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index.h
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const char MAIN_page[] PROGMEM = R"=====(
<!DOCTYPE html>
<html>
<!-- Page served by ESP32 CJMCU-531 demo; see https://github.com/easytarget/esp32-cjmcu-531-demo/
Design/Coding by Owen; https://easytarget.org/ -->
<!-- Top -->
<head>
<title>ESP32/VL53L1X display and control demo</title>
<meta charset="utf-8" />
<meta name="viewport" content="width=380, initial-scale=1" />
<meta http-equiv="Cache-control" content="no-cache">
</head>
<!-- Continue with style -->
<style>
a{
color: #555;
text-decoration: none;
}
hr{
border-color: #056016;
background-color: #056016;
width: 100%;
clear: both;
}
div{
clear:both;
}
.canvases{
width: 320px;
height: 240px;
background-color: #777;
border: none;
color: #CCC;
padding: none ;
text-align: center;
display: none;
margin-left: auto;
margin-right: auto;
margin-top: 0px;
margin-bottom: 0px;
cursor: progress;
}
.button{
border-radius: 20%;
background-color: #056016;
border: none;
color: #FFF;
padding: 3px 6px ;
text-align: left;
display: inline-block;
margin: 3px 4px;
cursor: pointer;
outline-style:none;
}
.card{
max-width: 380px;
min-height: 300px;
background: #02b875;
padding: 30px;
padding-top: 2px;
box-sizing: border-box;
color: #056016;
margin:20px;
display: block;
margin-left: auto;
margin-right: auto;
box-shadow: 0px 2px 18px -4px rgba(0,0,0,0.75);
border-radius: 12px;
outline-style:none;
text-decoration: none;
}
.expander{
text-align: center;
cursor: pointer;
color: #555;
}
.lidar{
display: none;
}
.signal{
color: #8e0b0b;
text-align: right;
}
</style>
<!-- The page itself -->
<body>
<div class="card">
<h3 id="MyName" style="text-align: center;">ESP32/VL53L1X Demo</h3>
<hr>
<div id="signal" class="signal">Comms Timeout</div>
<div>
<span style="float: left; font-size: 160%;font-weight: bold;">Range:</span>
<span id="RANGEValue" style="float: right; font-size: 200%;font-weight: bold;">connecting..</span>
</div>
<hr>
<div>
<span style="float: left;font-weight: bold;">Mode:</span>
<span id="MODEValue"style="float: right; font-weight: bold;">unknown</span>
</div>
<div class="lidar">
<span style="float: left; font-weight: bold;">Lidar Angle:</span>
<span id="ANGLEValue" style="float: right; font-weight: bold;">Unknown</span>
</div>
<hr>
<span class="lidar">
<canvas class="canvases" id="scan" onclick="hideScan()" width=320 height=240>
This is a Canvas Element, if it is not displayed then we apologize, your browser is not compatible.
</canvas>
<div class="expander" id="scanControl" onclick="showScan()"style="font-size: 110%; font-weight: bold;">show scan</div>
<div class="expander" id="scanClear" onclick="clearScan()" style="font-size: 90%; display: none;">clear scan</div>
</span>
<canvas class="canvases" id="plot" onclick="hidePlot()" width=320 height=240>
This is a Canvas Element, if it is not displayed then we apologize, your browser is not compatible.
</canvas>
<div class="expander" id="plotControl" onclick="showPlot()" style="font-size: 110%; font-weight: bold;">show history</div>
<hr>
<div style="text-align: left;">
Sensor ::<button class="button" onclick="httpGet('/on')"
title="Enable sensor">On</button>|<button class="button" onclick="httpGet('/off')"
title="Disable sensor">Off</button>
</div>
<div style="text-align: left;">
Mode ::<button class="button" onclick="httpGet('/near')"
title="Near range (max 1.3m, fastest)">Near</button>|<button class="button" onclick="httpGet('/mid')"
title="Mid Range (max 4m, fast but less accurate at range)">Mid</button>|<button class="button" onclick="httpGet('/far')"
title="Far Range (max 4m, slower but more accurate over whole range)">Far</button>
</div>
<div style="text-align: left;" class="lidar">
Scan ::<button class="button" onclick="httpGet('/s-scan90');showScan()"
title="scan 90 degrees around current direction">90°</button>|<button class="button" onclick="httpGet('/s-scanfull');showScan()"
title="Scan 270 degrees">270°</button>|<button class="button" onclick="httpGet('/s-scanstop')"
title="Stop scanning">Stop</button>|<button class="button" onclick="httpGet('/s-scanback')"
title="Reverse scanning">Back</button>
</div>
<div style="text-align: left;" class="lidar">
Motion ::<button class="button" onclick="httpGet('/s-left')"
title="Swing the sensor left">Left</button>|<button class="button" onclick="httpGet('/s-home')"
title="Go to the Home (zero) position and turn stepper off">Home</button>|<button class="button" onclick="httpGet('/s-right')"
title="Swing the sensor right">Right</button>
</div>
<div>
<h3 onclick="showControlPanel()" id="showControl" class="expander">
more control
</h3>
<span id="controlPanel" style="display: none;">
<h3 onclick="hideControlPanel()" class="expander">
less control
</h3>
<div style="text-align: left;">
TimingBudget ::<button class="button" onclick="httpGet('/budgetminus')"
title="Make Timing Budget smaller">Smaller</button>|<button class="button" onclick="httpGet('/budgetplus')"
title="Make Timing Budget bigger">Bigger</button>
</div>
<div style="text-align: left;">
Interval ::<button class="button" onclick="httpGet('/intervalminus')"
title="Make InterMeasurement period smaller">Smaller</button>|<button class="button" onclick="httpGet('/intervalplus')"
title="Make InterMeasurement period bigger">Bigger</button>
</div>
<div style="text-align: left;">
ROI ::<button class="button" onclick="httpGet('/roiminus')"
title="Make Region of Interest smaller">Smaller</button>|<button class="button" onclick="httpGet('/roiplus')"
title="Make Region of Interest bigger">Bigger</button>
</div>
<div style="text-align: left;" class="lidar">
Scan Step ::<button class="button" onclick="httpGet('/s-scanminus')"
title="Make scan steps smaller">Smaller</button>|<button class="button" onclick="httpGet('/s-scanplus')"
title="Make scan steps bigger">Bigger</button>
</div>
<div style="text-align: left;" class="lidar">
Manual Step ::<button class="button" onclick="httpGet('/s-manualminus')"
title="Make manual steps smaller">Smaller</button>|<button class="button" onclick="httpGet('/s-manualplus')"
title="Make manual steps bigger">Bigger</button>
</div>
<div style="text-align: left;" class="lidar">
Step Control ::<button class="button" onclick="httpGet('/s-off')"
title="Power Down the stepper">Off</button>|
<button class="button" onclick="httpGet('/s-zero')"
title="Declare new Zero position">Zero</button>
</div>
</span>
</div>
<span id="statusPanel" class="expander" style="display: none; text-align: left; cursor: auto;">
<pre style="font-size: 110%; font-weight: bold;">Status::</pre><pre id="statusText" style="font-weight: normal;">
Connecting..
</pre>
</span>
<div style="text-align: center;">
::<a href="https://github.com/easytarget/esp32-cjmcu-531-demo/" title="Project home repo">GitHub</a>::
</div>
</div>
<!-- The scripting -->
<script>
// Master interval (update rate) setting.
updateInterval = 250;
minUpdateInterval = 100; // fastest we can go, even at higher sensor speeds
// Create the recurring interval task to refresh the reading data
setInterval(function() {
getData();
}, updateInterval); // interval in ms. -- 5 reading requests/second
// make a simple http request and return result. Used to trigger actions from buttons
function httpGet(theUrl)
{
var xmlHttp = new XMLHttpRequest();
xmlHttp.open( "GET", theUrl, true); // asynchronous, and we dont care about return.
xmlHttp.send( null );
}
// Loop to get, process and display value readings
var plotline = 0; // history plot position
var plotscale = 20; // scale factor for the simple plots
var timeout = 0; // counts reading timeouts/failures
var mode = "NONE"; // we dont know mode initially
var haveLidar = false; // assume no lidar untill it is reported as present
function getData() {
var xhttp = new XMLHttpRequest();
xhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
var response = JSON.parse(this.responseText);
document.getElementById("statusText").innerHTML = this.responseText;
document.getElementById("signal").innerHTML = " "; //some content is needed to prevent element collapsing
if (response.RangeStatus < 0) {
timeout = 0; // dont timeout while disabled
document.getElementById("RANGEValue").innerHTML = "<span style=\"font-size: 80%;\">Disabled</span>";
document.getElementById("RANGEValue").style.color = "#555";
} else {
timeout++; // always increment the timeout, it will only be reset when we have a valid range
switch (response.RangeStatus) {
case 0:
timeout = 0; // valid range result, reset timeout counter
document.getElementById("RANGEValue").innerHTML = response.Distance;
document.getElementById("RANGEValue").innerHTML += "<span style=\"font-size: 66%;\">mm</span>";
document.getElementById("RANGEValue").style.color = "#555";
break;
case 1:
document.getElementById("signal").innerHTML = "Sigma Fail";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
case 2:
document.getElementById("signal").innerHTML = "Signal fail";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
case 4:
document.getElementById("signal").innerHTML = "Out of Bounds";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
case 5:
document.getElementById("signal").innerHTML = "Hardware Fail";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
case 7:
document.getElementById("signal").innerHTML = "Wrapped target";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
case 8:
document.getElementById("signal").innerHTML = "Internal Error";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
case 14:
document.getElementById("signal").innerHTML = "Invalid Result";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
case 255:
document.getElementById("signal").innerHTML = "No Response";
document.getElementById("RANGEValue").style.color = "#8e0b0b";
break;
default:
document.getElementById("signal").innerHTML = "Unknown Error";
document.getElementById("RANGEValue").style.color = "#8e0b0b;";
}
// if timeout reached, clear the range value.
if (timeout > 10) document.getElementById("RANGEValue").innerHTML = "n/a";
}
// If an angle field is present, display it.
if (response.hasOwnProperty('Angle')) {
document.getElementById("ANGLEValue").innerHTML = response.Angle.toFixed(1);
document.getElementById("ANGLEValue").innerHTML += "°";
if (response.ScanControl != 0) document.getElementById("ANGLEValue").innerHTML += " (scanning)";
}
// Detect and respond to mode changes
if (response.Mode != mode) {
mode = response.Mode;
setMode(response.Mode);
}
// Adjust update interval based on Intermeasurement period (sensor reading speed).
var lastInterval = response.IntermeasurementPeriod + 50;
if (lastInterval > minUpdateInterval) {
updateInterval = lastInterval;
}
// Detect and enable stepper(lidar) functions
if ((response.HasServo == true) && !haveLidar) { // stepper present but undetected?
haveLidar = true;
showLidar();
}
// Plot the history histogram if we got a valid response
if (response.RangeStatus == 0) {
plot = document.getElementById("plot").getContext("2d");
var maxX = Math.floor(plot.canvas.width);
var maxY = Math.floor(plot.canvas.height);
plotvalue = Math.floor(response.Distance / plotscale);
plotpoint = maxY - plotvalue;
plot.fillStyle = "#DDDDDD";
plot.fillRect(plotline, plotpoint, 1, plotvalue);
plotline = plotline + 1;
if (plotline > maxX) {
plotline = 0;
}
plot.clearRect(plotline, 0, 1, maxY);
}
// Plot the scan if enabled and we have a valid response
if ((response.RangeStatus == 0) && haveLidar) {
scan = document.getElementById("scan").getContext("2d");
var ScanXYRadius = Math.floor(scan.canvas.width/2); // radius= 1/2 the plot width
var rad = response.Angle * Math.PI / 180;
var scanValue = Math.floor(response.Distance / plotscale);
var scanX = Math.floor(Math.sin(rad)*scanValue);
var scanY = Math.floor(Math.cos(rad)*scanValue);
scan.fillStyle = "#DDDDDD";
scan.fillRect(ScanXYRadius+scanX, ScanXYRadius-scanY, 3, 3);
}
// If an Name field is present, use it.
if (response.hasOwnProperty('Name')) {
document.getElementById("MyName").innerHTML = response.Name;
}
}
}
xhttp.open("GET", "/data", true);
xhttp.send();
xhttp.timeout = 300; // time in milliseconds
xhttp.ontimeout = function () {
timeout++; // increment timeout counter
// if 4xtimeout reached without any valid replies, clear the range value
if (timeout > 4) {
document.getElementById("RANGEValue").innerHTML = "n/a";
document.getElementById("signal").innerHTML = "Network Timeout";
};
};
}
function showPlot() {
document.getElementById("plot").style.display = "block";
document.getElementById("plotControl").style.display = "none";
}
function hidePlot() {
document.getElementById("plot").style.display = "none";
document.getElementById("plotControl").style.display = "block";
}
function showScan() {
document.getElementById("scan").style.display = "block";
document.getElementById("scanControl").style.display = "none";
document.getElementById("scanClear").style.display = "block";
}
function hideScan() {
document.getElementById("scan").style.display = "none";
document.getElementById("scanControl").style.display = "block";
document.getElementById("scanClear").style.display = "none";
}
function showControlPanel() {
document.getElementById("controlPanel").style.display = "block";
document.getElementById("statusPanel").style.display = "block";
document.getElementById("showControl").style.display = "none";
}
function hideControlPanel() {
document.getElementById("controlPanel").style.display = "none";
document.getElementById("statusPanel").style.display = "none";
document.getElementById("showControl").style.display = "block";
}
// Updates page to show the lidar controls when present
function showLidar() {
var x = document.getElementsByClassName("lidar");
var i;
for (i = 0; i < x.length; i++) {
x[i].style.display = "block";
}
}
// Called when a mode change is detected; sets the graph etc.
function setMode(mode) {
clearPlot();
clearScan();
switch (mode) {
case "near":
plotscale = 5;
document.getElementById("MODEValue").innerHTML = "near (1.3m)";
break;
case "mid":
plotscale = 12;
document.getElementById("MODEValue").innerHTML = "mid (2.6m)";
break;
case "far":
plotscale = 20;
document.getElementById("MODEValue").innerHTML = "far (4m)";
break;
default:
plotscale = 16;
document.getElementById("MODEValue").innerHTML = "Unknown";
}
}
// Helper Functions for the canvas plots
function clearPlot() {
plot = document.getElementById("plot").getContext("2d");
var maxPlotX = Math.floor(plot.canvas.width);
var maxPlotY = Math.floor(plot.canvas.height);
plot.clearRect(0, 0, maxPlotX, maxPlotY);
plotline = 0;
}
function clearScan() {
scan = document.getElementById("scan").getContext("2d");
var maxScanX = Math.floor(scan.canvas.width);
var maxScanY = Math.floor(scan.canvas.height);
scan.clearRect(0, 0, maxScanX, maxScanY);
// Add a reference 'dot' at the scan center
var ScanXYRadius = Math.floor(scan.canvas.width/2); // radius= 1/2 the plot width
scan.fillStyle = "#000000";
scan.fillRect(ScanXYRadius-1,ScanXYRadius-1, 3, 3);
}
</script>
</body>
</html>
)=====";