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control
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Signed-off-by: caner <5658514@qq.com>

caner 3 years ago
parent
545a247f1f
commit
2991a8d99a
5 changed files with 11 additions and 125 deletions
Unified View Show Diff Stats
  1. 5 5
      contrl.js
  2. 6 10
      index.js
  3. 0 1
      package.json
  4. 0 104
      web/index.html
  5. 0 5
      web/socket.io.min.js

+ 5 - 5
contrl.js
View File 

@@ -7,10 +7,10 @@ class ContrlService {
 
         // 寄存器地址
 
         // 寄存器地址
 
         this.ADR = 0x48
 
         this.ADR = 0x48
 
         // 电位器地址->对应模块in1,in2
 
         // 电位器地址->对应模块in1,in2
 
-        this.P1 = 0x41
 
-        this.P2 = 0x42
 
-        this.P3 = 0x43
 
-        this.P4 = 0x44
 
+        this.P1 = 0x40
 
+        this.P2 = 0x41
 
+        this.P3 = 0x42
 
+        this.P4 = 0x43
 
         this.run()
 
         this.run()
 
     }
 
     }
 
 
 
@@ -18,7 +18,7 @@ class ContrlService {
 
         // 数模初始值
 
         // 数模初始值
 
         const data = await this.Orientation()
 
         const data = await this.Orientation()
 
         process.send(data);
 
         process.send(data);
 
-        await sleep(500)
 
+        await sleep(50)
 
         this.run()
 
         this.run()
 
     }
 
     }

+ 6 - 10
index.js
View File 

@@ -1,9 +1,7 @@
 
-// socket + http
 
-const { createServer } = require("http");
 
-const express = require("express");
 
+// socket
 
 const { Server } = require("socket.io");
 
 const { Server } = require("socket.io");
 
 const { fork } = require('child_process');
 
 const { fork } = require('child_process');
 
-class VideoServer {
 
+class ContrlServer {
 
   constructor() {
 
   constructor() {
 
     this.Contrl = null
 
     this.Contrl = null
 
     this.socket = null
 
     this.socket = null
 
@@ -11,10 +9,7 @@ class VideoServer {
 
   }
 
   }
 
   // socket 服务
 
   // socket 服务
 
   initSoket() {
 
   initSoket() {
 
-    const app = express();
 
-    app.use(express.static("./web"));
 
-    const httpServer = createServer(app);
 
-    const io = new Server(httpServer, {
 
+    const io = new Server({
 
       cors: {
 
       cors: {
 
         origin: ["*"],
 
         origin: ["*"],
 
       },
 
       },
 
@@ -53,7 +48,7 @@ class VideoServer {
 
       // 控制服务
 
       // 控制服务
 
       this.socket = socket
 
       this.socket = socket
 
     });
 
     });
 
-    httpServer.listen(7896);
 
+    io.listen(7896)
 
     console.log("服务开启成功7896");
 
     console.log("服务开启成功7896");
 
     this.initContrl()
 
     this.initContrl()
 
   }
 
   }
 
@@ -63,9 +58,10 @@ class VideoServer {
 
     this.Contrl.on('message', (msg) => {
 
     this.Contrl.on('message', (msg) => {
 
       if (this.socket && this.socket.connected) {
 
       if (this.socket && this.socket.connected) {
 
         console.log('用户连接可发送', msg);
 
         console.log('用户连接可发送', msg);
 
+        this.socket.emit('msg',JSON.parse(msg))
 
       }
 
       }
 
       console.log('contrl message: ' , msg);
 
       console.log('contrl message: ' , msg);
 
     })
 
     })
 
   }
 
   }
 
 }
 
 }
 
-new VideoServer();
 
+new ContrlServer();

+ 0 - 1
package.json
View File 

@@ -12,7 +12,6 @@
 
   "author": "",
 
   "author": "",
 
   "license": "ISC",
 
   "license": "ISC",
 
   "dependencies": {
 
   "dependencies": {
 
-    "express": "^4.17.3",
 
     "socket.io": "^4.4.1",
 
     "socket.io": "^4.4.1",
 
     "i2c-bus": "^5.2.2"
 
     "i2c-bus": "^5.2.2"
 
   }
 
   }

+ 0 - 104
web/index.html
View File 

@@ -1,104 +0,0 @@
 
-<!DOCTYPE html>
 
-<html lang="en">
 
-
 
-<head>
 
-    <meta charset="UTF-8" />
 
-    <meta http-equiv="X-UA-Compatible" content="IE=edge" />
 
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
 
-    <title>car</title>
 
-    <script src="./socket.io.min.js"></script>
 
-    <style>
 
-        video {
 
-            width: 500px;
 
-            height: 400px;
 
-            background: none;
 
-            object-fit: fill;
 
-            border: solid 1px red;
 
-        }
 
-    </style>
 
-</head>
 
-
 
-<body>
 
-    <div>
 
-        <video id="v2" autoplay playsinline></video>
 
-    </div>
 
-    <!-- webrtc -->
 
-    <script>
 
-        let RTC = null
 
-        const socket = io({
 
-            auth: {
 
-                roomID: "feiCar",
 
-                name: "ctrl",
 
-            },
 
-            transports: ["websocket"],
 
-        });
 
-        socket.on("connect", async () => {
 
-            const PeerConnection =
 
-                window.RTCPeerConnection ||
 
-                window.mozRTCPeerConnection ||
 
-                window.webkitRTCPeerConnection;
 
-            RTC = new PeerConnection();
 
-
 
-            RTC.ontrack = (event) => {
 
-                const remoteVideo = document.getElementById("v2");
 
-                remoteVideo.srcObject = event.streams;
 
-                console.log("远程流|dom", event, remoteVideo);
 
-
 
-            };
 
-            // 监听ICE|发送
 
-            RTC.onicecandidate = (event) => {
 
-                if (event.candidate) {
 
-                    socket.emit("msg", {
 
-                        type: "candidate",
 
-                        candidate: event.candidate,
 
-                    });
 
-                    console.log("己方ICE", event.candidate);
 
-                }
 
-            };
 
-            // 监听ICE状态
 
-            RTC.oniceconnectionstatechange = () => {
 
-                console.log("ICE状态", RTC.iceConnectionState);
 
-            };
 
-            console.log("连接成功监听webrtc");
 
-        });
 
-        //   发送offer及anwser
 
-        socket.on("msg", async (data) => {
 
-            console.log("用户信息", data);
 
-            if (data.type === 'offer') {
 
-                // 设置本地应答
 
-                RTC.setRemoteDescription(data.offer);
 
-                // 返回应答
 
-                const answer = await RTC.createAnswer();
 
-                RTC.setLocalDescription(answer);
 
-                // 发送anwser
 
-                socket.emit("msg", {
 
-                    type: "answer",
 
-                    answer: answer,
 
-                });
 
-            } else if (data.type === 'candidate') {
 
-                // 添加ICE
 
-                RTC.addIceCandidate(data.candidate);
 
-            }
 
-        });
 
-        //   监听加入
 
-        socket.on('joined', user => {
 
-            console.log(`${user.name}加入${user.roomID}房间`)
 
-            // 向其它用户发送开始webrtc
 
-            socket.emit('msg', {
 
-                type: 'startRTC'
 
-            })
 
-        })
 
-        // 监听离开
 
-        socket.on('leaved', user => {
 
-            console.log(`${user.name}离开${user.roomID}房间`)
 
-            RTC.close()
 
-        })
 
-        //   断开连接
 
-        socket.on("connect_error", (err) => {
 
-            console.log("连接错误", err);
 
-            if (RTC) RTC.close()
 
-        });
 
-    </script>
 
-</body>
 
-
 
-</html>

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+ 0 - 5
web/socket.io.min.js


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