[Software][Cyclope controller] Stopped the robot and turned off its l…

…ights when exiting from the manual control page.
RICCIARDI-Adrien · Dec 8, 2024 · c746c75 · c746c75
1 parent 8b08b46
commit c746c75
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Showing 2 changed files with 17 additions and 2 deletions.
diff --git a/...ware/Raspberry_Pi/cyclope/package/cyclope-controller/src/Sources/WebPageManualControl.cpp b/...ware/Raspberry_Pi/cyclope/package/cyclope-controller/src/Sources/WebPageManualControl.cpp
@@ -31,6 +31,18 @@ int WebPageManualControl::generateContent(std::string &referenceStringContent)
 		"		handleKeyEvent(false, event);\n"
 		"	};\n"
 		"\n"
+		"	// Make sure the robot is stopped when leaving the page\n"
+		"	onbeforeunload = (event) =>\n"
+		"	{\n"
+		"		// Stop the robot\n"
+		"		command = CommunicationProtocol.COMMUNICATION_PROTOCOL_COMMAND_SET_MOTION + RobotMotion.ROBOT_MOTION_STOP;\n"
+		"		communicationProtocolSendCommand(command);\n"
+		"\n"
+		"		// Turn lights off\n"
+		"		command = CommunicationProtocol.COMMUNICATION_PROTOCOL_COMMAND_SET_LIGHT_ENABLED + '0';\n"
+		"		communicationProtocolSendCommand(command);\n"
+		"	}\n"
+		"\n"
 		"	function setUserInterfaceControlText(htmlElementId, text)\n"
 		"	{\n"
 		"		userInterfaceControl = document.getElementById(htmlElementId);\n"
@@ -180,7 +192,7 @@ int WebPageManualControl::generateContent(std::string &referenceStringContent)
 		"<p id=\"label-lights-status\">Lights : disabled</p>\n"
 		"<p id=\"label-robot-motion-status\">Motion : stopped</p>\n"
 		"<p class=\"text-center\">\n"
-		"	<a href=\"" + webPageIndex.getBaseUrl() + "\">Back</a>\n" // TODO stop robot movement when clicked
+		"	<a href=\"" + webPageIndex.getBaseUrl() + "\">Back</a>\n"
 		"</p>\n";
 
 	return 0;

diff --git a/Software/Raspberry_Pi/cyclope/package/cyclope-controller/src/Sources/WebServer.cpp b/Software/Raspberry_Pi/cyclope/package/cyclope-controller/src/Sources/WebServer.cpp
@@ -51,6 +51,9 @@ namespace WebServer
 			"	<head>\n"
 			"		<title>Cyclope Controller</title>\n"
 			"		<link rel=\"icon\" href=\"data:,\">\n" // Disable the favicon.ico request from the browser
+			"		<meta http-equiv=\"Cache-Control\" content=\"no-cache, no-store, must-revalidate\">\n" // These 3 meta tags should prevent the browser from caching the page
+			"		<meta http-equiv=\"Pragma\" content=\"no-cache\">\n"
+			"		<meta http-equiv=\"Expires\" content=\"0\">\n"
 			"		<style>\n"
 			"			.text-center\n"
 			"			{\n"
@@ -81,7 +84,7 @@ namespace WebServer
 			"			async function communicationProtocolSendCommand(stringCommand)\n"
 			"			{\n"
 			"				// Send the POST request\n"
-			"				response = await fetch(\"/api\", { method: \"POST\", body: stringCommand });\n"
+			"				response = await fetch(\"/api\", { method: \"POST\", body: stringCommand, keepalive: true });\n" // The "keepalive" flag tells the brower to continue the fetch calls even if the calling page is unloaded (this is useful to send commands to the robot in the "beforeunload" event handler)
 			"				if (!response.ok) return \"error\";\n"
 			"				// Wait for the server answer\n"
 			"				commandAnswer = await response.text();\n"