www/assets/javascripts/application.js

   1 function init() {
   2         var ros = new ROSLIB.Ros();
   3         ros.connect('ws://wildthumper:9090');
   4         var isDragging = false;
   5
   6         ros.on('connection', function() {
   7                 information.alerts.push({message: "Connected to websocket server.", success: true});
   8         });
   9
  10         ros.on('error', function(error) {
  11                 information.alerts.push({message: "Error connecting to websocket server.", danger: true});
  12         });
  13
  14         ros.on('close', function() {
  15                 information.alerts.push({message: "Connection to websocket server closed.", info: true});
  16         });
  17
  18         //tfClient.subscribe('base_link', function(tf) {
  19         //      var now = new Date();
  20         //      $("#pose").text(now.toLocaleTimeString() + ": (" + tf.translation.x + ", " + tf.translation.y + ")");
  21
  22         //      robotMarker.x = tf.translation.x;
  23         //      robotMarker.y = -tf.translation.y;
  24         //      robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
  25         //});
  26         var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType: 'geometry_msgs/Pose'});
  27         var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType: 'wild_thumper/Sensor'});
  28         var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType: 'sensor_msgs/BatteryState'});
  29         var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
  30         var cmdVelTopic = new ROSLIB.Topic({ros: ros, name: '/teleop/cmd_vel', messageType: 'geometry_msgs/Twist'});
  31
  32         poseTopic.subscribe(function(message) {
  33                 var now = new Date();
  34                 $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
  35         });
  36
  37         sensorTopic.subscribe(function(message) {
  38                 sensors.light = message.light;
  39                 sensors.temp = message.temp.toFixed(1);
  40                 sensors.humidity = message.humidity;
  41                 sensors.pressure = message.pressure.toFixed(1);
  42                 sensors.co = message.co;
  43         });
  44
  45         batteryTopic.subscribe(function(message) {
  46                 power.voltage = message.voltage.toFixed(1);
  47                 power.current = message.current.toFixed(1);
  48         });
  49
  50         viewer2D = new ROS2D.Viewer({
  51                 divID: 'map',
  52                 width: 640,
  53                 height: 480,
  54                 background: "#efefef"
  55         });
  56         $('#map')
  57         .bind('mousewheel', function(e) {
  58                 if (e.originalEvent.wheelDelta/120 > 0) {
  59                         viewer2D.scaleToDimensions(10, 10)
  60                 } else {
  61                         viewer2D.scaleToDimensions(5, 5)
  62                 }
  63         })
  64         .mousedown(function() {
  65                 isDragging = true;
  66                 mousePreX = undefined;
  67                 mousePreY = undefined;
  68         })
  69         .mouseup(function() {
  70                 isDragging = false;
  71         })
  72         .mousemove(function(event) {
  73                 if (isDragging) {
  74                         if (mousePreX != undefined && mousePreY != undefined) {
  75                                 var diffX = event.pageX - mousePreX;
  76                                 var diffY = event.pageY - mousePreY;
  77                                 console.log("Moving viewer2D by " + diffX + ", " + diffY);
  78                                 viewer2D.shift(diffX, diffY);
  79                         }
  80                         mousePreX = event.pageX;
  81                         mousePreY = event.pageY;
  82                 }
  83         });
  84
  85         // Setup the nav client.
  86         NAV2D.OccupancyGridClientNav({
  87                 ros : ros,
  88                 rootObject : viewer2D.scene,
  89                 viewer : viewer2D,
  90                 serverName : '/move_base'
  91         });
  92
  93         // Initialize the teleop.
  94         teleop = new KEYBOARDTELEOP.Teleop({
  95                 ros : ros,
  96                 topic : '/teleop/cmd_vel'
  97         });
  98
  99         // Create a UI slider using JQuery UI.
 100         $('#speed-slider').slider({
 101                 range : 'min',
 102                 min : 0.10,
 103                 max : 1.0,
 104                 step : 0.05,
 105                 value : 0.5,
 106                 slide : function(event, ui) {
 107                         // Change the speed label.
 108                         speed_label.speed = ui.value;
 109                         // Scale the speed.
 110                         teleop.scale = (ui.value * 2);
 111                 }
 112         });
 113
 114         // Set the initial speed.
 115         teleop.scale = ($('#speed-slider').slider('value') * 2);
 116
 117         $('.led_color').minicolors({
 118                 control: 'wheel',
 119                 format: 'rgb',
 120                 defaultValue: '#000000',
 121                 change: function(value) {
 122                         var rgb = $(this).minicolors('rgbObject');
 123                         var nums = jQuery.parseJSON($(this).prop("name"));
 124                         var msg = new ROSLIB.Message({
 125                                 leds: []
 126                         });
 127                         jQuery.each(nums, function(i, num) {
 128                                 msg["leds"].push({
 129                                         num: num,
 130                                         red: parseInt(rgb.r*127/255),
 131                                         green: parseInt(rgb.g*127/255),
 132                                         blue: parseInt(rgb.b*127/255)
 133                                 })
 134                         });
 135                         ledStripeTopic.publish(msg);
 136                 }
 137         });
 138
 139         function setSpeed(trans, rot) {
 140                 var msg = new ROSLIB.Message({
 141                         linear: {
 142                                 x : trans,
 143                                 y : 0,
 144                                 z : 0
 145                         },
 146                         angular: {
 147                                 x : 0,
 148                                 y : 0,
 149                                 z : rot
 150                         },
 151                 });
 152                 cmdVelTopic.publish(msg);
 153         }
 154
 155         $('.cmd_vel_circle')
 156         .bind('mousedown touchstart', function(e) {
 157                 isDragging = true;
 158         })
 159         .bind('mouseup touchend mouseleave', function(e) {
 160                 isDragging = false;
 161                 setSpeed(0, 0);
 162         })
 163         .bind('mousemove touchmove', function(e) {
 164                 if (isDragging) {
 165                         // absolute click position
 166                         var X,Y;
 167                         if (e.originalEvent.touches) {
 168                                 X = e.originalEvent.touches[0].pageX;
 169                                 Y = e.originalEvent.touches[0].pageY;
 170                         } else {
 171                                 X = e.pageX;
 172                                 Y = e.pageY;
 173                         }
 174                         // relative click position
 175                         var Xrel = X - this.offsetLeft - $(this).width()/2;
 176                         var Yrel = Y - this.offsetTop - $(this).height()/2;
 177                         // scale to -1..+1
 178                         var trans = -Yrel / ($(this).height()/2);
 179                         var rot = -Xrel / ($(this).width()/2);
 180                         setSpeed(trans, rot*3);
 181                 }
 182         });
 183
 184         information = new Vue({
 185                 el: '#information',
 186                 data: {
 187                         alerts: [],
 188                 },
 189                 methods: {
 190                         classObject: function(id) {
 191                                 return {
 192                                         "alert-success": this.alerts[id].success,
 193                                         "alert-danger": this.alerts[id].danger,
 194                                         "alert-info": this.alerts[id].info
 195                                 }
 196                         }
 197                 }
 198         })
 199
 200         sensors = new Vue({
 201                 el: '#sensors',
 202                 data: {light: '', temp: '', humidity: '', pressure: '', co: ''}
 203         })
 204
 205         power = new Vue({
 206                 el: '#power',
 207                 data: {
 208                         voltage: '',
 209                         current: '',
 210                 }
 211         })
 212
 213         speed_label = new Vue({
 214                 el: '#speed-label',
 215                 data: {
 216                         speed: $('#speed-slider').slider('value'),
 217                 }
 218         })
 219 }