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