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                 </style>
  16
  17                 <script type="text/javascript">
  18                 function init() {
  19                         var ros = new ROSLIB.Ros();
  20                         ros.connect('ws://wildthumper:9090');
  21                         var isDragging = false;
  22
  23                         ros.on('connection', function() {
  24                                 $("#information").append(`
  25                                 <div class="alert alert-dismissible alert-success">
  26                                         <span data-dismiss="alert">Connected to websocket server.</span>
  27                                 </div>
  28                                 `);
  29                         });
  30
  31                         ros.on('error', function(error) {
  32                                 $("#information").append(`
  33                                 <div class="alert alert-dismissible alert-danger">
  34                                         <span data-dismiss="alert">Error connecting to websocket server.</span>
  35                                 </div>
  36                                 `);
  37                         });
  38
  39                         ros.on('close', function() {
  40                                 $("#information").append(`
  41                                 <div class="alert alert-dismissible alert-info">
  42                                         <span data-dismiss="alert">Connection to websocket server closed.</span>
  43                                 </div>
  44                                 `);
  45                         });
  46
  47                         //tfClient.subscribe('base_link', function(tf) {
  48                         //      var now = new Date();
  49                         //      $("#pose").text(now.toLocaleTimeString() + ": (" + tf.translation.x + ", " + tf.translation.y + ")");
  50
  51                         //      robotMarker.x = tf.translation.x;
  52                         //      robotMarker.y = -tf.translation.y;
  53                         //      robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
  54                         //});
  55                         var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType: 'geometry_msgs/Pose'});
  56                         var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType: 'wild_thumper/Sensor'});
  57                         var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType: 'sensor_msgs/BatteryState'});
  58                         var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
  59
  60                         poseTopic.subscribe(function(message) {
  61                                 var now = new Date();
  62                                 $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
  63                         });
  64
  65                         sensorTopic.subscribe(function(message) {
  66                                 sensordiv = $("#sensors")
  67                                 sensordiv.find("input[name=light]").val(message.light);
  68                                 sensordiv.find("input[name=temp]").val(message.temp.toFixed(1));
  69                                 sensordiv.find("input[name=humidity]").val(message.humidity);
  70                                 sensordiv.find("input[name=pressure]").val(message.pressure.toFixed(1));
  71                                 sensordiv.find("input[name=co]").val(message.co);
  72                         });
  73
  74                         batteryTopic.subscribe(function(message) {
  75                                 powerdiv = $("#power");
  76                                 powerdiv.find("input[name=voltage]").val(message.voltage.toFixed(1));
  77                                 powerdiv.find("input[name=current]").val(message.current.toFixed(1));
  78                         });
  79
  80                         viewer2D = new ROS2D.Viewer({
  81                                 divID: 'map',
  82                                 width: 640,
  83                                 height: 480,
  84                                 background: "#efefef"
  85                         });
  86                         $('#map')
  87                         .bind('mousewheel', function(e) {
  88                                 if (e.originalEvent.wheelDelta/120 > 0) {
  89                                         viewer2D.scaleToDimensions(10, 10)
  90                                 } else {
  91                                         viewer2D.scaleToDimensions(5, 5)
  92                                 }
  93                         })
  94                         .mousedown(function() {
  95                                 isDragging = true;
  96                                 mousePreX = undefined;
  97                                 mousePreY = undefined;
  98                         })
  99                         .mouseup(function() {
 100                                 isDragging = false;
 101                         })
 102                         .mousemove(function(event) {
 103                                 if (isDragging) {
 104                                         if (mousePreX != undefined && mousePreY != undefined) {
 105                                                 var diffX = event.pageX - mousePreX;
 106                                                 var diffY = event.pageY - mousePreY;
 107                                                 console.log("Moving viewer2D by " + diffX + ", " + diffY);
 108                                                 viewer2D.shift(diffX, diffY);
 109                                         }
 110                                         mousePreX = event.pageX;
 111                                         mousePreY = event.pageY;
 112                                 }
 113                         });
 114
 115                         // Setup the nav client.
 116                         NAV2D.OccupancyGridClientNav({
 117                                 ros : ros,
 118                                 rootObject : viewer2D.scene,
 119                                 viewer : viewer2D,
 120                                 serverName : '/move_base'
 121                         });
 122
 123                         // Initialize the teleop.
 124                         var teleop = new KEYBOARDTELEOP.Teleop({
 125                                 ros : ros,
 126                                 topic : '/cmd_vel'
 127                         });
 128
 129                         // Create a UI slider using JQuery UI.
 130                         $('#speed-slider').slider({
 131                                 range : 'min',
 132                                 min : 0,
 133                                 max : 100,
 134                                 value : 50,
 135                                 slide : function(event, ui) {
 136                                         // Change the speed label.
 137                                         $('#speed-label').html('Speed: ' + ui.value + '%');
 138                                         // Scale the speed.
 139                                         teleop.scale = (ui.value / 100.0);
 140                                 }
 141                         });
 142
 143                         // Set the initial speed.
 144                         $('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + '%');
 145                         teleop.scale = ($('#speed-slider').slider('value') / 100.0);
 146
 147                         $('.led_color').minicolors({
 148                                 control: 'wheel',
 149                                 format: 'rgb',
 150                                 defaultValue: '#000000',
 151                                 change: function(value) {
 152                                         var rgb = $(this).minicolors('rgbObject');
 153                                         var nums = jQuery.parseJSON($(this).prop("name"));
 154                                         var msg = new ROSLIB.Message({
 155                                                 leds: []
 156                                         });
 157                                         jQuery.each(nums, function(i, num) {
 158                                                 msg["leds"].push({
 159                                                         num: num,
 160                                                         red: parseInt(rgb.r*127/255),
 161                                                         green: parseInt(rgb.g*127/255),
 162                                                         blue: parseInt(rgb.b*127/255)
 163                                                 })
 164                                         });
 165                                         ledStripeTopic.publish(msg);
 166                                 }
 167                         });
 168                 }
 169                 </script>
 170                 <title>Wild Thumper control</title>
 171         </head>
 172         <body onload="init()">
 173                 <div class="container-fluid">
 174                         <div id="information">
 175                         </div>
 176
 177                         <nav class="navbar navbar-expand-lg navbar-light bg-light">
 178                                 <a class="navbar-brand" href="#">Wild Thumper</a>
 179                                 <ul class="nav nav-tabs" role="tablist">
 180                                         <li class="nav-item">
 181                                                 <a class="nav-link active" href="#data" data-toggle="tab" role="tab">Data</a>
 182                                         </li>
 183                                         <li class="nav-item">
 184                                                 <a class="nav-link" href="#navigation" data-toggle="tab" role="tab">Navigation</a>
 185                                         </li>
 186                                         <li class="nav-item">
 187                                                 <a class="nav-link" href="#lights" data-toggle="tab" role="tab">Lights</a>
 188                                         </li>
 189                                 </ul>
 190                         </nav>
 191                         <div class="tab-content">
 192                                 <div id="data" class="tab-pane active" role="tabpanel">
 193                                         <div class="row">
 194                                                 <div id="power" class="col-auto">
 195                                                         <h4>Power</h4>
 196                                                         <label>Voltage:</label>
 197                                                         <div class="input-group">
 198                                                                 <input type=text name="voltage" class="form-control" readonly>
 199                                                                 <div class="input-group-append">
 200                                                                         <span class="input-group-text">V</span>
 201                                                                 </div>
 202                                                         </div>
 203                                                         <label>Current:</label>
 204                                                         <div class="input-group">
 205                                                                 <input type=text name="current" class="form-control" readonly>
 206                                                                 <div class="input-group-append">
 207                                                                         <span class="input-group-text">A</span>
 208                                                                 </div>
 209                                                         </div>
 210                                                 </div>
 211                                                 <div id="sensors" class="col-auto">
 212                                                         <h4>Sensors</h4>
 213                                                         <label>Light:</label>
 214                                                         <div class="input-group">
 215                                                                 <input type=text name="light" class="form-control" readonly>
 216                                                                 <div class="input-group-append">
 217                                                                         <span class="input-group-text">lx</span>
 218                                                                 </div>
 219                                                         </div>
 220                                                         <label>Temperature:</label>
 221                                                         <div class="input-group">
 222                                                                 <input type=text name="temp" class="form-control" readonly>
 223                                                                 <div class="input-group-append">
 224                                                                         <span class="input-group-text">&#x2103</span>
 225                                                                 </div>
 226                                                         </div>
 227                                                         <label>Humidity:</label>
 228                                                         <div class="input-group">
 229                                                                 <input type=text name="humidity" class="form-control" readonly>
 230                                                                 <div class="input-group-append">
 231                                                                         <span class="input-group-text">%</span>
 232                                                                 </div>
 233                                                         </div>
 234                                                         <label>Pressure:</label>
 235                                                         <div class="input-group">
 236                                                                 <input type=text name="pressure" class="form-control" readonly>
 237                                                                 <div class="input-group-append">
 238                                                                         <span class="input-group-text">kPa</span>
 239                                                                 </div>
 240                                                         </div>
 241                                                         <label>CO:</label>
 242                                                         <input type=text name="co" class="form-control" readonly>
 243                                                 </div>
 244                                         </div>
 245                                 </div>
 246                                 <div id="navigation" class="tab-pane" role="tabpanel">
 247                                         <div id="pose"></div>
 248                                         <div id="map"></div>
 249                                         <div id="speed-label"></div>
 250                                         <div id="speed-slider"></div>
 251                                 </div>
 252                                 <div id="lights" class="tab-pane" role="tabpanel">
 253                                         <div class="row">
 254                                                 <div class="col-md-2 offset-md-1" >
 255                                                         <div class="d-flex justify-content-center">
 256                                                                 <input class="led_color" type="hidden" name="[0]"/>
 257                                                                 <input class="led_color" type="hidden" name="[1]"/>
 258                                                                 <input class="led_color" type="hidden" name="[2]"/>
 259                                                                 <input class="led_color" type="hidden" name="[3]"/>
 260                                                         </div>
 261                                                         <div>
 262                                                                 <div class="row wt-icon">
 263                                                                         <div class="col-md-2 align-self-center bottom-leds">
 264                                                                                 <input class="led_color" type="hidden" name="[14]"/>
 265                                                                                 <input class="led_color" type="hidden" name="[15]"/>
 266                                                                         </div>
 267                                                                         <div class="col-md-8">
 268                                                                                 <div class="d-flex justify-content-center top-leds">
 269                                                                                         <input class="led_color" type="hidden" name="[7]"/>
 270                                                                                         <input class="led_color" type="hidden" name="[6]"/>
 271                                                                                         <input class="led_color" type="hidden" name="[5]"/>
 272                                                                                         <input class="led_color" type="hidden" name="[4]"/>
 273                                                                                 </div>
 274                                                                         </div>
 275                                                                         <div class="col-md-2 align-self-center bottom-leds">
 276                                                                                 <input class="led_color" type="hidden" name="[13]"/>
 277                                                                                 <input class="led_color" type="hidden" name="[12]"/>
 278                                                                         </div>
 279                                                                 </div>
 280                                                         </div>
 281                                                         <div class="d-flex justify-content-center">
 282                                                                 <input class="led_color" type="hidden" name="[8]"/>
 283                                                                 <input class="led_color" type="hidden" name="[9]"/>
 284                                                                 <input class="led_color" type="hidden" name="[10]"/>
 285                                                                 <input class="led_color" type="hidden" name="[11]"/>
 286                                                         </div>
 287                                                 </div>
 288                                                 <div class="col-md-3 offset-md-1">
 289                                                         <div class="form-group row">
 290                                                                 <label class="col-sm-2 col-form-label">Alle</label>
 291                                                                 <div class="col-sm-10">
 292                                                                         <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"/>
 293                                                                 </div>
 294                                                         </div>
 295                                                         <div class="form-group row">
 296                                                                 <label class="col-sm-2 col-form-label">Front</label>
 297                                                                 <div class="col-sm-10">
 298                                                                         <input class="led_color" type="text" name="[0, 1, 2, 3]" class="form-control"/>
 299                                                                 </div>
 300                                                         </div>
 301                                                         <div class="form-group row">
 302                                                                 <label class="col-sm-2 col-form-label">Aft</label>
 303                                                                 <div class="col-sm-10">
 304                                                                         <input class="led_color" type="text" name="[8, 9, 10, 11]" class="form-control"/>
 305                                                                 </div>
 306                                                         </div>
 307                                                         <div class="form-group row">
 308                                                                 <label class="col-sm-2 col-form-label">Top</label>
 309                                                                 <div class="col-sm-10">
 310                                                                         <input class="led_color" type="text" name="[4, 5, 6, 7]" class="form-control"/>
 311                                                                 </div>
 312                                                         </div>
 313                                                         <div class="form-group row">
 314                                                                 <label class="col-sm-2 col-form-label">Bottom</label>
 315                                                                 <div class="col-sm-10">
 316                                                                         <input class="led_color" type="text" name="[12, 13, 14, 15]" class="form-control"/>
 317                                                                 </div>
 318                                                         </div>
 319                                                 </div>
 320                                         </div>
 321                                 </div>
 322                         </div>
 323                 </div>
 324                 <script src="assets/javascripts/jquery-3.3.1.min.js"></script>
 325                 <script src="assets/javascripts/popper.min.js"></script>
 326                 <script src="assets/javascripts/bootstrap.min.js"></script>
 327                 <script src="assets/javascripts/jquery-ui.min.js"></script>
 328                 <script src="assets/javascripts/easeljs.min.js"></script>
 329                 <script src="assets/javascripts/eventemitter2.js"></script>
 330                 <script src="assets/javascripts/roslib.js"></script>
 331                 <script src="assets/javascripts/ros2d.js"></script>
 332                 <script src="assets/javascripts/nav2d.js"></script>
 333                 <script src="assets/javascripts/keyboardteleop.js"></script>
 334                 <script src="assets/javascripts/jquery.minicolors.js"></script>
 335         </body>
 336 </html>