www/index.html

   1 <!doctype html>
   2 <html>
   3         <head>
   4                 <meta charset="utf-8" />
   5
   6                 <link rel="stylesheet" href="assets/stylesheets/bootstrap.min.css">
   7                 <link rel="stylesheet" href="assets/stylesheets/jquery-ui.css">
   8                 <link rel="stylesheet" href="assets/stylesheets/jquery.minicolors.css">
   9
  10                 <style>
  11                 .minicolors-theme-default.minicolors { margin: 5px; }
  12                 .bottom-leds > .minicolors-theme-default.minicolors { margin: 5px 0; }
  13                 .top-leds > .minicolors-theme-default.minicolors { margin-top: 70px; }
  14                 .wt-icon {background: url('assets/images/wt_top.png'); background-size: cover; background-size: 100%; background-repeat: no-repeat; background-position: center; height: 260px;}
  15                 .cmd_vel_circle {
  16                         height: 250px;
  17                         width: 250px;
  18                         background-color: #bbb;
  19                         border-radius: 50%;
  20                         display: inline-block;
  21                 }
  22                 </style>
  23
  24                 <script type="text/javascript">
  25                 function init() {
  26                         var ros = new ROSLIB.Ros();
  27                         ros.connect('ws://wildthumper:9090');
  28                         var isDragging = false;
  29
  30                         ros.on('connection', function() {
  31                                 $("#information").append(`
  32                                 <div class="alert alert-dismissible alert-success">
  33                                         <span data-dismiss="alert">Connected to websocket server.</span>
  34                                 </div>
  35                                 `);
  36                         });
  37
  38                         ros.on('error', function(error) {
  39                                 $("#information").append(`
  40                                 <div class="alert alert-dismissible alert-danger">
  41                                         <span data-dismiss="alert">Error connecting to websocket server.</span>
  42                                 </div>
  43                                 `);
  44                         });
  45
  46                         ros.on('close', function() {
  47                                 $("#information").append(`
  48                                 <div class="alert alert-dismissible alert-info">
  49                                         <span data-dismiss="alert">Connection to websocket server closed.</span>
  50                                 </div>
  51                                 `);
  52                         });
  53
  54                         //tfClient.subscribe('base_link', function(tf) {
  55                         //      var now = new Date();
  56                         //      $("#pose").text(now.toLocaleTimeString() + ": (" + tf.translation.x + ", " + tf.translation.y + ")");
  57
  58                         //      robotMarker.x = tf.translation.x;
  59                         //      robotMarker.y = -tf.translation.y;
  60                         //      robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
  61                         //});
  62                         var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType: 'geometry_msgs/Pose'});
  63                         var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType: 'wild_thumper/Sensor'});
  64                         var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType: 'sensor_msgs/BatteryState'});
  65                         var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
  66                         var cmdVelTopic = new ROSLIB.Topic({ros: ros, name: '/teleop/cmd_vel', messageType: 'geometry_msgs/Twist'});
  67
  68                         poseTopic.subscribe(function(message) {
  69                                 var now = new Date();
  70                                 $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
  71                         });
  72
  73                         sensorTopic.subscribe(function(message) {
  74                                 sensordiv = $("#sensors")
  75                                 sensordiv.find("input[name=light]").val(message.light);
  76                                 sensordiv.find("input[name=temp]").val(message.temp.toFixed(1));
  77                                 sensordiv.find("input[name=humidity]").val(message.humidity);
  78                                 sensordiv.find("input[name=pressure]").val(message.pressure.toFixed(1));
  79                                 sensordiv.find("input[name=co]").val(message.co);
  80                         });
  81
  82                         batteryTopic.subscribe(function(message) {
  83                                 powerdiv = $("#power");
  84                                 powerdiv.find("input[name=voltage]").val(message.voltage.toFixed(1));
  85                                 powerdiv.find("input[name=current]").val(message.current.toFixed(1));
  86                         });
  87
  88                         viewer2D = new ROS2D.Viewer({
  89                                 divID: 'map',
  90                                 width: 640,
  91                                 height: 480,
  92                                 background: "#efefef"
  93                         });
  94                         $('#map')
  95                         .bind('mousewheel', function(e) {
  96                                 if (e.originalEvent.wheelDelta/120 > 0) {
  97                                         viewer2D.scaleToDimensions(10, 10)
  98                                 } else {
  99                                         viewer2D.scaleToDimensions(5, 5)
 100                                 }
 101                         })
 102                         .mousedown(function() {
 103                                 isDragging = true;
 104                                 mousePreX = undefined;
 105                                 mousePreY = undefined;
 106                         })
 107                         .mouseup(function() {
 108                                 isDragging = false;
 109                         })
 110                         .mousemove(function(event) {
 111                                 if (isDragging) {
 112                                         if (mousePreX != undefined && mousePreY != undefined) {
 113                                                 var diffX = event.pageX - mousePreX;
 114                                                 var diffY = event.pageY - mousePreY;
 115                                                 console.log("Moving viewer2D by " + diffX + ", " + diffY);
 116                                                 viewer2D.shift(diffX, diffY);
 117                                         }
 118                                         mousePreX = event.pageX;
 119                                         mousePreY = event.pageY;
 120                                 }
 121                         });
 122
 123                         // Setup the nav client.
 124                         NAV2D.OccupancyGridClientNav({
 125                                 ros : ros,
 126                                 rootObject : viewer2D.scene,
 127                                 viewer : viewer2D,
 128                                 serverName : '/move_base'
 129                         });
 130
 131                         // Initialize the teleop.
 132                         teleop = new KEYBOARDTELEOP.Teleop({
 133                                 ros : ros,
 134                                 topic : '/teleop/cmd_vel'
 135                         });
 136
 137                         // Create a UI slider using JQuery UI.
 138                         $('#speed-slider').slider({
 139                                 range : 'min',
 140                                 min : 0.10,
 141                                 max : 1.0,
 142                                 step : 0.05,
 143                                 value : 0.5,
 144                                 slide : function(event, ui) {
 145                                         // Change the speed label.
 146                                         $('#speed-label').html('Speed: ' + ui.value + ' m/s');
 147                                         // Scale the speed.
 148                                         teleop.scale = (ui.value * 2);
 149                                 }
 150                         });
 151
 152                         // Set the initial speed.
 153                         $('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + ' m/s');
 154                         teleop.scale = ($('#speed-slider').slider('value') * 2);
 155
 156                         $('.led_color').minicolors({
 157                                 control: 'wheel',
 158                                 format: 'rgb',
 159                                 defaultValue: '#000000',
 160                                 change: function(value) {
 161                                         var rgb = $(this).minicolors('rgbObject');
 162                                         var nums = jQuery.parseJSON($(this).prop("name"));
 163                                         var msg = new ROSLIB.Message({
 164                                                 leds: []
 165                                         });
 166                                         jQuery.each(nums, function(i, num) {
 167                                                 msg["leds"].push({
 168                                                         num: num,
 169                                                         red: parseInt(rgb.r*127/255),
 170                                                         green: parseInt(rgb.g*127/255),
 171                                                         blue: parseInt(rgb.b*127/255)
 172                                                 })
 173                                         });
 174                                         ledStripeTopic.publish(msg);
 175                                 }
 176                         });
 177
 178                         function setSpeed(trans, rot) {
 179                                 var msg = new ROSLIB.Message({
 180                                         linear: {
 181                                                 x : trans,
 182                                                 y : 0,
 183                                                 z : 0
 184                                         },
 185                                         angular: {
 186                                                 x : 0,
 187                                                 y : 0,
 188                                                 z : rot
 189                                         },
 190                                 });
 191                                 cmdVelTopic.publish(msg);
 192                         }
 193
 194                         $('.cmd_vel_circle')
 195                         .bind('mousedown touchstart', function(e) {
 196                                 isDragging = true;
 197                         })
 198                         .bind('mouseup touchend mouseleave', function(e) {
 199                                 isDragging = false;
 200                                 setSpeed(0, 0);
 201                         })
 202                         .bind('mousemove touchmove', function(e) {
 203                                 if (isDragging) {
 204                                         // absolute click position
 205                                         var X,Y;
 206                                         if (e.originalEvent.touches) {
 207                                                 X = e.originalEvent.touches[0].pageX;
 208                                                 Y = e.originalEvent.touches[0].pageY;
 209                                         } else {
 210                                                 X = e.pageX;
 211                                                 Y = e.pageY;
 212                                         }
 213                                         // relative click position
 214                                         var Xrel = X - this.offsetLeft - $(this).width()/2;
 215                                         var Yrel = Y - this.offsetTop - $(this).height()/2;
 216                                         // scale to -1..+1
 217                                         var trans = -Yrel / ($(this).height()/2);
 218                                         var rot = -Xrel / ($(this).width()/2);
 219                                         setSpeed(trans, rot*3);
 220                                 }
 221                         });
 222                 }
 223                 </script>
 224                 <title>Wild Thumper control</title>
 225         </head>
 226         <body onload="init()">
 227                 <div class="container-fluid">
 228                         <div id="information">
 229                         </div>
 230
 231                         <nav class="navbar navbar-expand-lg navbar-light bg-light">
 232                                 <a class="navbar-brand" href="#">Wild Thumper</a>
 233                                 <ul class="nav nav-tabs" role="tablist">
 234                                         <li class="nav-item">
 235                                                 <a class="nav-link active" href="#data" data-toggle="tab" role="tab">Data</a>
 236                                         </li>
 237                                         <li class="nav-item">
 238                                                 <a class="nav-link" href="#navigation" data-toggle="tab" role="tab">Navigation</a>
 239                                         </li>
 240                                         <li class="nav-item">
 241                                                 <a class="nav-link" href="#lights" data-toggle="tab" role="tab">Lights</a>
 242                                         </li>
 243                                         <li class="nav-item">
 244                                                 <a class="nav-link" href="#drive" data-toggle="tab" role="tab">Drive</a>
 245                                         </li>
 246                                 </ul>
 247                         </nav>
 248                         <div class="tab-content">
 249                                 <div id="data" class="tab-pane active" role="tabpanel">
 250                                         <div class="row">
 251                                                 <div id="power" class="col-auto">
 252                                                         <h4>Power</h4>
 253                                                         <label>Voltage:</label>
 254                                                         <div class="input-group">
 255                                                                 <input type=text name="voltage" class="form-control" readonly>
 256                                                                 <div class="input-group-append">
 257                                                                         <span class="input-group-text">V</span>
 258                                                                 </div>
 259                                                         </div>
 260                                                         <label>Current:</label>
 261                                                         <div class="input-group">
 262                                                                 <input type=text name="current" class="form-control" readonly>
 263                                                                 <div class="input-group-append">
 264                                                                         <span class="input-group-text">A</span>
 265                                                                 </div>
 266                                                         </div>
 267                                                 </div>
 268                                                 <div id="sensors" class="col-auto">
 269                                                         <h4>Sensors</h4>
 270                                                         <label>Light:</label>
 271                                                         <div class="input-group">
 272                                                                 <input type=text name="light" class="form-control" readonly>
 273                                                                 <div class="input-group-append">
 274                                                                         <span class="input-group-text">lx</span>
 275                                                                 </div>
 276                                                         </div>
 277                                                         <label>Temperature:</label>
 278                                                         <div class="input-group">
 279                                                                 <input type=text name="temp" class="form-control" readonly>
 280                                                                 <div class="input-group-append">
 281                                                                         <span class="input-group-text">&#x2103</span>
 282                                                                 </div>
 283                                                         </div>
 284                                                         <label>Humidity:</label>
 285                                                         <div class="input-group">
 286                                                                 <input type=text name="humidity" class="form-control" readonly>
 287                                                                 <div class="input-group-append">
 288                                                                         <span class="input-group-text">%</span>
 289                                                                 </div>
 290                                                         </div>
 291                                                         <label>Pressure:</label>
 292                                                         <div class="input-group">
 293                                                                 <input type=text name="pressure" class="form-control" readonly>
 294                                                                 <div class="input-group-append">
 295                                                                         <span class="input-group-text">kPa</span>
 296                                                                 </div>
 297                                                         </div>
 298                                                         <label>CO:</label>
 299                                                         <input type=text name="co" class="form-control" readonly>
 300                                                 </div>
 301                                         </div>
 302                                 </div>
 303                                 <div id="navigation" class="tab-pane" role="tabpanel">
 304                                         <div id="pose"></div>
 305                                         <div id="map"></div>
 306                                         <div id="speed-label"></div>
 307                                         <div id="speed-slider"></div>
 308                                 </div>
 309                                 <div id="lights" class="tab-pane" role="tabpanel">
 310                                         <div class="row">
 311                                                 <div class="col-md-2 offset-md-1" >
 312                                                         <div class="d-flex justify-content-center">
 313                                                                 <input class="led_color" type="hidden" name="[0]" readonly="true"/>
 314                                                                 <input class="led_color" type="hidden" name="[1]" readonly="true"/>
 315                                                                 <input class="led_color" type="hidden" name="[2]" readonly="true"/>
 316                                                                 <input class="led_color" type="hidden" name="[3]" readonly="true"/>
 317                                                         </div>
 318                                                         <div>
 319                                                                 <div class="row wt-icon">
 320                                                                         <div class="col-md-2 align-self-center bottom-leds">
 321                                                                                 <input class="led_color" type="hidden" name="[14]" readonly="true"/>
 322                                                                                 <input class="led_color" type="hidden" name="[15]" readonly="true"/>
 323                                                                         </div>
 324                                                                         <div class="col-md-8">
 325                                                                                 <div class="d-flex justify-content-center top-leds">
 326                                                                                         <input class="led_color" type="hidden" name="[7]" readonly="true"/>
 327                                                                                         <input class="led_color" type="hidden" name="[6]" readonly="true"/>
 328                                                                                         <input class="led_color" type="hidden" name="[5]" readonly="true"/>
 329                                                                                         <input class="led_color" type="hidden" name="[4]" readonly="true"/>
 330                                                                                 </div>
 331                                                                         </div>
 332                                                                         <div class="col-md-2 align-self-center bottom-leds">
 333                                                                                 <input class="led_color" type="hidden" name="[13]" readonly="true"/>
 334                                                                                 <input class="led_color" type="hidden" name="[12]" readonly="true"/>
 335                                                                         </div>
 336                                                                 </div>
 337                                                         </div>
 338                                                         <div class="d-flex justify-content-center">
 339                                                                 <input class="led_color" type="hidden" name="[8]" readonly="true"/>
 340                                                                 <input class="led_color" type="hidden" name="[9]" readonly="true"/>
 341                                                                 <input class="led_color" type="hidden" name="[10]" readonly="true"/>
 342                                                                 <input class="led_color" type="hidden" name="[11]" readonly="true"/>
 343                                                         </div>
 344                                                 </div>
 345                                                 <div class="col-md-3 offset-md-1">
 346                                                         <div class="form-group row">
 347                                                                 <label class="col-sm-2 col-form-label">Alle</label>
 348                                                                 <div class="col-sm-10">
 349                                                                         <input class="led_color" type="text" name="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]" class="form-control" readonly="true"/>
 350                                                                 </div>
 351                                                         </div>
 352                                                         <div class="form-group row">
 353                                                                 <label class="col-sm-2 col-form-label">Front</label>
 354                                                                 <div class="col-sm-10">
 355                                                                         <input class="led_color" type="text" name="[0, 1, 2, 3]" class="form-control" readonly="true"/>
 356                                                                 </div>
 357                                                         </div>
 358                                                         <div class="form-group row">
 359                                                                 <label class="col-sm-2 col-form-label">Aft</label>
 360                                                                 <div class="col-sm-10">
 361                                                                         <input class="led_color" type="text" name="[8, 9, 10, 11]" class="form-control readonly="true""/>
 362                                                                 </div>
 363                                                         </div>
 364                                                         <div class="form-group row">
 365                                                                 <label class="col-sm-2 col-form-label">Top</label>
 366                                                                 <div class="col-sm-10">
 367                                                                         <input class="led_color" type="text" name="[4, 5, 6, 7]" class="form-control" readonly="true"/>
 368                                                                 </div>
 369                                                         </div>
 370                                                         <div class="form-group row">
 371                                                                 <label class="col-sm-2 col-form-label">Bottom</label>
 372                                                                 <div class="col-sm-10">
 373                                                                         <input class="led_color" type="text" name="[12, 13, 14, 15]" class="form-control" readonly="true"/>
 374                                                                 </div>
 375                                                         </div>
 376                                                 </div>
 377                                         </div>
 378                                 </div>
 379                                 <div id="drive" class="tab-pane" role="tabpanel">
 380                                         <div class="cmd_vel_circle"></div>
 381                                 </div>
 382                         </div>
 383                 </div>
 384                 <script src="assets/javascripts/jquery-3.3.1.min.js"></script>
 385                 <script src="assets/javascripts/popper.min.js"></script>
 386                 <script src="assets/javascripts/bootstrap.min.js"></script>
 387                 <script src="assets/javascripts/jquery-ui.min.js"></script>
 388                 <script src="assets/javascripts/easeljs.min.js"></script>
 389                 <script src="assets/javascripts/eventemitter2.js"></script>
 390                 <script src="assets/javascripts/roslib.js"></script>
 391                 <script src="assets/javascripts/ros2d.js"></script>
 392                 <script src="assets/javascripts/nav2d.js"></script>
 393                 <script src="assets/javascripts/keyboardteleop.js"></script>
 394                 <script src="assets/javascripts/jquery.minicolors.js"></script>
 395         </body>
 396 </html>