Initial commit

2026-02-01 13:25:03 +01:00
commit b20d92535b
39 changed files with 6260 additions and 0 deletions
--- a/startRobot.js
+++ b/startRobot.js
@@ -0,0 +1,114 @@
+const fs = require('fs');
+const https = require('https');
+const WebSocket = require('ws');
+
+
+const Robot = require('./robot/Robot.js')
+const GCode = require('./robot/GCode.js')
+                        // 238 + 1 + 25 = 264
+let robot = new Robot(250,264,100); //(300,290,10);
+
+
+const httpsOptions = {
+  "enable": true,
+  'key': fs.readFileSync('https/localhost.key'),
+  'cert':  fs.readFileSync('https/localhost.pem'),
+  "passphrase":   "abcd" 
+}
+
+server = https.createServer(httpsOptions, (req, res) => {;});
+
+const wss = new WebSocket.Server({ server });
+
+// Input Connection for WebService
+wss.on('connection', function connection(ws) 
+{
+  console.log("WebServer for Input is connected");
+
+  ws.on('message', function incoming(message) 
+  {
+    if(message == "Ping"){
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( message );
+        }
+      });
+    }
+
+    if(GCode.containsCommand(message)){
+      GCode.receiveGCode(robot,message);
+      reply = GCode.getM114(robot);
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( reply );
+        }
+      });
+    }
+
+    if(GCode.ContainsFilesCommand(message)){
+      reply = GCode.receiveFC(robot, message);
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( reply );
+        }
+      });
+    }
+    
+    // Request for Status
+    if(message == "M114"){
+      reply = GCode.getM114(robot);
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( reply );
+        }
+      });
+    }
+  });
+});
+
+
+var TenetSender = require('./robot/TelnetSenderGRBL.js')
+
+
+/*
+var telnetSender1 = null; //new TenetSender(urlGRBL = "fluidNcBase.local",   maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
+var telnetSender2 = null; // new TenetSender(urlGRBL = "fluidNcEllbow.local", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
+var telnetSender3 = null; // new TenetSender(urlGRBL = "fluidNcHand.local",   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
+*/
+
+var telnetSender1 = new TenetSender(urlGRBL = "fluidNcBase.local",   maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
+var telnetSender2 = new TenetSender(urlGRBL = "fluidNcEllbow.local", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
+var telnetSender3 = new TenetSender(urlGRBL = "fluidNcHand.local",   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
+
+
+setTimeout(function() {
+  if(telnetSender1?.tSocket != null) { robot.cmdReceivers.push(telnetSender1); console.log("Socket 1 added");}
+  else{ console.log("Socket 1 is not connected"); console.log(telnetSender1?.tSocket);}
+  
+  if(telnetSender2?.tSocket != null) { robot.cmdReceivers.push(telnetSender2); console.log("Socket 2 added");}
+  else{ console.log("Socket 2 is not connected"); console.log(telnetSender2?.tSocket);}
+
+  if(telnetSender3?.tSocket != null) { robot.cmdReceivers.push(telnetSender3); console.log("Socket 3 added");}
+  else{ console.log("Socket 3 is not connected"); console.log(telnetSender3?.tSocket);}
+}, 8000);
+
+setTimeout(function(){
+  if(robot.cmdReceivers.length == 0){
+    console.log("Kein GRBL Command-Receiver gefunden. Verwende reines Test-Setting.")
+  }
+},8002)
+
+console.log("Works with FluidNc Base");
+
+
+port = 2095
+server.listen(port);
+console.log("Listen on Port: https://localhost:" + port.toString()+ "/")