<!doctype html>
-<!--
- Server: python -m SimpleHTTPServer
- Bridge: roslaunch rosbridge_server rosbridge_websocket.launch
--->
<html>
<head>
<meta charset="utf-8" />
- <link rel="stylesheet" href="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0-beta.2/css/bootstrap.min.css" integrity="sha384-PsH8R72JQ3SOdhVi3uxftmaW6Vc51MKb0q5P2rRUpPvrszuE4W1povHYgTpBfshb" crossorigin="anonymous">
- <link rel="stylesheet" type="text/css" href="https://code.jquery.com/ui/1.12.1/themes/base/jquery-ui.css" />
-
- <script type="text/javascript">
- function init() {
- var ros = new ROSLIB.Ros();
- ros.connect('ws://wildthumper:9090');
- var isDragging = false;
-
- ros.on('connection', function() {
- $("#information").append(`
- <div class="alert alert-dismissible alert-success">
- <span data-dismiss="alert">Connected to websocket server.</span>
- </div>
- `);
- });
-
- ros.on('error', function(error) {
- $("#information").append(`
- <div class="alert alert-dismissible alert-danger">
- <span data-dismiss="alert">Error connecting to websocket server.</span>
- </div>
- `);
- });
-
- ros.on('close', function() {
- $("#information").append(`
- <div class="alert alert-dismissible alert-info">
- <span data-dismiss="alert">Connection to websocket server closed.</span>
- </div>
- `);
- });
-
- //tfClient.subscribe('base_link', function(tf) {
- // var now = new Date();
- // $("#pose").text(now.toLocaleTimeString() + ": (" + tf.translation.x + ", " + tf.translation.y + ")");
-
- // robotMarker.x = tf.translation.x;
- // robotMarker.y = -tf.translation.y;
- // robotMarker.rotation = viewer2D.scene.rosQuaternionToGlobalTheta(tf.rotation);
- //});
- var poseTopic = new ROSLIB.Topic({ros: ros, name: '/robot_pose', messageType : 'geometry_msgs/Pose'});
- var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType : 'wild_thumper/Sensor'});
- var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType : 'sensor_msgs/BatteryState'});
-
- poseTopic.subscribe(function(message) {
- var now = new Date();
- $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
- });
-
- sensorTopic.subscribe(function(message) {
- sensordiv = $("#sensors")
- sensordiv.find("input[name=light]").val(message.light);
- sensordiv.find("input[name=temp]").val(message.temp.toFixed(1));
- sensordiv.find("input[name=humidity]").val(message.humidity);
- sensordiv.find("input[name=pressure]").val(message.pressure.toFixed(1));
- sensordiv.find("input[name=co]").val(message.co);
- });
-
- itest = 123.4556;
- batteryTopic.subscribe(function(message) {
- powerdiv = $("#power");
- powerdiv.find("input[name=voltage]").val(message.voltage.toFixed(1));
- powerdiv.find("input[name=current]").val(message.current.toFixed(1));
- });
-
- viewer2D = new ROS2D.Viewer({
- divID: 'map',
- width: 640,
- height: 480,
- background: "#efefef"
- });
- $('#map')
- .bind('mousewheel', function(e) {
- if (e.originalEvent.wheelDelta/120 > 0) {
- viewer2D.scaleToDimensions(10, 10)
- } else {
- viewer2D.scaleToDimensions(5, 5)
- }
- })
- .mousedown(function() {
- isDragging = true;
- mousePreX = undefined;
- mousePreY = undefined;
- })
- .mouseup(function() {
- isDragging = false;
- })
- .mousemove(function(event) {
- if (isDragging) {
- if (mousePreX != undefined && mousePreY != undefined) {
- var diffX = event.pageX - mousePreX;
- var diffY = event.pageY - mousePreY;
- console.log("Moving viewer2D by " + diffX + ", " + diffY);
- viewer2D.shift(diffX, diffY);
- }
- mousePreX = event.pageX;
- mousePreY = event.pageY;
- }
- });
-
- // Setup the nav client.
- NAV2D.OccupancyGridClientNav({
- ros : ros,
- rootObject : viewer2D.scene,
- viewer : viewer2D,
- serverName : '/move_base'
- });
-
- // Initialize the teleop.
- var teleop = new KEYBOARDTELEOP.Teleop({
- ros : ros,
- topic : '/cmd_vel'
- });
-
- // Create a UI slider using JQuery UI.
- $('#speed-slider').slider({
- range : 'min',
- min : 0,
- max : 100,
- value : 50,
- slide : function(event, ui) {
- // Change the speed label.
- $('#speed-label').html('Speed: ' + ui.value + '%');
- // Scale the speed.
- teleop.scale = (ui.value / 100.0);
- }
- });
-
- // Set the initial speed.
- $('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + '%');
- teleop.scale = ($('#speed-slider').slider('value') / 100.0);
- }
- </script>
+ <link rel="stylesheet" href="assets/stylesheets/bootstrap.min.css">
+ <link rel="stylesheet" href="assets/stylesheets/jquery-ui.css">
+ <link rel="stylesheet" href="assets/stylesheets/jquery.minicolors.css">
+ <link rel="stylesheet" href="assets/stylesheets/application.css">
+
+ <script src="assets/javascripts/jquery-3.3.1.min.js"></script>
+ <script src="assets/javascripts/popper.min.js"></script>
+ <script src="assets/javascripts/bootstrap.min.js"></script>
+ <script src="assets/javascripts/jquery-ui.min.js"></script>
+ <script src="assets/javascripts/easeljs.min.js"></script>
+ <script src="assets/javascripts/eventemitter2.js"></script>
+ <script src="assets/javascripts/roslib.js"></script>
+ <script src="assets/javascripts/ros2d.js"></script>
+ <script src="assets/javascripts/nav2d.js"></script>
+ <script src="assets/javascripts/keyboardteleop.js"></script>
+ <script src="assets/javascripts/jquery.minicolors.js"></script>
+ <script src="assets/javascripts/vue.js"></script>
+ <script src="assets/javascripts/application.js"></script>
+
+ <title>Wild Thumper control</title>
</head>
<body onload="init()">
<div class="container-fluid">
<div id="information">
+ <div v-for="(alert, id) in alerts" class="alert alert-dismissible}" v-bind:class="classObject(id)">
+ <span data-dismiss="alert">{{alert.message}}</span>
+ </div>
</div>
<nav class="navbar navbar-expand-lg navbar-light bg-light">
<li class="nav-item">
<a class="nav-link" href="#navigation" data-toggle="tab" role="tab">Navigation</a>
</li>
+ <li class="nav-item">
+ <a class="nav-link" href="#lights" data-toggle="tab" role="tab">Lights</a>
+ </li>
+ <li class="nav-item">
+ <a class="nav-link" href="#drive" data-toggle="tab" role="tab">Drive</a>
+ </li>
</ul>
</nav>
+
<div class="tab-content">
<div id="data" class="tab-pane active" role="tabpanel">
<div class="row">
<div id="power" class="col-auto">
<h4>Power</h4>
- <label>Voltage:</label>
- <div class="input-group">
- <input type=text name="voltage" class="form-control" readonly>
- <div class="input-group-addon">V</div>
- </div>
- <label>Current:</label>
- <div class="input-group">
- <input type=text name="current" class="form-control" readonly>
- <div class="input-group-addon">A</div>
- </div>
+ <input-value v-model="voltage" label="Voltage" unit="V"></input-value>
+ <input-value v-model="current" label="Current" unit="A"></input-value>
</div>
<div id="sensors" class="col-auto">
<h4>Sensors</h4>
- <label>Light:</label>
- <div class="input-group">
- <input type=text name="light" class="form-control" readonly>
- <div class="input-group-addon">lx</div>
- </div>
- <label>Temperature:</label>
- <div class="input-group">
- <input type=text name="temp" class="form-control" readonly>
- <div class="input-group-addon">℃</div>
- </div>
- <label>Humidity:</label>
- <div class="input-group">
- <input type=text name="humidity" class="form-control" readonly>
- <div class="input-group-addon">%</div>
- </div>
- <label>Pressure:</label>
- <div class="input-group">
- <input type=text name="pressure" class="form-control" readonly>
- <div class="input-group-addon">kPa</div>
- </div>
- <label>CO:</label>
- <input type=text name="co" class="form-control" readonly>
+ <input-value v-model="light" label="Light" unit="lx"></input-value>
+ <input-value v-model="temp" label="Temperature" unit="℃"></input-value>
+ <input-value v-model="humidity" label="Humidity" unit="%"></input-value>
+ <input-value v-model="pressure" label="Pressure" unit="kPa"></input-value>
+ <input-value v-model="co" label="CO"></input-value>
</div>
</div>
</div>
<div id="navigation" class="tab-pane" role="tabpanel">
<div id="pose"></div>
<div id="map"></div>
- <div id="speed-label"></div>
+ <div id="speed-label">Speed: {{speed}} m/s</div>
<div id="speed-slider"></div>
</div>
+ <div id="lights" class="tab-pane" role="tabpanel">
+ <div class="row">
+ <div class="col-md-2 offset-md-1" >
+ <div class="d-flex justify-content-center">
+ <input class="led_color" type="hidden" :name="led" readonly="true" v-for="led in front_row" />
+ </div>
+ <div>
+ <div class="row wt-icon">
+ <div class="col-md-2 align-self-center bottom-leds">
+ <input class="led_color" type="hidden" :name="led" readonly="true" v-for="led in bottom_left_row" />
+ </div>
+ <div class="col-md-8">
+ <div class="d-flex justify-content-center top-leds">
+ <input class="led_color" type="hidden" :name="led" readonly="true" v-for="led in top_row" />
+ </div>
+ </div>
+ <div class="col-md-2 align-self-center bottom-leds">
+ <input class="led_color" type="hidden" :name="led" readonly="true" v-for="led in bottom_right_row" />
+ </div>
+ </div>
+ </div>
+ <div class="d-flex justify-content-center">
+ <input class="led_color" type="hidden" :name="led" readonly="true" v-for="led in aft_row" />
+ </div>
+ </div>
+ <div class="col-md-3 offset-md-1">
+ <input-led label="All" name="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]"></input-led>
+ <input-led label="Front" name="[0, 1, 2, 3]"></input-led>
+ <input-led label="Aft" name="[8, 9, 10, 11]"></input-led>
+ <input-led label="Top" name="[4, 5, 6, 7]"></input-led>
+ <input-led label="Bottom" name="[12, 13, 14, 15]"></input-led>
+ </div>
+ </div>
+ </div>
+ <div id="drive" class="tab-pane" role="tabpanel">
+ <div class="cmd_vel_circle"></div>
+ </div>
</div>
</div>
- <script src="https://code.jquery.com/jquery-3.2.1.min.js"></script>
- <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.12.3/umd/popper.min.js" integrity="sha384-vFJXuSJphROIrBnz7yo7oB41mKfc8JzQZiCq4NCceLEaO4IHwicKwpJf9c9IpFgh" crossorigin="anonymous"></script>
- <script src="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0-beta.2/js/bootstrap.min.js" integrity="sha384-alpBpkh1PFOepccYVYDB4do5UnbKysX5WZXm3XxPqe5iKTfUKjNkCk9SaVuEZflJ" crossorigin="anonymous"></script>
- <script src="https://code.jquery.com/ui/1.12.1/jquery-ui.min.js"></script>
- <script src="http://static.robotwebtools.org/EaselJS/current/easeljs.min.js"></script>
- <script src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.js"></script>
- <script src="http://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
- <script src="http://static.robotwebtools.org/ros2djs/current/ros2d.js"></script>
- <script src="http://static.robotwebtools.org/nav2djs/current/nav2d.js"></script>
- <script src="http://static.robotwebtools.org/keyboardteleopjs/current/keyboardteleop.js"></script>
</body>
+ <script type="text/x-template" id="input-value-template">
+ <div class="input-value">
+ <label>{{label}}:</label>
+ <div class="input-group">
+ <input type=text class="form-control" :value="value" readonly>
+ <div class="input-group-append" v-if="unit">
+ <span class="input-group-text">{{unit}}</span>
+ </div>
+ </div>
+ </div>
+ </script>
+ <script type="text/x-template" id="input-led-template">
+ <div class="form-group row">
+ <label class="col-sm-2 col-form-label">{{label}}</label>
+ <div class="col-sm-10">
+ <input type="text" :name="name" class="led_color" readonly="true"/>
+ </div>
+ </div>
+ </script>
</html>
projects / ros_wild_thumper.git / blobdiff