First version of linear stage controller
authorJan Michel <jan@mueschelsoft.de>
Fri, 14 Apr 2017 15:40:40 +0000 (17:40 +0200)
committerJan Michel <jan@mueschelsoft.de>
Fri, 14 Apr 2017 15:40:40 +0000 (17:40 +0200)
stages/com.pl [new file with mode: 0755]
stages/httpi [new file with mode: 0755]
stages/index.html [new file with mode: 0644]
stages/style.css [new file with mode: 0644]

diff --git a/stages/com.pl b/stages/com.pl
new file mode 100755 (executable)
index 0000000..08a97fc
--- /dev/null
@@ -0,0 +1,70 @@
+#!/usr/bin/perl 
+if ($ENV{'SERVER_SOFTWARE'} =~ /HTTP-?i/i) {
+  &htsponse(200, "OK");
+  }
+
+use CGI ':standard';
+use CGI::Carp qw(warningsToBrowser fatalsToBrowser); 
+use warnings;
+use strict;
+use JSON::XS;
+use URI::Escape qw(uri_unescape uri_escape);
+use Device::SerialPort;
+use Time::HiRes qw( usleep);
+use POSIX qw/floor ceil strftime/;
+use Data::Dumper;
+print "Content-Type: application/json; charset=utf-8\r\n\r\n";
+
+my $q = CGI->new;
+
+my $r;
+my $device = $q->param("device");
+# print $q->param("cmd");
+my @commands = split('\|',uri_unescape($q->param("cmd")));
+my $port;   
+
+  $port = new Device::SerialPort($device);
+  unless ($port)
+  {
+    $r->{error} = "can't open serial interface $device\n";
+    print  encode_json($r);
+    exit;
+  }
+
+  $port->user_msg('ON'); 
+  $port->baudrate(19200); 
+  $port->parity("none"); 
+  $port->databits(8); 
+  $port->stopbits(1); 
+  $port->handshake("none");
+  $port->write_settings;
+
+  
+  $r->{time} = strftime("%H:%M:%S", localtime());
+  $r->{error} = 'Done';
+  
+  while ( my $command = shift(@commands) ) {
+    $port->lookclear; 
+    usleep(1000);
+    $command = uri_unescape($command);
+    $port->write("$command;\r\n");
+    $r->{error} .= "<br>".$command;
+    usleep(1000);
+    if($command =~ m/\?/) {
+      my $a = '';
+      READBACK: for (my $i = 0; ($i<100) ;$i++) {
+        $a .= $port->lookfor;
+        if (defined $a and $a ne "" and $a =~ /\r/) {
+          chomp $a;
+          $r->{returns}{$command} = $a;
+          last READBACK;
+          }
+        usleep(5000);
+        }
+      }
+    else {
+      $r->{returns}{$command} = "";
+      } 
+    }
+
+print  encode_json($r);
diff --git a/stages/httpi b/stages/httpi
new file mode 100755 (executable)
index 0000000..084c3bc
--- /dev/null
@@ -0,0 +1,537 @@
+#!/usr/bin/perl
+use POSIX qw(SIGALRM SIGTERM sigaction);
+
+use lib ".";
+use Digest::SHA::PurePerl qw(sha1_base64);
+
+
+$VERSION = "1.7 (Demonic/Linux)";
+
+# HTTPi Hypertext Tiny Truncated Process Implementation
+# Copyright 1999-2010 Cameron Kaiser and Contributors # All rights reserved
+# Please read LICENSE # Do not strip this copyright message.
+
+###############################################################
+# WHITE HATS ONLY BELOW THIS POINT -- SEE DOCUMENTATION FIRST #
+###############################################################
+
+%system_content_types =
+       ("html" => "text/html",
+        "htm" => "text/html",
+        "txt" => "text/plain",
+        "xml" => "text/xml",
+        "xsl" => "text/xml",
+        "xhtml" => "application/xhtml+xml",
+        "css" => "text/css",
+        "gif" => "image/gif",
+        "jpeg" => "image/jpeg",
+        "jpg" => "image/jpeg",
+        "bmp" => "image/bmp",
+        "png" => "image/png",
+        "tif" => "image/tiff",
+        "tiff" => "image/tiff",
+        "ico" => "image/x-icon",
+        "svg" => "image/svg+xml",
+        "svgz" => "image/svg+xml",
+        "wbmp" => "image/vnd.wap.wbmp",
+        "wbm" => "image/vnd.wap.wbmp",
+        "xbm" => "image/x-xbitmap",
+        "mp3" => "audio/x-mpeg",
+        "wma" => "audio/x-ms-wma",
+        "wav" => "audio/x-wav",
+        "au" => "audio/basic",
+        "aif" => "audio/x-aiff",
+        "aiff" => "audio/x-aiff",
+        "ogg" => "audio/x-ogg", 
+        "oga" => "audio/x-ogg",
+        "mid" => "audio/midi",
+        "wma" => "audio/x-ms-wma",
+        "mpeg" => "video/mpeg",
+        "mpg" => "video/mpeg",
+        "aac" => "audio/aac",
+        "ogv" => "video/x-ogg",
+        "ogx" => "application/x-ogg",
+        "avi" => "video/x-msvideo",
+        "wmv" => "video/x-ms-wmv",
+        "asf" => "video/x-ms-asf",
+        "mov" => "video/quicktime",
+        "mp4" => "video/mp4",
+        "rv" => "video/vnd.m-realvideo",
+        "rm" => "application/vnd.m-realmedia",
+        "ra" => "audio/vnd.m-realaudio",
+        "ram" => "audio/vnd.m-realaudio",
+        "pdf" => "application/pdf",
+        "fdf" => "application/vnd.fdf",
+        "class" => "application/octet-stream",
+        "jar" => "application/octet-stream",
+        "js" => "application/x-javascript",
+        "lnk" => "application/x-hyperlink",
+        "prg" => "application/x-c64-prg-binary",
+        "d64" => "application/x-c64-disk-image",
+        "tar" => "application/x-tar",
+        "sit" => "application/x-stuffit",
+        "Z" => "application/x-compress",
+        "gz"  => "application/x-gzip",
+        "dmg" => "application/octet-stream",
+        "img" => "application/octet-stream",
+        "lzh" => "application/octet-stream",
+        "lha" => "application/octet-stream",
+        "exe" => "application/octet-stream",
+        "com" => "application/octet-stream",
+        "zip" => "application/x-zip-compressed",
+        "hqx" => "application/x-binhex",
+        "swf" => "x-shockwave-flash",
+        "flv" => "video/x-flv",
+
+        "bin" => "application/octet-stream");
+
+# comment in to enable logs
+#$logfile = "./access.log";
+$path = ".";
+$sockaddr = 'S n a4 x8';
+
+$server_host = $ARGV[0];
+$server_port = $ARGV[1];
+
+die("$0 [host] [port] required. got >$server_host< >$server_port<") unless ($server_host and $server_port); 
+   
+%content_types =
+       ("html" => "text/html",
+        "htm" => "text/html",
+    "shtml" => "text/html"
+        );
+%restrictions = (
+        "/nw" => "^10\.##^Mozilla#MSIE",
+        "/status" => "####voyeur:daNrZR3TcSwD2",
+        "/" => "###(NPBot|WebZIP|HTTrack|eCatch|Offline Explorer|UdmSearch|WebCopier|internetseer|MSIECrawler|SuperBot|LinkWalker|Tutorial Crawler|WebReaper)",
+       );
+               # See documentation for interpreting this string.
+
+$headers = <<"EOF";
+Server: TRB3-DAQ based on HTTPi/$VERSION
+MIME-Version: 1.0
+EOF
+
+
+%content_types = (%system_content_types, %content_types);
+undef %system_content_types;
+
+#if ($pid = fork()) { exit; }
+$0 = "dhttpi: binding port ...";
+$bindthis = pack($sockaddr, 2, $server_port, pack('C4', 0, 0, 0, 0));
+socket(S, 2, 1, 6);
+setsockopt(S, 1, 2, 1);
+bind(S, $bindthis) || die("$0: while binding port $server_port:\n\"$!\"\n");
+listen(S, 128);
+$0 = "dhttpi: connected and waiting ANY:$server_port";
+
+$statiosuptime = time();
+
+sub sock_to_host {
+       return ($cache_hn, $cache_port, $cache_ip)
+               if (length($cache_ip));
+
+       return (undef, undef, undef) if (!$sock);
+       my($AFC, $cache_port, $thataddr, $zero) = unpack($sockaddr, $sock);
+       $cache_ip = join('.', unpack("C4", $thataddr));
+       $cache_hn =
+               gethostbyaddr($thataddr, 2) ||
+               $cache_ip;
+       return ($cache_hn, $cache_port, $cache_ip);
+}
+
+
+sub htsponse {
+       ($currentcode, $currentstring) = (@_);
+       return if (0+$httpver < 1);
+       my($what) = <<"EOF";
+HTTP/$httpver $currentcode $currentstring
+${headers}Date: $rfcdate
+EOF
+       $what =~ s/\n/\r\n/g;
+       print STDOUT $what;
+       &hthead("Connection: close") if (0+$httpver > 1);
+}
+
+sub hthead {
+       my($header, $term) = (@_);
+       return if (0+$httpver < 1);
+       print STDOUT "$header\r\n" , ($term) ? "\r\n" : "";
+}
+
+sub htcontent {
+       my($what, $ctype, $mode) = (@_);
+       ($contentlength) = $mode || length($what);
+       &hthead("Content-Length: $contentlength");
+       &hthead("Content-Type: $ctype", 1);
+       return if ($method eq 'HEAD' || $mode);
+       print STDOUT $what;
+}
+
+sub log {
+       if ($logfile && open(J, ">>$logfile")) {
+               my $q = $address . (($variables) ? "?$variables" : "");
+               $contentlength += 0;
+               $contentlength = 0 if ($method eq 'HEAD');
+               my ($hostname, $port, $ip) = &sock_to_host();
+               $hostname ||= "-";
+               $httpuser ||= "-";
+               print J <<"EOF";
+$hostname - $httpuser [$date] "$method $q HTTP/$httpver" $currentcode $contentlength "$httpref" "$httpua"
+EOF
+               close(J);
+       }
+}
+
+
+sub bye { exit; }
+sub byebye { kill(9,$secondary_pid) if ($secondary_pid); exit; }
+
+sub dead {
+       &htsponse(500, "Server Error");
+       &hterror("Server Error", <<"EOF");
+The server cannot comply with your request for resource <tt>$::address</tt>.
+Please attempt to notify the administrators.
+<p>Useful(?) debugging information:
+<pre>
+@_
+</pre>
+EOF
+       &log; exit;
+}
+
+sub defaultsignals {
+       $SIG{'__DIE__'} = \&dead;
+       sigaction SIGALRM, new POSIX::SigAction \&bye
+               or die "sigalrm failed: $!\n";
+       sigaction SIGTERM, new POSIX::SigAction \&byebye
+               or die "sigterm failed: $!\n";
+}
+&defaultsignals;
+
+sub alarmsignals {
+       undef $SIG{'__DIE__'};
+       sigaction SIGALRM, new POSIX::SigAction sub { die; }
+               or die "sigalrm failed: $!\n";
+}
+
+sub master {
+       $0 = "dhttpi: handling request";
+$sock = getpeername(STDIN);
+$rfcdate = &rfctime(scalar gmtime, 1);
+$date = scalar localtime;
+($dow, $mon, $dt, $tm, $yr) = ($date =~
+       m/(...) (...) (..) (..:..:..) (....)/);
+$dt += 0;
+$dt = substr("0$dt", length("0$dt") - 2, 2);
+$date = "$dt/$mon/$yr:$tm +0000"; 
+
+select(STDOUT); $|=1; $address = 0; 
+alarm 5;
+while (<STDIN>) {
+       if(/^([A-Z]+)\s+([^\s]+)\s+([^\s\r\l\n]*)/) {
+               $method = $1;
+               $address = $2; 
+               $httpver = $3;
+               $httpref = '';
+               $httpua = '';
+               $httpver = ($httpver =~ m#HTTP/([0-9]\.[0-9]+)#) ?
+                       ($1) : (0.9);
+               $address =~ s#^http://[^/]+/#/#;
+               $0 = $execstring = "dhttpi: $method $address $httpver";
+               next unless ($httpver < 1);
+       } else {
+               s/[\r\l\n\s]+$//;
+               (/^Host:\s+(.+)/i) && ($httphost = substr($1, 0, 255))
+                       && ($httphost =~ s/:\d+$//);
+               (/^Referer:\s+(.+)/i) && ($httpref = substr($1, 0, 1024));
+               (/^User-agent:\s+(.+)/i) && ($httpua = substr($1, 0, 1024));
+               (/^Content-length:\s+(\d+)/i) &&
+                       ($ENV{'CONTENT_LENGTH'} = $httpcl = 0+$1);
+               (/^Content-type:\s+(.+)/i) &&
+                       ($ENV{'CONTENT_TYPE'} = $httpct = substr($1, 0, 255));
+               (/^Expect:\s+/) && ($expect = 1);
+               (/^Cookie:\s+(.+)/i) &&
+                       ($ENV{'HTTP_COOKIE'} = substr($1, 0, 16384));
+               (/^Authorization:\s+Basic (.+)/i) &&
+                       ($httprawu = substr($1, 0, 1024));
+               (/^Range:\s+(.+)/i) &&
+                       ($ENV{'CONTENT_RANGE'} = substr($1, 0, 255));
+               (/^If-Modified-Since:\s+(.+)/i) &&
+                       ($modsince = $ENV{'HTTP_IF_MODIFIED_SINCE'} =
+                               substr($1, 0, 255));
+               (/^Accept:\s+(.+)/i) &&
+                       ($ENV{'HTTP_ACCEPT'} = substr($1, 0, 255));
+               (/^Accept-([a-zA-Z0-9]+):\s+(.+)/i) &&
+                       ($ENV{'HTTP_ACCEPT_'.uc(substr($1, 0, 16))} =
+                               substr($2, 0, 255));
+               (/^X-Requested-With:\s+(.+)/i) &&
+                       ($ENV{'HTTP_X_REQUESTED_WITH'} = substr($1, 0, 1024));
+
+               (/^Origin:\s+(.+)/i) &&
+                       ($ENV{'HTTP_ORIGIN'} = substr($1, 0, 1024));
+               (/^Upgrade:\s+(.+)/i) &&
+                       ($ENV{'HTTP_UPGRADE'} = substr($1, 0, 1024));
+               (/^Sec-WebSocket-Protocol:\s+(.+)/i) &&
+                       ($ENV{'WEBSOCKET_PROTOCOL'} = substr($1, 0, 1024));
+               (/^Sec-WebSocket-Version:\s+(-?\d+)/i) &&
+                       ($ENV{'WEBSOCKET_VERSION'} = substr($1, 0, 8));
+               (/^Sec-WebSocket-Extensions:\s+(-?\d+)/i) &&
+                       ($ENV{'WEBSOCKET_EXTENSIONS'} = substr($1, 0, 1024));
+               (/^Sec-WebSocket-Key:\s+(\S+)/i) &&
+                       ($ENV{'WEBSOCKET_KEY'} = substr($1, 0, 1024));
+               
+               next unless (/^$/);
+       }
+       if ($expect) {
+               &htsponse(417, "Expectation Failed");
+               &hterror("Expectation Failed",
+                       "The server does not support this method.");
+               &log; exit;
+       }
+       if (!length($address) || (0+$httpver > 1 && !$httphost)) {
+               &htsponse(400, "Bad Request");
+               &hterror("Bad Request",
+                       "The server cannot understand your request.");
+               &log; exit;
+       }
+       if ($method !~ /^(GET|HEAD|POST)$/) {
+               &htsponse(501, "Not Implemented");
+               &hterror("Not Implemented",
+                       "Only GET, HEAD and POST are supported.");
+               &log; exit;
+       }
+       
+       
+       if ($ENV{'HTTP_UPGRADE'} eq 'websocket') {
+           if ($method ne "GET" || !$ENV{'WEBSOCKET_KEY'}) {
+               &htsponse(400, "Bad request");
+               &hterror("Bad request",
+                       "Illegal websocket opening handshake");
+               &log; exit;
+           }
+           
+           $ENV{'WEBSOCKET_ACCEPT'} = 
+               sha1_base64($ENV{'WEBSOCKET_KEY'} . "258EAFA5-E914-47DA-95CA-C5AB0DC85B11") . "=";
+               
+           
+       }
+       
+       
+       
+       ($address, $variables) = split(/\?/, $address);
+       $address =~ s/%([0-9a-fA-F]{2})/pack("H2", $1)/eg;
+       $address=~ s#^/?#/#;
+       1 while $address =~ s#/\.(/|$)#\1#;
+        1 while $address =~ s#/[^/]*/\.\.(/|$)#\1#;
+       1 while $address =~ s#^/\.\.(/|$)#\1#;
+       $fail = 0;
+       J: foreach(sort { length $a <=> length $b }
+                       keys %restrictions) {
+               next if ($address !~ /^$_/);
+               ($allowip, $denyip, $allowua, $denyua, $auser) =
+                       split(/#/, $restrictions{$_});
+               if ($allowip || $denyip) {
+                       ($hostname, $port, $ip) = &sock_to_host();
+                       ($allowip && $ip !~ /$allowip/) && ($fail = 1,
+                               last J);
+                       ($denyip && $ip =~ /$denyip/) && ($fail = 1,
+                               last J);
+               }
+               ($allowua && $httpua !~ /$allowua/) &&
+                       ($fail = 2, last J);
+               ($denyua && $httpua =~ /$denyua/) &&
+                       ($fail = 2, last J);
+       }
+       if ($fail) {
+               &htsponse(403, "Forbidden");
+               if ($fail == 1) {
+                       &hterror("Forbidden (Client Disallowed)", <<"EOF");
+Your network address (<i>$ip</i>) is not allowed to access this resource.
+EOF
+                       &log; exit;
+               } else {
+                       &hterror("Forbidden (Browser Disallowed)", <<"EOF");
+The browser you are using (<i>$httpua</i>) is not capable of or
+is not allowed access to this resource.
+EOF
+                       &log; exit;
+               }
+       }
+       if ($auser) {
+               $httprawu =~ tr#A-Za-z0-9+/##cd;
+               $httprawu =~ tr#A-Za-z0-9+/# -_#;
+               $httprawu = unpack("u", pack("c", 32+0.75*length($httprawu))
+                       . $httprawu);
+               ($httpuser, $httppw) = split(/:/, $httprawu);
+               $fail = 1;
+               foreach $user (split(/,/, $auser)) {
+                       ($user, $pw) = split(/:/, $user);
+                       ($fail = 0, last) if ($user eq $httpuser &&
+                               crypt($httppw, substr($pw, 0, 2)) eq $pw);
+               }
+               if ($fail) {
+                       $httpuser = '';
+                       &htsponse(401, "Authorization Required");
+                       &hthead("WWW-Authenticate: Basic realm=\"$address\"");
+                       &hterror("Authorization Required", <<"EOF");
+You must provide a username and password to use this resource. Either you
+entered this information incorrectly, or your browser does not know how to
+present the credentials required.
+EOF
+                       &log; exit;
+               }
+       }
+
+       alarm 0;
+
+
+
+
+       $raddress = "$path$address"
+       ;
+       1 while ($raddress =~ s#//#/#);
+       &hterror301("http://$server_host:$server_port$address/")
+               if ($address !~ m#/$# && -d $raddress);
+       $raddress = (-r "${raddress}index.shtml") ?
+               "${raddress}index.shtml" : "${raddress}index.html"
+                       if (-d $raddress);
+       IRED: ($hostname, $port, $ip) = &sock_to_host();
+       if(!sysopen(S, $raddress, 0)) { &hterror404; } else {
+               if ((-x $raddress) 
+                       ) {
+                       $currentcode = 100; &nsecmodel;
+                       $ENV{'REQUEST_METHOD'} = $method;
+                       $ENV{'SERVER_NAME'} = $server_host;
+                       $ENV{'SERVER_PROTOCOL'} = "HTTP/$httpver";
+                       $ENV{'SERVER_SOFTWARE'} = "HTTPi/$VERSION";
+                       $ENV{'SERVER_PORT'} = "$server_port";
+                       $ENV{'SERVER_URL'} = "http://$server_host:$server_port/";
+                       $ENV{'SCRIPT_FILENAME'} = $raddress;
+                       $ENV{'SCRIPT_NAME'} = $address;
+                       $ENV{'REMOTE_HOST'} = $hostname;
+                       $ENV{'REMOTE_ADDR'} = $ip;
+                       $ENV{'REMOTE_PORT'} = $port;
+                       $ENV{'QUERY_STRING'} = $variables;
+                       $ENV{'HTTP_USER_AGENT'} = $httpua;
+                       $ENV{'HTTP_REFERER'} = $httpref;
+                       undef $pid;
+                       if ($pid = fork()) { kill 15, $$; exit; }
+                       elsif (!defined($pid)) {
+                               die
+                       "temporary(?) fork error, please retry request: $!\n";
+                       } else {
+                               require $raddress;
+                               exit;
+                       }
+               }
+               ($x,$x,$x,$x,$x,$x,$x,$length,$x,$mtime) = stat(S);
+               $ctype = 0;
+               foreach(keys %content_types) {
+                       if ($raddress =~ /\.$_$/i) {
+                               $ctype = $content_types{$_};
+                       }
+               }
+               $mtime = &rfctime($mtime);
+SERVEIT:       
+               if ($mtime eq $modsince) {
+                       &htsponse(304, "Not Modified");
+                       &hthead("Last-Modified: $mtime", 1);
+                       &log; exit;
+               }
+               $ctype ||= 'text/plain';
+               if ($pid = fork()) { kill 15, $$; exit; }
+               $contentlength ||= $length;
+                       &htsponse(200, "OK");
+                       &hthead("Last-Modified: $mtime");
+                       &htcontent("", $ctype, $length);
+                       &nsecmodel;
+                       $bytecount = 0;
+                       unless ($method eq 'HEAD') {
+                               while(!eof(S)) {
+                                       read(S, $q, 32768);
+                                       print STDOUT $q;
+                                       $bytecount += 32768;
+                                       $0 = $execstring .
+                                               " ($bytecount bytes sent)";
+                               }
+                       }
+               alarm 0;
+       }
+       exit;
+}
+
+exit;
+}
+
+
+sub nsecmodel {
+       &log;
+       ($x,$x,$x,$x,$uid,$gid) = stat(S);
+       (!$uid || !$gid || $uid < 2 ) &&
+               die "resource is root-owned, secured or not stat-able\n";
+       if (!$<) {
+               ($) = "$gid $gid") || die "can't set egid to $gid";
+               ($> = $uid) || die "can't set euid to $uid";
+               ($( = "$gid $gid") || die "can't set rgid to $gid";
+               ($< = $uid) || die "can't set ruid to $uid";
+       }
+}
+
+sub rfctime {
+       my $mtime = shift;
+       $mtime = (scalar gmtime $mtime) if (!(shift));
+       my ($dow, $mon, $dt, $tm, $yr) =
+               ($mtime =~ m/(...) (...) (..) (..:..:..) (....)/);
+       $dt += 0; $yr += 0;
+       return "$dow, $dt $mon $yr $tm GMT";
+}
+
+sub hterror {
+       my($errstr, @expl) = (@_);
+       &htcontent(<<"EOF", "text/html");
+<html>
+<body>
+<h1>$errstr</h1>
+@expl
+<hr>
+<address><a href = "http://httpi.floodgap.com/">httpi/$VERSION</a>
+by Cameron Kaiser</address>
+</body>
+</html>
+EOF
+       }
+
+sub hterror404 {
+       &htsponse(404, "Not Found");
+       &hterror("Not Found",
+               "The resource <tt>$address</tt> was not found on this system.");
+       &log; exit;
+}
+
+sub hterror301 {
+       &htsponse(301, "Moved Permanently");
+       &hthead("Location: @_");
+       &hterror("Resource Moved Permanently",
+               "This resource has moved <a href = \"@_\">here</a>.");
+       &log; exit;
+}
+
+
+$0 = "dhttpi: on ANY:$server_port, ready!";
+$master_pid = $$;
+for (;;) {
+       if ($secondary_pid = fork()) {
+               waitpid($secondary_pid, 0);
+               $0 = "dhttpi: on ANY:$server_port, last request " .
+                       scalar localtime;
+       } else {
+               $0 = "dhttpi (child of $master_pid): waiting for connect";
+               $addr=accept(NS,S);
+               open(STDIN, "<&NS");
+               open(STDOUT, ">&NS");
+               &defaultsignals;
+               &master;
+               exit;
+       }
+}
diff --git a/stages/index.html b/stages/index.html
new file mode 100644 (file)
index 0000000..0bac9ec
--- /dev/null
@@ -0,0 +1,124 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+ <title>Linear Stage Controller</title>
+ <link rel="stylesheet" type="text/css" href="style.css">
+ <meta  charset="UTF-8"/>
+</head>
+
+<script type="text/javascript">
+
+var data;
+   
+  function getData(command,dId,callback) {
+    
+    var xmlhttp = null;
+    var cb = null;
+    xmlhttp=new XMLHttpRequest();
+    cb = callback;
+    var destId = dId;
+    var cmd = command;
+    xmlhttp.onreadystatechange = function() {
+      if(xmlhttp.readyState == 4) {
+        if(destId && document.getElementById(destId)){
+          document.getElementById(destId).innerHTML  = xmlhttp.responseText;  
+          }
+        if(cb) {
+          cb(xmlhttp.responseText);
+          }
+        }
+      }
+    xmlhttp.open("GET",command,1);
+    xmlhttp.send(null);
+    }  
+
+
+  function runcmd(commands) {
+    commands = commands.replace(/\;/g,'|');
+    var url  = 'com.pl?';
+        url += 'device='+encodeURIComponent(document.getElementsByName('device')[0].value);
+        url += '&cmd='+encodeURIComponent(commands);
+    getData(url,'',readdata);
+    document.getElementById('timestamp').style.background="#ff8888";
+    }
+  
+  function readdata(d) {
+    try {
+      data = JSON.parse(d);
+      document.getElementById('errors').innerHTML = data.error+'<br>';
+      document.getElementById('timestamp').innerHTML = data.time;
+      console.log(data.returns);
+//       fill('relX','PR?',1);
+//       fill('relY','PR,?',1);
+      fill('absX','PA?',1);
+      fill('absY','PA,?',1);
+      document.getElementById('timestamp').style.background="transparent";
+      } 
+    catch (e) {
+      document.getElementById('errors').innerHTML = d;
+      }
+
+    }
+  
+  function fill(o,v,r=0) {
+    if(data.returns[v] != '') {
+      val = data.returns[v];
+      if(r) {
+        val = val.replace(/[:\?\s]/g,'');
+        val = val / 31496;
+        val = Math.round(val*100)/100;
+        }
+      document.getElementById(o).innerHTML = val;
+      document.getElementById('errors').innerHTML += "<br>"+v+" : "+val;
+      }
+    }
+  
+  function doit(t) {
+    var val = t.value;
+    var posval = Math.round(val * 31496);
+    var obj = t.name;
+    var commands = "";
+    switch (obj) {
+      case "MoverelX": commands += "PR "+posval+"; BGA;"; break;
+      case "MoverelY": commands += "PR ,"+posval+"; BGB;"; break;
+      case "MoveabsX": commands += "PA "+posval+"; BGA;"; break;
+      case "MoveabsY": commands += "PA ,"+posval+"; BGB;"; break;
+      case "stop":     commands += "ST;"; break;
+      case "zero":     commands += "DP 0,0;"; break;
+      case "anycommand": commands += val+";";break;
+      }
+    commands += "PA?;PA,?;PR?;PR,?;";  
+    runcmd(commands);  
+    }
+    
+  function doenter(e,t) {
+    if (e.keyCode == 13) { doit(t); return 0;}
+    return 1;
+    }
+</script>
+
+<body>
+<h1>Linear Stage Controller</h1>
+
+<label title="Device Name">Device: 
+    <input type="text" name="device" value="/dev/ttyUSBstage"></label>
+<p>
+<div class="position"><div class="label">X</div><div class="value" id="absX">0</div></div>
+<div class="position"><div class="label">Y</div><div class="value" id="absY">0</div></div>
+<div class="position">Last Update:<br><span id="timestamp">--</span></div>
+
+<h2 style="clear:both;">Move</h2>
+<p>Enter value (in mm) and press Enter to execute command
+<br><label title="rel X">rel X <input type="text" name="MoverelX" value="0" onkeypress="doenter(event,this)"></label>
+<br><label title="rel Y">rel Y <input type="text" name="MoverelY" value="0" onkeypress="doenter(event,this)"></label>
+<br><label title="abs X">abs X <input type="text" name="MoveabsX" value="0" onkeypress="doenter(event,this)"></label>
+<br><label title="abs Y">abs Y <input type="text" name="MoveabsY" value="0" onkeypress="doenter(event,this)"></label>
+<br><input type="button" name="stop" value="Stop"  onClick="doit(this)">
+    <input type="button" name="zero" value="Zero"  onClick="doit(this)">
+    <input type="button" name="refresh" value="Refresh"  onClick="doit(this)">
+<p>Run any other command
+<br><label title="any command">Command <input type="text" name="anycommand" value="" onkeypress="doenter(event,this)" ></label>
+<h2>Console</h2>
+<div id="errors"></div>
+</body>
diff --git a/stages/style.css b/stages/style.css
new file mode 100644 (file)
index 0000000..eb546f1
--- /dev/null
@@ -0,0 +1,21 @@
+div.position {
+  position:relative;
+  float:left;
+  border:1px solid #aaa;
+  width:200px;
+  margin:10px;
+  }
+  
+
+div.position .label{
+  font-size:15px;
+  width:100%;
+  text-align:left;
+  }  
+
+div.position .value{
+  font-size:30px;
+  width:100%;
+  text-align:right;
+  font-family:monospace;
+}