meerstern.github.io/web_serial_ble_mobile_robot_controller.html at main · meerstern/meerstern.github.io · GitHub

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<!DOCTYPE html>
<html>
<html lang="en">
<head>
    <meta charset="UTF-8" />
    <title>Mobile Robot Controller</title>
	<style>
			h1 { font-size:20pt; background-color:#4F4F4F; color:#FFFFFF; font-weight : normal;}
			h3 { font-size:6pt; text-align:center}
			body { font-size:12pt; color:#444444; }
			footer{ font-size:4pt; }
			tarea{width: 100%;height: 6em;}
			button{
			  width:200px;
			  justify-content: center;
			  align-items: center;
			}
	</style>
</head>

<body  style="position: fixed; font-family: 'Gill Sans MT', Calibri, 'Trebuchet MS', sans-serif;
				color:rgb(128, 128, 128); font-size: xx-large;">
    <h1 style="text-align:center">Mobile Robot Controller with Web Serial BLE</h1>
	<div align="center"><button id="connect-button" type="button" disabled>接続</button></div>
	<h3>
		</br>
		<span>
		本ツールはブラウザを介して<a href="https://ssci.to/5794">BLE5モジュール変換基板</a>もしくは
		<a href="https://ssci.to/8649">BLE5モジュール変換基板V2</a>とシリアル通信をするコントローラです</span>
	</h3>
	<h3>
		<span>ブラウザはEdgeもしくはChromeのみ対応しています　「GATT Error: Not paired」が発生する場合は事前にOS側でデバイスを追加してください
		</span>
	</h3>
	<p style="text-align: center;">
        X: <span id="x_coordinate"> </span>
        Y: <span id="y_coordinate"> </span>
        Speed: <span id="speed"> </span> %
    </p>
    <canvas id="canvas"></canvas>

    <script>
	/*
	 *	Mobile Robot Controller with Web Serial BLE
	 *  Supported for BGX13 & Lyra P with Wireless Xpress
	 *	Copyright (c) 2023
	 *  K.Watanabe,Crescent
	 *  Released under the MIT license
	 *  http://opensource.org/licenses/mit-license.php
	 */
	const connectButton = document.getElementById ('connect-button');
	const service_uuid = "331a36f5-2459-45ea-9d95-6142f0c4b307";
	const rx_uuid = "a9da6040-0823-4995-94ec-9ce41ca28833";//PC->BGX13(Notify OFF)
	const tx_uuid = "a73e9a10-628f-4494-a099-12efaf72258f";//BGX13->PC(Notify ON)
	const mode_uuid = "75a9f022-af03-4e41-b4bc-9de90a47d50b";
	const bgxMode = {
		stream: 1,
		local : 2,
		remote :3
	};

	let mode = bgxMode.stream;
	let device;
	let consoleStr = "";
	let connected = false;
	let closed;
	let mode_characteristic;
	let tx_characteristic;
	let rx_characteristic;

	let coord = { x: 0, y: 0 };
	let inPaint = false;
	var canvas, ctx;
	var width, height, radius, x_orig, y_orig;
	var x_rel, y_rel;

	function send(x,y)
	{
		var cmd = "";
		//Forward or Backward
		if(-100 < x && x <100)
		{
			//Forward
			if( y > 0)
			{
				cmd = "fwd=" + y*5;
			}
			else
			{
				cmd = "bwd=" + y*(-5);
			}
		}
		else//Left or Right
		{
			if( x > 0)
			{
				cmd = "rtn=" + x*5;
			}
			else
			{
				cmd = "ltn=" + x*(-5);
			}
		}

		if( Number.isNaN(cmd)==false && x!= (void 0) )
		{
			console.log(cmd);
			if( connected == true )
			{
				sendCommand(cmd);
			}
		}
	}


	window.addEventListener('load', () => {

		canvas = document.getElementById('canvas');
		ctx = canvas.getContext('2d');
		resize();

		window.addEventListener('resize', resize);
		document.addEventListener('mousedown', startDraw);
		document.addEventListener('mouseup', stopDraw);
		document.addEventListener('mousemove', Draw);
		document.addEventListener('touchstart', startDraw);
		document.addEventListener('touchend', stopDraw);
		document.addEventListener('touchcancel', stopDraw);
		document.addEventListener('touchmove', Draw);
		document.getElementById("x_coordinate").innerText = 0;
		document.getElementById("y_coordinate").innerText = 0;
		document.getElementById("speed").innerText = 0;
	});

	window.addEventListener('touchmove', function(event) {
		event.preventDefault();
	});

	function joystick(width, height)
	{
		ctx.beginPath();
		ctx.arc(width, height, radius, 0, Math.PI * 2, true);
		ctx.fillStyle = '#2020F0';
		ctx.fill();
		ctx.strokeStyle = '#ABABF6';
		ctx.lineWidth = 0;
		ctx.stroke();
	}

	function resize()
	{
		width = window.innerWidth;
		radius = 180;
		height = radius * 6.5;
		ctx.canvas.width = width;
		ctx.canvas.height = height;
		background();
		joystick(width / 2, height / 3);
	}

	function background()
	{
		x_orig = width / 2;
		y_orig = height / 3;

		ctx.beginPath();
		ctx.arc(x_orig, y_orig, radius + 110, 0, Math.PI * 2, true);
		ctx.fillStyle = '#ECE5E5';
		ctx.fill();
	}


	function getPosition()
	{
		var mouse_x = event.clientX || event.touches[0].clientX;
		var mouse_y = event.clientY || event.touches[0].clientY;
		coord.x = mouse_x - canvas.offsetLeft;
		coord.y = mouse_y - canvas.offsetTop;
	}

	function isInCircule()
	{
		var current_radius = Math.sqrt(Math.pow(coord.x - x_orig, 2) + Math.pow(coord.y - y_orig, 2));
		if (radius > current_radius)
			return true
		else
			return false
	}


	function startDraw()
	{
		inPaint = true;
		getPosition();
		if (isInCircule())
		{
			ctx.clearRect(0, 0, canvas.width, canvas.height);
			background();
			joystick(coord.x, coord.y);
			Draw();
		}
	}


	function stopDraw()
	{
		inPaint = false;
		ctx.clearRect(0, 0, canvas.width, canvas.height);
		background();
		joystick(width / 2, height / 3);
		document.getElementById("x_coordinate").innerText = 0;
		document.getElementById("y_coordinate").innerText = 0;
		document.getElementById("speed").innerText = 0;
		x_rel = 0;
		y_rel = 0;
	}

	function Draw(event)
	{

		if (inPaint)
		{
			ctx.clearRect(0, 0, canvas.width, canvas.height);
			background();
			var x, y, speed;
			var angle = Math.atan2((coord.y - y_orig), (coord.x - x_orig));

			if (isInCircule())
			{
				joystick(coord.x, coord.y);
				x = coord.x;
				y = coord.y;
			}
			else
			{
				x = radius * Math.cos(angle) + x_orig;
				y = radius * Math.sin(angle) + y_orig;
				joystick(x, y);
			}

			getPosition();

			var speed =  Math.round(100 * Math.sqrt(Math.pow(x - x_orig, 2) + Math.pow(y - y_orig, 2)) / radius);
			var x_relative = Math.round(x - x_orig);
			var y_relative = Math.round(y_orig - y);
			document.getElementById("x_coordinate").innerText = x_relative;
			document.getElementById("y_coordinate").innerText = y_relative ;
			document.getElementById("speed").innerText = speed;
			x_rel = x_relative;
			y_rel = y_relative;
		}
	}

	//Send Interval Timer 100msec
	setInterval(function()
	{

		if( x_rel!=0 && y_rel!=0)
		{
			send( x_rel, y_rel);
		}

	},100);


	async function modeChange()
	{
		if(stream.checked==true)
			mode = bgxMode.stream;
		else
			mode = bgxMode.remote;

		if(connected && device && device.gatt.connected)
		{
			const md = new Uint8Array([mode]);
			await mode_characteristic.writeValue(md);
		}
	}

	async function sendCommand(strCmd)
	{
		try
		{
			if(connected && device && device.gatt.connected)
			{
				let val_arr = new Uint8Array(strCmd.length+1)
				var str_arr = strCmd.split('');
				for (let i = 0; i < strCmd.length; i++) {
					let val = str_arr[i].charCodeAt(0);
					val_arr[i] = val;
				}
				val_arr[strCmd.length]=0x0d;//return code
				await rx_characteristic.writeValue(val_arr);
			}
		}
		catch (error)
		{
			console.log(error);
		}
	}


	function notification(event)
	{

		let value = event.target.value;
		let str = "";
		for (let i = 0; i < value.byteLength; i++)
		{
			str += String.fromCharCode(value.getUint8(i));
		}
		consoleStr = consoleStr + str;
		console.log(str);
	}

	function disconnected()
	{
		connectButton.innerText = '接続';
		connected = false;
	}

	//Connect BLE Device
	async function connectBLE()
	{

		try
		{
			console.log("Searching Bluetooth Device");
			device = await navigator.bluetooth.requestDevice({
			  filters: [{ services: [service_uuid] }],
			  optionalServices: [service_uuid]
			});

			//console.log("Connecting to GATT Server");
			await device.addEventListener('gattserverdisconnected', disconnected);
			const server = await device.gatt.connect();

			//console.log("Getting Primary Service");
			const service = await server.getPrimaryService(service_uuid);

			//console.log("Getting Mode Characteristic");
			mode_characteristic = await service.getCharacteristic(mode_uuid);

			//console.log("Getting RX Characteristic");
			rx_characteristic = await service.getCharacteristic(rx_uuid);

			//console.log("Getting TX Characteristic");
			tx_characteristic = await service.getCharacteristic(tx_uuid);

			//console.log('Enable TX Notification');
			await tx_characteristic.startNotifications();

			//console.log('Notification Started');
			await tx_characteristic.addEventListener('characteristicvaluechanged', notification);

			const md = new Uint8Array([mode]);
			await mode_characteristic.writeValue(md);

			connectButton.innerText = '切断';
			connected = true;

			//Send Button Event
			console.log('Connected');
		}
		catch (error)
		{
			console.log(error);
			alert(error);
			if(device && device.gatt.connected)
				device.gatt.disconnect();
			connected = false;
		}
		finally
		{

		}

	}


	if (navigator.bluetooth)
	{
		connectButton.addEventListener('click', async ()=>
		{
			if (device)
			{
				connectButton.innerText = '接続';
				await closed;
				device = undefined;
				rx_characteristic = undefined;
				tx_characteristic = undefined;
			}
			else
			{
				closed = connectBLE();
			}
		});
		connectButton.disabled = false;
	}
	else
	{
		alert('お使いのブラウザはWeb Bluetooth APIに対応していません \nEdgeもしくはchromeを使用してください');
	}

    </script>

</body>

</html><br>