Allow control of the ignition from the web interfaces

ianrenton · Apr 11, 2014 · d3f3d7c · d3f3d7c
1 parent d3b54c7
commit d3f3d7c
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Showing 5 changed files with 169 additions and 160 deletions.
diff --git a/rt_http/rt_http.c b/rt_http/rt_http.c
@@ -95,9 +95,9 @@ int main(int argc, char **argv) {
 
   int g,rep,i;
   char inchar;
-  userCommand = malloc(sizeof(char)*10);
-  autonomyCommand = malloc(sizeof(char)*10);
-  char* copiedCommand = malloc(sizeof(char)*10);
+  userCommand = malloc(sizeof(char)*11);
+  autonomyCommand = malloc(sizeof(char)*11);
+  char* copiedCommand = malloc(sizeof(char)*11);
 
   // Set up gpio pointer for direct register access
   setup_io();
@@ -144,7 +144,7 @@ int main(int argc, char **argv) {
     strcpy(&copiedCommand[0], &userCommand[0]);
     pthread_mutex_unlock( &userCommandMutex );
 
-    if (copiedCommand[8] == '1') {
+    if (copiedCommand[9] == '1') {
       // Autonomy requested, so obey autonomy's commands not the user commands.
       pthread_mutex_lock( &autonomyCommandMutex );
       strcpy(&copiedCommand[0], &autonomyCommand[0]);
@@ -175,6 +175,9 @@ int main(int argc, char **argv) {
     } else if (copiedCommand[7] == '1') {
       // Fire
       sendCode(FIRE);
+    } else if (copiedCommand[8] == '1') {
+      // Ignition (in case it drops out)
+      sendCode(IGNITION);
     } else {
       // Idle
       sendCode(IDLE);
@@ -305,17 +308,17 @@ static int http_callback(struct mg_connection *conn) {
 
   const struct mg_request_info *request_info = mg_get_request_info(conn);
 
-  char* tempCommand = malloc(sizeof(char)*13);
-  strncpy(&tempCommand[0], &request_info->query_string[0], 12);
-  tempCommand[12] = 0;
-  //printf("Received command from HTTP: %.*s\n", 12, tempCommand);
+  char* tempCommand = malloc(sizeof(char)*14);
+  strncpy(&tempCommand[0], &request_info->query_string[0], 13);
+  tempCommand[13] = 0;
+  //printf("Received command from HTTP: %.*s\n", 13, tempCommand);
 
   // Set received, so send it over to the control thread
   if ((tempCommand[0] == 's') && (tempCommand[1] == 'e') && (tempCommand[2] == 't')) {
     pthread_mutex_lock( &userCommandMutex );
-    strncpy(&userCommand[0], &tempCommand[3], 9);
+    strncpy(&userCommand[0], &tempCommand[3], 10);
     pthread_mutex_unlock( &userCommandMutex );
-    //printf("Set motion command: %.*s\n", 9, userCommand);
+    //printf("Set motion command: %.*s\n", 10, userCommand);
 
     // Send an HTTP header back to the client
     mg_printf(conn, "HTTP/1.1 200 OK\r\n"
@@ -501,7 +504,7 @@ void* launch_autonomy() {
 // Send a command from autonomy to the main control thread
 void* autonomySendCommand(char* cmd) {
   pthread_mutex_lock( &autonomyCommandMutex );
-  strncpy(&autonomyCommand[0], &cmd[0], 8);
-  autonomyCommand[9] = 0;
+  strncpy(&autonomyCommand[0], &cmd[0], 9);
+  autonomyCommand[10] = 0;
   pthread_mutex_unlock( &autonomyCommandMutex );
 }
diff --git a/web-ui/fps/index.html b/web-ui/fps/index.html
@@ -12,6 +12,6 @@
   <body onload="load()" onkeyup="keyup(event)" onkeydown="keydown(event)" style="background-color:black;">
       <div id="webcam" style="width:640px;height:480px;background-color:gray;margin:0 auto;">
       </div>
-      <div><p style="text-align:center; color:gray">Move/turn: W S A D, Turret turn: Q E, Elevate: Z, Fire: Space, All stop: Enter</p></div>
+      <div><p style="text-align:center; color:gray">Move/turn: W S A D, Turret turn: Q E, Elevate: Z, Fire: Space, Ignition: I, All stop: Enter</p></div>
   </body>
 </html>
diff --git a/web-ui/js/javascript.js b/web-ui/js/javascript.js
@@ -12,6 +12,7 @@ var command = {
   'turret_right' : false,
   'turret_elev' : false,
   'fire' : false,
+  'ignition' : false,
   'autonomy' : false
 }
 
@@ -115,6 +116,9 @@ function keychanged(e, val) {
     case 32:
       set('fire', val);
       break;
+    case 73:
+      set('ignition', val);
+      break;
     case 13:
       stop();
       break;

diff --git a/web-ui/laptop/index.html b/web-ui/laptop/index.html
@@ -1,75 +1,76 @@
-<!-- Raspberry Tank Web UI, February 2013, by Ian Renton.  Released under the BSD licence. -->
-<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"> 
-<html>
-  <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />
-  <head>
-    <title>Raspberry Tank</title>
-    <script type="text/javascript" src="../js/jquery-1.7.2.min.js"></script>
-    <script type="text/javascript" src="../js/mjpg-streamer.js"></script>
-    <script type="text/javascript" src="../js/javascript.js"></script>
-  </head>
-  <body onload="load()">
-    <div style="width:1250px; margin:0 auto;">
-      <table border="0"><tr><td>
-      <div id="webcam" style="width:640px;height:480px;background-color:gray;">
-      </div>
-      </td><td>
-      <table border="0" style="width:600px;height:600px;margin: 0 auto;">
-        <tr height="33%">
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('turret_left', true);" onmouseup="set('turret_left', false);" >
-              <img src="../img/turret-left.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('forward', true);" onmouseup="set('forward', false);" >
-              <img src="../img/forward.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('turret_right', true);"  onmouseup="set('turret_right', false);" >
-              <img src="../img/turret-right.png" style="border:none;" />
-            </a>
-          </td>
-        </tr>
-        <tr height="33%">
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('left', true);" onmouseup="set('left', false);" >
-              <img src="../img/left.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="stop();">
-              <img src="../img/stop.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('right', true);" onmouseup="set('right', false);" >
-              <img src="../img/right.png" style="border:none;" />
-            </a>
-          </td>
-        </tr>
-        <tr height="33%">
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('turret_elev', true);" onmouseup="set('turret_elev', false);">
-              <img src="../img/turret-elev.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('reverse', true);" onmouseup="set('reverse', false);" >
-              <img src="../img/reverse.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onmousedown="set('fire', true);" onmouseup="set('fire', false);" >
-              <img src="../img/fire.png" style="border:none;" />
-            </a>
-          </td>
-        </tr>
-        <tr><td colspan="3"><h3><center>Autonomy <span class="autonomystate">OFF</span>.  <a href="#" onclick="toggleAutonomy()"><span class="autonomybutton">Switch ON</span></a></center></td></tr>
-      </table>
-      </td></tr>
-      <tr><td colspan="2"><div class="data"></div></td></tr></table>
-    </div>
-  </body>
-</html>
+<!-- Raspberry Tank Web UI, February 2013, by Ian Renton.  Released into public domain without licence. -->
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"> 
+<html>
+  <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />
+  <head>
+    <title>Raspberry Tank</title>
+    <script type="text/javascript" src="../js/jquery-1.7.2.min.js"></script>
+    <script type="text/javascript" src="../js/mjpg-streamer.js"></script>
+    <script type="text/javascript" src="../js/javascript.js"></script>
+  </head>
+  <body onload="load()">
+    <div style="width:1250px; margin:0 auto;">
+      <table border="0"><tr><td>
+      <div id="webcam" style="width:640px;height:480px;background-color:gray;">
+      </div>
+      </td><td>
+      <table border="0" style="width:600px;height:600px;margin: 0 auto;">
+        <tr height="33%">
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('turret_left', true);" onmouseup="set('turret_left', false);" >
+              <img src="../img/turret-left.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('forward', true);" onmouseup="set('forward', false);" >
+              <img src="../img/forward.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('turret_right', true);"  onmouseup="set('turret_right', false);" >
+              <img src="../img/turret-right.png" style="border:none;" />
+            </a>
+          </td>
+        </tr>
+        <tr height="33%">
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('left', true);" onmouseup="set('left', false);" >
+              <img src="../img/left.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="stop();">
+              <img src="../img/stop.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('right', true);" onmouseup="set('right', false);" >
+              <img src="../img/right.png" style="border:none;" />
+            </a>
+          </td>
+        </tr>
+        <tr height="33%">
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('turret_elev', true);" onmouseup="set('turret_elev', false);">
+              <img src="../img/turret-elev.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('reverse', true);" onmouseup="set('reverse', false);" >
+              <img src="../img/reverse.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onmousedown="set('fire', true);" onmouseup="set('fire', false);" >
+              <img src="../img/fire.png" style="border:none;" />
+            </a>
+          </td>
+        </tr>
+      <tr><td colspan="1"><h3><center><a href="#" onmousedown="set('ignition', true);" onmouseup="set('ignition', false);" >Ignition
+            </a></center></td><td colspan="2"><h3><center>Autonomy <span class="autonomystate">OFF</span>.  <a href="#" onclick="toggleAutonomy()"><span class="autonomybutton">Switch ON</span></a></center></td></tr>
+      </table>
+      </td></tr>
+      <tr><td colspan="2"><div class="data"></div></td></tr></table>
+    </div>
+  </body>
+</html>
diff --git a/web-ui/touch/index.html b/web-ui/touch/index.html
@@ -1,72 +1,73 @@
-<!-- Raspberry Tank Web UI, February 2013, by Ian Renton.  Released under the BSD licence. -->
-<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"> 
-<html>
-  <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />
-  <head>
-    <title>Raspberry Tank - Touch Interface</title>
-    <script type="text/javascript" src="../js/jquery-1.7.2.min.js"></script>
-    <script type="text/javascript" src="../js/mjpg-streamer.js"></script>
-    <script type="text/javascript" src="../js/javascript.js"></script>
-  </head>
-  <body onload="load()">
-    <div style="width:640px;margin:0 auto;">
-      <div id="webcam" style="width:640px;height:480px;background-color:gray;">
-      </div>
-      <table border="0" style="width:600px;height:600px;margin: 0 auto;">
-        <tr height="33%">
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('turret_left', true);" >
-              <img src="../img/turret-left.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('forward', true);" >
-              <img src="../img/forward.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('turret_right', true);" >
-              <img src="../img/turret-right.png" style="border:none;" />
-            </a>
-          </td>
-        </tr>
-        <tr height="33%">
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('left', true);" >
-              <img src="../img/left.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="stop();" >
-              <img src="../img/stop.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('right', true);" >
-              <img src="../img/right.png" style="border:none;" />
-            </a>
-          </td>
-        </tr>
-        <tr height="33%">
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('turret_elev', true);">
-              <img src="../img/turret-elev.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('reverse', true);" >
-              <img src="../img/reverse.png" style="border:none;" />
-            </a>
-          </td>
-          <td width="33%" style="text-align:center;">
-            <a href="#" onclick="set('fire', true);" >
-              <img src="../img/fire.png" style="border:none;" />
-            </a>
-          </td>
-        </tr>
-      <tr><td colspan="3"><h3><center>Autonomy <span class="autonomystate">OFF</span>.  <a href="#" onclick="toggleAutonomy()"><span class="autonomybutton">Switch ON</span></a></center></td></tr>
-      <tr><td colspan="3"><div class="data"></div></td></tr>
-      </table>
-    </div>
-  </body>
-</html>
+<!-- Raspberry Tank Web UI, February 2013, by Ian Renton.  Released into public domain without licence. -->
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"> 
+<html>
+  <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />
+  <head>
+    <title>Raspberry Tank - Touch Interface</title>
+    <script type="text/javascript" src="../js/jquery-1.7.2.min.js"></script>
+    <script type="text/javascript" src="../js/mjpg-streamer.js"></script>
+    <script type="text/javascript" src="../js/javascript.js"></script>
+  </head>
+  <body onload="load()">
+    <div style="width:640px;margin:0 auto;">
+      <div id="webcam" style="width:640px;height:480px;background-color:gray;">
+      </div>
+      <table border="0" style="width:600px;height:600px;margin: 0 auto;">
+        <tr height="33%">
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('turret_left', true);" >
+              <img src="../img/turret-left.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('forward', true);" >
+              <img src="../img/forward.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('turret_right', true);" >
+              <img src="../img/turret-right.png" style="border:none;" />
+            </a>
+          </td>
+        </tr>
+        <tr height="33%">
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('left', true);" >
+              <img src="../img/left.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="stop();" >
+              <img src="../img/stop.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('right', true);" >
+              <img src="../img/right.png" style="border:none;" />
+            </a>
+          </td>
+        </tr>
+        <tr height="33%">
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('turret_elev', true);">
+              <img src="../img/turret-elev.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('reverse', true);" >
+              <img src="../img/reverse.png" style="border:none;" />
+            </a>
+          </td>
+          <td width="33%" style="text-align:center;">
+            <a href="#" onclick="set('fire', true);" >
+              <img src="../img/fire.png" style="border:none;" />
+            </a>
+          </td>
+        </tr>
+      <tr><td colspan="1"><h3><center><a href="#" onmousedown="set('ignition', true);" onmouseup="set('ignition', false);" >Ignition
+            </a></center></td><td colspan="2"><h3><center>Autonomy <span class="autonomystate">OFF</span>.  <a href="#" onclick="toggleAutonomy()"><span class="autonomybutton">Switch ON</span></a></center></td></tr>
+      <tr><td colspan="3"><div class="data"></div></td></tr>
+      </table>
+    </div>
+  </body>
+</html>