ChK/appRobotControlScara
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chk
2026-03-10 15:49:53 +01:00
parent 20e2790552
commit ab9b0919fb
7 changed files with 19 additions and 51 deletions
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11
pythonExample/example.py
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@@ -1,11 +0,0 @@
import websocket
import json
ws = websocket.WebSocket()
ws.connect("wss://localhost:3000")
ws.send(json.dumps({
"type":"jog",
"axis":"x",
"value":10
}))

14
scripts/accessWss.py Normal file
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@@ -0,0 +1,14 @@
import websocket
import json
import ssl
websocket.enableTrace(True)
ws = websocket.create_connection(
"wss://localhost:3000",
sslopt={"cert_reqs": ssl.CERT_NONE}
)
ws.send(json.dumps({"type": "gcode", "cmd": "G0 x104"}))
ws.close()

4
server/config/config.js
View File

@@ -1,11 +1,11 @@
module.exports = { module.exports = {
fluidnc: { fluidnc: {
host: process.env.FluidNcHost || "fluidncred.local", host: process.env.FluidNcHost || "fluidncRed.local",
port: Number(process.env.FluidNcPort) || 80, port: Number(process.env.FluidNcPort) || 80,
reconnectDelay: 30000 reconnectDelay: 30000
}, },
server: { server: {
port: Number(process.env.PORT) || 10000 port: Number(process.env.PORT) || 3000
} }
}; };

5
server/fluidnc/FluidNCClient.js
View File

@@ -38,7 +38,6 @@ class FluidNCClient extends EventEmitter {
}); });
} }
// --- BASIC COMMANDS ---
sendLine(cmd) { sendLine(cmd) {
if (this.ws && this.ws.readyState === WebSocket.OPEN) { if (this.ws && this.ws.readyState === WebSocket.OPEN) {
this.ws.send(cmd + "\n"); this.ws.send(cmd + "\n");
@@ -58,10 +57,6 @@ class FluidNCClient extends EventEmitter {
this.sendLine(cmd); this.sendLine(cmd);
} }
setZero() {
this.sendLine("G92 X0 Y0 Z0");
}
onMessage(fn) { onMessage(fn) {
this.on("message", fn); this.on("message", fn);
} }

26
server/fluidnc/StatusParser.js
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@@ -1,26 +0,0 @@
class StatusParser {
static parse(line){
if(!line.startsWith("<")) return null;
const stateMatch = line.match(/^<([^|]+)/);
const posMatch = line.match(/MPos:([^|]+)/);
if(!posMatch) return null;
const parts = posMatch[1].split(",");
return {
type: "status",
state: stateMatch ? stateMatch[1] : "unknown",
x: parseFloat(parts[0]),
y: parseFloat(parts[1]),
z: parseFloat(parts[2])
};
}
}
module.exports = StatusParser;

6
server/server.js
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@@ -46,10 +46,6 @@ wss.on("connection", (ws) => {
fluid.sendGcode(data.cmd); fluid.sendGcode(data.cmd);
} }
if (data.type === "zero") {
fluid.setZero();
}
} catch (e) { } catch (e) {
console.log("[WS] Error parsing:", e); console.log("[WS] Error parsing:", e);
} }
@@ -70,7 +66,7 @@ fluid.onMessage((msg) => {
}); });
}); });
// Status polling ("?" every 200ms) // Status polling ("?" every 50ms)
setInterval(() => { setInterval(() => {
fluid.requestStatus(); fluid.requestStatus();
}, 50); }, 50);

4
web/index.html
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@@ -2,7 +2,7 @@
<html lang="de"> <html lang="de">
<head> <head>
<meta charset="UTF-8" /> <meta charset="UTF-8" />
<title>SCARA Robot Control</title> <title>2D Robot Control</title>
<style> <style>
body { body {
background: #234; background: #234;
@@ -87,7 +87,7 @@
<body> <body>
<h1>SCARA Robot Control</h1> <h1>2D Robot Control</h1>
<div id="posBox"> <div id="posBox">
<div>X: <span id="posX">0.000</span></div> <div>X: <span id="posX">0.000</span></div>