wavey-wind/server.js

const express = require('express')
const http = require('http')
const WebSocket = require('ws')
const osc = require('osc')
const readline = require('readline')
const fs = require('fs')

const port = 6676
// Vzemi iz argumenta
const tty = process.argv[2]

let eulerRotation = [0, 0, 0]

let baudrate = parseInt(process.argv[3])
if (!baudrate) {
  baudrate = 115200
}

const include_files = [
  '/anim.js',
  '/control.js',
  '/osctl.js',
  '/test.js',
  '/node_modules/three/build/three.min.js',
  '/node_modules/nouislider/distribute/nouislider.min.js',
  '/node_modules/nouislider/distribute/nouislider.min.css',
  '/node_modules/osc/dist/osc-browser.js'
];

const app = express();
const server = http.Server(app);

const DEBUG = true

// Odprti serijski OSC link
let scon = null

function openSerial() {
  console.log('opening ', tty, baudrate)

  scon = new osc.SerialPort({
    devicePath: tty,
    bitrate: baudrate,
    autoOpen: true,
    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)
    //scon.close()
  })
  scon.on('close', e => {
    console.warn('serial connection closed, restarting in 1 second')
  })
  
  // Arduino OSC gre v web
  scon.on('message', msg => {
    // Debug incoming osc
    if (DEBUG) {
      console.log('osc msg', msg)
    }

    sendAll(msg, null, null, osclients)
  })

  if (scon._closeCode) {
    scon = null
    console.log('restarting serial connection')
    setTimeout(openSerial, 1000)
  }
}

if (tty) {
  openSerial(baudrate)
}

app.get('/', (req, res) => {
    res.sendFile(__dirname + '/index.html');
});

app.get('/ctl', (req, res) => {
    res.sendFile(__dirname + '/control.html');
});

app.get('/test', (req, res) => {
    res.sendFile(__dirname + '/test.html');
});

let settings = {};
app.get('/settings', function(req, res) {
    res.send(settings);
});

include_files.map(function(file) {
    app.get(file, function(req, res){
        res.sendFile(__dirname + file);
    });
});

server.listen(port, () => console.log('listening on *:' + port))

// Websocket init
const wss = new WebSocket.Server({ server })


// Relay multicast to websockets
// @TODO still sends to supercollider? Do we need two sockets?
var dgram = require('dgram');
var sss = dgram.createSocket('udp4');
sss.on('listening', () => {
  sss.addMembership('224.0.1.9');
})
sss.bind(6696, '224.0.1.9');

const scudp = new osc.UDPPort({
  remotePort: 57120
  //socket: sss
})

scudp.on('open', () => {
  console.log("UDP to OSC open")
})

scudp.on('message', (msg) => {
  if (DEBUG) {
    console.log('got UDP msg', msg);
  }

  osclients.forEach( client => {
    if (client) {
      //console.log("sending", msg, info)
      client.send(msg)
    }
  })
})
scudp.on('error', (e) => {
  console.log('UDP OSC error!', e)
})
scudp.open()

function eulerFromQuaternion(quaternion) {
    // Quaternion to matrix.
    const w = quaternion[0], x = quaternion[1], y = quaternion[2], z = quaternion[3];
    const x2 = x + x, y2 = y + y, z2 = z + z;
    const xx = x * x2, xy = x * y2, xz = x * z2;
    const yy = y * y2, yz = y * z2, zz = z * z2;
    const wx = w * x2, wy = w * y2, wz = w * z2;
    const matrix = [
        1 - ( yy + zz ), xy + wz,         xz - wy,         0,
        xy - wz,         1 - ( xx + zz ), yz + wx,         0,
        xz + wy,         yz - wx,         1 - ( xx + yy ), 0,
        0,               0,               0,               1
    ];
    // Matrix to euler
    function clamp( value, min, max ) {
        return Math.max( min, Math.min( max, value ) );
    }
    const m11 = matrix[ 0 ], m12 = matrix[ 4 ], m13 = matrix[ 8 ];
    const m21 = matrix[ 1 ], m22 = matrix[ 5 ], m23 = matrix[ 9 ];
    const m31 = matrix[ 2 ], m32 = matrix[ 6 ], m33 = matrix[ 10 ];
    var euler = [ 0, 0, 0 ];

    euler[1] = Math.asin( clamp( m13, - 1, 1 ) );
    if ( Math.abs( m13 ) < 0.9999999 ) {
        euler[0] = Math.atan2( - m23, m33 );
        euler[2] = Math.atan2( - m12, m11 );
    } else {
        euler[0] = Math.atan2( m32, m22 );
        euler[2] = 0;
    }
    return euler;
}

const sendAll = (msg, info, oscWS, osclients) => {
  // Reset euler rotation to 0
  if (msg.address == '/keys') {
    if (msg.args[0] && msg.args[1] && msg.args[2] && msg.args[3]) {
      eulerRotation = [0, 0, 0]
    }
  }

  // Convert quaternion diff to euler angle diff
  if (msg.address == '/quaternionDiff') {
    const euler = eulerFromQuaternion(msg.args, 'XYZ');
    sendAll({
      address: '/eulerDiff',
      args: euler
    }, info, oscWS, osclients)

    eulerRotation[0] += euler[0]
    eulerRotation[1] += euler[1]
    eulerRotation[2] += euler[2]

    sendAll({
      address: '/euler',
      args: eulerRotation
    }, info, oscWS, osclients)
  }

  osclients.forEach( client => {
    if (client && oscWS != client) {
      // console.log("sending", msg, info)
      client.send(msg)
    }
  })

  if (scudp) {
    if (DEBUG) {
      console.log("UDP SEND", msg)
    }
    scudp.send(msg)
  }
}

const osclients = []

wss.on('connection', function (ws) {
  console.log('new client connection')
  let oscWS = new osc.WebSocketPort({
    socket: ws,
    metadata: false
  });

  // Vsi OSC sem grejo naprej na kliente OSC
  oscWS.on('packet', (packet, info) => {
    // Broadcast adjust msg
    const [address, args] = packet
    sendAll({ address, args}, info, oscWS, osclients)
  })

  oscWS.on('error', error => {
    console.warn('Ignoring invalid OSC')
    console.warn(error)
  })
  osclients.push(oscWS)

  /*
  oscWS.on('close', () => {
    oscWS = null
  })
  */
})