├── .gitignore
├── README.md
├── media
├── ModuleDiagram.png
├── TestSketch.fzz
├── TestSketch.png
└── robotcontrol.gif
├── requirements.txt
└── server-websocket
├── main.py
├── robot
├── Binary.py
├── Linear.py
├── Servo.py
└── __init__.py
├── static
├── css
│ ├── button.css
│ ├── main.css
│ └── style.css
└── js
│ ├── Joystick.js
│ ├── jquery-3.3.1.min.js
│ └── socket.io.js
└── templates
└── index.html
/.gitignore:
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1 | *.swp
2 | *.pyc
3 |
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/README.md:
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1 | # RaspberryPi Robotcontrol
2 |
3 | Interactive, low-latency javascript-based websocket-GUI for touch-devices
4 | with a python-flask backend that interfaces to robotic components.
5 | It provides virtual 2-axis joysticks (inspired by nipple.js but without the multitouch issues) and buttons
6 | that all work simulatenously. Due to the two-way websocket connection, status-messages from the robot can be displayed in the text-area.
7 |
8 | 
9 |
10 | This software provides
11 | * an interactive javascript low-latency websocket GUI served webpage
12 | * a python-flask server that runs on a raspberry pi (or really any linux-machine)
13 | * a two-way websocket connection for low latency control
14 | * some server-side robot-classes (servo-, stepper-, toggle-control) that are already mapped to control inputs
15 |
16 | _Important_: The GUI can currently only be controlled using touch-events, that means it should be used with a touchscreen device.
17 |
18 | Tested on RaspberryPi 3 B+ with raspbian and Samsung Galaxy S7, Android 8, mobile google chrome 67.
19 |
20 | ## Requirements
21 | * python, numpy, flask
22 |
23 | ## Howto run
24 | * install necessary python-packages using pip
25 | ```
26 | pip install -r requirements.txt
27 | ```
28 | * run flask-server (server-websocket/main.py) -> this will provide the websocket API and serve the webpage on port 5000
29 | ```
30 | ./server-websocket/main.py
31 | ```
32 | * call interface webpage in browser: http://server-ip:5000
33 |
34 | ## Module architecture
35 |
36 | 
37 |
38 | ## Hardware test-setup
39 |
40 | 
41 |
42 | ## TODO
43 | * unify control-interface to allow easier mapping of interface-axis/buttons to robot actions
44 |
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/media/ModuleDiagram.png:
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https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/ModuleDiagram.png
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/media/TestSketch.fzz:
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https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/TestSketch.fzz
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/media/TestSketch.png:
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https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/TestSketch.png
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/media/robotcontrol.gif:
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https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/robotcontrol.gif
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/requirements.txt:
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1 | gevent-websocket
2 | Flask-Cors
3 | flask-socketio
4 |
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/server-websocket/main.py:
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1 | #!/usr/bin/python
2 | """
3 | We are using a small REST server to control our robot.
4 | """
5 | from flask import Flask, render_template
6 | from flask_socketio import SocketIO, emit
7 | from flask_cors import CORS
8 | import math
9 | from multiprocessing import Process, Queue
10 |
11 | _debug = False
12 |
13 |
14 | # TODO: axis-mapping should be OOP and automatic!
15 |
16 | try:
17 | from robot.Linear import *
18 | linear = Linear(Queue(), verbose=False)
19 | linear.start()
20 |
21 | from robot.Servo import *
22 | servo = Servo(Queue(), 7, verbose=False)
23 | servo.start()
24 | servo2 = Servo(Queue(), 11, verbose=False)
25 | servo2.start()
26 |
27 | from robot.Binary import *
28 | binary = Binary(Queue(), 13, axis="A", verbose=False)
29 | binary.start()
30 |
31 | binary2 = Binary(Queue(),15, axis="B", verbose=False)
32 | binary2.start()
33 | except Exception, e:
34 | print("Could not import robot")
35 | print e
36 |
37 |
38 | app = Flask(__name__)
39 | app.config['SECRET_KEY'] = 'secret'
40 | CORS(app)
41 | socketio = SocketIO(app)
42 |
43 |
44 | @app.route('/')
45 | def index():
46 | return render_template('index.html')
47 |
48 |
49 | @socketio.on_error_default
50 | def default_error_handler(e):
51 | print "======================= ERROR"
52 | print(request.event["message"])
53 | print(request.event["args"])
54 |
55 |
56 | @socketio.on('control', namespace='/control')
57 | def control(message):
58 | data = message["data"]
59 | if "left" in data.keys():
60 | x = data["left"][0]
61 | y = data["left"][1]
62 | if _debug: print "[Server] Left: ",x,",",y
63 | linear.q.put(("left",x,y))
64 | elif "right" in data.keys():
65 | x = data["right"][0]
66 | y = data["right"][1]
67 | if _debug: print "[Server] Right: ",x,",",y
68 | servo.q.put(("right",x,y))
69 | servo2.q.put(("right",y,x))
70 | elif "A" in data.keys():
71 | if _debug: print "[Server] A"
72 | binary.q.put(("A",1,0))
73 | elif "B" in data.keys():
74 | if _debug: print "[Server] B"
75 | binary2.q.put(("B",1,0))
76 |
77 | if __name__ == "__main__":
78 | socketio.run(app, host="0.0.0.0", debug=True, use_reloader=False)
79 |
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/server-websocket/robot/Binary.py:
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1 | #!/usr/bin/python
2 | """
3 | 0.4 Amps/phase
4 | 0.11 Nm holding torque
5 | 0.9 deg step angle - 400 steps
6 | """
7 | import time
8 | import numpy as np
9 | from multiprocessing import Process, Queue
10 | import RPi.GPIO as GPIO
11 |
12 | class Binary:
13 | def __init__(self, queue, pin, axis="A", verbose="False"):
14 | self.q = queue
15 | self.pin = pin
16 | self.state = 0
17 | self.debounce_time = 0.2
18 | self.last_button_ts = 0
19 | self.axis=axis
20 | self.verbose = verbose
21 |
22 | def start(self):
23 | self.p = Process(target=self.run, args=((self.q),))
24 | self.p.start()
25 |
26 | def run(self, queue):
27 | inp = (0,0,0)
28 |
29 | GPIO.setwarnings(False)
30 | GPIO.setmode(GPIO.BOARD)
31 | GPIO.setup(self.pin, GPIO.OUT) # step
32 |
33 | while True:
34 | try:
35 | inp = queue.get_nowait()
36 | if self.verbose: print inp
37 | if inp[0] == self.axis and time.time() - self.last_button_ts > self.debounce_time:
38 | self.state = (self.state + 1) % 2
39 | if self.verbose: print "[Binary] Changed state to", self.state
40 | GPIO.output(self.pin, self.state)
41 | self.last_button_ts = time.time()
42 | except:
43 | time.sleep(0.01)
44 | pass
45 |
46 | if __name__ == "__main__":
47 | GPIO.setmode(GPIO.BOARD)
48 |
49 | GPIO.setup(7, GPIO.OUT) # step
50 | pwm = GPIO.PWM(7, 50)
51 | pwm.start(0)
52 |
53 | for i in range(10):
54 | pwm.ChangeDutyCycle(i)
55 | time.sleep(0.5)
56 |
57 |
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/server-websocket/robot/Linear.py:
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1 | #!/usr/bin/python
2 | """
3 | 0.4 Amps/phase
4 | 0.11 Nm holding torque
5 | 0.9 deg step angle - 400 steps
6 | """
7 | import time
8 | import numpy as np
9 | from multiprocessing import Process
10 | import RPi.GPIO as GPIO
11 |
12 | class Linear:
13 | def __init__(self, queue, verbose="False"):
14 | self.q = queue
15 | self.verbose = verbose
16 |
17 | self.numsteps = 400
18 | self.microstep = 16
19 | self.actual_steps=self.numsteps * self.microstep
20 |
21 | GPIO.setwarnings(False)
22 | GPIO.setmode(GPIO.BOARD)
23 |
24 | GPIO.setup(3, GPIO.OUT) # step
25 | GPIO.setup(5, GPIO.OUT) # dir
26 | GPIO.output(3, GPIO.LOW)
27 |
28 | self.position = 0
29 | self.speed = 0
30 | self.direction = 0
31 |
32 | def start(self):
33 | self.p = Process(target=self.run, args=((self.q),))
34 | self.p.start()
35 |
36 | def run(self, queue):
37 | inp = (0,0,0)
38 | while True:
39 | try:
40 | inp = queue.get_nowait()
41 | except:
42 | time.sleep(0.000001)
43 | pass
44 |
45 | if inp[0] == "left": # left stick
46 | axis = inp[1] #x
47 | self.direction = np.sign(axis)
48 | self.speed = abs(float(axis))
49 |
50 | if self.speed > 0:
51 | if self.direction == 1:
52 | GPIO.output(5, GPIO.HIGH)
53 | else:
54 | GPIO.output(5, GPIO.LOW)
55 |
56 | self.speed_rpm = self.speed * 500.0
57 | # FIXME
58 | self.speed_rpm = 100
59 | self.num_steps_per_sec=self.speed_rpm*self.actual_steps/60.0
60 | self.interval = 1.0/self.num_steps_per_sec
61 | if self.verbose: print "Interval: ", self.interval
62 |
63 | for i in range(10):
64 | GPIO.output(3, GPIO.HIGH)
65 | time.sleep(self.interval/2.0)
66 | GPIO.output(3, GPIO.LOW)
67 | time.sleep(self.interval/2.0)
68 |
69 |
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/server-websocket/robot/Servo.py:
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1 | #!/usr/bin/python
2 | """
3 | 0.4 Amps/phase
4 | 0.11 Nm holding torque
5 | 0.9 deg step angle - 400 steps
6 | """
7 | import time
8 | import numpy as np
9 | from multiprocessing import Process, Queue
10 | import RPi.GPIO as GPIO
11 |
12 | class Servo:
13 | def __init__(self, queue, pin, verbose="False"):
14 | self.q = queue
15 | self.servopin = pin
16 | self.verbose = verbose
17 |
18 | def start(self):
19 | self.p = Process(target=self.run, args=((self.q),))
20 | self.p.start()
21 |
22 | def map(self, value):
23 | """
24 | Servo running at 50 Hz -> 20 ms per cycle,
25 | control: high for 1ms to 2ms controls angle
26 | 20*0.05 == 1Ms
27 | 20*0.1 == 2Ms
28 | dutycycle value is from 0 to 100,
29 | value from controller is -1 to 1
30 | """
31 | # at 0 we want to pulse to be 1.5 Ms -> 0.075 dutycycle
32 |
33 | value = ((value + 1)/2) # now 0-1
34 | value = value*(0.1-0.05)+0.05
35 | # map to 0-100
36 | return value * 100
37 |
38 | def run(self, queue):
39 | inp = (0,0,0)
40 | GPIO.setwarnings(False)
41 | GPIO.setmode(GPIO.BOARD)
42 | GPIO.setup(self.servopin, GPIO.OUT) # step
43 | self.pwm = GPIO.PWM(self.servopin, 50)
44 |
45 | self.pwm.start(7.5)
46 |
47 | while True:
48 | try:
49 | inp = queue.get_nowait()
50 | if inp[0] == "right":
51 | axis = inp[1]
52 | self.dc = self.map(axis)
53 | self.pwm.ChangeDutyCycle(self.dc)
54 | if self.verbose: print "[Servo] Dutycycle changed to ", axis,",", self.dc
55 | except:
56 | time.sleep(0.001)
57 | pass
58 |
59 | if __name__ == "__main__":
60 | GPIO.setmode(GPIO.BOARD)
61 |
62 | GPIO.setup(7, GPIO.OUT) # step
63 | pwm = GPIO.PWM(7, 50)
64 | pwm.start(0)
65 |
66 | for i in range(10):
67 | pwm.ChangeDutyCycle(i)
68 | time.sleep(0.5)
69 |
70 |
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/server-websocket/robot/__init__.py:
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https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/server-websocket/robot/__init__.py
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/server-websocket/static/css/button.css:
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1 | .button {
2 | -webkit-box-shadow: inset 0px 1px 0px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.15);
3 | -moz-box-shadow: inset 0px 1px 0px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.15);
4 | box-shadow: inset 0px 1px 0px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.15);
5 | background-color: #eeeeee;
6 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #fbfbfb), color-stop(100%, #e1e1e1));
7 | background: -webkit-linear-gradient(top, #fbfbfb, #e1e1e1);
8 | background: -moz-linear-gradient(top, #fbfbfb, #e1e1e1);
9 | background: -o-linear-gradient(top, #fbfbfb, #e1e1e1);
10 | background: linear-gradient(top, #fbfbfb, #e1e1e1);
11 | display: -moz-inline-stack;
12 | display: inline-block;
13 | vertical-align: middle;
14 | *vertical-align: auto;
15 | zoom: 1;
16 | *display: inline;
17 | border: 1px solid #d4d4d4;
18 | height: 32px;
19 | line-height: 32px;
20 | padding: 0px 25.6px;
21 | font-weight: 300;
22 | font-size: 14px;
23 | font-family: "HelveticaNeue-Light", "Helvetica Neue Light", "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif;
24 | color: #666666;
25 | text-shadow: 0 1px 1px white;
26 | margin: 0;
27 | text-decoration: none;
28 | text-align: center;
29 | }
30 |
31 | .button:hover {
32 | background-color: #eeeeee;
33 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #ffffff), color-stop(100%, #dcdcdc));
34 | background: -webkit-linear-gradient(top, #ffffff, #dcdcdc);
35 | background: -moz-linear-gradient(top, #ffffff, #dcdcdc);
36 | background: -o-linear-gradient(top, #ffffff, #dcdcdc);
37 | background: linear-gradient(top, #ffffff, #dcdcdc);
38 | }
39 |
40 | .button:active {
41 | -webkit-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.3), 0px 1px 0px white;
42 | -moz-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.3), 0px 1px 0px white;
43 | box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.3), 0px 1px 0px white;
44 | text-shadow: 0px 1px 0px rgba(255, 255, 255, 0.4);
45 | background: #eeeeee;
46 | color: #bbbbbb;
47 | }
48 |
49 |
50 | input.button, button.button {
51 | height: 34px;
52 | cursor: pointer;
53 | }
54 |
55 |
56 | .button-block {
57 | display: block;
58 | }
59 |
60 |
61 | .button.disabled,
62 | .button.disabled:hover,
63 | .button.disabled:active,
64 | input.button:disabled,
65 | button.button:disabled {
66 | -webkit-box-shadow: 0px 1px 2px rgba(0, 0, 0, 0.1);
67 | -moz-box-shadow: 0px 1px 2px rgba(0, 0, 0, 0.1);
68 | box-shadow: 0px 1px 2px rgba(0, 0, 0, 0.1);
69 | background: #EEE;
70 | border: 1px solid #dddddd;
71 | text-shadow: 0 1px 1px white;
72 | color: #CCC;
73 | cursor: default;
74 | }
75 |
76 |
77 | .button-wrap {
78 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #e3e3e3), color-stop(100%, #f2f2f2));
79 | background: -webkit-linear-gradient(top, #e3e3e3, #f2f2f2);
80 | background: -moz-linear-gradient(top, #e3e3e3, #f2f2f2);
81 | background: -o-linear-gradient(top, #e3e3e3, #f2f2f2);
82 | background: linear-gradient(top, #e3e3e3, #f2f2f2);
83 | -webkit-border-radius: 200px;
84 | -moz-border-radius: 200px;
85 | -ms-border-radius: 200px;
86 | -o-border-radius: 200px;
87 | border-radius: 200px;
88 | -webkit-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.04);
89 | -moz-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.04);
90 | box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.04);
91 | padding: 10px;
92 | display: inline-block;
93 | }
94 |
95 |
96 |
97 | .button-circle {
98 | -webkit-border-radius: 240px;
99 | -moz-border-radius: 240px;
100 | -ms-border-radius: 240px;
101 | -o-border-radius: 240px;
102 | border-radius: 240px;
103 | -webkit-box-shadow: inset 0px 1px 1px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.2);
104 | -moz-box-shadow: inset 0px 1px 1px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.2);
105 | box-shadow: inset 0px 1px 1px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.2);
106 | width: 120px;
107 | line-height: 120px;
108 | height: 120px;
109 | padding: 0px;
110 | border-width: 4px;
111 | font-size: 18px;
112 | }
113 |
114 |
115 | .button-primary {
116 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #00b5e5), color-stop(100%, #008db2));
117 | background: -webkit-linear-gradient(top, #00b5e5, #008db2);
118 | background: -moz-linear-gradient(top, #00b5e5, #008db2);
119 | background: -o-linear-gradient(top, #00b5e5, #008db2);
120 | background: linear-gradient(top, #00b5e5, #008db2);
121 | background-color: #00a1cb;
122 | border-color: #007998;
123 | color: white;
124 | text-shadow: 0 -1px 1px rgba(0, 40, 50, 0.35);
125 | }
126 |
127 | .button-primary:hover {
128 | background-color: #00a1cb;
129 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #00c9fe), color-stop(100%, #008db2));
130 | background: -webkit-linear-gradient(top, #00c9fe, #008db2);
131 | background: -moz-linear-gradient(top, #00c9fe, #008db2);
132 | background: -o-linear-gradient(top, #00c9fe, #008db2);
133 | background: linear-gradient(top, #00c9fe, #008db2);
134 | }
135 |
136 | .button-primary:active {
137 | background: #1495b7;
138 | color: #005065;
139 | }
140 |
141 |
142 | .button-action {
143 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #8fcf00), color-stop(100%, #6b9c00));
144 | background: -webkit-linear-gradient(top, #8fcf00, #6b9c00);
145 | background: -moz-linear-gradient(top, #8fcf00, #6b9c00);
146 | background: -o-linear-gradient(top, #8fcf00, #6b9c00);
147 | background: linear-gradient(top, #8fcf00, #6b9c00);
148 | background-color: #7db500;
149 | border-color: #5a8200;
150 | color: white;
151 | text-shadow: 0 -1px 1px rgba(19, 28, 0, 0.35);
152 | }
153 |
154 | .button-action:hover {
155 | background-color: #7db500;
156 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #a0e800), color-stop(100%, #6b9c00));
157 | background: -webkit-linear-gradient(top, #a0e800, #6b9c00);
158 | background: -moz-linear-gradient(top, #a0e800, #6b9c00);
159 | background: -o-linear-gradient(top, #a0e800, #6b9c00);
160 | background: linear-gradient(top, #a0e800, #6b9c00);
161 | }
162 |
163 | .button-action:active {
164 | background: #76a312;
165 | color: #374f00;
166 | }
167 |
168 |
169 | .button-highlight {
170 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #fa9915), color-stop(100%, #d87e04));
171 | background: -webkit-linear-gradient(top, #fa9915, #d87e04);
172 | background: -moz-linear-gradient(top, #fa9915, #d87e04);
173 | background: -o-linear-gradient(top, #fa9915, #d87e04);
174 | background: linear-gradient(top, #fa9915, #d87e04);
175 | background-color: #f18d05;
176 | border-color: #bf7004;
177 | color: white;
178 | text-shadow: 0 -1px 1px rgba(91, 53, 2, 0.35);
179 | }
180 |
181 | .button-highlight:hover {
182 | background-color: #f18d05;
183 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #fba42e), color-stop(100%, #d87e04));
184 | background: -webkit-linear-gradient(top, #fba42e, #d87e04);
185 | background: -moz-linear-gradient(top, #fba42e, #d87e04);
186 | background: -o-linear-gradient(top, #fba42e, #d87e04);
187 | background: linear-gradient(top, #fba42e, #d87e04);
188 | }
189 |
190 | .button-highlight:active {
191 | background: #d8891e;
192 | color: #8d5303;
193 | }
194 |
195 |
196 | .button-caution {
197 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #e8543f), color-stop(100%, #d9331a));
198 | background: -webkit-linear-gradient(top, #e8543f, #d9331a);
199 | background: -moz-linear-gradient(top, #e8543f, #d9331a);
200 | background: -o-linear-gradient(top, #e8543f, #d9331a);
201 | background: linear-gradient(top, #e8543f, #d9331a);
202 | background-color: #e54028;
203 | border-color: #c22d18;
204 | color: white;
205 | text-shadow: 0 -1px 1px rgba(103, 24, 13, 0.35);
206 | }
207 |
208 | .button-caution:hover {
209 | background-color: #e54028;
210 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #eb6855), color-stop(100%, #d9331a));
211 | background: -webkit-linear-gradient(top, #eb6855, #d9331a);
212 | background: -moz-linear-gradient(top, #eb6855, #d9331a);
213 | background: -o-linear-gradient(top, #eb6855, #d9331a);
214 | background: linear-gradient(top, #eb6855, #d9331a);
215 | }
216 |
217 | .button-caution:active {
218 | background: #cd5240;
219 | color: #952312;
220 | }
221 |
222 |
223 | .button-royal {
224 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #99389f), color-stop(100%, #752a79));
225 | background: -webkit-linear-gradient(top, #99389f, #752a79);
226 | background: -moz-linear-gradient(top, #99389f, #752a79);
227 | background: -o-linear-gradient(top, #99389f, #752a79);
228 | background: linear-gradient(top, #99389f, #752a79);
229 | background-color: #87318c;
230 | border-color: #632466;
231 | color: white;
232 | text-shadow: 0 -1px 1px rgba(26, 9, 27, 0.35);
233 | }
234 |
235 | .button-royal:hover {
236 | background-color: #87318c;
237 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #ab3eb2), color-stop(100%, #752a79));
238 | background: -webkit-linear-gradient(top, #ab3eb2, #752a79);
239 | background: -moz-linear-gradient(top, #ab3eb2, #752a79);
240 | background: -o-linear-gradient(top, #ab3eb2, #752a79);
241 | background: linear-gradient(top, #ab3eb2, #752a79);
242 | }
243 |
244 | .button-royal:active {
245 | background: #764479;
246 | color: #3e1740;
247 | }
248 |
--------------------------------------------------------------------------------
/server-websocket/static/css/main.css:
--------------------------------------------------------------------------------
1 | body{
2 | margin:0;
3 | padding:0;
4 | }
5 |
6 | h1{
7 | width:100%;
8 | padding:0;
9 | margin:0;
10 | text-align:center;
11 | }
12 |
13 | .controllerzone{
14 | width:100%;
15 | height:100%;
16 | background-color:#eee;
17 | float:left;
18 | }
19 |
20 | .joystickzone-left{
21 | float:left;
22 | position:relative;
23 | left:0px;
24 | top:0px;
25 | width:20%;
26 | height:100%;
27 | background-color:#ccc;
28 | padding:0;
29 | margin:0;
30 | }
31 |
32 | .infozone{
33 | float:left;
34 | background-color:#eee;
35 | height:100%;
36 | width:60%;
37 | margin:0;
38 | padding:0;
39 | }
40 |
41 | .statuszone{
42 | float:left;
43 | background-color:#ccc;
44 | height:50%;
45 | width:100%;
46 | margin:0;
47 | padding:0;
48 | }
49 |
50 |
51 | .buttonzone{
52 | float:left;
53 | background-color:#ddd;
54 | height:50%;
55 | width:100%;
56 | margin:0;
57 | padding:0;
58 |
59 | }
60 |
61 | .joystickzone-right{
62 | float:right;
63 | position:relative;
64 | left:0px;
65 | top:0px;
66 | width:20%;
67 | height:100%;
68 | background-color:#ccc;
69 | margin:0;
70 | padding:0
71 | }
72 |
--------------------------------------------------------------------------------
/server-websocket/static/css/style.css:
--------------------------------------------------------------------------------
1 | body{
2 | float:left;
3 | width:100%;
4 | height:100%;
5 | margin:0;
6 | padding:0;
7 | overscroll-behavior:contain;
8 | }
9 |
10 | .joystick_zone{
11 | float:left;
12 | width:20%;
13 | height:100%;
14 | background-color:#000;
15 | opacity:0.5;
16 | margin:0;
17 | padding:0;
18 | }
19 |
20 | .middle_zone{
21 | float:left;
22 | width:60%;
23 | height:100%;
24 | padding:0;
25 | margin:0;
26 | border-style:none dashed none dashed;
27 | margin-left:0px;
28 | margin-right:0px;
29 | -webkit-box-sizing: border-box; /* box not larger when borders applied */
30 | }
31 |
32 |
33 | .led_zone{
34 | float:left;
35 | width:86%;
36 | margin-left:5%;
37 | margin-right:5%;
38 | margin-top:10px;
39 | margin-bottom:-10px;
40 | }
41 |
42 | .button_zone{
43 | float:left;
44 | width:100%;
45 | height:45%;
46 | margin:0;
47 | padding:0;
48 | vertical-align:middle;
49 | }
50 |
51 | .info_zone{
52 | float:left;
53 | width:86%;
54 | height:41%;
55 | margin-left:5%;
56 | margin-right:5%;
57 | margin-top:5%;
58 | padding-left:2%;
59 | padding-right:2%;
60 | padding-top:2%;
61 | padding-bottom:2%;
62 | background-color:#eee;
63 | box-shadow: inset 0 0 10px rgba(0,0,0,.5);
64 | font-family:Orbitron;
65 | }
66 |
67 | .led-box {
68 | float: left;
69 | margin:0;
70 | padding:0;
71 | }
72 |
73 | .led-text {
74 | float:left;
75 | line-height:18px;
76 | vertical-align:middle;
77 | margin-left:5px;
78 | font-family:Orbitron;
79 | font-size:10pt;
80 | }
81 |
82 | .led-blue {
83 | float:left;
84 | width: 14px;
85 | height: 14px;
86 | background-color: #24E0FF;
87 | border-radius: 50%;
88 | box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #006 0 -1px 9px, #3F8CFF 0 2px 14px;
89 | }
90 |
91 | .led-red {
92 | float:left;
93 | width: 14px;
94 | height: 14px;
95 | background-color: #F00;
96 | border-radius: 50%;
97 | box-shadow: rgba(0, 0, 0, 0.2) 0 -1px 7px 1px, inset #441313 0 -1px 9px, rgba(255,0,0,0.5) 0 2px 14px;
98 | }
99 |
100 |
101 | .joystick_base{
102 | display:none;
103 | width:100px;
104 | height:100px;
105 | background-color:#666;
106 | z-index:100;
107 | position:absolute;
108 | top:0;
109 | left:0;
110 | border-radius:50%;
111 | }
112 |
113 |
114 |
115 | .joystick_nip{
116 | display:none;
117 | width:50px;
118 | height:50px;
119 | background-color:#333;
120 | z-index:100;
121 | position:absolute;
122 | top:0;
123 | left:0;
124 | border-radius:50%;
125 | }
126 |
127 | .noSelect {
128 | -webkit-touch-callout: none;
129 | -webkit-user-select: none;
130 | -khtml-user-select: none;
131 | -moz-user-select: none;
132 | -ms-user-select: none;
133 | -webkit-tap-highlight-color:transparent;
134 | user-select: none;
135 | }
136 |
137 |
138 | .button{
139 | background-image: -webkit-linear-gradient(top, #f4f1ee, #fff);
140 | background-image: linear-gradient(top, #f4f1ee, #fff);
141 | border-radius: 50%;
142 | box-shadow: 0px 8px 10px 0px rgba(0, 0, 0, .3), inset 0px 4px 1px 1px white, inset 0px -3px 1px 1px rgba(204,198,197,.5);
143 | float:left;
144 | height: 70px;
145 | margin-left:5%;
146 | margin-right:5%;
147 | margin-top:5%;
148 | position: relative;
149 | width: 70px;
150 | -webkit-transition: all .01s linear;
151 | transition: all .01s linear;
152 | vertical-align:middle;
153 | }
154 |
155 | .button:after{
156 | color:#e9e6e4;
157 | content: "";
158 | display: block;
159 | font-size: 30px;
160 | height: 30px;
161 | text-decoration: none;
162 | text-shadow: 0px -1px 1px #bdb5b4, 1px 1px 1px white;
163 | position: absolute;
164 | width: 30px;
165 | }
166 |
167 |
168 | .buttonB:after{
169 | content: "B";
170 | left: 24px;
171 | top: 20px;
172 | }
173 |
174 | .flower:after{
175 | content: "✿";
176 | left: 23px;
177 | top: 14px;
178 | }
179 |
180 | .buttonA:after{
181 | content: "A";
182 | left:24px;
183 | top:20px;
184 | }
185 |
186 | .cross:after{
187 | content: "✖";
188 | left: 24px;
189 | top: 15px;
190 | }
191 |
192 |
193 |
194 |
195 | .button:active{
196 | background-image: -webkit-linear-gradient(top, #efedec, #f7f4f4);
197 | background-image: linear-gradient(top, #efedec, #f7f4f4);
198 | box-shadow: 0 3px 5px 0 rgba(0,0,0,.4), inset 0px -3px 1px 1px rgba(204,198,197,.5);
199 | }
200 |
201 | .button:active:after{
202 | color:#dbd2d2;
203 | text-shadow: 0px -1px 1px #bdb5b4, 0px 1px 1px white;
204 | }
205 |
--------------------------------------------------------------------------------
/server-websocket/static/js/Joystick.js:
--------------------------------------------------------------------------------
1 | var Joystick = function(divname,num, socket, name){
2 | this.divname = "#"+divname; // so we can use jquery
3 | this.num = num;
4 | this.socket = socket;
5 | this.name = name;
6 | this.radius = 50;
7 | this.sx = -1;
8 | this.sy = -1;
9 | this.offset = $(this.divname).offset();
10 |
11 | /* create base div */
12 | $('
').appendTo('body');
13 | $(this.divname+"_base_"+num).css("width",(this.radius*2)+"px");
14 | $(this.divname+"_base_"+num).css("height",(this.radius*2)+"px");
15 |
16 | $('
').appendTo('body');
17 | console.log("CTOR called for " + divname);
18 |
19 |
20 | /* create listener */
21 | $(this.divname).bind('touchstart touchmove click', {parentObj:this}, function(evt){
22 | var parentobj = evt.data.parentObj;
23 | var touch = evt.originalEvent.targetTouches[0];
24 | var offset = $(parentobj.divname).offset();
25 | var x = touch.clientX - offset.left;
26 | var y = touch.clientY - offset.top;
27 |
28 | if (!(
29 | touch.clientX <= $(this).offset().left || touch.clientX >= $(this).offset().left + $(this).outerWidth() ||
30 | touch.clientY <= $(this).offset().top || touch.clientY >= $(this).offset().top + $(this).outerHeight())){
31 | if(parentobj.sx == -1){
32 | parentobj.start(x,y);
33 | }else{
34 | parentobj.handle(x,y);
35 | }
36 |
37 | /* send data via websocket */
38 | var data = {}
39 | data[parentobj.name] = [(x-parentobj.sx)/parentobj.radius, (y-parentobj.sy)/parentobj.radius];
40 | parentobj.socket.emit('control', {data:data});
41 | }
42 | evt.preventDefault();
43 | });
44 |
45 | $(this.divname).bind('touchend', {parentObj:this}, function(evt){
46 | var parentobj = evt.data.parentObj;
47 | parentobj.sx = -1;
48 | parentobj.sy = -1;
49 | $('#output'+parentobj.num).html("joystick end");
50 | $(parentobj.divname+"_overlay_"+parentobj.num).css("display","none");
51 | $(parentobj.divname+"_base_"+parentobj.num).css("display","none");
52 |
53 | /* send data via websocket */
54 | var data = {}
55 | data[parentobj.name] = [0.0,0.0];
56 | parentobj.socket.emit('control', {data:data});
57 |
58 | evt.preventDefault();
59 | });
60 | }
61 |
62 | Joystick.prototype.start = function(sx,sy){
63 | this.sx = sx;
64 | this.sy = sy;
65 |
66 | $(this.divname+'_overlay_'+this.num).css("display","block");
67 | $(this.divname+'_overlay_'+this.num).css("top", (this.sy-25+this.offset.left)+"px");
68 | $(this.divname+'_overlay_'+this.num).css("left" ,(this.sx-25+this.offset.top)+"px");
69 |
70 | $(this.divname+'_base_'+this.num).css("display","block");
71 | $(this.divname+'_base_'+this.num).css("top", (this.sy-this.radius+this.offset.top)+"px");
72 | $(this.divname+'_base_'+this.num).css("left" ,(this.sx-this.radius+this.offset.left)+"px");
73 | }
74 |
75 | Joystick.prototype.handle = function(x,y){
76 | // calculate relative coordinates to starting point
77 | if(Math.sqrt(Math.pow(x-this.sx,2)+Math.pow(y-this.sy, 2)) < this.radius){
78 | $('#output'+this.num).html("joystick move:"+ ((x-this.sx)/this.radius).toFixed(1) + ":" + ((y-this.sy)/this.radius).toFixed(1));
79 |
80 | $(this.divname+'_overlay_'+this.num).css("top", (y-25+this.offset.top)+"px");
81 | $(this.divname+'_overlay_'+this.num).css("left" ,(x-25+this.offset.left)+"px");
82 | }
83 | }
84 |
85 |
--------------------------------------------------------------------------------
/server-websocket/static/js/jquery-3.3.1.min.js:
--------------------------------------------------------------------------------
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7 |
8 |
9 |
10 |
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12 |
13 |
14 |
19 |
20 |
-=<| robotcontrol v1.0 |>=-
21 |
Joystick left
22 |
Joystick right
23 |
Buttons
24 |
25 |
26 |
30 |
31 |
32 |
33 |
34 |
78 |
79 |
80 |