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index.php
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index.php
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<?php
header("Last-Modified: " . gmdate("D, d M Y H:i:s") . " GMT");
header("Cache-Control: no-store, no-cache, must-revalidate"); // HTTP/1.1
header("Cache-Control: post-check=0, pre-check=0", false);
header("Pragma: no-cache"); // HTTP/1.0
header("Expires: Sat, 26 Jul 1997 05:00:00 GMT"); // Date in the past
include('Roomba.php');
$start = microtime(true);
$roomba = new Roomba('http://192.168.0.28/');
$mix = microtime(true);
//$roomba = new Roomba('http://127.0.0.1:4444');
function urlCommand($name)
{
return $_SERVER['PHP_SELF'] . '?fun=' . $name;
}
function ajaxCommand($name)
{
return 'javascript:ajaxBasicFun(\'' . urlCommand($name) . '\');';
}
function ajaxDrive($velocity, $radius)
{
$url = urlCommand('drive') . '&velocity=' . $velocity . '&radius=' . $radius;
return 'javascript:ajaxBasicFun(\'' . $url . '\');';
}
function ajaxMotor($on)
{
$url = urlCommand('motor');
if ($on) {
$url .= '&main_brush=true&vacum=true&side_brush=true';
}
return 'javascript:ajaxBasicFun(\'' . $url . '\');';
}
/**
* @param $sensors
*/
function dumpSensors($sensors)
{
print(' <ul>');
foreach ($sensors as $name => $value) {
print(' <li>' . $name . ':');
if (is_array($value)) {
dumpSensors($value);
} else if (is_bool($value)) {
print($value ? 'on' : 'off');
} else {
print($value);
}
print(' </li> ');
}
print('</ul> ');
}
if (isset($_GET['fun'])) {
switch ($_GET['fun']) {
case 'Off':
$roomba->StopOI();
break;
case 'Passive':
$roomba->StartOI();
break;
case 'Safe':
$roomba->Safe();
break;
case 'Full':
$roomba->Full();
break;
case 'clean':
$roomba->Clean();
return;
break;
case 'spot':
$roomba->Spot();
return;
break;
case 'max':
$roomba->Max();
return;
break;
case 'dock':
$roomba->Dock();
return;
break;
case 'poweroff':
$roomba->Power();
break;
case 'settime':
$now = time();
$day = (int)date('w', $now);
$hour = date('H', $now);
$minute = date('i', $now);
$roomba->SetTime($day, $hour, $minute);
return;
break;
case "drive":
$velocity = $_GET['velocity'];
$radius = $_GET['radius'];
$roomba->Drive($velocity, $radius);
$stop = microtime(true);
printf("Drive($velocity,$radius) took %f /%f", ($stop - $start), ($mix - $start));
print_r($roomba->get_debuglog());
return;
break;
case "motor":
$main_brush = $_GET['main_brush'] == "true";
$vacum = $_GET['vacum'] == "true";
$side_brush = $_GET['side_brush'] == "true";
$roomba->Motors($main_brush, $vacum, $side_brush);
return;
break;
break;
case "horn":
$notes = array(array('note' => 62, "len" => 32));
$roomba->Song(1, $notes);
$roomba->Play(1);
return;
break;
case "ledascii":
$msg = $_GET['msg'];
$roomba->LedASCII($msg);
return;
break;
case "sensor":
$sensors = $roomba->getSensorGroup6();
dumpSensors($sensors);
return;
}
}
$r_mode = $roomba->getOIMode();
?>
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1,maximum-scale=1,user-scalable=no"
/
<meta http-equiv="Content-Type" content="text/html; charset=windows-1252">
<title>Test Rommba Interface</title>
<script language='javascript1.5' type='text/JavaScript'>
var periodicCall;
function showHide(str_divid) {
var div = document.getElementById(str_divid);
if (div.style.display != 'block') {
div.style.visibility = 'visible'
div.style.display = 'block';
getsensor()
} else {
div.style.display = 'none';
div.style.visibility = 'hidden';
clearTimeout(periodicCall);
}
}
function getsensor()
{
var msg = document.getElementById('msg').value;
ajax("<?php echo $_SERVER['PHP_SELF']?>?fun=sensor", function (result) {
var div = document.getElementById('sensordiv');
div.innerHTML = result;
if(div.style.visibility == 'visible') {
periodicCall = setTimeout(getsensor(), 1000);
}
});
}
function ajax(request, callback) {
if (window.XMLHttpRequest) {
// code for IE7+, Firefox, Chrome, Opera, Safari
xmlhttp = new XMLHttpRequest();
} else {
// code for IE6, IE5
xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");
}
xmlhttp.onreadystatechange = function () {
if (xmlhttp.readyState == 4 && xmlhttp.status == 200) {
callback(xmlhttp.responseText);
}
};
xmlhttp.open("GET", request, true);
xmlhttp.send();
}
function ajaxBasicFun(action) {
ajax(action, function (result) {
});
}
function send_setMsg() {
var msg = document.getElementById('msg').value;
ajaxBasicFun("<?php echo $_SERVER['PHP_SELF']?>?fun=ledascii&msg=" + msg);
}
</script>
<style>
td {
text-align: center;
}
td.left {
text-align: right;
}
td.right {
text-align: left;
}
A.button {
border-style: solid;
border-width: 1px 1px 1px 1px;
margin-left: 5px;
margin-right: 5px;
line-height: 32px;
background-color: #f0f0f0;
text-decoration: none;
padding: 4px;
border-color: gray;
color: #404040;
border-radius: 5px;
-moz-border-radius: 5px;
-webkit-border-top-left-radius: 5px;
-webkit-border-top-right-radius: 5px;
-webkit-border-bottom-right-radius: 5px;
-webkit-border-bottom-left-radius: 5px;
background-image: url('button_shadow.png');
background-repeat: repeat-x;
background-position: left bottom;
}
A.toggle {
margin-left: 5px;
margin-right: 5px;
font-size: x-large;
font-weight: bold;
line-height: 32px;
text-decoration: none;
padding: 4px;
border-color: gray;
color: #404040;
border-radius: 5px;
-moz-border-radius: 5px;
display: block;
}
SPAN.button {
border-style: solid;
border-width: 2px 2px 2px 2px;
margin-left: 5px;
margin-right: 5px;
line-height: 32px;
font-weight: bold;
background-color: #E8E8E8;
text-decoration: green;
padding: 4px;
border-color: gray;
color: black;
border-radius: 5px;
-moz-border-radius: 5px;
-webkit-border-top-left-radius: 5px;
-webkit-border-top-right-radius: 5px;
-webkit-border-bottom-right-radius: 5px;
-webkit-border-bottom-left-radius: 5px;
background-image: url('button_shadow.png');
background-repeat: repeat-x;
background-position: left bottom;
}
table {
width: 100%;
}
A:visited.button {
background-color: #f0f0f0;
text-decoration: none;
color: #404040;
}
A:hover.button {
background-color: #E8E8E8;
text-decoration: none;
color: #404040;
}
A:active.button {
background-color: #808080;
text-decoration: none;
color: black;
}
#sensordiv {
visibility: hidden;
display: none;
}
div {
display: block;
margin-left: 15px;
margin-right: 5px;
}
</style>
</head>
<body>
<a class="toggle" href="javascript:showHide('mode');">Mode:</a>
<div id="mode">
<?php
print('<table><tr>');
foreach ($roomba->modes as $mode_name) {
if ($mode_name == $r_mode) {
print('<td><span class="button">' . $mode_name . '</span></td>');
} else {
print('<td><a class="button" href="' . urlCommand($mode_name) . '">' . $mode_name . '</a></td>');
}
}
print('</tr></table>');
?>
</div>
<a class="toggle" href="javascript:showHide('basic');">basic:</a>
<div id="basic">
<table>
<tr>
<td><a class="button" href="<?php echo ajaxCommand("clean"); ?>">Clean</a></td>
<td><a class="button" href="<?php echo ajaxCommand("spot"); ?>">Spot</a></td>
<td><a class="button" href="<?php echo ajaxCommand("dock"); ?>">Dock</a></td>
</tr>
</table>
</div>
<a class="toggle" href="javascript:showHide('advanced');">Advanced command:</a>
<div id="advanced">
<?php
if ($r_mode == "Safe" || $r_mode == "Full") {
print("<table><tr>");
print('<td class="left"><a class="button" href="' . ajaxDrive(150, 200) . '">front left</a></td>');
print('<td><a class="button" href="' . ajaxDrive(200, 0) . '">front</a></td>');
print('<td class="right"><a class="button" href="' . ajaxDrive(150, -200) . '">front right</a></td>');
print("</tr><tr>");
print('<td class="left"><a class="button" href="' . ajaxDrive(100, 1) . '">left</a></td>');
print('<td><a class="button" href="' . ajaxDrive(0, 0) . '">stop</a></td>');
print('<td class="right"><a class="button" href="' . ajaxDrive(100, -1) . '">right</a></td>');
print("</tr><tr>");
print('<td class="left"><a class="button" href="' . ajaxMotor(true) .'"> Brush ON </a ></td > ');
print('<td ><a class="button" href = "' . ajaxCommand('horn') . '" > horn</a ></td > ');
print('<td class="right" ><a class="button" href = "' . ajaxMotor(false) . '" > Brush OFF </a ></td > ');
print("</tr></table>");
print("<br /><br /><table><tr>");
print('<td class="left"><input type = "text" size = "4" maxlength = "4" name = "msg" id = "msg" /></td>');
print('<td><a class="button" href = "javascript:send_setMsg();" > Show text </a ></td>');
print("</tr></table>");
} else {
print("switch to Safe or Full mode to control the Roomba");
}
?>
</div>
<a class="toggle" href="javascript:showHide('sensordiv');">Sensors:</a>
<div id="sensordiv">
<?php
?>
</div>
<?php
if (false) {
print('<a class="toggle" href = "javascript:showHide(\'debuglogs\');" > Debug logs:</a > ');
print('<div id = "debuglogs" > ');
$logs = $roomba->get_debuglog();
print("<ol>\n");
foreach ($logs as $line) {
print("<li>$line</li>\n");
}
print("</ol></div>\n");
}
?>
</body>
</html>