From e9716112b3e17c44df141c349bad9c3c577e759f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jurij=20Podgor=C5=A1ek?= <jurij@kompot.si>
Date: Sat, 5 Mar 2022 00:48:59 +0100
Subject: [PATCH] Nekaj popravkov, refaktoriranje, cleanup

---
 anim.js   | 20 ++++++++++++--------
 server.js | 41 ++++++++++++++++-------------------------
 2 files changed, 28 insertions(+), 33 deletions(-)

diff --git a/anim.js b/anim.js
index 938febb..a6cdc6f 100644
--- a/anim.js
+++ b/anim.js
@@ -132,9 +132,9 @@ function modulirajParametre() {
     drotacijaZ += qWWd.z / 10;
   }
   if (keysPressed[0]) {
-    width *= 1 + (dqY / 3);
-    barva_mod += (dqX / 30);
-    obj_limit *= 1 + (dqZ / 3);
+    //width *= 1 + dqX;
+    barva_mod += (dqZ / 100);
+    obj_limit *= 1 + (dqY / 3);
   }
 }
 
@@ -364,14 +364,18 @@ var oscCallbacks = {
   '/quaternion/': [
     function (args) {
       // Popravimo osi (w x y z po defaultu HMM)
-      qWWo = qWW.clone();
       [qWW.w, qWW.z, qWW.x, qWW.y] =  args.map(getVal);
-      // Dve sta obratno :)
+      // Dve sta obratno (polozaj senzorja) :)
       qWW.x *= -1;
       qWW.z *= -1;
-      qWWd = qWW.clone();
-      qWWd.conjugate();
-      qWWd.multiply(qWWo);
+    }
+  ],
+  '/quaternionDiff/': [
+    function (args) {
+      [qWWd.w, qWWd.z, qWWd.x, qWWd.y] =  args.map(getVal);
+      // Dve sta obratno (polozaj senzorja) :)
+      qWWd.x *= -1;
+      qWWd.z *= -1;
 
       var euler = eulerFromQuaternion([qWWd.w, qWWd.z, qWWd.x, qWWd.y], 'XYZ');
       dqX = euler[0];
diff --git a/server.js b/server.js
index ecf1935..6211b7f 100644
--- a/server.js
+++ b/server.js
@@ -8,7 +8,11 @@ const fs = require('fs')
 const port = 6676
 // Vzemi iz argumenta
 const tty = process.argv[2]
-const baudrate = parseInt(process.argv[3]) || 115200
+
+let baudrate = parseInt(process.argv[3])
+if (!baudrate) {
+  baudrate = 115200
+}
 
 const include_files = [
   '/anim.js',
@@ -24,29 +28,13 @@ const include_files = [
 const app = express();
 const server = http.Server(app);
 
+const DEBUG = true
+
 // Odprti serijski OSC link
 let scon = null
 
-function getArgs(parts) {
-  console.log('split to parts', parts)
-  switch (parts[1]) {
-  case 'quaternion':
-    return parts.splice(2).map((num) => ({
-      type: 'f',
-      value: parseFloat(num)
-    }))
-  }
-
-  // Default
-  return []
-}
-
-function getMsg(line) {
-  return null
-}
-
 function openSerial() {
-  console.log('opening ', tty)
+  console.log('opening ', tty, baudrate)
 
   scon = new osc.SerialPort({
     devicePath: tty,
@@ -55,15 +43,14 @@ function openSerial() {
     useSLIP: true
   })
   scon.open()
+
   scon.on('open', e => {
     console.log('serial connection opened')
     //console.log(scon)
   })
   scon.on('error', e => {
     console.error('tty error', e)
-    if (e.match(/cannot open/)) {
-      scon.close()
-    }
+    //scon.close()
   })
   scon.on('close', e => {
     console.warn('serial connection closed, restarting in 1 second')
@@ -81,6 +68,7 @@ function openSerial() {
 
   if (scon._closeCode) {
     scon = null
+    console.log('restarting serial connection')
     setTimeout(openSerial, 1000)
   }
 }
@@ -128,8 +116,6 @@ sss.on('listening', () => {
 sss.bind(6696, '224.0.1.9');
 
 const scudp = new osc.UDPPort({
-  remotePort: 6698,
-  metadata: true,
   socket: sss
 })
 
@@ -146,8 +132,13 @@ scudp.on('message', (msg) => {
     }
   })
 })
+scudp.on('error', (e) => {
+  console.log('UDP OSC error!', e)
+})
 scudp.open()
 
+
+
 const sendAll = (msg, info, oscWS, osclients) => {
   osclients.forEach( client => {
     if (client && oscWS != client) {