103 lines
3.2 KiB
PHP
103 lines
3.2 KiB
PHP
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<?php
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include('db.inc.php');
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$q = intval($_GET['q']);
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// Load Plate with balls and pass the result to html-file
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if($q == 0) {
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$result = $conn->query("SELECT pos_id, pos_x, pos_y, ball_color FROM ball_positions WHERE pos_isEmpty = 0 AND ball_targetPos = 0");
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$outp = array();
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$outp = $result->fetch_all(MYSQLI_ASSOC);
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echo json_encode($outp);
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$conn->close();
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}
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// Load Shelf with balls and pass the result to html-file
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if($q == 3) {
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$result = $conn->query("SELECT pos_id, ball_color, ball_targetPos FROM ball_positions WHERE ball_targetPos != 0 ORDER BY ball_prio");
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$outp = array();
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$outp = $result->fetch_all(MYSQLI_ASSOC);
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echo json_encode($outp);
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$conn->close();
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}
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// Write to database, if a ball has been moved to the shelf
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if($q == 1) {
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$ballID = intval($_GET['ballID']);
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$shelfID = intval($_GET['shelfID']);
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$prio = intval($_GET['prio']);
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$live = intval($_GET['live']);
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// Create instructions only if webside is in live-mode
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if ($live == 1) {
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$conn->query("UPDATE ball_positions SET ball_targetPos = $shelfID, ball_prio = $prio, sorted_by_robot = 1 WHERE pos_id = $ballID");
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//Get infos for python-script
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$result = $conn->query("SELECT pos_x, pos_y, ball_targetPos FROM ball_positions WHERE pos_id = $ballID");
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$row = mysqli_fetch_array($result, MYSQLI_ASSOC);
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$posX = $row['pos_x'];
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$posY = $row['pos_y'];
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$target = $row['ball_targetPos'];
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passthru('python create_instructions.py '.$posX.' '.$posY.' '.$target.'');
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} else {
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$conn->query("UPDATE ball_positions SET ball_targetPos = $shelfID, ball_prio = $prio, sorted_by_robot = 0 WHERE pos_id = $ballID");
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}
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$conn->close();
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}
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// Empty the shelf -> Reset target-positions and priorities
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if($q == 2) {
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$conn->query("UPDATE ball_positions SET pos_isEmpty = 0, ball_targetPos = 0, ball_prio = -1, sorted_by_robot = 0");
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$conn->query("UPDATE ball_positions SET pos_isEmpty = 1 WHERE pos_id = 29");
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$conn->close();
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echo json_encode("done");
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}
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// Autosort balls in Database
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if($q == 4) {
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$result = $conn->query("SELECT pos_id, ball_color FROM ball_positions WHERE pos_isEmpty = 0 AND ball_targetPos = 0 ORDER BY ball_color, pos_id");
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$numColor = array(0, 0, 0, 0); // Store Blue, Red, Green, Yellow
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$actColor = "undefined";
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$i = 0;
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$prio = 0;
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$shelfID = 10;
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while ($row = mysqli_fetch_array($result, MYSQLI_ASSOC)) {
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$actID = $row['pos_id'];
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$actColor = $row['ball_color'];
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if ($i == 0) $lastColor = $actColor; // Don't go to next shelf at first run
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if (($i % 5 == 0 && $i != 0) || $actColor != $lastColor) { // If the shelf is full or color changes
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$shelfID++;
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$i = 0;
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}
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if ($shelfID % 5 == 0 && $shelfID % 10 != 0 && $shelfID != 10) {// If the last shelf in a row is reached
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$shelfID = $shelfID + 5;
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$i = 0;
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}
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$conn->query("UPDATE ball_positions SET ball_targetPos = $shelfID, ball_prio = $prio WHERE pos_id = $actID");
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$lastColor = $actColor;
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$i++;
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$prio++;
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}
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$conn->close();
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echo json_encode("done");
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}
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// Call python-script for refreshing the plate (scanning the positions)
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if($q == 5) {
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passthru('python update_VarAngle.py');
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}
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// Call python-script for doing the sorting of the balls which are in the shelf in Not-Live-Mode
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if($q == 6) {
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passthru('python readBalls.py');
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}
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?>
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