var http = require("http").createServer(handler); // on req - hand

var fs = require("fs"); // variable for file system for providing html

var firmata = require("firmata");

const WebSocket = require('ws'); // for permanent connection between server and client

const wss = new WebSocket.Server({port: 8888}); // websocket port is 8888

wss.broadcast = function broadcast(data) {

  wss.clients.forEach(function each(client) {

      if (client.readyState === WebSocket.OPEN) {

    client.send(data);

      }

  });

};

var messageJSON;

var controlAlgorithmStartedFlag = 0; // variable for indicating weather the Alg has benn sta.

var intervalCtrl; // var for setInterval in global scope

var intervalPulseFunction; // for setTimeout / setInterval

var performanceMeasure = 0;

var readAnalogPin0Flag = 1; // flag for reading the pin if the pot is driver

console.log("Starting the code");

var board = new firmata.Board("/dev/ttyACM0", function(){

    console.log("Connecting to Arduino");

    console.log("Enabling analog Pin 0");

    board.pinMode(0, board.MODES.ANALOG); // analog pin 0

    board.pinMode(1, board.MODES.ANALOG); // analog pin 1

    board.pinMode(2, board.MODES.OUTPUT); // direction of DC motor

    board.pinMode(3, board.MODES.PWM); // PWM of motor i.e. speed of rotation

    board.pinMode(4, board.MODES.OUTPUT); // direction DC motor

});

function handler(req, res) {

    fs.readFile(__dirname + "/example21.html",

    function (err, data) {

        if (err) {

            res.writeHead(500, {"Content-Type": "text/plain"});

            return res.end("Error loading html page.");

        }

    res.writeHead(200);

    res.end(data);

    })

}

var desiredValue = 0; // desired value var

var actualValue = 0; // variable for actual value (output value)

var Kp1 = 0.55; // proportional factor of PID controller

var Ki1 = 0.008; // integral factor of PID controller

var Kd1 = 0.15; // differential factor of PID controller

var factor = 0.3; // proportional factor that determines speed of resonse

var pwm = 0; // set pwm as global variable

var pwmLimit = 254; // to limit value of the pwm that is sent to the motor

var err = 0; // error

var errSum = 0; // sum of errors as integral

var dErr = 0; // difference of error

var lastErr = 0; // to keep the value of previous error to estimate derivative

var KpE = 0; // multiplication of Kp x error

var KiIedt = 0; // multiplication of Ki x integ. of error

var KdDe_dt = 0; // multiplication of Kd x differential of err.

var errSumAbs = 0; // sum of absolute errors as performance measure

http.listen(8080); // server will listen on port 8080

board.on("ready", function() {

    board.analogRead(0, function(value){

        if (readAnalogPin0Flag == 1) desiredValue = value; // continuous read of analog pin 0 - if we want desired value from the potentiometer

    });

    board.analogRead(1, function(value) {

        actualValue = value; // continuous read of pin A1

        if(actualValue < 120 || actualValue > 900) { // prevent spinning of motor

            stopControlAlgorithm(1); // parameter 1  marks emergency stop

        }

    });

    wss.on('connection', function (ws, req) { // start of wss code

        messageJSON = {"type": "message", "content": "Srv connected, board OK"};

        ws.send(JSON.stringify(messageJSON));

        messageJSON = {"type": "staticMsgToClient", "content": "Srv connected, board OK"};

        ws.send(JSON.stringify(messageJSON));

        setInterval(sendValues, 40); // on 40ms we send message to client

        ws.on("message", function (msgString) { // message comes as string -> msgString

            var msg = JSON.parse(msgString); // string from ws which comes as a string is put to JSON

            switch(msg.type) {

                case "startControlAlgorithm":

                    startControlAlgorithm(msg); // msg has all values, alg. type and parameters

                break;

                case "stopControlAlgorithm":

                    stopControlAlgorithm(0);                

                break;

                case "sendPosition":

                    readAnalogPin0Flag = 0; // we don't read from the analog pin anymore, value comes from GUI

                    desiredValue = msg.positionValue; // GUI takes control

                    messageJSON = {"type": "message", "content": "Position set to: " + msg.positionValue};

                    ws.send(JSON.stringify(messageJSON));

                break;

            }

        }); // end of wss.on code

    }); // end of sockets.on connection

}); // end of board.on(ready)

function controlAlgorithm (msg) { // the parameter in the argument holds ctrlAlgNo and param. values

    if(msg.ctrlAlgNo == 1) {

        err = desiredValue-actualValue;

        pwm = msg.pCoeff*err;

        errSumAbs += Math.abs(err);

        if(pwm > pwmLimit) {pwm = pwmLimit}; // to limit the value for pwm / positive

        if(pwm < -pwmLimit) {pwm = -pwmLimit}; // to limit the value for pwm / negative

        if (pwm > 0) {board.digitalWrite(2,1); board.digitalWrite(4,0);}; // določimo smer če je > 0

        if (pwm < 0) {board.digitalWrite(2,0); board.digitalWrite(4,1);}; // določimo smer če je < 0

        board.analogWrite(3, Math.abs(pwm));

        console.log(Math.round(pwm));

    }

    if(msg.ctrlAlgNo == 2) {

        err = desiredValue - actualValue; // error as difference between desired and actual val.

        errSum += err; // sum of errors | like integral

        errSumAbs += Math.abs(err);

        dErr = err - lastErr; // difference of error

        // we will put parts of expression for pwm to

        // global workspace

        KpE = msg.Kp1*err;

        KiIedt = msg.Ki1*errSum;

        KdDe_dt = msg.Kd1*dErr;

        pwm = KpE + KiIedt + KdDe_dt; // we use above parts for PID expression

        lastErr = err; // save the value of error for next cycle to estimate the derivative

            if(pwm > pwmLimit) {pwm = pwmLimit}; // to limit the value for pwm / positive

            if(pwm < -pwmLimit) {pwm = -pwmLimit}; // to limit the value for pwm / negative

            if (pwm > 0) {board.digitalWrite(2,1); board.digitalWrite(4,0);}; // determine direction if > 0

            if (pwm < 0) {board.digitalWrite(2,0); board.digitalWrite(4,1);}; // determine direction if < 0

        board.analogWrite(3, Math.abs(pwm));

        };

        if(msg.ctrlAlgNo == 3) {

        err = desiredValue - actualValue; // error as difference between desired and actual val.

        errSum += err; // sum of errors | like integral

        errSumAbs += Math.abs(err);

        dErr = err - lastErr; // difference of error

        // we will put parts of expression for pwm to

        // global workspace

        KpE = msg.Kp2*err;

        KiIedt = msg.Ki2*errSum;

        KdDe_dt = msg.Kd2*dErr;

        pwm = KpE + KiIedt + KdDe_dt; // we use above parts for PID expression

        lastErr = err; // save the value of error for next cycle to estimate the derivative

            if(pwm > pwmLimit) {pwm = pwmLimit}; // to limit the value for pwm / positive

            if(pwm < -pwmLimit) {pwm = -pwmLimit}; // to limit the value for pwm / negative

            if (pwm > 0) {board.digitalWrite(2,1); board.digitalWrite(4,0);}; // determine direction if > 0

            if (pwm < 0) {board.digitalWrite(2,0); board.digitalWrite(4,1);}; // determine direction if < 0

        board.analogWrite(3, Math.abs(pwm));

        };

}

function startControlAlgorithm (msg) {

    if (controlAlgorithmStartedFlag == 0) {

        // reset parameters

        pwm = 0; // Reset Pulse Width Modulation value

        err = 0; // Reset error

        errSum = 0; // Reset sum of errors as integral

        dErr = 0; // Reset difference of error

        lastErr = 0; // Reset value which keeps the value of previous error to estimate derivative

        controlAlgorithmStartedFlag = 1;

        intervalCtrl = setInterval(function(){controlAlgorithm(msg);}, 30); // call the alg. on 30ms

        console.log("Control algorithm has been started.");

        messageJSON = {"type": "staticMsgToClient", "content": " No. " + msg.ctrlAlgNo + " started | " + json2txt(msg)};

        wss.broadcast(JSON.stringify(messageJSON));

    }

};

function stopControlAlgorithm (stopCode) {

    clearInterval(intervalCtrl); // clear the interval of control algorihtm

    board.analogWrite(3, 0);

    controlAlgorithmStartedFlag = 0;

    pwm = 0;

    errSumAbs = 0;

    console.log("Control algorithm has been stopped.");

    if (stopCode == 0) {

        messageJSON = {"type": "staticMsgToClient", "content": "Stopped."};    

    }

    else if (stopCode == 1) {

        messageJSON = {"type": "staticMsgToClient", "content": "Emergency STOP, too much to the left/right."};    

    } 

    wss.broadcast(JSON.stringify(messageJSON));

};

function sendValues () {

    wss.broadcast(JSON.stringify({"type": "clientReadValues", "desiredValue": desiredValue, "actualValue": actualValue, "error": (desiredValue - actualValue), "pwm": (pwm).toFixed(0), "err": err,"errSum": errSum, "dErr": dErr, "KpE": KpE, "KiIedt": KiIedt, "KdDe_dt": KdDe_dt, "errSumAbs": errSumAbs}));

};

function json2txt(obj) // function to print out the json names and values

{

  var txt = '';

  var recurse = function(_obj) {

    if ('object' != typeof(_obj)) {

      txt += ' = ' + _obj + '\n';

    }

    else {

      for (var key in _obj) {

        if (_obj.hasOwnProperty(key)) {

          txt += '.' + key;

          recurse(_obj[key]);

        } 

      }

    }

  };

  recurse(obj);

  return txt;

}

<!DOCTYPE html>

<meta charset = utf8>

<html>

<head>

<title>Example with potentiometers</title>

</head>

<body onload="load()";>

<div>

<canvas id="canvas1" width ="200" height = "100" style="border: 1px dashed #00c3c3;"></canvas>

<canvas id="canvas4" width = "200" height = "100" style="border: 1px dashed #00c3c3;"></canvas>

<canvas id="canvas7" width = "200" height = "100" style="border: 1px dashed #00c3c3;"></canvas>

<br>

<canvas id="canvas2" width = "200" height = "100" style="border: 1px dashed #00c3c3;"></canvas>

<canvas id="canvas5" width = "200" height = "100" style="border: 1px dashed #00c3c3;"></canvas>

<br>

<canvas id="canvas3" width = "200" height = "100" style="border: 1px dashed #00c3c3;"></canvas>

<canvas id="canvas6" width = "200" height = "100" style="border: 1px dashed #00c3c3;"></canvas>

<p></p>

</div>

Position: <input id="position" value=512 />    

<button id="sendPosition" onClick="sendPosition()">Send position</button>

<button id="pulse" onClick="pulse()">Send pulse</button>

<button id="pulsetimed" onClick="pulseTimed()">Send pulse Timed</button>

<button id="buttonStop" onClick="stop()">STOP</button>

<br>

pCoeff: <input id="pCoeff" value="0.1" size="5" />

<button id="buttonStartControlAlgorithm1" onClick="startControlAlgorithm1();">Start Ctrl Alg1</button>

<button id="buttonStopControlAlgorithm" onClick="stopControlAlgorithm();">Stop Ctrl Alg</button>

<p></p>

Kp: <input id="Kp1" value="0.15" size = "5" />

Ki: <input id="Ki1" value="0.0055" size = "5" />

Kd: <input id="Kd1" value="0.25" size = "5" />

<button id="buttonStartControlAlgorithm2" onClick="startControlAlgorithm2();">Start Ctrl Alg2</button>

<button id="buttonStopControlAlgorithm" onClick="stopControlAlgorithm();">Stop Ctrl Alg</button>

<p></p>

Kp: <input id="Kp2" value="0.5" size = "5" />

Ki: <input id="Ki2" value="0.008" size = "5" />

Kd: <input id="Kd2" value="0.35" size = "5" />

<button id="buttonStartControlAlgorithm3" onClick="startControlAlgorithm3();">Start Ctrl Alg3</button>

<div id="divForStaticPrint"> </div>

<p></p>

<div id="print1"></div>    

<br>

<script type="text/javascript">

"use strict"; // in order to use clasess

var potValue1 = 0; // value of the first potentiometer

var potValue2 = 0; // value of second potentiometer

var pwm = 0;

var pCoeff = 0;

var Kp1 = 0;

var Ki1 = 0;

var Kd1 = 0;

var graph1; // variable for graph object

var graph2; // variable for graph object

var graph3; // variable for graph object

var graph4; // variable for graph object

var graph5; // variable for graph object

var graph6; // variable for graph object

var graph7; // variable for graph object

var divPrint1; // var for object div print

let ws = new WebSocket("ws://192.168.254.149:8888"); // create socket - connect to it

var messageJSON;

var intervalPulseFunction;

var performanceMeasure;

function load() { // function that is started, when we open the page

    // create graph1 ~ graph7 objects for displaying the graphs

    graph1 = new Graph("canvas1", 0, 200, 0, 1023, ["red", "green"], ["desired", "actual"], ["0", "200", "0", "1023"]); // arguments: Arg1: canvasId, Arg2: maxX, Arg3: maxY, Arg4: [vector of colors]; this determines the size of yValue matrix (if we state one color as eg. ["red"], we assume only one time series, ["red", "green", "blue"] -> three time series) 

    graph2 = new Graph("canvas2", 0, 200, -254, 254, ["orange"], ["PWM"], ["0", "200", "-254", "254"]);

    graph3 = new Graph("canvas3", 0, 200, -100, 100, ["red", "green", "blue"], ["KpE", "KiIedt", "KdDe_dt"], ["0", "200", "-100", "100"]); // arguments: Arg1: canvasId, Arg2: maxX, Arg3: maxY, Arg4: [vector of colors]; this determines the size of yValue matrix (if we state one color as eg. ["red"], we assume only one time series, ["red", "green", "blue"] -> three time series) 

    graph4 = new Graph("canvas4", 0, 200, -1023, 1023, ["red"], ["Error"], ["0", "200", "-1023", "1023"]); // arguments: Arg1: canvasId, Arg2: maxX, Arg3: maxY, Arg4: [vector of colors]; this determines the size of yValue matrix (if we state one color as eg. ["red"], we assume only one time series, ["red", "green", "blue"] -> three time series) 

    graph5 = new Graph("canvas5", 0, 200, -10000, 10000, ["red"], ["Integ(Err*dt)"], ["0", "200", "-10000", "10000"]); // arguments: Arg1: canvasId, Arg2: maxX, Arg3: maxY, Arg4: [vector of colors]; this determines the size of yValue matrix (if we state one color as eg. ["red"], we assume only one time series, ["red", "green", "blue"] -> three time series) 

    graph6 = new Graph("canvas6", 0, 200, -150, 150, ["red"], ["dError/dt"], ["0", "200", "-150", "150"]); // arguments: Arg1: canvasId, Arg2: maxX, Arg3: maxY, Arg4: [vector of colors]; this determines the size of yValue matrix (if we state one color as eg. ["red"], we assume only one time series, ["red", "green", "blue"] -> three time series) 

    graph7 = new Graph("canvas7", 0, 2000, 0, 500000, ["red"], ["Int(Abs(Error)dt)"], ["0", "2000", "0", "0.5M"]); // arguments: Arg1: canvasId, Arg2: maxX, Arg3: maxY, Arg4: [vector of colors]; this determines the size o

    // create divPrint1 object to output the numbers

    divPrint1 = new LogDiv("print1", 10); // as the argument at the creation of the new object we declare the div name into which the printout of the log will be performed and the number of lines before the scroll

};

class Graph {

    constructor(canvasId, minGraphX, maxGraphX, minGraphY, maxGraphY, color, legend, axisDescription) { // pri konstruktorju moramo podati ID platna, ki ga sicer ustvarimo v html-ju

        this.canvas = document.getElementById(canvasId);

        this.ctx = this.canvas.getContext("2d");

        this.canvasWidth = this.canvas.width; // mind capital W at Width

        this.canvasHeight = this.canvas.height; // mind capital H at Height

        this.x = new Array(); // create new Array x

        this.y = new Array();

        this.rangeX = maxGraphX - minGraphX;

        this.rangeY = maxGraphY - minGraphY;

        // create y array (size) according to the color vector (could have multiple rows i.e. 2d)

        for( var i=0; i<color.length; i++ ) {

            this.y.push([]); // example of three row array init. would be: this.y = [[],[],[]];

        }

        this.minGraphX = minGraphX;

        this.maxGraphX = maxGraphX;

        this.minGraphY = minGraphY;

        this.maxGraphY = maxGraphY;

        this.color = color; // color of the graph

        this.legend = legend;

        this.axisDescription = axisDescription;

        // fill x vector; vector y is filled in real-time

        for (var i=0; i<this.maxGraphX+1; i++) {

            this.x[i] = i; // values for the x coordinate; 0, 1, 2, ...

        }

    }

    addValueOrCutAndAdd(yValue) {

        if (this.y[0].length == this.maxGraphX+1) { // if canvas size is 10x10 we have 11x11 points (starting with 0 and ending with 10)

            for (var i = 0; i < yValue.length; i++) { // v zanki gremo po polju yInput in na mestu 0 eno vrednost odrežemo, na koncu pa eno mesto dodamo - zapišemo novo vrednost yInput

                this.y[i].splice(0, 1); // on the position 0 in the vector y we cut one value

                this.y[i][this.maxGraphX] = yValue[i]; // at the end of the array the new value is added

            }

        }

        else {

            for (var i = 0; i < yValue.length; i++) { // z zanko gremo po vseh vrsticah za matrike y

                this.y[i].push(yValue[i]); // if the array is not yet full, we push the new value in the array / vrednost v oklepaju [] t.j. index je za ena večji; npr., če imamo eno vrednost je indeks [0], length pa 1

            }

        }

    }

    plot(yValue) {

        this.addValueOrCutAndAdd(yValue);

        this.ctx.clearRect(0, 0, this.canvasWidth, this.canvasHeight); // clear the canvas

        for (var i=0; i < yValue.length; i++) { // zanka, ki gre po vrsticah y matrike

        this.ctx.strokeStyle = this.color[i]; // determine color

        this.ctx.beginPath(); // for the start of the line

            for (var j=0; j<this.y[0].length; j++) {

                this.ctx.lineTo(this.x[j]/this.rangeX*this.canvasWidth, (this.canvasHeight - ((this.y[i][j]-this.minGraphY)/this.rangeY) * this.canvasHeight)); // for y values we multiply with canas height, eg. 0.25 * 100 = 25

            }

        this.ctx.stroke();

        }

        // add legend

        for( var i=0; i<this.legend.length; i++ ) { // legend and color should be of the same size

            this.ctx.font = "11px Arial";

            this.ctx.fillText(this.legend[i], 49+i*54, 10);

            this.ctx.strokeStyle = this.color[i];

            this.ctx.beginPath(); // beginning of the short line for the legend

            this.ctx.lineTo(37+i*54, 6);

            this.ctx.lineTo(46+i*54, 6);

            this.ctx.stroke();

        }

        // add axis descritions

        this.ctx.fillText("<-" + this.axisDescription[0] + "|" + this.axisDescription[1] + "->", 150, 95)

        this.ctx.fillText(this.axisDescription[2], 5, 95);

        this.ctx.fillText(this.axisDescription[3], 5, 11);

    }

}

class LogDiv {

    constructor(divId, numberOfLinesBeforeScroll) {

        this.divElement = document.getElementById(divId); // name of div where values will be printed

        this.numberOfLinesBeforeScroll = numberOfLinesBeforeScroll; // number of lines which print before scroll

        this.linesPrintCounter = 0;

    }

    log(msg) { // function for printout of the messages with scroll functionality

        var node=document.createElement("tr"); // we create the variable node as the a table row (table row)

        var textnode=document.createTextNode(this.linesPrintCounter + " | " + msg); // we create element with the text

        node.appendChild(textnode); // adding text to "node", t.j. vrstici tabele

        this.divElement.insertBefore(node, this.divElement.childNodes[0]); // inserting into variable node

        if (this.linesPrintCounter > this.numberOfLinesBeforeScroll-1) { // if the lines are more than limit -> start with scroll

            this.divElement.removeChild(this.divElement.childNodes[this.numberOfLinesBeforeScroll], this.divElement.childNodes[this.numberOfLinesBeforeScroll]); // we remove the oldest printout

        }

        this.linesPrintCounter++; // increasing the number of printouts

    } 

}    

ws.onmessage = function(event) {

    var msg = JSON.parse(event.data); // string from ws is put to JSON

    switch(msg.type) {

        case "message":

            divPrint1.log(msg.content); // add msg to div

        break;

        case "staticMsgToClient":

            document.getElementById("divForStaticPrint").innerHTML = "Status: Ctrl. Alg. " + msg.content; // we print to div

        break;

        case "clientReadValues":

            potValue1 = msg.desiredValue;

            potValue2 = msg.actualValue;

            pwm = parseInt((Number(msg.pwm)).toFixed(0), 10);

            graph1.plot([potValue1, potValue2]); // desired Vs actual graph

            graph2.plot([pwm]); // plot pwm

            // draw centerline in graph2

            graph2.ctx.strokeStyle = "#add8e6";

            graph2.ctx.beginPath(); // draw centerline at 0

            graph2.ctx.lineTo(0, 50); // starting point

            graph2.ctx.lineTo(200, 50); // ending point

            graph2.ctx.stroke();

            graph3.plot([msg.KpE, msg.KiIedt, msg.KdDe_dt]);

            graph4.plot([msg.err]); // graph for P part

            graph5.plot([msg.errSum]); // graph for I part

            graph6.plot([msg.dErr]); // graph for D part

            graph7.plot([msg.errSumAbs]); // graph for performance measure

            performanceMeasure = msg.errSumAbs; // write into global var to get results at the end

            graph7.ctx.fillText(parseInt(msg.errSumAbs),70,27);

            divPrint1.log(potValue1 + "|" + potValue2 + "|" + msg.error + "|" + msg.pwm);

        break;        

    }

};

function startControlAlgorithm1() {

    stopControlAlgorithm(); // just in case, if it is not started

    pCoeff = document.getElementById("pCoeff").value; // read the value of coeff from input field

    messageJSON = {"type": "startControlAlgorithm", "ctrlAlgNo": 1, "pCoeff": pCoeff};

    ws.send(JSON.stringify(messageJSON)); // we have to stringify JSON to send it over websocket

}

function startControlAlgorithm2() {

    stopControlAlgorithm(); // just in case, if it is not started

    Kp1 = document.getElementById("Kp1").value; // read the value of coeff from input field

    Ki1 = document.getElementById("Ki1").value; // read the value of coeff from input field

    Kd1 = document.getElementById("Kd1").value; // read the value of coeff from input field

    messageJSON = {"type": "startControlAlgorithm", "ctrlAlgNo": 2, "Kp1": Kp1, "Ki1": Ki1, "Kd1": Kd1};

    ws.send(JSON.stringify(messageJSON)); // we have to stringify JSON to send it over websocket    

}

function sendPosition () {

    var positionValue = document.getElementById("position").value;

    messageJSON = {"type": "sendPosition", "positionValue": positionValue};

    ws.send(JSON.stringify(messageJSON)); // we have to stringify JSON to send it over websocket 

};

    function pulse() {

    var positionInterval = 0;

    intervalPulseFunction = setInterval(function() {

    if (positionInterval == 220) {

        positionInterval = 804;

    }

    else {

        positionInterval = 220;

    }

    messageJSON = {"type": "sendPosition", "positionValue": positionInterval};

    ws.send(JSON.stringify(messageJSON)); // we have to stringify JSON to send it over websocket 

    }, 2500);

    }

function stop () {

document.getElementById("divForStaticPrint").innerHTML = document.getElementById("divForStaticPrint").innerHTML + " | C = " + performanceMeasure;

clearInterval(intervalPulseFunction);

}

function pulseTimed () {

        startControlAlgorithm2();

        pulse();

        setTimeout(function() {stop();}, 12000); // wait for 12000ms to get performance measure value out

}

function startControlAlgorithm3() {

    stopControlAlgorithm(); // just in case, if it is not started

    var Kp2 = document.getElementById("Kp2").value; // read the value of coeff from input field

    var Ki2 = document.getElementById("Ki2").value; // read the value of coeff from input field

    var Kd2 = document.getElementById("Kd2").value; // read the value of coeff from input field

    messageJSON = {"type": "startControlAlgorithm", "ctrlAlgNo": 3, "Kp2": Kp2, "Ki2": Ki2, "Kd2": Kd2};

    ws.send(JSON.stringify(messageJSON)); // we have to stringify JSON to send it over websocket

}

function stopControlAlgorithm () {

    messageJSON = {"type": "stopControlAlgorithm"};

    ws.send(JSON.stringify(messageJSON)); // we have to stringify JSON to send it over websocket    

}

</script>

</body>

</html>