func primeHandler(w http.ResponseWriter, r *http.Request) {
result := PositionResultType{Position: bot.ReadDistance()}
js, err := json.Marshal(result)
if err != nil {
http.Error(w, err.Error(), http.StatusInternalServerError)
} else {
w.Header().Set("Content-Type", "application/json")
w.Write(js)
}
}
func goHandler(w http.ResponseWriter, r *http.Request) {
params := mux.Vars(r)
target, err := strconv.ParseFloat(params["position"], 64)
if err != nil {
http.Error(w, err.Error(), http.StatusBadRequest)
return
}
// get current position
position := bot.ReadDistance()
for position == -1 {
position = bot.ReadDistance()
}
delta := target - position
fmt.Printf("delta: %.2fcm\ntarget: %.2fcm\n", delta, target)
if math.Abs(delta) > 0.5 {
if delta > 0 {
bot.GoUpTo(target)
} else {
bot.GoDownTo(target)
}
}
res := PositionResultType{Position: bot.ReadDistance()}
js, err2 := json.Marshal(res)
if err2 != nil {
http.Error(w, err2.Error(), http.StatusInternalServerError)
}
w.Header().Set("Content-Type", "application/json")
w.Write(js)
}
func positionHandler(w http.ResponseWriter, r *http.Request) {
var res PositionResultType
res.Position = bot.ReadDistance()
js, err := json.Marshal(res)
if err != nil {
http.Error(w, err.Error(), http.StatusInternalServerError)
}
w.Header().Set("Content-Type", "application/json")
w.Write(js)
}
func distanceHandler(w http.ResponseWriter, r *http.Request) {
fmt.Println("GET /distance")
res := DistanceResultType{Distance: bot.ReadDistance()}
js, err := json.Marshal(res)
if err != nil {
http.Error(w, err.Error(), http.StatusInternalServerError)
}
fmt.Printf("measured distance: %.2f\n", res.Distance)
w.Header().Set("Content-Type", "application/json")
w.Write(js)
}
func stopHandler(w http.ResponseWriter, r *http.Request) {
// currently moving to a target?
if bot.IsMoving() {
// stop it
bot.Interrupt()
}
bot.Stop()
res := PositionResultType{Position: bot.ReadDistance()}
js, err := json.Marshal(res)
if err != nil {
http.Error(w, err.Error(), http.StatusInternalServerError)
}
w.Header().Set("Content-Type", "application/json")
w.Write(js)
}