Initial commit

.gitignore

@@ -0,0 +1,12 @@
+# Node
+node_modules
+npm-debug.log
+yarn-debug.log
+yarn-error.log
+pnpm-debug.log
+coverage
+dist
+build
+.env
+.env.
+.DS_Store

3DInput.js

@@ -0,0 +1,40 @@
+const fs = require('fs');
+const https = require('https');
+const WebSocket = require('ws');
+const url = require('url');
+
+const httpsOptions = {
+  "enable": true,
+  'key': fs.readFileSync('https/localhost.key'),
+  'cert':  fs.readFileSync('https/localhost.pem'),
+  "passphrase":   "abcd" 
+}
+
+server = https.createServer(httpsOptions, (req, res) => {
+  let parsedURL = url.parse(req.url, true);
+  let path = parsedURL.path.replace(/^\/+|\/+$/g,"");
+  if(path == ""){ path = "index.html"; }
+
+  
+  let file = __dirname + "/public/" + path;
+ 
+  console.log("file : " + file);
+  fs.readFile(file, function(err, content){
+  if(err){
+      console.log("File Not found "+ file);
+      res.writeHead(404);
+      res.end();
+  } else {
+      res.setHeader('X-Content-Type-Option', 'nosniff');
+      //let mime = lookup(path);
+      let mime = "text/html"
+      res.writeHead(200,{'Content-type': mime});      
+      res.end(content);
+  }
+  })
+});
+
+
+server.listen(10010);
+console.log("Connect to: https://localhost:10010")
+

CallCode.bat

@@ -0,0 +1,2 @@
+code .
+exit

https/cert_abcd.cer

@@ -0,0 +1,19 @@
+-----BEGIN CERTIFICATE-----
+MIIDGDCCAgCgAwIBAgIQIKm3TdMAErVIFuSUWmXD1TANBgkqhkiG9w0BAQsFADAU
+MRIwEAYDVQQDDAlsb2NhbGhvc3QwHhcNMjIwNzI3MTMwMDUzWhcNMjMwNzI3MTMy
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+/5+6Gc6u5+d3wLeO23q/sOARprC3ytzGc5bQRw==
+-----END CERTIFICATE-----

https/info.txt

@@ -0,0 +1,4 @@
+abcd
+
+
+SET OPENSSL_CONF="C:\Program Files (x86)\OpenSSL-Win32\bin\openssl.cfg"

https/key.pem

@@ -0,0 +1,27 @@
+-----BEGIN RSA PRIVATE KEY-----
+MIIEpAIBAAKCAQEArGn6Cbl+aqN8Fv0fW8IkDIHI3eF4mY6RdVIlJf9XD6amrUA4
+fh3cyjriGKwT/KxB8B5czluo0kJ4ZDZvEDnfUkSdCXo2oCg6hBUfvcIA0X15rrn2
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+OSN22zpjLTCv5TVRks2JfM3j5onBS1SqrHVd50DvV9E35CDl0/sUTg==
+-----END RSA PRIVATE KEY-----

https/localhost.key

@@ -0,0 +1,30 @@
+-----BEGIN RSA PRIVATE KEY-----
+Proc-Type: 4,ENCRYPTED
+DEK-Info: AES-256-CBC,9FB898B8D313CB3A043B4F4E2F62C6D8
+
+cg368RyYjMGTo9L8CtbSDMvzUisFai7fsWtrzegoGMrgYEsmkqI/NPDHO893tf7n
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+-----END RSA PRIVATE KEY-----

https/localhost.pem

@@ -0,0 +1,22 @@
+-----BEGIN CERTIFICATE-----
+MIIDuzCCAqOgAwIBAgIJAOtJAMcSg7G5MA0GCSqGSIb3DQEBCwUAMHQxCzAJBgNV
+BAYTAkNIMQswCQYDVQQIDAJaSDEPMA0GA1UEBwwGWnVyaWNoMQwwCgYDVQQKDAND
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+-----END CERTIFICATE-----

https/localhost2.key

@@ -0,0 +1,30 @@
+-----BEGIN RSA PRIVATE KEY-----
+Proc-Type: 4,ENCRYPTED
+DEK-Info: AES-256-CBC,FD72C71993563663BEF543276EED15FD
+
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+-----END RSA PRIVATE KEY-----

install.bat

@@ -0,0 +1,6 @@
+npm install config
+npm install os
+npm install --save express
+npm install wss
+npm init
+

package.json

@@ -0,0 +1,15 @@
+{
+  "name": "roboticsdriver_webservicetest",
+  "version": "1.0.0",
+  "description": "WebService is provieded here",
+  "main": "3DInput.js",
+  "scripts": {
+    "start": "node 3DInput.js"
+  },
+  "author": "Ch Kendel",
+  "license": "ISC",
+  "dependencies": {
+    "express": "^4.18.2",
+    "wss": "^3.3.4"
+  }
+}

public/GamePad.js

@@ -0,0 +1,110 @@
+var isRunning = false;
+var gamePadId = 0;
+var gamepad = {};
+
+let lastCheckTime = 0;
+
+
+
+function checkGamePad() {
+			if(isRunning  == false){return;}
+
+			const stepSize = "0.01";
+			const stepSizeXYZ = "0.5"; // 3 ist auch ok
+			const stepSizeE = "0.01";
+			var gp = navigator.getGamepads()[gamePadId]
+			var buttons = gp.buttons 
+
+			var xyzSpeed = 10; // 100 geht auch
+
+			var psi = gp.axes[0];
+			var z = gp.axes[1];
+			var x = gp.axes[2];
+			var y = gp.axes[3];
+
+
+			// Dreieck zum Dreieck-Setzen
+			if (buttons[3].pressed) {				
+				socket.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B${-1.0*Math.PI/2} C0 F${xyzSpeed}`);
+			}
+			if (buttons[4].pressed) {
+				//console.log("x=" + robot.x + "  y=" + robot.y + " z=" + robot.z);
+			}
+
+
+			
+			// X Button setzt eine Marke
+			if(buttons[0].pressed && (Date.now() - lastCheckTime > 500)){
+				lastCheckTime = Date.now()
+				console.log('FPoint!');
+				socket.send('FPoint');
+				socket.send('FShow');
+			}
+
+			// L1 und R1 Button to forward-backward in Point-List
+			if(gp.buttons[4].pressed && (Date.now() - lastCheckTime > 500)){
+				lastCheckTime = Date.now()
+				socket.send('FMinus');
+				socket.send('FShow');
+			}
+			if(gp.buttons[5].pressed && (Date.now() - lastCheckTime > 500)){
+				lastCheckTime = Date.now()
+				socket.send('FPlus');
+				socket.send('FShow');
+			}
+			
+			if (x < -0.2) { socket.send(`G91 G1 X+${stepSizeXYZ} F${xyzSpeed}`);}
+			if (x > 0.2) { socket.send(`G91 G1 X-${stepSizeXYZ} F${xyzSpeed}`);}
+
+			if (y < -0.2) { socket.send(`G91 G1 Y${stepSizeXYZ} F${xyzSpeed}`); }		
+			if (y > 0.2) { socket.send(`G91 G1 Y-${stepSizeXYZ} F${xyzSpeed}`);}
+
+			if (z < -0.2) { socket.send(`G91 G1 Z${stepSizeXYZ} F${xyzSpeed}`); }
+            if (z > 0.2) { socket.send(`G91 G1 Z-${stepSizeXYZ} F${xyzSpeed}`); }
+
+			
+			// Greif-Richtung
+			// LeftRight 
+			if(buttons[14].pressed){ socket.send(`G91 G1 A${stepSize} F${xyzSpeed}`);}
+			if(buttons[15].pressed){ socket.send(`G91 G1 A-${stepSize} F${xyzSpeed}`);}
+			// Up - Down
+			if(buttons[12].pressed){ socket.send(`G91 G1 B${stepSize} F${xyzSpeed}`);}
+			if(buttons[13].pressed){ socket.send(`G91 G1 B-${stepSize} F${xyzSpeed}`);}
+			// Drehung
+			if (psi < -0.2) { socket.send(`G91 G1 C${stepSize} F${xyzSpeed}`); }
+            if (psi > 0.2) { socket.send(`G91 G1 C-${stepSize} F${xyzSpeed}`); }
+
+			// Trigger-Buttons für Öffnen und Schliessen
+			if(buttons[6].pressed){socket.send(`G91 G1 E-${stepSizeE} F${xyzSpeed}`);}
+			if(buttons[7].pressed){socket.send(`G91 G1 E${stepSizeE} F${xyzSpeed}`);}
+
+			if (isRunning) { setTimeout(checkGamePad, 15);}
+}
+
+function gamepadHandler(event, connecting) {
+		
+			gamepad = event.gamepad;
+			if (typeof gamepad === `undefined`) {
+				isRunning = false;
+				gamePadId = 0;
+				console.warn("GamePad kann nicht gefunden werden");
+				return;
+            		}
+
+			if (connecting) {
+				console.log("GamePad " + event.gamepad.index + " connected");
+                		gamePadId = gamepad.index;
+				isRunning = true;
+				setTimeout(checkGamePad, 20);
+			} else {
+				console.log("GamePad " +gamePadId +" disconnected");
+				isRunning = false;
+				gamePadId = 0;
+			}
+}
+
+		
+window.addEventListener("gamepadconnected", function (e) { gamepadHandler(e, true); }, false);
+window.addEventListener("gamepaddisconnected", function (e) { gamepadHandler(e, false); }, false);
+
+document.addEventListener("touchstart", e => { console.log("TouchStart"); })

public/KeyboardInput.js

@@ -0,0 +1,66 @@
+document.onkeydown = checkKey;
+
+function checkKey(e) {
+
+    e = e || window.event;
+
+    if(e.key == 'a'  || e.key == 'A')
+    {
+        console.log("back to A position");
+        socket.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B-${Math.PI/2} C0 F100`);
+    }
+
+    // Hand-Winkel (Eulerwinkel)
+    else if(e.key == 'i' || e.key == 'I'){
+        socket.send('G91 G1 B+0.1 F100');
+    }
+    else if(e.key == 'k' || e.key == 'K'){
+        socket.send('G91 G1 B-0.1 F100');
+    }
+    else if(e.key == 'l' || e.key == 'L'){
+        socket.send('G91 G1 A+0.1 F100');
+    }
+    else if(e.key == 'j' || e.key == 'J'){
+        socket.send('G91 G1 A-0.1 F100');
+    }
+    else if(e.key == 'o' || e.key == 'O'){
+        socket.send('G91 G1 C+0.1 F100');
+    }
+    else if(e.key == 'u' || e.key == 'U'){
+        socket.send('G91 G1 C-0.1 F100');
+    }
+
+    // XYZ Koordinaten
+    else if(e.key == 'e' || e.key == 'E'){
+        socket.send('G91 G1 Z+5 F100');
+    }
+    else if(e.key == 'd' || e.key == 'D'){
+        socket.send('G91 G1 Z-5 F100');
+    }
+    else if(e.key == 's' || e.key == 'S'){
+        socket.send('G91 G1 X5 F100');
+    }
+    else if(e.key == 'f' || e.key == 'S'){
+        socket.send('G91 G1 X-5 F100');
+    }
+    else if(e.key == 'r' || e.key == 'R'){
+        socket.send('G91 G1 Y5 F100');
+    }
+    else if(e.key == 'w' || e.key == 'W'){
+        socket.send('G91 G1 Y-5 F100');
+    }
+
+    // File & Log-Operations
+    else if(e.key == ' '){
+        console.log('FPoint!')
+        socket.send('FPoint');
+    }
+    else if(e.key == 'b'){
+        socket.send('FMinus');
+    }
+    else if(e.key == 'n'){
+        socket.send('FPlus');
+    }
+    
+       
+}

public/WebService.js

@@ -0,0 +1,34 @@
+var startTime = Date.now() ;
+console.log("Meine Document-Location: " + document.location);
+var lastPingRequest;
+
+//var socket = new WebSocket(String(document.location).replace("https://","wss://").replace("10010","2095").replace("index.html","") + "echo");
+var socket = new WebSocket("wss://thinkcentre.local:2095/echo");
+socket.onopen = () => console.log('Connected') ||  setInterval(() => {  lastPingRequest = Date.now();
+                                                                        socket.send("Ping");
+                                                                     }, 5000);    
+socket.onclose = (event) =>  console.log((event.wasClean) ? 'Disconnected' :  'Connection break: ' + (event.reason || event.code)); 
+
+socket.onmessage = (event) => {
+    if(event.data == "Ping"){
+        console.log("Ping: " + (Date.now() - lastPingRequest).toString() + " ms");
+    }
+    else if(event.data.toString().includes("position")){
+        console.log("Position: " + event.data);
+    }
+    else if(event.data.toString().includes("XYZ__FShow__XYZ")){
+        const content = event.data.toString().split("XYZ__FShow__XYZ")[1];
+        console.log("File Content: " + content);
+        console.log(document.getElementById("GCodeWindow"))
+        
+        console.log(document.querySelectorAll("textarea#GCodeWindow.editor-look")[0]);
+
+        document.querySelectorAll("textarea#GCodeWindow.editor-look")[0].value = content;
+    }
+    else{
+        console.log('DATA  SinceStartup: ' +  (Date.now() - startTime).toString() +':  ', event.data);
+    }
+}
+socket.onerror = (err) => console.error(err.message);
+
+

public/index.html

@@ -0,0 +1,73 @@
+<!DOCTYPE html>
+<html>
+    <head>
+        <meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
+        <script src="WebService.js" defer></script>
+        <script src="KeyboardInput.js" defer></script>
+        <script src="GamePad.js" defer></script>
+        <script defer>
+            setTimeout(() => {  
+                socket.send('FShow');
+            }, 100);
+        </script>
+        <style>
+            #GCodeWindow{
+                width: 100%; 
+                height: 220px;
+            }
+        </style>
+    </head>
+    <body>
+    <div id="topMain">
+        <h1>Send Keyboard <br/>  & Gamepad Data</h1>
+        <button onclick="socket.send('G91 G1 Z10 F100');">Up</button>
+        <button onclick="socket.send('G91 G1 Z-10 F100');">Down</button>
+    </br/>
+        <button onclick="socket.send('G91 G1 X10 F100');">Right</button>
+        <button onclick="socket.send('G91 G1 X-10 F100');">Left</button>
+    <br/>
+        <button onclick="socket.send('G91 G1 Y10 F100');">Forward</button>
+        <button onclick="socket.send('G91 G1 Y-10 F100');">Backward</button>
+    <br/>
+        <button onclick="socket.send('M114');">Info</button>
+        <button onclick="socket.send('G28');">Null</button>
+
+    <br/>
+    <br/>
+        <button onclick="socket.send('G91 G1 A0.1 F100');">a+</button>
+        <button onclick="socket.send('G91 G1 A-0.1 F100');">a-</button>
+    <br/>
+        <button onclick="socket.send('G91 G1 B0.1 F100');">B+</button>
+        <button onclick="socket.send('G91 G1 B-0.1 F100');">B-</button>
+    <br/>
+        <button onclick="socket.send('G91 G1 C0.1 F100');">C+</button>
+        <button onclick="socket.send('G91 G1 C-0.1 F100');">C-</button>
+    </div>
+    <br/>
+        <button onclick="socket.send('G91 G1 E0.1 F100');">E+</button>
+        <button onclick="socket.send('G91 G1 E-0.1 F100');">E-</button>
+    </div>
+
+    <br/>
+    <br/>
+
+    <div id="GCode">
+        <form><a>Motor Koordinaten   (GCode) </a><input id="GMotor"/></form><button onclick="socket.send(GMotor.value.replace('G1','M1'));">Send</button>
+        <br/>
+        <form><a>Karthesische Koordinaten (GCode) </a><input id="GKarth"/></form>
+    </div>
+
+
+    <div id="divGCodeWindow">
+        <button onclick="socket.send('FShow');">ListFile</button>
+        <br/>
+        <textarea id="GCodeWindow" class="editor-look" readonly>
+
+        </textarea>
+        <br/>
+        <button onclick="console.log('FPoint!'); socket.send('FPoint');socket.send('FShow');">Point</button>
+        <button onclick="console.log('⇩'); socket.send('FPlus');socket.send('FShow');">⇩</button>
+        <button onclick="console.log('⇧'); socket.send('FMinus');socket.send('FShow');">⇧</button>
+    </div>
+    </body>
+    </html>

public/style.css

@@ -0,0 +1,4 @@
+#GCodeWindow{
+    width: 100%; 
+    height: 220px;
+}

run.bat

@@ -0,0 +1 @@
+node 3DInput.js