- a/client/src/js/actions/index.js +++ b/client/src/js/actions/index.js @@ -19,6 +19,8 @@ const actions = { console.log('State after restore', state); }, + setSystemInfo: value => state => ({system_info: value}), + setBootScreenState: value => state => ({ showBootScreen: value }), setMode: value => state => save('', { mode: value }), @@ -52,29 +54,25 @@ const actions = { manager.on('start', function (evt, nipple) { // console.log(evt); - nipple.on('move', (evt, data) => motorsThrottled(evt, data, force, angle)); - - interval = setInterval(function() { - motors.set(force, angle); - }, 100); - + nipple.on('move', (evt, data) => getDataFromJoystick(evt, data, force, angle)); + interval = setInterval( () => motors.set(force, angle), 100); }); - let motorsThrottled = throttle((evt, data) => { + let getDataFromJoystick = (evt, data) => { if (!data.hasOwnProperty('direction')) { return; } force = treshold(data.force); angle = convertToArrOfDirections(data.direction.angle); console.log('[joystick]', treshold(data.force), convertToArrOfDirections(data.direction.angle)); - }, 100, { 'trailing': false }); + }; let treshold = (force) => force >= 1 ? 100 : (force * 100).toFixed(0); manager.on('end', function(evt, nipple) { clearInterval(interval); console.log("[joystick interval]", interval); - + force = 0; console.log(evt); motors.stop(); }); @@ -121,8 +119,9 @@ const actions = { } }, - - log: (value) => console.log(value) + log: (value) => console.log(value), + + system: null } diff --git a/client/src/js/app.js b/client/src/js/app.js index 40d9fc7..51018c0 100644 --- a/client/src/js/app.js +++ b/client/src/js/app.js @@ -8,8 +8,6 @@ import core from './core' const wiredActions = hyperlog(app)(state, actions, view, document.body); -startServer(); - document.onreadystatechange = function() { if (document.readyState === "complete") { wiredActions.restoreState(); @@ -24,10 +22,3 @@ core(wiredActions); // https://bugs.webkit.org/show_bug.cgi?id=182521 // https://stackoverflow.com/a/50856621/1589989 window.addEventListener("touchmove", (event) => event.preventDefault(), {passive: false} ); - - -function startServer() { - var xmlhttp = new XMLHttpRequest(); - xmlhttp.open("GET", "../../server/starter.php"); - xmlhttp.send(); -} \ No newline at end of file diff --git a/client/src/js/controlcanvas.js b/client/src/js/controlcanvas.js deleted file mode 100644 index 903500a..0000000 --- a/client/src/js/controlcanvas.js +++ /dev/null @@ -1,317 +0,0 @@ -/* - * controlCanvas is used for controlling Turtle - * It uses the Revealing Module Pattern - * https://addyosmani.com/resources/essentialjsdesignpatterns/book/#revealingmodulepatternjavascript - * - * For drawing and touch applications it uses CREATEJS set of libraries - * + EaselJS - * + TweenJS - * + SoundJS - * + PreloadJS - * http://www.createjs.com/docs -*/ - -var controlCanvas = (function () { - - - /* - * PRIVATE area - */ - var canvas = $('#navigation-ring-canvas'); - console.log("controlCanvas", canvas); - - /* - * information about mouse (touch) coordinates - */ - var coordinates = { - x: 0, - y: 0, - angle: 0, - module: 0, - clicked: false - }; - - /* - * calculated speeds (in %) - * motor_1 - left front - * motor_2 - right front - * motor_3 - left rear - * motor_4 - right rear - */ - var motorsSpeed = { - motor_1: 0, - motor_2: 0, - motor_3: 0, - motor_4: 0 - }; - - var maniDirection = "NONE"; - var maniTimerId = 0; - - var grabOrDrive = "DRIVE"; - - /* - * returns touch position - */ - function getMousePosition(canvas, event) { - var rect = canvas.get(0).getBoundingClientRect(); - return { - x: event.clientX - rect.left - (rect.right - rect.left) / 2, - y: rect.bottom - event.clientY - (rect.bottom - rect.top) / 2, - }; - } - - function getCanvasDimensions(canvas) { - var rect = canvas.get(0).getBoundingClientRect(); - return { - width: rect.right - rect.left, - height: rect.bottom - rect.top - }; - } -// TODO: make this work. comment out "DRIVE" - function move(event) { - if (coordinates.clicked == true) { - if (grabOrDrive == "DRIVE") - updateMotors(event); - } - } - - function start(event) { - coordinates.clicked = true; - console.log("canvas", event); - if (grabOrDrive == "DRIVE") - updateMotors(event); - else { - clearInterval(maniTimerId); - maniTimerId = setInterval(function () {setNewManiPosition(event);}, 100); - } - } - - function stop(event) { - coordinates.clicked = false; - console.log("canvas", event); - if (grabOrDrive == "DRIVE") - stopMotors(); - else { - clearInterval(maniTimerId); - } - } - - /* - * EVENTS area - */ - - /* - * MOTORS - */ - canvas.mousemove(function(event) { move(event); }); - canvas[0].addEventListener("touchmove", function(event) { - event.preventDefault(); - var touch = event.touches[0]; - var mouseEvent = new MouseEvent("mousedown", { - clientX: touch.clientX, - clientY: touch.clientY - }); - canvas[0].dispatchEvent(mouseEvent); - }); - - canvas.mousedown(function(event) { start(event); }); - canvas[0].addEventListener("touchstart", function(event) { - event.preventDefault(); - var touch = event.touches[0]; - var mouseEvent = new MouseEvent("mousedown", { - clientX: touch.clientX, - clientY: touch.clientY - }); - canvas[0].dispatchEvent(mouseEvent); - }); - - $("#wrapper").mouseup(function(event) {stop(event); }); - canvas.mouseup(function(event) { console.log("mouseup"); stop(event); }); - canvas[0].addEventListener("touchend", function(event) { event.preventDefault(); stop(event); }); - - - canvas.mouseout(function(event) { - coordinates.clicked = false; - if (grabOrDrive == "DRIVE") console.log("out of canvas"); - else { - clearInterval(maniTimerId); - } - }); - - function updateMotors(event) { - mousePosition = getMousePosition(canvas, event); - - var direction = 1; - - /* - * declare constants used to control rover - */ - var canvasDimensions = getCanvasDimensions(canvas); - var circleRadius = canvasDimensions.height/2; - var emptyZoneRadius = canvasDimensions.height/10; - var emptyZoneHeight = canvasDimensions.height/12; - - // alternative steering method - emptyZoneHeight = 0; - - if (mousePosition.x > canvasDimensions.width * 0.5) { - mousePosition.x = Math.floor(canvasDimensions.width * 0.5); - mousePosition.y = 0; - } - else if (mousePosition.x < -canvasDimensions.width * 0.5) { - mousePosition.x = Math.ceil(-canvasDimensions.width * 0.5); - mousePosition.y = 0; - } - - if (mousePosition.y > canvasDimensions.height * 0.5) { - mousePosition.y = Math.floor(canvasDimensions.height * 0.5); - mousePosition.x = 0; - } - else if (mousePosition.y < -canvasDimensions.height * 0.5) { - mousePosition.y = Math.ceil(-canvasDimensions.height * 0.5); - mousePosition.x = 0; - } - - console.log(mousePosition); - - coordinates.x = mousePosition.x; - coordinates.y = mousePosition.y; - coordinates.module = Math.sqrt(coordinates.x * coordinates.x + coordinates.y * coordinates.y); - coordinates.angle = Math.asin(coordinates.y / coordinates.module) * 180 / Math.PI; - - // calculate motors values if the appropriate zone was - - if (coordinates.module > emptyZoneRadius && coordinates.module <= circleRadius) { - // var a = coordinates.module / circleRadius * 100; - // var b = coordinates.module * (Math.sin((2 * coordinates.angle - 90) * Math.PI / 180)) / circleRadius * 100; - - // alternative steering method - var leftMotors; - var rightMotors; - // FORWARD - if (Math.abs(coordinates.y) > Math.abs(coordinates.x)) { - var a = coordinates.y / circleRadius * 100; - leftMotors = a; - rightMotors = a; - } - // TURN - else { - var a = -coordinates.x / circleRadius * 100; - leftMotors = -a; - rightMotors = a; - } - - // var leftMotors = (coordinates.x >= 0) ? a : b; - // var rightMotors = (coordinates.x >= 0) ? b : a; - - // reverse if backward - /*if (coordinates.y < 0) { - leftMotors = -leftMotors; - rightMotors = -rightMotors; - }*/ - - motorsSpeed.motor_1 = Math.round(Math.round(leftMotors) * direction * Number($('#left-front-wheel').val())); - motorsSpeed.motor_3 = Math.round(Math.round(leftMotors) * direction * Number($('#left-rear-wheel').val())); - motorsSpeed.motor_2 = Math.round(Math.round(rightMotors) * direction * Number($('#right-front-wheel').val())); - motorsSpeed.motor_4 = Math.round(Math.round(rightMotors) * direction * Number($('#right-rear-wheel').val())); - } - else { - motorsSpeed.motor_1 = 0; - motorsSpeed.motor_2 = 0; - motorsSpeed.motor_3 = 0; - motorsSpeed.motor_4 = 0; - } - - updatePowerDisplay(); - }; - - function updateManipulator(event) { - mousePosition = getMousePosition(canvas, event); - - if (Math.abs(mousePosition.x) > Math.abs(mousePosition.y)) { - if(mousePosition.x > 0) maniDirection = "RIGHT"; - else maniDirection = "LEFT"; - } - else { - if(mousePosition.y > 0) maniDirection = "UP"; - else maniDirection = "DOWN"; - } - }; - - function setNewManiPosition(event) { - updateManipulator(event); - var change = 3; - var minX = 0; - var maxX = 249; - var minY = 0; - var maxY = 249; - var oldX = parseInt($("#mani-x").val()); - var oldY = parseInt($("#mani-y").val()); - - if (maniDirection == "RIGHT") { - var newX = oldX - change; - if (newX < minX) newX = minX; - $("#mani-x").val(newX); - $("#mani-x").trigger('change'); - } - - if (maniDirection == "LEFT") { - var newX = oldX + change; - if (newX > maxX) newX = maxX; - $("#mani-x").val(newX); - $("#mani-x").trigger('change'); - } - - if (maniDirection == "UP") { - var newY = oldY + change; - if (newY > maxY) newY = maxY; - $("#mani-y").val(newY); - $("#mani-y").trigger('change'); - } - - if (maniDirection == "DOWN") { - var newY = oldY - change; - if (newY < minY) newY = minY; - $("#mani-y").val(newY); - $("#mani-y").trigger('change'); - } - } - - function stopMotors() { - amplify.publish("controlCanvas->port8080", "stop all motors"); - motorsSpeed.motor_1 = 0; - motorsSpeed.motor_2 = 0; - motorsSpeed.motor_3 = 0; - motorsSpeed.motor_4 = 0; - - updatePowerDisplay(); - }; - - function updatePowerDisplay() { - $('#turtle-top-view-left-top-p').text(String(motorsSpeed.motor_1) + "%"); - $('#turtle-top-view-right-top-p').text(String(motorsSpeed.motor_2) + "%"); - $('#turtle-top-view-left-bottom-p').text(String(motorsSpeed.motor_3) + "%"); - $('#turtle-top-view-right-bottom-p').text(String(motorsSpeed.motor_4) + "%"); - }; - - /* - * REVEALED functions - */ - - function isCoordinatesClickedPriv () { - return coordinates.clicked; - }; - - function getMotorsSpeedPriv () { - return motorsSpeed; - }; - - /* - * PUBLIC area - */ - return { - isCoordinatesClicked : isCoordinatesClickedPriv, - getMotorsSpeed : getMotorsSpeedPriv, - }; -})(); diff --git a/client/src/js/core/index.js b/client/src/js/core/index.js index 5ff84ee..1af6e2a 100644 --- a/client/src/js/core/index.js +++ b/client/src/js/core/index.js @@ -4,14 +4,19 @@ import { Motors } from './motors'; import { Manipulator } from './manipulator'; import { telemetry } from './telemetry'; import { Stream } from './stream' +import { System } from './system'; const core = (actions) => { - let sockets = new Sockets(); + let sockets = new Sockets(actions); actions.motors = new Motors(sockets); actions.stream = new Stream(); actions.manipulator.m = new Manipulator(sockets); + actions.system = new System(sockets); + + console.log(actions.system, actions.motors); + keyboard(actions.motors); diff --git a/client/src/js/core/sockets.js b/client/src/js/core/sockets.js index b37490b..1201b10 100644 --- a/client/src/js/core/sockets.js +++ b/client/src/js/core/sockets.js @@ -1,12 +1,15 @@ import io from "socket.io-client"; -export const Sockets = function() { - this.io = io.connect('http://' + document.domain + ':' + 5000, { +export const Sockets = function(actions) { + this.io = io.connect('http://' + document.domain + '/sockets', { transports: ['websocket'] }); this.io.on('connect', function() { console.info("[sockets] Connection established via WebSockets"); }); + this.io.on('connected', function(msg) { + actions.setSystemInfo(msg); + }); this.io.on('response', function(msg) { console.info("[sockets] Response:", msg); }); diff --git a/client/src/js/core/system.js b/client/src/js/core/system.js new file mode 100644 index 0000000..e6ef4e7 --- /dev/null +++ b/client/src/js/core/system.js @@ -0,0 +1,11 @@ +export const System = function(sockets) { + this.sockets = sockets; + console.log('SYSTEM'); + +}; + +System.prototype.shutdown = function () { + if (this.sockets.io.connected) { + this.sockets.io.emit('shutdown'); + } +}; \ No newline at end of file diff --git a/client/src/js/manipulator.js b/client/src/js/manipulator.js deleted file mode 100644 index 82b647e..0000000 --- a/client/src/js/manipulator.js +++ /dev/null @@ -1,640 +0,0 @@ -/* - * this file contains functions which support manipulator control functionality - * - * It uses the Revealing Module Pattern - * https://addyosmani.com/resources/essentialjsdesignpatterns/book/#revealingmodulepatternjavascript - */ - -var manipulator = ( function () { - /* - * PRIVATE area - */ - - const INTERVAL = 2000; // 20 ms is the period of servo timing. It is used in this approach to change speed of servo mechanisms - - /* - * X0 and Y0 are the resting place coordinates (stow) - */ - const X0 = 5; - const Y5 = 5; - - // object constructor for the array elements - function position(servo_1, servo_2) { - this.alpha = servo_1; - this.beta = servo_2; - } - - /* - * values generated by Octave - * ----------------------------------------------------------------------------------------- - */ - const alpha =[ - 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-[20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.1,20.3,20.6,20.9,21.2,21.3,21.5,21.7,21.8,22.1,22.4,22.6,22.8,23,23.1,23.3,23.5,23.5,23.7,23.8,23.9,24.1,24.3,24.3,24.4,24.6,24.5,24.7,24.8,24.8,24.9,24.8,25.1,24.9,24.9,25.1,24.9,24.9,24.8,24.9,24.9,24.8,24.7,24.6,24.4,24.3,24.1,23.8,23.7,23.3,23,22.6,22.3,21.6,21.3,20.3,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.2,20.6,20.8,21,21.2,21.4,21.7,22,22.1,22.4,22.6,22.8,23,23.3,23.5,23.7,24,24.1,24.4,24.7,24.8,25.2,25.3,25.5,25.9,26,26.1,26.4,26.6,26.9,27,27.4,27.5,27.7,27.9,28.1,28.4,28.5,28.9,29,29.1,29.4,29.6,29.8,29.9,30.2,30.4,30.6,30.7,31.1,31.3,31.4,31.6,31.7,32,32.1,32.4,32.5,32.8,33,33.1,33.4,33.5,33.7,33.9], -[20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.3,20.6,20.7,20.9,21.2,21.3,21.5,21.7,21.8,22.1,22.2,22.4,22.5,22.8,22.9,23.1,23.2,23.3,23.3,23.6,23.7,23.8,23.8,23.9,23.9,24,24,24.1,24.1,24.3,24.1,24.1,24.3,24.1,24.1,24,23.9,23.9,23.8,23.7,23.6,23.6,23.2,23.1,22.8,22.4,22.3,21.6,21.3,20.6,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.1,20.1,20.5,20.7,21,21.3,21.4,21.6,22,22.2,22.3,22.5,22.9,23,23.2,23.6,23.7,23.9,24.3,24.4,24.6,24.7,25.1,25.2,25.5,25.8,25.9,26.2,26.3,26.7,26.8,26.9,27.3,27.4,27.7,27.8,28.2,28.3,28.4,28.7,28.9,29.1,29.2,29.6,29.7,29.9,30.1,30.4,30.5,30.7,30.8,31.2,31.4,31.5,31.7,31.9,32.2,32.3,32.5,32.8,32.9,33.1,33.2,33.5,33.6,33.8], -[20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.1,20.3,20.6,20.7,20.9,21.2,21.3,21.5,21.6,21.8,22,22.2,22.3,22.3,22.4,22.6,22.8,22.8,22.9,23.1,23.2,23.2,23.3,23.3,23.5,23.3,23.3,23.5,23.5,23.3,23.5,23.5,23.3,23.2,23.1,23.1,23,22.6,22.5,22.4,22.1,21.7,21.4,21,20.7,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.2,20.3,20.6,20.9,21.2,21.5,21.5,21.8,22.1,22.2,22.5,22.8,23.1,23.1,23.5,23.6,23.8,24.1,24.3,24.6,24.8,24.9,25.3,25.4,25.8,25.9,26.1,26.3,26.6,26.7,27,27.1,27.5,27.6,27.7,28.1,28.2,28.4,28.7,28.9,29,29.3,29.4,29.7,29.8,30.1,30.2,30.5,30.6,30.9,31.1,31.3,31.4,31.6,31.9,32,32.3,32.4,32.7,32.9,33,33.2,33.4,33.6,33.8], -[20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.1,20.3,20.5,20.7,20.9,21,21,21.4,21.4,21.5,21.7,21.8,21.8,22,22.2,22.3,22.3,22.4,22.4,22.5,22.5,22.6,22.5,22.5,22.6,22.6,22.5,22.4,22.4,22.3,22.2,22.1,22,22,21.6,21.5,21.2,21,20.3,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20.1,20.1,20.5,20.7,20.8,21,21.4,21.6,21.7,22,22.3,22.4,22.6,23,23.1,23.3,23.7,23.8,24,24.4,24.5,24.8,24.9,25.2,25.3,25.6,25.8,26.1,26.2,26.6,26.7,26.9,27.1,27.3,27.6,27.7,28.1,28.2,28.3,28.6,28.7,29,29.2,29.4,29.6,29.9,30,30.2,30.4,30.6,30.7,31.1,31.2,31.4,31.5,31.7,32.1,32.2,32.4,32.5,32.8,33,33.1,33.4,33.5,33.7], - ]; - - const beta = [ -[90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90.1,90.5,90.8,91.1,91.5,91.8,92.2,92.4,92.8,93.1,93.5,93.9,94.2,94.6,95,95.4,95.8,96.2,96.6,97,97.6,98,98.4,98.8,99.3,99.7,100,101,101,102,102,103,103,104,104,105,105,106,106,107,108,108,109,109,110,111,111,112,112,113,114,114,115,115,116,117,117,118,119,119,120,121,121,122,123,123,124,124,125,126,126,127,128,129,129,130,131,131,132,133,133,134,135,135,136,136,137,138,139,139,140,140,141,142,142,143,144,144,145,146,146,147,147,148,149,149,150,150,151,152,152,153,153,154,154,155,156,156,157,157,158,158,159,159,160,161,161,162,162,163,163,164,164,165,165,166,166,167,167,168,168,169,169,170,170,171,171,171,172,172,173,173,174,174,175,175,176,176,176,177,177,178,178,179,179,179,180,180,181,181,182,182,183,183,183,184,184,185,185,186,186,186,187,187,188,188,188,189,189,190,190,190,191,191,192,192,193,193,193,194,194,195,195,195,196,196,197,197,198,198,198,199,199,200,200,200,201,201], -[90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90.1,90.4,90.7,90.9,91.4,91.6,92,92.3,92.7,93,93.4,93.6,94.1,94.5,94.9,95.3,95.7,96.1,96.5,96.9,97.3,97.7,98.1,98.5,99.1,99.5,100,100,101,101,102,102,103,103,104,104,105,106,106,107,107,108,108,109,109,110,111,111,112,112,113,114,114,115,115,116,117,117,118,119,119,120,121,121,122,123,123,124,125,125,126,126,127,128,129,129,130,131,131,132,133,133,134,135,135,136,136,137,138,139,139,140,140,141,142,142,143,144,144,145,145,146,147,147,148,149,149,150,150,151,151,152,153,153,154,154,155,156,156,157,157,158,158,159,159,160,160,161,161,162,162,163,164,164,164,165,166,166,166,167,167,168,169,169,169,170,170,171,171,172,172,173,173,174,174,175,175,175,176,176,177,177,178,178,179,179,179,180,180,181,181,182,182,182,183,183,184,184,185,185,185,186,186,187,187,187,188,188,189,189,190,190,190,191,191,192,192,192,193,193,194,194,194,195,195,196,196,197,197,197,198,198,199,199,199,200,200,201,201], -[90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90.3,90.7,90.9,91.2,91.5,91.9,92.2,92.6,92.8,93.2,93.5,93.9,94.3,94.6,95,95.4,95.8,96.2,96.6,97,97.4,97.8,98.4,98.8,99.2,99.7,100,101,101,102,102,103,103,104,104,105,105,106,106,107,107,108,108,109,110,110,111,111,112,112,113,114,114,115,116,116,117,117,118,119,119,120,121,121,122,123,123,124,125,125,126,127,127,128,129,129,130,131,131,132,133,133,134,134,135,136,136,137,138,138,139,140,140,141,142,142,143,144,144,145,145,146,147,147,148,148,149,150,150,151,151,152,153,153,154,154,155,155,156,156,157,158,158,159,159,160,160,161,161,162,162,163,163,164,164,165,165,166,166,167,167,168,168,169,169,170,170,171,171,172,172,173,173,174,174,174,175,175,176,176,177,177,178,178,178,179,179,180,180,181,181,181,182,182,183,183,184,184,184,185,185,186,186,186,187,187,188,188,189,189,189,190,190,191,191,191,192,192,193,193,194,194,194,195,195,196,196,196,197,197,198,198,199,199,199,200,200,201,201], -[90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90,90.3,90.5,90.8,91.1,91.5,91.8,92,92.4,92.7,93.1,93.4,93.8,94.1,94.5,94.9,95.3,95.7,96.1,96.4,96.8,97.3,97.7,98.1,98.5,98.9,99.5,99.9,100,101,101,102,102,103,103,104,104,105,105,106,106,107,107,108,109,109,110,110,111,111,112,113,113,114,114,115,116,116,117,118,118,119,119,120,121,121,122,123,123,124,125,125,126,127,127,128,129,129,130,131,131,132,133,133,134,134,135,136,136,137,138,138,139,140,140,141,141,142,143,143,144,145,145,146,146,147,148,148,149,149,150,151,151,152,152,153,154,154,155,155,156,156,157,157,158,159,159,160,160,161,161,162,162,163,163,164,164,165,165,166,166,167,167,168,168,169,169,170,170,171,171,171,172,172,173,173,174,174,175,175,176,176,176,177,177,178,178,179,179,180,180,181,181,181,182,182,183,183,184,184,184,185,185,186,186,186,187,187,188,188,189,189,189,190,190,191,191,191,192,192,193,193,194,194,194,195,195,196,196,196,197,197,198,198,199,199,199,200,200,201,201], 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- ]; - /* - * ----------------------------------------------------------------------------------------- - */ - - var gripperPosition = { - gripperTimer: 3600 - } - - /* - * SUBSCRIBE to all topics - */ - amplify.subscribe("controlCanvas->manipulator", controlCanvasCallback); - amplify.subscribe("ui->manipulator", uiCallback); - - /* - * CALLBACKS - */ - function controlCanvasCallback(message) { - if (DEBUG) console.log("controlCanvasCallback: " + message); - if (DEBUG) amplify.publish("all->utests", message); - - switch (message) { - /*case "move": - move(); - break; - case "stow": - break; - case "stop": - stop(); - break;*/ - default: - console.log("unknown command: " + message); - } - }; - - function uiCallback(message) { - if (DEBUG) console.log("uiCallback: " + message); - if (DEBUG) amplify.publish("all->utests", message); - switch (message) { - case "move mani": - moveMani(); - break; - default: - console.log("unknown command: " + message); - } - } - - /* - * MOVE functionality - */ - function moveMani() { - var mani_x = $("#mani-x").val(); - var mani_y = $("#mani-y").val(); - - const ONE_DEGREE = 7; // 7 us for one degree - const T0 = 1500; // 1500 us - - var alphaAngle = alpha[mani_x][mani_y]; - var betaAngle = beta[mani_x][mani_y]; - - console.log("alphaAngle: " + alphaAngle); - console.log("betaAngle: " + betaAngle); - - var alphaDelta = -(90 - alphaAngle); - var betaDelta = 180 - betaAngle; - - var alphaDeltaT = ONE_DEGREE * alphaDelta; - var betaDeltaT = ONE_DEGREE * betaDelta; - - var alphaNewT = 1500 + alphaDeltaT; - var betaNewT = 1500 + betaDeltaT; - - // 48000 depends on STM timer - var alphaNew = alphaNewT/20000 * 48000; - var betaNew = betaNewT/20000 * 48000; - - $("#mani-axis-1").val(Math.round(alphaNew)); - $("#mani-axis-2").val(Math.round(betaNew)); - - amplify.publish("ui->port8080", "set new mani position"); - } - - /* - * REVEALED functions - */ - function getCurrentPositionPriv() { - return currentPosition; - }; - - function getGripperPositionPriv() { - return gripperPosition.gripperTimer; - }; - - function setPositionPriv() {}; - - /* - * PUBLIC area - */ - return { - //getCurrentPosition : getCurrentPositionPriv, - getGripperPosition : getGripperPositionPriv, - setPosition : setPositionPriv - }; -})(); - diff --git a/client/src/js/state/index.js b/client/src/js/state/index.js index 8a300c3..024bd2f 100644 --- a/client/src/js/state/index.js +++ b/client/src/js/state/index.js @@ -1,4 +1,11 @@ let state = { + system_info: { + tcs_ver:'N/A', + firmware_ver: 'N/A', + wifi_dongle: 'N/A', + video_devices: [], + }, + showBootScreen: true, mode: 'drive', manipulator: { @@ -23,7 +30,7 @@ let state = { }, settings: { - isVisible: true, + isVisible: false, category: 'manipulator' }, telemetry: { diff --git a/client/src/js/view/components/elements/hold-button.js b/client/src/js/view/components/elements/hold-button.js new file mode 100644 index 0000000..f05b20e --- /dev/null +++ b/client/src/js/view/components/elements/hold-button.js @@ -0,0 +1,54 @@ +import { h } from 'hyperapp' +import { setInterval } from 'core-js'; + +export const HoldButton = ({state, value, text, setValue}) => + + +var tid; +var iid; +var TIMEOUT = 4000; + +const hold = (event, cb) => { + let button = event.target; + let button_counter = event.target.children[0]; + + button_counter.textContent = to_secs(TIMEOUT); + + countdown(button_counter); + + tid = setTimeout(() => { + cb(); + disable(button); + clearInterval(iid); + }, TIMEOUT); +} + +const countdown = (button_counter) => { + let counter = 1; + iid = setInterval (()=> { + button_counter.textContent = to_secs(TIMEOUT) - counter; + counter++; + }, 1000); +} + +const to_secs = (t) => t/1000; + +const clearTimers = (event) => { + clearTimeout(tid); + clearInterval(iid); + event.target.children[0].textContent = 'HOLD'; +} + +const disable = (el) => { + el.disabled = true; + el.children[0].classList.add('button-hold_counter-disabled') + el.style.background = 'black'; +} + \ No newline at end of file diff --git a/client/src/js/view/components/elements/range-input.js b/client/src/js/view/components/elements/range-input.js index 8acd4f7..0aec593 100644 --- a/client/src/js/view/components/elements/range-input.js +++ b/client/src/js/view/components/elements/range-input.js @@ -9,8 +9,8 @@ export const RangeInput = ({state, name, labelMin, labelMax, onchange, oninput}) min={state.min} step={state.step} value={state.value} - oninput={(event) => oninput(event.srcElement.value)} - onchange={(event) => onchange(event.srcElement.value)} + oninput={(event) => oninput(event.target.value)} + onchange={(event) => onchange(event.target.value)} /> diff --git a/client/src/js/view/components/manipulator.js b/client/src/js/view/components/manipulator.js index 3bfc49a..bc838b8 100644 --- a/client/src/js/view/components/manipulator.js +++ b/client/src/js/view/components/manipulator.js @@ -13,7 +13,7 @@ export const Manipulator = ({mode, state, action}) => setManipulator(state.axis2.value, value, action)} + oninput={(value) => setManipulator(state.axis1.value, value, action)} onchange={action.axis2.setValue}/> diff --git a/client/src/js/view/components/settings/about.js b/client/src/js/view/components/settings/about.js index e7e5df9..61714fd 100644 --- a/client/src/js/view/components/settings/about.js +++ b/client/src/js/view/components/settings/about.js @@ -1,4 +1,9 @@ import { h } from 'hyperapp' -export const SettingsAbout = () => -
About settings
\ No newline at end of file +export const SettingsAbout = ({state}) => +
+
Turtle Control Software v{state.system_info.tcs_ver}
+
Firmware v{state.system_info.firmware_ver}
+
External WiFi: {state.system_info.wifi_dongle}
+
Video devices: {() => state.system_info.video_devices.toString()}
+
diff --git a/client/src/js/view/components/settings/general.js b/client/src/js/view/components/settings/general.js index 142e0da..f781b9a 100644 --- a/client/src/js/view/components/settings/general.js +++ b/client/src/js/view/components/settings/general.js @@ -1,4 +1,9 @@ import { h } from 'hyperapp' +import { HoldButton } from '../elements/hold-button'; +import { System } from '../../../core/system'; -export const SettingsGeneral = () => -
General settings
\ No newline at end of file + +export const SettingsGeneral = ({actions}) => +
+ actions.system.shutdown()}> +
diff --git a/client/src/js/view/components/settings/index.js b/client/src/js/view/components/settings/index.js index f337920..df3bbc4 100644 --- a/client/src/js/view/components/settings/index.js +++ b/client/src/js/view/components/settings/index.js @@ -9,9 +9,9 @@ export const Settings = ({state, actions}) =>
  • actions.settings.setVisibleCategory('general')}>General
    • -
  • actions.settings.setVisibleCategory('network')}>Network
    • + {/*
  • actions.settings.setVisibleCategory('network')}>Network
    • */}
  • actions.settings.setVisibleCategory('manipulator')}>Manipulator
    • -
  • actions.settings.setVisibleCategory('debug')}>Debug
    • + {/*
  • actions.settings.setVisibleCategory('debug')}>Debug
    • */}
  • actions.settings.setVisibleCategory('about')}>About
@@ -21,7 +21,7 @@ export const Settings = ({state, actions}) => const SettingsContent = ({state, actions}) => { switch (state.settings.category) { case 'general': - return + return case 'network': return case 'manipulator': @@ -29,7 +29,7 @@ const SettingsContent = ({state, actions}) => { case 'debug': return case 'about': - return + return default: return } diff --git a/client/src/js/view/components/statusbar.js b/client/src/js/view/components/statusbar.js index 288bc47..0903297 100644 --- a/client/src/js/view/components/statusbar.js +++ b/client/src/js/view/components/statusbar.js @@ -9,11 +9,11 @@ export const StatusBar = ({state, switchSettings}) =>
- + {/* */} {/* */} - + {/* */} {/* */} - + {/* */}
switchSettings()}> diff --git a/client/src/scss/main.scss b/client/src/scss/main.scss index 968c320..3c33ca1 100644 --- a/client/src/scss/main.scss +++ b/client/src/scss/main.scss @@ -22,3 +22,4 @@ @import "partials/input-number"; @import "partials/manipulator-control"; @import "partials/video"; +@import "partials/button"; diff --git a/client/src/scss/partials/_button.scss b/client/src/scss/partials/_button.scss new file mode 100644 index 0000000..395be18 --- /dev/null +++ b/client/src/scss/partials/_button.scss @@ -0,0 +1,34 @@ +.button { + background-color: $background-color; + border: $green 2px solid; + padding: 15px; + color: $green; + font-weight: bold; + position: relative; + + &:active { + background-color: $green; + color: $background-color; + } + &:disabled { + border: $green_dark 2px solid; + color: $green_dark; + } + &-hold { + &_counter { + position: absolute; + font-size: 7px; + top: -12px; + left: -2px; + padding: 2px; + background-color: $green; + color: $background-color; + font-weight: bold; + + &-disabled { + background-color: $green_dark; + } + } + } + +} \ No newline at end of file diff --git a/client/src/scss/partials/_jquery-ui.scss b/client/src/scss/partials/_jquery-ui.scss deleted file mode 100644 index 7305ff5..0000000 --- a/client/src/scss/partials/_jquery-ui.scss +++ /dev/null @@ -1,1312 +0,0 @@ -/*! jQuery UI - v1.12.1 - 2016-09-14 -* http://jqueryui.com -* Includes: core.css, accordion.css, autocomplete.css, menu.css, button.css, controlgroup.css, checkboxradio.css, datepicker.css, dialog.css, draggable.css, resizable.css, progressbar.css, selectable.css, selectmenu.css, slider.css, sortable.css, spinner.css, tabs.css, tooltip.css, theme.css -* To view and modify this theme, visit http://jqueryui.com/themeroller/?bgShadowXPos=&bgOverlayXPos=&bgErrorXPos=&bgHighlightXPos=&bgContentXPos=&bgHeaderXPos=&bgActiveXPos=&bgHoverXPos=&bgDefaultXPos=&bgShadowYPos=&bgOverlayYPos=&bgErrorYPos=&bgHighlightYPos=&bgContentYPos=&bgHeaderYPos=&bgActiveYPos=&bgHoverYPos=&bgDefaultYPos=&bgShadowRepeat=&bgOverlayRepeat=&bgErrorRepeat=&bgHighlightRepeat=&bgContentRepeat=&bgHeaderRepeat=&bgActiveRepeat=&bgHoverRepeat=&bgDefaultRepeat=&iconsHover=url(%22images%2Fui-icons_555555_256x240.png%22)&iconsHighlight=url(%22images%2Fui-icons_777620_256x240.png%22)&iconsHeader=url(%22images%2Fui-icons_444444_256x240.png%22)&iconsError=url(%22images%2Fui-icons_cc0000_256x240.png%22)&iconsDefault=url(%22images%2Fui-icons_777777_256x240.png%22)&iconsContent=url(%22images%2Fui-icons_444444_256x240.png%22)&iconsActive=url(%22images%2Fui-icons_ffffff_256x240.png%22)&bgImgUrlShadow=&bgImgUrlOverlay=&bgImgUrlHover=&bgImgUrlHighlight=&bgImgUrlHeader=&bgImgUrlError=&bgImgUrlDefault=&bgImgUrlContent=&bgImgUrlActive=&opacityFilterShadow=Alpha(Opacity%3D30)&opacityFilterOverlay=Alpha(Opacity%3D30)&opacityShadowPerc=30&opacityOverlayPerc=30&iconColorHover=%23555555&iconColorHighlight=%23777620&iconColorHeader=%23444444&iconColorError=%23cc0000&iconColorDefault=%23777777&iconColorContent=%23444444&iconColorActive=%23ffffff&bgImgOpacityShadow=0&bgImgOpacityOverlay=0&bgImgOpacityError=95&bgImgOpacityHighlight=55&bgImgOpacityContent=75&bgImgOpacityHeader=75&bgImgOpacityActive=65&bgImgOpacityHover=75&bgImgOpacityDefault=75&bgTextureShadow=flat&bgTextureOverlay=flat&bgTextureError=flat&bgTextureHighlight=flat&bgTextureContent=flat&bgTextureHeader=flat&bgTextureActive=flat&bgTextureHover=flat&bgTextureDefault=flat&cornerRadius=3px&fwDefault=normal&ffDefault=Arial%2CHelvetica%2Csans-serif&fsDefault=1em&cornerRadiusShadow=8px&thicknessShadow=5px&offsetLeftShadow=0px&offsetTopShadow=0px&opacityShadow=.3&bgColorShadow=%23666666&opacityOverlay=.3&bgColorOverlay=%23aaaaaa&fcError=%235f3f3f&borderColorError=%23f1a899&bgColorError=%23fddfdf&fcHighlight=%23777620&borderColorHighlight=%23dad55e&bgColorHighlight=%23fffa90&fcContent=%23333333&borderColorContent=%23dddddd&bgColorContent=%23ffffff&fcHeader=%23333333&borderColorHeader=%23dddddd&bgColorHeader=%23e9e9e9&fcActive=%23ffffff&borderColorActive=%23003eff&bgColorActive=%23007fff&fcHover=%232b2b2b&borderColorHover=%23cccccc&bgColorHover=%23ededed&fcDefault=%23454545&borderColorDefault=%23c5c5c5&bgColorDefault=%23f6f6f6 -* Copyright jQuery Foundation and other contributors; Licensed MIT */ - -/* Layout helpers -----------------------------------*/ -.ui-helper-hidden { - display: none; -} -.ui-helper-hidden-accessible { - border: 0; - clip: rect(0 0 0 0); - height: 1px; - margin: -1px; - overflow: hidden; - padding: 0; - position: absolute; - width: 1px; -} -.ui-helper-reset { - margin: 0; - padding: 0; - border: 0; - outline: 0; - line-height: 1.3; - text-decoration: none; - font-size: 100%; - list-style: none; -} -.ui-helper-clearfix:before, -.ui-helper-clearfix:after { - content: ""; - display: table; - border-collapse: collapse; -} -.ui-helper-clearfix:after { - clear: both; -} -.ui-helper-zfix { - width: 100%; - height: 100%; - top: 0; - left: 0; - position: absolute; - opacity: 0; - filter:Alpha(Opacity=0); /* support: IE8 */ -} - -.ui-front { - z-index: 100; -} - - -/* Interaction Cues -----------------------------------*/ -.ui-state-disabled { - cursor: default !important; - pointer-events: none; -} - - -/* Icons -----------------------------------*/ -.ui-icon { - display: inline-block; 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- width: calc( 100% - 2.4em ); -} -.ui-controlgroup-vertical .ui-spinner .ui-spinner-up { - border-top-style: solid; -} - -.ui-checkboxradio-label .ui-icon-background { - box-shadow: inset 1px 1px 1px #ccc; - border-radius: .12em; - border: none; -} -.ui-checkboxradio-radio-label .ui-icon-background { - width: 16px; - height: 16px; - border-radius: 1em; - overflow: visible; - border: none; -} -.ui-checkboxradio-radio-label.ui-checkboxradio-checked .ui-icon, -.ui-checkboxradio-radio-label.ui-checkboxradio-checked:hover .ui-icon { - background-image: none; - width: 8px; - height: 8px; - border-width: 4px; - border-style: solid; -} -.ui-checkboxradio-disabled { - pointer-events: none; -} -.ui-datepicker { - width: 17em; - padding: .2em .2em 0; - display: none; -} -.ui-datepicker .ui-datepicker-statusbar { - position: relative; - padding: .2em 0; -} -.ui-datepicker .ui-datepicker-prev, -.ui-datepicker .ui-datepicker-next { - position: absolute; - top: 2px; - width: 1.8em; - height: 1.8em; -} -.ui-datepicker .ui-datepicker-prev-hover, -.ui-datepicker .ui-datepicker-next-hover { - top: 1px; -} -.ui-datepicker .ui-datepicker-prev { - left: 2px; -} -.ui-datepicker .ui-datepicker-next { - right: 2px; -} -.ui-datepicker .ui-datepicker-prev-hover { - left: 1px; -} -.ui-datepicker .ui-datepicker-next-hover { - right: 1px; -} -.ui-datepicker .ui-datepicker-prev span, -.ui-datepicker .ui-datepicker-next span { - display: block; - position: absolute; - left: 50%; - margin-left: -8px; - top: 50%; - margin-top: -8px; -} -.ui-datepicker .ui-datepicker-title { - margin: 0 2.3em; - line-height: 1.8em; - text-align: center; -} -.ui-datepicker .ui-datepicker-title select { - font-size: 1em; - margin: 1px 0; -} -.ui-datepicker select.ui-datepicker-month, -.ui-datepicker select.ui-datepicker-year { - width: 45%; -} -.ui-datepicker table { - width: 100%; - font-size: .9em; - border-collapse: collapse; - margin: 0 0 .4em; -} -.ui-datepicker th { - padding: .7em .3em; - text-align: center; - font-weight: bold; - border: 0; -} -.ui-datepicker td { - border: 0; - padding: 1px; -} -.ui-datepicker td span, -.ui-datepicker td a { - display: block; - padding: .2em; - text-align: right; - text-decoration: none; -} -.ui-datepicker .ui-datepicker-buttonpane { - background-image: none; - margin: .7em 0 0 0; - padding: 0 .2em; - border-left: 0; - border-right: 0; - border-bottom: 0; -} -.ui-datepicker .ui-datepicker-buttonpane button { - float: right; - margin: .5em .2em .4em; - cursor: pointer; - padding: .2em .6em .3em .6em; - width: auto; - overflow: visible; -} -.ui-datepicker .ui-datepicker-buttonpane button.ui-datepicker-current { - float: left; -} - -/* with multiple calendars */ -.ui-datepicker.ui-datepicker-multi { - width: auto; -} -.ui-datepicker-multi .ui-datepicker-group { - float: left; -} -.ui-datepicker-multi .ui-datepicker-group table { - width: 95%; - margin: 0 auto .4em; -} -.ui-datepicker-multi-2 .ui-datepicker-group { - width: 50%; -} -.ui-datepicker-multi-3 .ui-datepicker-group { - width: 33.3%; -} -.ui-datepicker-multi-4 .ui-datepicker-group { - width: 25%; -} -.ui-datepicker-multi .ui-datepicker-group-last .ui-datepicker-statusbar, -.ui-datepicker-multi .ui-datepicker-group-middle .ui-datepicker-statusbar { - border-left-width: 0; -} -.ui-datepicker-multi .ui-datepicker-buttonpane { - clear: left; -} -.ui-datepicker-row-break { - clear: both; - width: 100%; - font-size: 0; -} - -/* RTL support */ -.ui-datepicker-rtl { - direction: rtl; -} -.ui-datepicker-rtl .ui-datepicker-prev { - right: 2px; - left: auto; -} -.ui-datepicker-rtl .ui-datepicker-next { - left: 2px; - right: auto; -} -.ui-datepicker-rtl .ui-datepicker-prev:hover { - right: 1px; - left: auto; -} -.ui-datepicker-rtl .ui-datepicker-next:hover { - left: 1px; - right: auto; -} -.ui-datepicker-rtl .ui-datepicker-buttonpane { - clear: right; -} -.ui-datepicker-rtl .ui-datepicker-buttonpane button { - float: left; -} -.ui-datepicker-rtl .ui-datepicker-buttonpane button.ui-datepicker-current, -.ui-datepicker-rtl .ui-datepicker-group { - float: right; -} -.ui-datepicker-rtl .ui-datepicker-group-last .ui-datepicker-statusbar, -.ui-datepicker-rtl .ui-datepicker-group-middle .ui-datepicker-statusbar { - border-right-width: 0; - border-left-width: 1px; -} - -/* Icons */ -.ui-datepicker .ui-icon { - display: block; - text-indent: -99999px; - overflow: hidden; - background-repeat: no-repeat; - left: .5em; - top: .3em; -} -.ui-dialog { - position: absolute; - top: 0; - left: 0; - padding: .2em; - outline: 0; -} -.ui-dialog .ui-dialog-titlebar { - padding: .4em 1em; - position: relative; -} -.ui-dialog .ui-dialog-title { - float: left; - margin: .1em 0; - white-space: nowrap; - width: 90%; - overflow: hidden; - text-overflow: ellipsis; -} -.ui-dialog .ui-dialog-titlebar-close { - position: absolute; - right: .3em; - top: 50%; - width: 20px; - margin: -10px 0 0 0; - padding: 1px; - height: 20px; -} -.ui-dialog .ui-dialog-content { - position: relative; - border: 0; - padding: .5em 1em; - background: none; - overflow: auto; -} -.ui-dialog .ui-dialog-buttonpane { - text-align: left; - border-width: 1px 0 0 0; - background-image: none; - margin-top: .5em; - padding: .3em 1em .5em .4em; -} -.ui-dialog .ui-dialog-buttonpane .ui-dialog-buttonset { - float: right; -} -.ui-dialog .ui-dialog-buttonpane button { - margin: .5em .4em .5em 0; - cursor: pointer; -} -.ui-dialog .ui-resizable-n { - height: 2px; - top: 0; -} -.ui-dialog .ui-resizable-e { - width: 2px; - right: 0; -} -.ui-dialog .ui-resizable-s { - height: 2px; - bottom: 0; -} -.ui-dialog .ui-resizable-w { - width: 2px; - left: 0; -} -.ui-dialog .ui-resizable-se, -.ui-dialog .ui-resizable-sw, -.ui-dialog .ui-resizable-ne, -.ui-dialog .ui-resizable-nw { - width: 7px; - height: 7px; -} -.ui-dialog .ui-resizable-se { - right: 0; - bottom: 0; -} -.ui-dialog .ui-resizable-sw { - left: 0; - bottom: 0; -} -.ui-dialog .ui-resizable-ne { - right: 0; - top: 0; -} -.ui-dialog .ui-resizable-nw { - left: 0; - top: 0; -} -.ui-draggable .ui-dialog-titlebar { - cursor: move; -} -.ui-draggable-handle { - -ms-touch-action: none; - touch-action: none; -} -.ui-resizable { - position: relative; -} -.ui-resizable-handle { - position: absolute; - font-size: 0.1px; - display: block; - -ms-touch-action: none; - touch-action: none; -} -.ui-resizable-disabled .ui-resizable-handle, -.ui-resizable-autohide .ui-resizable-handle { - display: none; -} -.ui-resizable-n { - cursor: n-resize; - height: 7px; - width: 100%; - top: -5px; - left: 0; -} -.ui-resizable-s { - cursor: s-resize; - height: 7px; - width: 100%; - bottom: -5px; - left: 0; -} -.ui-resizable-e { - cursor: e-resize; - width: 7px; - right: -5px; - top: 0; - height: 100%; -} -.ui-resizable-w { - cursor: w-resize; - width: 7px; - left: -5px; - top: 0; - height: 100%; -} -.ui-resizable-se { - cursor: se-resize; - width: 12px; - height: 12px; - right: 1px; - bottom: 1px; -} -.ui-resizable-sw { - cursor: sw-resize; - width: 9px; - height: 9px; - left: -5px; - bottom: -5px; -} -.ui-resizable-nw { - cursor: nw-resize; - width: 9px; - height: 9px; - left: -5px; - top: -5px; -} -.ui-resizable-ne { - cursor: ne-resize; - width: 9px; - height: 9px; - right: -5px; - top: -5px; -} -.ui-progressbar { - height: 2em; - text-align: left; - overflow: hidden; -} -.ui-progressbar .ui-progressbar-value { - margin: -1px; - height: 100%; -} -.ui-progressbar .ui-progressbar-overlay { - background: url("data:image/gif;base64,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"); - height: 100%; - filter: alpha(opacity=25); /* support: IE8 */ - opacity: 0.25; -} -.ui-progressbar-indeterminate .ui-progressbar-value { - background-image: none; -} -.ui-selectable { - -ms-touch-action: none; - touch-action: none; -} -.ui-selectable-helper { - position: absolute; - z-index: 100; - border: 1px dotted black; -} -.ui-selectmenu-menu { - padding: 0; - margin: 0; - position: absolute; - top: 0; - left: 0; - display: none; -} -.ui-selectmenu-menu .ui-menu { - overflow: auto; - overflow-x: hidden; - padding-bottom: 1px; -} -.ui-selectmenu-menu .ui-menu .ui-selectmenu-optgroup { - font-size: 1em; - font-weight: bold; - line-height: 1.5; - padding: 2px 0.4em; - margin: 0.5em 0 0 0; - height: auto; - border: 0; -} -.ui-selectmenu-open { - display: block; -} -.ui-selectmenu-text { - display: block; - margin-right: 20px; - overflow: hidden; - text-overflow: ellipsis; -} -.ui-selectmenu-button.ui-button { - text-align: left; - white-space: nowrap; - width: 14em; -} -.ui-selectmenu-icon.ui-icon { - float: right; - margin-top: 0; -} -.ui-slider { - position: relative; - text-align: left; -} -.ui-slider .ui-slider-handle { - position: absolute; - z-index: 2; - width: 1.2em; - height: 1.2em; - cursor: default; - -ms-touch-action: none; - touch-action: none; -} -.ui-slider .ui-slider-range { - position: absolute; - z-index: 1; - font-size: .7em; - display: block; - border: 0; - background-position: 0 0; -} - -/* support: IE8 - See #6727 */ -.ui-slider.ui-state-disabled .ui-slider-handle, -.ui-slider.ui-state-disabled .ui-slider-range { - filter: inherit; -} - -.ui-slider-horizontal { - height: .8em; -} -.ui-slider-horizontal .ui-slider-handle { - top: -.3em; - margin-left: -.6em; -} -.ui-slider-horizontal .ui-slider-range { - top: 0; - height: 100%; -} -.ui-slider-horizontal .ui-slider-range-min { - left: 0; -} -.ui-slider-horizontal .ui-slider-range-max { - right: 0; -} - -.ui-slider-vertical { - width: .8em; - height: 100px; -} -.ui-slider-vertical .ui-slider-handle { - left: -.3em; - margin-left: 0; - margin-bottom: -.6em; -} -.ui-slider-vertical .ui-slider-range { - left: 0; - width: 100%; -} -.ui-slider-vertical .ui-slider-range-min { - bottom: 0; -} -.ui-slider-vertical .ui-slider-range-max { - top: 0; -} -.ui-sortable-handle { - -ms-touch-action: none; - touch-action: none; -} -.ui-spinner { - position: relative; - display: inline-block; - overflow: hidden; - padding: 0; - vertical-align: middle; -} -.ui-spinner-input { - border: none; - background: none; - color: inherit; - padding: .222em 0; - margin: .2em 0; - vertical-align: middle; - margin-left: .4em; - margin-right: 2em; -} -.ui-spinner-button { - width: 1.6em; - height: 50%; - font-size: .5em; - padding: 0; - margin: 0; - text-align: center; - position: absolute; - cursor: default; - display: block; - overflow: hidden; - right: 0; -} -/* more specificity required here to override default borders */ -.ui-spinner a.ui-spinner-button { - border-top-style: none; - border-bottom-style: none; - border-right-style: none; -} -.ui-spinner-up { - top: 0; -} -.ui-spinner-down { - bottom: 0; -} -.ui-tabs { - position: relative;/* position: relative prevents IE scroll bug (element with position: relative inside container with overflow: auto appear as "fixed") */ - padding: .2em; -} -.ui-tabs .ui-tabs-nav { - margin: 0; - padding: .2em .2em 0; -} -.ui-tabs .ui-tabs-nav li { - list-style: none; - float: left; - position: relative; - top: 0; - margin: 1px .2em 0 0; - border-bottom-width: 0; - padding: 0; - white-space: nowrap; -} -.ui-tabs .ui-tabs-nav .ui-tabs-anchor { - float: left; - padding: .5em 1em; - text-decoration: none; -} -.ui-tabs .ui-tabs-nav li.ui-tabs-active { - margin-bottom: -1px; - padding-bottom: 1px; -} -.ui-tabs .ui-tabs-nav li.ui-tabs-active .ui-tabs-anchor, -.ui-tabs .ui-tabs-nav li.ui-state-disabled .ui-tabs-anchor, -.ui-tabs .ui-tabs-nav li.ui-tabs-loading .ui-tabs-anchor { - cursor: text; -} -.ui-tabs-collapsible .ui-tabs-nav li.ui-tabs-active .ui-tabs-anchor { - cursor: pointer; -} -.ui-tabs .ui-tabs-panel { - display: block; - border-width: 0; - padding: 1em 1.4em; - background: none; -} -.ui-tooltip { - padding: 8px; - position: absolute; - z-index: 9999; - max-width: 300px; -} -body .ui-tooltip { - border-width: 2px; -} - -/* Component containers -----------------------------------*/ -.ui-widget { - font-family: Arial,Helvetica,sans-serif; - font-size: 1em; -} -.ui-widget .ui-widget { - font-size: 1em; -} -.ui-widget input, -.ui-widget select, -.ui-widget textarea, -.ui-widget button { - font-family: Arial,Helvetica,sans-serif; - font-size: 1em; -} -.ui-widget.ui-widget-content { - border: 1px solid #c5c5c5; -} -.ui-widget-content { - border: 1px solid #dddddd; - background: #ffffff; - color: #333333; -} -.ui-widget-content a { - color: #333333; -} -.ui-widget-statusbar { - border: 1px solid #dddddd; - background: #e9e9e9; - color: #333333; - font-weight: bold; -} -.ui-widget-statusbar a { - color: #333333; -} - -/* Interaction states -----------------------------------*/ -.ui-state-default, -.ui-widget-content .ui-state-default, -.ui-widget-statusbar .ui-state-default, -.ui-button, - -/* We use html here because we need a greater specificity to make sure disabled -works properly when clicked or hovered */ -html .ui-button.ui-state-disabled:hover, -html .ui-button.ui-state-disabled:active { - border: 1px solid #c5c5c5; - background: #f6f6f6; - font-weight: normal; - color: #454545; -} -.ui-state-default a, -.ui-state-default a:link, -.ui-state-default a:visited, -a.ui-button, -a:link.ui-button, -a:visited.ui-button, -.ui-button { - color: #454545; - text-decoration: none; -} -.ui-state-hover, -.ui-widget-content .ui-state-hover, -.ui-widget-statusbar .ui-state-hover, -.ui-state-focus, -.ui-widget-content .ui-state-focus, -.ui-widget-statusbar .ui-state-focus, -.ui-button:hover, -.ui-button:focus { - border: 1px solid #cccccc; - background: #ededed; - font-weight: normal; - color: #2b2b2b; -} -.ui-state-hover a, -.ui-state-hover a:hover, -.ui-state-hover a:link, -.ui-state-hover a:visited, -.ui-state-focus a, -.ui-state-focus a:hover, -.ui-state-focus a:link, -.ui-state-focus a:visited, -a.ui-button:hover, -a.ui-button:focus { - color: #2b2b2b; - text-decoration: none; -} - -.ui-visual-focus { - box-shadow: 0 0 3px 1px rgb(94, 158, 214); -} -.ui-state-active, -.ui-widget-content .ui-state-active, -.ui-widget-statusbar .ui-state-active, -a.ui-button:active, -.ui-button:active, -.ui-button.ui-state-active:hover { - border: 1px solid #003eff; - background: #007fff; - font-weight: normal; - color: #ffffff; -} -.ui-icon-background, -.ui-state-active .ui-icon-background { - border: #003eff; - background-color: #ffffff; -} -.ui-state-active a, -.ui-state-active a:link, -.ui-state-active a:visited { - color: #ffffff; - text-decoration: none; -} - -/* Interaction Cues -----------------------------------*/ -.ui-state-highlight, -.ui-widget-content .ui-state-highlight, -.ui-widget-statusbar .ui-state-highlight { - border: 1px solid #dad55e; - background: #fffa90; - color: #777620; -} -.ui-state-checked { - border: 1px solid #dad55e; - background: #fffa90; -} -.ui-state-highlight a, -.ui-widget-content .ui-state-highlight a, -.ui-widget-statusbar .ui-state-highlight a { - color: #777620; -} -.ui-state-error, -.ui-widget-content .ui-state-error, -.ui-widget-statusbar .ui-state-error { - border: 1px solid #f1a899; - background: #fddfdf; - color: #5f3f3f; -} -.ui-state-error a, -.ui-widget-content .ui-state-error a, -.ui-widget-statusbar .ui-state-error a { - color: #5f3f3f; -} -.ui-state-error-text, -.ui-widget-content .ui-state-error-text, -.ui-widget-statusbar .ui-state-error-text { - color: #5f3f3f; -} -.ui-priority-primary, -.ui-widget-content .ui-priority-primary, -.ui-widget-statusbar .ui-priority-primary { - font-weight: bold; -} -.ui-priority-secondary, -.ui-widget-content .ui-priority-secondary, -.ui-widget-statusbar .ui-priority-secondary { - opacity: .7; - filter:Alpha(Opacity=70); /* support: IE8 */ - font-weight: normal; -} -.ui-state-disabled, -.ui-widget-content .ui-state-disabled, -.ui-widget-statusbar .ui-state-disabled { - opacity: .35; - filter:Alpha(Opacity=35); /* support: IE8 */ - background-image: none; -} -.ui-state-disabled .ui-icon { - filter:Alpha(Opacity=35); /* support: IE8 - See #6059 */ -} - -/* Icons -----------------------------------*/ - -/* states and images */ -.ui-icon { - width: 16px; - height: 16px; -} -.ui-icon, -.ui-widget-content .ui-icon { - background-image: url("images/ui-icons_444444_256x240.png"); -} -.ui-widget-statusbar .ui-icon { - background-image: url("images/ui-icons_444444_256x240.png"); -} -.ui-state-hover .ui-icon, -.ui-state-focus .ui-icon, -.ui-button:hover .ui-icon, -.ui-button:focus .ui-icon { - background-image: url("images/ui-icons_555555_256x240.png"); -} -.ui-state-active .ui-icon, -.ui-button:active .ui-icon { - background-image: url("images/ui-icons_ffffff_256x240.png"); -} -.ui-state-highlight .ui-icon, -.ui-button .ui-state-highlight.ui-icon { - background-image: url("images/ui-icons_777620_256x240.png"); -} -.ui-state-error .ui-icon, -.ui-state-error-text .ui-icon { - background-image: url("images/ui-icons_cc0000_256x240.png"); -} -.ui-button .ui-icon { - background-image: url("images/ui-icons_777777_256x240.png"); -} - -/* positioning */ -.ui-icon-blank { background-position: 16px 16px; } -.ui-icon-caret-1-n { background-position: 0 0; } -.ui-icon-caret-1-ne { background-position: -16px 0; } -.ui-icon-caret-1-e { background-position: -32px 0; } -.ui-icon-caret-1-se { background-position: -48px 0; } -.ui-icon-caret-1-s { background-position: -65px 0; } -.ui-icon-caret-1-sw { background-position: -80px 0; } -.ui-icon-caret-1-w { background-position: -96px 0; } -.ui-icon-caret-1-nw { background-position: -112px 0; } -.ui-icon-caret-2-n-s { background-position: -128px 0; } -.ui-icon-caret-2-e-w { background-position: -144px 0; } -.ui-icon-triangle-1-n { background-position: 0 -16px; } -.ui-icon-triangle-1-ne { background-position: -16px -16px; } -.ui-icon-triangle-1-e { background-position: -32px -16px; } -.ui-icon-triangle-1-se { background-position: -48px -16px; } -.ui-icon-triangle-1-s { background-position: -65px -16px; } -.ui-icon-triangle-1-sw { background-position: -80px -16px; } -.ui-icon-triangle-1-w { background-position: -96px -16px; } -.ui-icon-triangle-1-nw { background-position: -112px -16px; } -.ui-icon-triangle-2-n-s { background-position: -128px -16px; } -.ui-icon-triangle-2-e-w { background-position: -144px -16px; } -.ui-icon-arrow-1-n { background-position: 0 -32px; } -.ui-icon-arrow-1-ne { background-position: -16px -32px; } -.ui-icon-arrow-1-e { background-position: -32px -32px; } -.ui-icon-arrow-1-se { background-position: -48px -32px; } -.ui-icon-arrow-1-s { background-position: -65px -32px; } -.ui-icon-arrow-1-sw { background-position: -80px -32px; } -.ui-icon-arrow-1-w { background-position: -96px -32px; } -.ui-icon-arrow-1-nw { background-position: -112px -32px; } -.ui-icon-arrow-2-n-s { background-position: -128px -32px; } -.ui-icon-arrow-2-ne-sw { background-position: -144px -32px; } -.ui-icon-arrow-2-e-w { background-position: -160px -32px; } -.ui-icon-arrow-2-se-nw { background-position: -176px -32px; } -.ui-icon-arrowstop-1-n { background-position: -192px -32px; } -.ui-icon-arrowstop-1-e { background-position: -208px -32px; } -.ui-icon-arrowstop-1-s { background-position: -224px -32px; } -.ui-icon-arrowstop-1-w { background-position: -240px -32px; } -.ui-icon-arrowthick-1-n { background-position: 1px -48px; } -.ui-icon-arrowthick-1-ne { background-position: -16px -48px; } -.ui-icon-arrowthick-1-e { background-position: -32px -48px; } -.ui-icon-arrowthick-1-se { background-position: -48px -48px; } -.ui-icon-arrowthick-1-s { background-position: -64px -48px; } -.ui-icon-arrowthick-1-sw { background-position: -80px -48px; } -.ui-icon-arrowthick-1-w { background-position: -96px -48px; } -.ui-icon-arrowthick-1-nw { background-position: -112px -48px; } -.ui-icon-arrowthick-2-n-s { background-position: -128px -48px; } -.ui-icon-arrowthick-2-ne-sw { background-position: -144px -48px; } -.ui-icon-arrowthick-2-e-w { background-position: -160px -48px; } -.ui-icon-arrowthick-2-se-nw { background-position: -176px -48px; } -.ui-icon-arrowthickstop-1-n { background-position: -192px -48px; } -.ui-icon-arrowthickstop-1-e { background-position: -208px -48px; } -.ui-icon-arrowthickstop-1-s { background-position: -224px -48px; } -.ui-icon-arrowthickstop-1-w { background-position: -240px -48px; } -.ui-icon-arrowreturnthick-1-w { background-position: 0 -64px; } -.ui-icon-arrowreturnthick-1-n { background-position: -16px -64px; } -.ui-icon-arrowreturnthick-1-e { background-position: -32px -64px; } -.ui-icon-arrowreturnthick-1-s { background-position: -48px -64px; } -.ui-icon-arrowreturn-1-w { background-position: -64px -64px; } -.ui-icon-arrowreturn-1-n { background-position: -80px -64px; } -.ui-icon-arrowreturn-1-e { background-position: -96px -64px; } -.ui-icon-arrowreturn-1-s { background-position: -112px -64px; } -.ui-icon-arrowrefresh-1-w { background-position: -128px -64px; } -.ui-icon-arrowrefresh-1-n { background-position: -144px -64px; } -.ui-icon-arrowrefresh-1-e { background-position: -160px -64px; } -.ui-icon-arrowrefresh-1-s { background-position: -176px -64px; } -.ui-icon-arrow-4 { background-position: 0 -80px; } -.ui-icon-arrow-4-diag { background-position: -16px -80px; } -.ui-icon-extlink { background-position: -32px -80px; } -.ui-icon-newwin { background-position: -48px -80px; } -.ui-icon-refresh { background-position: -64px -80px; } -.ui-icon-shuffle { background-position: -80px -80px; } -.ui-icon-transfer-e-w { background-position: -96px -80px; } -.ui-icon-transferthick-e-w { background-position: -112px -80px; } -.ui-icon-folder-collapsed { background-position: 0 -96px; } -.ui-icon-folder-open { background-position: -16px -96px; } -.ui-icon-document { background-position: -32px -96px; } -.ui-icon-document-b { background-position: -48px -96px; } -.ui-icon-note { background-position: -64px -96px; } -.ui-icon-mail-closed { background-position: -80px -96px; } -.ui-icon-mail-open { background-position: -96px -96px; } -.ui-icon-suitcase { background-position: -112px -96px; } -.ui-icon-comment { background-position: -128px -96px; } -.ui-icon-person { background-position: -144px -96px; } -.ui-icon-print { background-position: -160px -96px; } -.ui-icon-trash { background-position: -176px -96px; } -.ui-icon-locked { background-position: -192px -96px; } -.ui-icon-unlocked { background-position: -208px -96px; } -.ui-icon-bookmark { background-position: -224px -96px; } -.ui-icon-tag { background-position: -240px -96px; } -.ui-icon-home { background-position: 0 -112px; } -.ui-icon-flag { background-position: -16px -112px; } -.ui-icon-calendar { background-position: -32px -112px; } -.ui-icon-cart { background-position: -48px -112px; } -.ui-icon-pencil { background-position: -64px -112px; } -.ui-icon-clock { background-position: -80px -112px; } -.ui-icon-disk { background-position: -96px -112px; } -.ui-icon-calculator { background-position: -112px -112px; } -.ui-icon-zoomin { background-position: -128px -112px; } -.ui-icon-zoomout { background-position: -144px -112px; } -.ui-icon-search { background-position: -160px -112px; } -.ui-icon-wrench { background-position: -176px -112px; } -.ui-icon-gear { background-position: -192px -112px; } -.ui-icon-heart { background-position: -208px -112px; } -.ui-icon-star { background-position: -224px -112px; } -.ui-icon-link { background-position: -240px -112px; } -.ui-icon-cancel { background-position: 0 -128px; } -.ui-icon-plus { background-position: -16px -128px; } -.ui-icon-plusthick { background-position: -32px -128px; } -.ui-icon-minus { background-position: -48px -128px; } -.ui-icon-minusthick { background-position: -64px -128px; } -.ui-icon-close { background-position: -80px -128px; } -.ui-icon-closethick { background-position: -96px -128px; } -.ui-icon-key { background-position: -112px -128px; } -.ui-icon-lightbulb { background-position: -128px -128px; } -.ui-icon-scissors { background-position: -144px -128px; } -.ui-icon-clipboard { background-position: -160px -128px; } -.ui-icon-copy { background-position: -176px -128px; } -.ui-icon-contact { background-position: -192px -128px; } -.ui-icon-image { background-position: -208px -128px; } -.ui-icon-video { background-position: -224px -128px; } -.ui-icon-script { background-position: -240px -128px; } -.ui-icon-alert { background-position: 0 -144px; } -.ui-icon-info { background-position: -16px -144px; } -.ui-icon-notice { background-position: -32px -144px; } -.ui-icon-help { background-position: -48px -144px; } -.ui-icon-check { background-position: -64px -144px; } -.ui-icon-bullet { background-position: -80px -144px; } -.ui-icon-radio-on { background-position: -96px -144px; } -.ui-icon-radio-off { background-position: -112px -144px; } -.ui-icon-pin-w { background-position: -128px -144px; } -.ui-icon-pin-s { background-position: -144px -144px; } -.ui-icon-play { background-position: 0 -160px; } -.ui-icon-pause { background-position: -16px -160px; } -.ui-icon-seek-next { background-position: -32px -160px; } -.ui-icon-seek-prev { background-position: -48px -160px; } -.ui-icon-seek-end { background-position: -64px -160px; } -.ui-icon-seek-start { background-position: -80px -160px; } -/* ui-icon-seek-first is deprecated, use ui-icon-seek-start instead */ -.ui-icon-seek-first { background-position: -80px -160px; } -.ui-icon-stop { background-position: -96px -160px; } -.ui-icon-eject { background-position: -112px -160px; } -.ui-icon-volume-off { background-position: -128px -160px; } -.ui-icon-volume-on { background-position: -144px -160px; } -.ui-icon-power { background-position: 0 -176px; } -.ui-icon-signal-diag { background-position: -16px -176px; } -.ui-icon-signal { background-position: -32px -176px; } -.ui-icon-battery-0 { background-position: -48px -176px; } -.ui-icon-battery-1 { background-position: -64px -176px; } -.ui-icon-battery-2 { background-position: -80px -176px; } -.ui-icon-battery-3 { background-position: -96px -176px; } -.ui-icon-circle-plus { background-position: 0 -192px; } -.ui-icon-circle-minus { background-position: -16px -192px; } -.ui-icon-circle-close { background-position: -32px -192px; } -.ui-icon-circle-triangle-e { background-position: -48px -192px; } -.ui-icon-circle-triangle-s { background-position: -64px -192px; } -.ui-icon-circle-triangle-w { background-position: -80px -192px; } -.ui-icon-circle-triangle-n { background-position: -96px -192px; } -.ui-icon-circle-arrow-e { background-position: -112px -192px; } -.ui-icon-circle-arrow-s { background-position: -128px -192px; } -.ui-icon-circle-arrow-w { background-position: -144px -192px; } -.ui-icon-circle-arrow-n { background-position: -160px -192px; } -.ui-icon-circle-zoomin { background-position: -176px -192px; } -.ui-icon-circle-zoomout { background-position: -192px -192px; } -.ui-icon-circle-check { background-position: -208px -192px; } -.ui-icon-circlesmall-plus { background-position: 0 -208px; } -.ui-icon-circlesmall-minus { background-position: -16px -208px; } -.ui-icon-circlesmall-close { background-position: -32px -208px; } -.ui-icon-squaresmall-plus { background-position: -48px -208px; } -.ui-icon-squaresmall-minus { background-position: -64px -208px; } -.ui-icon-squaresmall-close { background-position: -80px -208px; } -.ui-icon-grip-dotted-vertical { background-position: 0 -224px; } -.ui-icon-grip-dotted-horizontal { background-position: -16px -224px; } -.ui-icon-grip-solid-vertical { background-position: -32px -224px; } -.ui-icon-grip-solid-horizontal { background-position: -48px -224px; } -.ui-icon-gripsmall-diagonal-se { background-position: -64px -224px; } -.ui-icon-grip-diagonal-se { background-position: -80px -224px; } - - -/* Misc visuals -----------------------------------*/ - -/* Corner radius */ -.ui-corner-all, -.ui-corner-top, -.ui-corner-left, -.ui-corner-tl { - border-top-left-radius: 3px; -} -.ui-corner-all, -.ui-corner-top, -.ui-corner-right, -.ui-corner-tr { - border-top-right-radius: 3px; -} -.ui-corner-all, -.ui-corner-bottom, -.ui-corner-left, -.ui-corner-bl { - border-bottom-left-radius: 3px; -} -.ui-corner-all, -.ui-corner-bottom, -.ui-corner-right, -.ui-corner-br { - border-bottom-right-radius: 3px; -} - -/* Overlays */ -.ui-widget-overlay { - background: #aaaaaa; - opacity: .003; - filter: Alpha(Opacity=.3); /* support: IE8 */ -} -.ui-widget-shadow { - -webkit-box-shadow: 0px 0px 5px #666666; - box-shadow: 0px 0px 5px #666666; -} diff --git a/package.json b/package.json index 3fef7e2..6281d2d 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "tcs", - "version": "0.12.5", + "version": "0.13.0", "description": "Turtle Control Software", "main": "index.js", "scripts": { diff --git a/requirements.txt b/requirements.txt index 35182b1..8e96db7 100644 --- a/requirements.txt +++ b/requirements.txt @@ -32,3 +32,4 @@ txaio==2.9.0 urllib3==1.22 Werkzeug==0.14.1 yarl==1.1.1 +pyudev==0.21.1 diff --git a/server/hardware.py b/server/hardware.py index 90dad4e..2923434 100644 --- a/server/hardware.py +++ b/server/hardware.py @@ -3,6 +3,8 @@ from link_quality import Signal import asyncio import os +import pyudev +import glob class Hardware(): def __init__(self): @@ -12,6 +14,8 @@ def __init__(self): self.uart.start() self.signal.start() + self.context = pyudev.Context() + def setMotors(self, payload): print (frame.motors(payload)) self.uart.send(frame.motors(payload)) @@ -41,5 +45,16 @@ def getFirmwareVersion(self): print (frame.firmware_ver()) return '0.0.0' # self.uart.send(frame.firmware_ver()) - # firmaware_version = self.uart.serial.read(1) + # firmaware_version = self.uart.serial.read(5) # return int.from_bytes(firmaware_version, byteorder='big', signed=False) + # return firmaware_version + + def getWirelessAdapterInfo(self): + for device in self.context.list_devices(subsystem='net', DEVTYPE='wlan'): + external_wlan_model = device.get('ID_MODEL_FROM_DATABASE') + if external_wlan_model is not None: + return external_wlan_model + return None + + def getCameraInfo(self): + return glob.glob("/dev/video*") \ No newline at end of file diff --git a/server/http_server.py b/server/http_server.py new file mode 100644 index 0000000..d9da8eb --- /dev/null +++ b/server/http_server.py @@ -0,0 +1,20 @@ +from singleton import Singleton +from aiohttp import web +import os + +class HTTPserver(metaclass=Singleton): + def __init__(self): + self.SERVER_DIR = os.path.dirname(os.path.abspath(__file__)) + self.PROJECT_DIR = os.path.join( os.path.dirname( __file__ ), '..' ) + + self.app = web.Application() + + + async def index(self, request): + with open(self.PROJECT_DIR+'/client/dist/index.html') as f: + return web.Response(text=f.read(), content_type='text/html') + + def start(self): + self.app.router.add_get('/', self.index) + self.app.router.add_static('/', self.PROJECT_DIR+'/client/dist', show_index=True) + web.run_app(self.app, port=80) diff --git a/server/link_quality.py b/server/link_quality.py index e65f2b8..fe7d679 100644 --- a/server/link_quality.py +++ b/server/link_quality.py @@ -31,7 +31,7 @@ def __init__(self): self.i = 0 self.process = None - def getIP(self, ifname="wlan0"): + def getIP(self, ifname="wlan0ext"): s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) ip = None try: diff --git a/server/server.py b/server/server.py index 6dcc92b..5ccca39 100644 --- a/server/server.py +++ b/server/server.py @@ -4,25 +4,27 @@ import argparse import sys from version import version_info - logger = logname() def start_server(): - logger.info('Starting Turtle Control System... [PID:%s PPID:%s]', os.getpid(), os.getppid()) + logger.info('Turtle Control Software v' + version_info) + logger.info('[PID:%s PPID:%s]', os.getpid(), os.getppid()) kill() logger.info('Starting new server instance...') - # logger.info('Battery: %s', frame.readBatteryVoltage()) try: - from sockets import web, app - import frame - web.run_app(app, host='0.0.0.0', port=5000) + from sockets import WSserver + from http_server import HTTPserver + + http_server = HTTPserver() + ws_server = WSserver(http_server.app) + ws_server.start() + http_server.start() except OSError as e: logger.error(e) if __name__ == '__main__': - parser = argparse.ArgumentParser( - description='This is the Turtle WebSocket Server.') + parser = argparse.ArgumentParser(description='This is the Turtle WebSocket Server.') parser.add_argument('-v', action='version', version=version_info,help='Show the version number and exit') parser.add_argument('start', nargs='?', help='Start the server') diff --git a/server/singleton.py b/server/singleton.py new file mode 100644 index 0000000..8a09d95 --- /dev/null +++ b/server/singleton.py @@ -0,0 +1,6 @@ +class Singleton(type): + _instances = {} + def __call__(cls, *args, **kwargs): + if cls not in cls._instances: + cls._instances[cls] = super(Singleton, cls).__call__(*args, **kwargs) + return cls._instances[cls] \ No newline at end of file diff --git a/server/sockets.py b/server/sockets.py index bbf8f07..ffc4ba4 100644 --- a/server/sockets.py +++ b/server/sockets.py @@ -6,56 +6,65 @@ import frame from hardware import Hardware from version import version_info +import os +import subprocess logger = logname("sockets") -sio = socketio.AsyncServer(async_mode='aiohttp') -app = web.Application() -sio.attach(app) - -hardware = Hardware() - -@sio.on('connect') -async def connect(sid, environ): - logger.info("connected %s", sid) - await sio.emit('response', { - 'ws_server_ver' : version_info, - 'firmware_ver' : hardware.getFirmwareVersion(), - 'wifi_dongle' : 'Unavailable' - }) - - -@sio.on('motors') -async def motors(sid, payload): - hardware.setMotors(payload) - await sio.emit('response', "motors set") - -@sio.on('manipulator') -async def manipulator(sid, payload): - hardware.setManipulator(payload) - await sio.emit('response', 'manipulator set') - -@sio.on('gripper') -async def gripper(sid, payload): - hardware.setGripper(payload) - await sio.emit('response', 'gripper set') - -@sio.on('battery') -async def battery(sid): - battery_status = hardware.getBattery() - await sio.emit('battery', battery_status) - -@sio.on('signal') -async def signal(sid): - signal_strength = hardware.getSignal() - await sio.emit('signal', signal_strength) - -@sio.on('temperature') -async def temperature(sid): - temperature = hardware.getTemperature() - await sio.emit('temperature', temperature) - -# TODO: symlink this -@sio.on('update') -async def signal(sid): - subprocess.Popen(['python3', 'updater.py']) +class WSnamespace(socketio.AsyncNamespace): + def __init__(self, namespace='/sockets'): + super().__init__(namespace) + self.sio = None + self.hw = Hardware() + + async def on_connect(self, sid, environ): + logger.info("connected %s", sid) + await self.sio.emit('connected', { + 'tcs_ver' : version_info, + 'firmware_ver' : self.hw.getFirmwareVersion(), + 'wifi_dongle' : self.hw.getWirelessAdapterInfo(), + 'video_devices': self.hw.getCameraInfo() + }, namespace="/sockets") + + + async def on_motors(self, sid, payload): + self.hw.setMotors(payload) + await self.sio.emit('response', "motors set", namespace="/sockets") + + async def on_manipulator(self, sid, payload): + self.hw.setManipulator(payload) + await self.sio.emit('response', 'manipulator set', namespace="/sockets") + + async def on_gripper(self, sid, payload): + self.hw.setGripper(payload) + await self.sio.emit('response', 'gripper set', namespace="/sockets") + + async def on_battery(self, sid): + battery_status = self.hw.getBattery() + await self.sio.emit('battery', battery_status, namespace="/sockets") + + async def on_signal(self, sid): + signal_strength = self.hw.getSignal() + await self.sio.emit('signal', signal_strength, namespace="/sockets") + + async def on_temperature(self, sid): + temperature = self.hw.getTemperature() + await self.sio.emit('temperature', temperature, namespace="/sockets") + + async def on_shutdown(self, sid): + subprocess.run(['poweroff']) + + +class WSserver(): + def __init__(self, app): + super().__init__() + self.sio = None + self.app = app + self.namespace = WSnamespace('/sockets') + + def start(self): + self.sio = socketio.AsyncServer(async_mode='aiohttp') + self.sio.register_namespace(self.namespace) + self.namespace.sio = self.sio + self.sio.attach(self.app) + diff --git a/server/starter.php b/server/starter.php deleted file mode 100644 index 8972557..0000000 --- a/server/starter.php +++ /dev/null @@ -1,5 +0,0 @@ - diff --git a/server/turtlerover-tcs.service b/server/turtlerover-tcs.service new file mode 100644 index 0000000..5f746ea --- /dev/null +++ b/server/turtlerover-tcs.service @@ -0,0 +1,17 @@ +[Unit] +Description=Turtle Control Software Service +ConditionPathIsMountPoint=/boot/ + +[Service] +Type=simple +User=pi +KillMode=none +ExecStart=/bin/bash /opt/turtlerover/tcs/tcs +ExecStop= +Restart=always +RestartSec=4 +StandardOutput=null +RemainAfterExit=no + +[Install] +WantedBy=multi-user.target \ No newline at end of file diff --git a/server/updater.py b/server/updater.py deleted file mode 100644 index 12750e8..0000000 --- a/server/updater.py +++ /dev/null @@ -1,167 +0,0 @@ -from github import Github -import requests -import subprocess -import os -import zipfile -from log import logname -import time -import shutil -logger = logname("Updater") - - -class Updater(): - def __init__(self): - self.latest_version = (0, 0, 0) - self.installed_version = (0, 0, 0) - - self.organization_name = "TurtleRover" - self.repository_name = "Turtle-Rover-Mission-Control" - - self.root_directory = "/home/pi/" + self.repository_name - self.updates_directory = "/home/pi/updates/" - self.backups_directory = "/home/pi/backups/" - - self.github = Github() - - def check(self): - logger.info('Checking for new releases...') - latest_release = self.get_latest_release(self.repository_name) - installed_version = self.get_installed_version() - - if latest_release: - is_new_release = self.compare(latest_release.tag_name, installed_version) - else: - is_new_release = None - # is_new_release = True - if is_new_release == True: - logger.info('Found a new release: %s', latest_release.tag_name) - self.update(latest_release) - elif is_new_release == False: - logger.info('Installed version is up-to-date: %s', installed_version[:-1]) - else: - logger.error("Can't get latest release. Probably no internet connection") - - def get_installed_version(self): - return subprocess.run(['turtle', '-v'], stdout=subprocess.PIPE).stdout.decode('utf-8') - - def get_latest_release(self, repository_name): - try: - organization = self.github.get_organization(self.organization_name) - repository = organization.get_repo(self.repository_name) - latest_release = repository.get_latest_release() - return latest_release - except BaseException as e: - logger.error(e) - return None - - def convert_to_tuple(self, version): - return (int(version[0]), int(version[2]), int(version[4])) - - def compare(self, latest_version, installed_version): - latest_version_tuple = self.convert_to_tuple(latest_version) - installed_version_tuple = self.convert_to_tuple(installed_version) - if latest_version_tuple > installed_version_tuple: - return True - elif latest_version_tuple == installed_version_tuple: - return False - else: - logger.warn("Installed version is ahead of released one.") - return False - - def download(self, latest_release, path): - self.create_updates_directory() - logger.info('Starting download...') - r = requests.get(latest_release.zipball_url, stream=True, allow_redirects=True) - with open(path, 'wb') as f: - for chunk in r.iter_content(chunk_size=1024): - if chunk: - f.write(chunk) - filesize = os.path.getsize(path) - logger.info('Downloaded: %s', self.get_human_readable_size(filesize)) - return True - - def create_updates_directory(self): - try: - logger.debug('Creating "updates" directory') - os.makedirs(self.updates_directory) - except OSError as e: - logger.debug(e) - - # https://stackoverflow.com/a/32009595/1589989 - def get_human_readable_size(self, size, precision=2): - suffixes = ['B', 'KB', 'MB', 'GB', 'TB'] - suffixIndex = 0 - while size > 1024 and suffixIndex < 4: - suffixIndex += 1 # increment the index of the suffix - size = size / 1024.0 # apply the division - return "%.*f%s" % (precision, size, suffixes[suffixIndex]) - - def build_filename(self, tag_name): - return self.repository_name +'-' + tag_name + ".zip" - - def unpack(self, path): - extracted = None - logger.info("Unzipping & installing update...") - with zipfile.ZipFile(path,"r") as zip_ref: - zip_ref.extractall("/tmp/") - extracted = zip_ref.namelist()[0] - - subprocess.run(['cp', '-R', '/tmp/'+extracted + '.', '/home/pi/test/']) - - def pack(self): - logger.info("Starting backup...") - os.chdir(os.path.dirname(self.root_directory)) - self.clean_directory(self.backups_directory) - backup_path = self.backups_directory + str(int(time.time())) + '.zip' - # Check if it is ok to use here try/catch - try: - with zipfile.ZipFile(backup_path, "w", zipfile.ZIP_DEFLATED, allowZip64=True) as zf: - for root, _, filenames in os.walk(os.path.basename(self.root_directory)): - for name in filenames: - name = os.path.join(root, name) - name = os.path.normpath(name) - zf.write(name, name) - logger.info("Backup saved: %s", backup_path) - return True - except BaseException as e: - logger.error(e) - return False - - def update(self, latest_release): - path = self.updates_directory + self.build_filename(latest_release.tag_name) - if not os.path.isdir(self.root_directory+ '/.git'): - if not os.path.isfile(path): - self.download(latest_release, path) - else: - logger.info('Already downloaded to: ' + path) - - self.unpack(path) - self.run_postinstall() - self.start_server() - - else: - logger.warn('This is a development environment. Please use git instead') - - # https://stackoverflow.com/a/185941/1589989 - def clean_directory(self, directory): - for file in os.listdir(directory): - path = os.path.join(directory, file) - try: - if os.path.isfile(path): - os.unlink(path) - elif os.path.isdir(path): shutil.rmtree(path) - return True - except Exception as e: - logger.error(e) - return False - - def run_postinstall(self): - logger.info("Spawning pip3...") - pip = subprocess.run(['sudo', 'pip3', 'install', '-r', '/home/pi/Turtle-Rover-Mission-Control/requirements.txt']) - - def start_server(self): - subprocess.Popen(['turtle']) - -if __name__ == '__main__': - updater = Updater() - updater.check() diff --git a/server/version.py b/server/version.py index 1a27623..b13196d 100644 --- a/server/version.py +++ b/server/version.py @@ -1,2 +1,7 @@ -version = (0, 12, 5) -version_info = '.'.join(str(c) for c in version) +import json +import os + +with open(os.path.join( os.path.dirname( __file__ ), '..' )+'/package.json') as f: + data = json.load(f) + +version_info = data["version"] diff --git a/utils/after-install.sh b/utils/after-install.sh index 0e84608..f7bec22 100644 --- a/utils/after-install.sh +++ b/utils/after-install.sh @@ -3,14 +3,6 @@ sudo pip3 install -r /opt/turtlerover/tcs/requirements.txt sudo ln -sf /opt/turtlerover/tcs/tcs /usr/bin/tcs -# Sorry for this T.T - -# Backup original apache configuration -sudo mv /etc/apache2/apache2.conf /etc/apache2/apache2.conf.ORIG -sudo mv /etc/apache2/sites-available /etc/apache2/sites-available.ORIG -sudo mv /etc/apache2/sites-enabled /etc/apache2/sites-enabled.ORIG - -# Symlink custom apache configuration file -sudo ln -sf /opt/turtlerover/tcs/apache_conf/apache2.conf /etc/apache2/apache2.conf -sudo ln -sf /opt/turtlerover/tcs/apache_conf/sites-available /etc/apache2/sites-available -sudo ln -sf /opt/turtlerover/tcs/apache_conf/sites-enabled /etc/apache2/sites-enabled +sudo cp /opt/turtlerover/tcs/server/turtlerover-tcs.service /etc/systemd/system +sudo systemctl enable turtlerover-tcs +sudo systemctl start turtlerover-tcs diff --git a/utils/after-remove.sh b/utils/after-remove.sh index 10f439b..695fafd 100644 --- a/utils/after-remove.sh +++ b/utils/after-remove.sh @@ -1,3 +1,7 @@ #!/bin/sh -sudo rm /usr/bin/tcs \ No newline at end of file +sudo rm /usr/bin/tcs + +sudo rm /etc/systemd/system/turtlerover-tcs.service +sudo systemctl stop turtlerover-tcs +sudo systemctl disable turtlerover-tcs diff --git a/utils/make_deb.sh b/utils/make_deb.sh index 5b64b40..cba2db6 100755 --- a/utils/make_deb.sh +++ b/utils/make_deb.sh @@ -9,8 +9,8 @@ fpm --input-type dir \ --vendor "Kell ideas Ltd." \ --license "MIT" \ --url "https://github.com/TurtleRover/tcs" \ - --version "0.12.5" \ - --iteration 7 \ + --version $(node -p -e "require('./package.json').version") \ + --iteration 8 \ --architecture all \ --deb-no-default-config-files \ --exclude node_modules \ @@ -19,10 +19,12 @@ fpm --input-type dir \ --deb-dist stretch \ --verbose \ --depends "python3 (>= 3.5.3-1)" \ - --depends "apache2" \ --depends "wiringpi" \ - --depends "libapache2-mod-php" \ - --depends "php" \ + --depends "uv4l" \ + --depends "uv4l-raspicam-extras" \ + --depends "uv4l-server" \ + --depends "uv4l-uvc" \ + --depends "uv4l-webrtc" \ --prefix /opt/turtlerover/tcs \ --description "Turtle Rover Control Software" \ --after-install utils/after-install.sh \