saved

4 files changed, 243 insertions, 3 deletions

diff --git a/index.html b/index.html
index 1623c45..45ec687 100644
--- a/index.html
+++ b/index.html
@@ -19,7 +19,7 @@
         </canvas>
 
         <script src="https://unpkg.com/mqtt/dist/mqtt.min.js"></script>
-        <script src="./robot.js"></script>
-        <script src="./index.js"></script>
+        <script src="./temp_robot.js"></script>
+        <script src="./temp.js"></script>
     </body>
 </html>
diff --git a/robot.js b/robot.js
index 9433dfc..e67aba4 100644
--- a/robot.js
+++ b/robot.js
@@ -1,4 +1,4 @@
-const client = mqtt.connect("ws://marcellus.cc:9001");
+const client = mqtt.connect("ws://marcelus.net:9001");
 
 function wait(ms)
 {
diff --git a/temp.js b/temp.js
new file mode 100644
index 0000000..1accb19
--- /dev/null
+++ b/temp.js
@@ -0,0 +1,181 @@
+const canvas = document.getElementById('drawing-board');
+const ctx = canvas.getContext('2d');
+const reset = document.getElementById("reset");
+
+robot = document.getElementById('robot');
+cross = document.getElementById('cross');
+
+const canvasOffsetX = canvas.offsetLeft;
+const canvasOffsetY = canvas.offsetTop;
+
+let scale = 2
+let drawings = []
+let prev = 0
+let angle = 0
+
+let speed = 200 // mm/s
+let dx = 0
+let dy = 0
+let conv = 10
+let animation = 0
+
+canvas.width = window.innerWidth - canvasOffsetX * 2;
+canvas.height = window.innerHeight - canvasOffsetY * 2;
+
+ctx.translate(canvas.width/2 + canvasOffsetX, canvas.height/2 + canvasOffsetY)
+
+reset.style.top = canvasOffsetY * 2 + "px";
+reset.style.right = canvasOffsetX * 2 + "px";
+robot.style.left = (canvas.width/2 + canvasOffsetX)/canvas.width *100 + "%"
+robot.style.top = (canvas.height/2 + canvasOffsetY)/canvas.height *100 + "%"
+
+class Wall {
+    constructor(x,y,a) {
+        this.x = x
+        this.y = y
+        this.h = 5
+        this.a = a
+    }
+
+    draw(context) {
+        context.fillRect(this.x - robot.offsetWidth/2, this.y - this.h/2,robot.offsetWidth,this.h)
+    }
+}
+
+canvas.addEventListener('mousedown', (e) => {
+    if (animation != 0) {
+        cancelAnimationFrame(animation)
+    }
+    cross.style.visibility = "visible";
+
+    x = e.layerX - canvas.width/2 - 2*canvasOffsetX
+    y = e.layerY - canvas.height/2 - 2*canvasOffsetY
+    cross.style.left = e.layerX - canvasOffsetX + "px"
+    cross.style.top = e.layerY - canvasOffsetY + "px"
+
+    prev = angle
+    angle = Math.atan(x/Math.abs(y))
+
+    sym = 1
+    if (x < 0) {
+        sym = -1
+    }
+
+    if (y > 0) {
+        angle = sym*Math.PI - angle
+    }
+
+    robot.style.transform = 'translate(-50%, -50%) rotate('+ angle +'rad)';
+    dist = Math.sqrt(x*x + y*y)
+    t = (dist/speed) * 1000/conv //miss conv
+    dx = x/(t)
+    dy = y/(t)
+    diff = angle - prev
+
+    if(angle * prev < 0 ) {
+        diff = (Math.abs(angle) + Math.abs(prev))
+        if (angle < 0)
+            diff = -diff
+    }
+    console.log("net angle :" + angle * 180 / Math.PI)
+
+    if(diff > Math.PI) {
+        diff = diff - 2*Math.PI
+    }
+    if (diff < -Math.PI) {
+        diff = diff + 2*Math.PI
+    }
+    moveTo(dist,diff)
+    
+    moveAll()
+});
+/*
+client.on('message', function (topic, message) {
+    let val = message.toString();
+    if (val == 'STOP') {
+        dx = 0
+        dy = 0
+    }
+    else {
+        var n = parseInt(val);
+        if (!isNaN(n)){
+            if (n < 150){
+                wall = new Wall(n * Math.sin(angle), - n * Math.cos(angle), angle)
+                drawings.push(wall)
+                draw(wall)
+            }
+        }
+    }
+});*/
+
+
+function test(wall) {
+    drawings.push(wall)
+    draw(wall)
+}
+
+function stop() {
+    dx = 0
+    dy = 0
+    if (animation != 0) {
+        cancelAnimationFrame(animation)
+    }
+}
+
+
+function draw(wall) {
+    ctx.save()
+    x = wall.x
+    y = wall.y
+    wall.x = 0
+    wall.y = 0
+    ctx.translate(x,y)
+    ctx.rotate(wall.a)
+    wall.draw(ctx)
+    wall.x = x
+    wall.y = y
+    ctx.restore()
+}
+
+function moveAll() {
+
+    a = canvas.width/2 + canvasOffsetX
+    b = canvas.height/2 + canvasOffsetY
+    ctx.clearRect(-a,-b,canvas.width,canvas.height)
+
+    drawings.forEach((e) => {
+        e.x -= dx
+        e.y -= dy
+        draw(e) 
+    })
+    animation = requestAnimationFrame(moveAll)
+}
+
+reset.onclick = () => {
+    a = canvas.width/2 + canvasOffsetX
+    b = canvas.height/2 + canvasOffsetY
+    ctx.clearRect(-a,-b,canvas.width,canvas.height)
+    cross.style.visibility = 'hidden'
+    drawings = [];
+    angle = 0
+    prev = 0
+    dx = 0
+    dy = 0
+    robot.style.transform = 'translate(-50%, -50%) rotate(0deg)';
+}
+
+function resizeCanvas() {
+    cross.style.visibility = 'hidden'
+    canvas.width = window.innerWidth - canvasOffsetX * 2
+    canvas.height = window.innerHeight - canvasOffsetY *2
+    reset.style.top = canvasOffsetY * 2 + "px";
+    reset.style.right = canvasOffsetX * 2 + "px";
+    robot.style.left = (canvas.width/2 + canvasOffsetX)/canvas.width *100 + "%"
+    robot.style.top = (canvas.height/2 + canvasOffsetY)/canvas.height *10
+
+    ctx.setTransform(1, 0, 0, 1, 0, 0);
+    ctx.translate(canvas.width/2 + canvasOffsetX, canvas.height/2 + canvasOffsetY)
+    moveAll(0,0)
+}
+
+window.onresize = resizeCanvas;
\ No newline at end of file
diff --git a/temp_robot.js b/temp_robot.js
new file mode 100644
index 0000000..b47ace2
--- /dev/null
+++ b/temp_robot.js
@@ -0,0 +1,59 @@
+const client = mqtt.connect("ws://marcellus.cc:9001");
+
+function wait(ms)
+{
+    return new Promise((resolve, reject) => {
+        let isObstacle = false;
+
+        const timer = setTimeout(() => {
+            if(!isObstacle){
+                resolve(0);
+            } // Le délai s'est écoulé sans détecter d'obstacle
+        }, ms);
+
+        // Supposons que `client` est un objet qui écoute les messages
+        client.on('message', (topic, message) => {
+            if (topic === 'move' && parseInt(message.toString()) < 150) {
+                isObstacle = true;
+                clearTimeout(timer);
+                resolve(1); // Un obstacle a été détecté
+            }
+        });
+    });
+}
+
+function getTime(dist)
+{
+    let res = (dist / 200)*1000
+    //console.log('time is '+res)
+    return res
+}
+
+async function moveTo(dist,angle)
+{
+    console.log('dist is '+ dist)
+    ang = angle * 180 /Math.PI
+    console.log('ang is :' + ang.toString())
+    var str = 'T'+(Math.floor(ang)).toString()
+    client.publish('move',str)
+    client.publish('move','D200')
+    const time = getTime(dist)
+    let tmp = await wait(time);
+    if (tmp == 0){
+        client.publish('move', 'STOP');
+    }
+    stop()
+    
+}
+
+client.on('connect', () => {
+    console.log('Connecté au courtier MQTT');
+    client.subscribe('move')
+});
+// client.publish('move','ULT1')
+
+
+/* client.on('close', function () {
+    console.log('Déconnecté du courtier MQTT');
+});*/
+