utils.js

'use strict';

exports.sleep = function(ms){
    return new Promise(resolve=>{
        if(ms && ms > 0) setTimeout(resolve,ms)
        else resolve();
    })
}

exports.normAngle = function(angle){
    while(angle>180) angle -= 360;
    while(angle<-180) angle += 360;
    return angle;
}

exports.angleInRange = function(startAngle, endAngle, angle){
    
    if(endAngle > startAngle)
        return startAngle <= angle && angle <= endAngle
    else
        return (startAngle <= angle && angle <= 180) || (endAngle >= angle && angle >= -180)
}

exports.getLineAngle = function(x1,y1,x2,y2){
    let dx = x2-x1;
    let dy = y2-y1;
    let rads = Math.atan2(dy,dx)
    rads += Math.PI/2;
    rads %= 2*Math.PI;
    let degs = rads * 180/Math.PI; // to degrees
    degs -= 90;
    if(degs>180) degs = -360+degs
    if(degs<-180) degs = 360+degs
    return degs;
}


exports.getDistance = function(x1,y1,x2,y2){
    let dx = x1-x2;
    let dy = y1-y2;
    return Math.sqrt(dx*dx + dy*dy);
}

exports.setLineAngle = function(x1,y1,x2,y2, angle){
    let rads = angle*Math.PI/180;
    let dx = x1-x2;
    let dy = y1-y2;
    let length = Math.sqrt(dx*dx + dy*dy);
    let rotX = x1 + length*Math.cos(rads);
    let rotY = y1 + length*Math.sin(rads);
    return {x:rotX, y:rotY};
}

exports.rotateLine = function(x1,y1,x2,y2, angle){
    let currentAngle = module.exports.getLineAngle(x1,y1,x2,y2);
    return module.exports.setLineAngle(x1,y1,x2,y2, currentAngle+angle)
}

var utils_dgram = require('dgram')
var utils_udp_client = utils_dgram.createSocket('udp4');
//var utils_teleplot_adr = "192.168.254.101";
var utils_teleplot_adr = "192.168.0.26";

exports.teleplotEnabled = true;

exports.sendTeleplot = function(name, value, unit="_", flags="g"){
    let packet = name+":"+(new Date()).getTime()+":"+value+"§"+unit+"|"+flags;
    utils_udp_client.send(packet, 47269, utils_teleplot_adr);
}

exports.sendTeleplotCube = function(name, x,y,z, width,height,depth, roll,pitch,yaw, color){
    let packet = "3D|"+name+":"+(new Date()).getTime()+":S:cube:C:"+color
        +":P:"+x+":"+y+":"+z
        +":R:"+roll+":"+pitch+":"+yaw
        +":W:"+width+":H:"+height+":D:"+depth;
    utils_udp_client.send(packet, 47269, utils_teleplot_adr);
}

exports.sendTeleplot3DSensor = function(name, array2D){
    let i = 0;
    let log = ""
    let y=0,x=0;
    for(let row of array2D){
        for(let val of row){
            let packet = "3D|"+(""+x+"_"+y)+","+name+":S:cube:P:"+x+":"+y+":"+(val/10)+":W:1:D:1:H:0.1";
            utils_udp_client.send(packet, 47269, utils_teleplot_adr);
            x++;
        }
        y++;
        x=0;
    }
}