<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">
- <style>
- .minicolors-theme-default.minicolors { margin: 5px; }
- .bottom-leds > .minicolors-theme-default.minicolors { margin: 5px 0; }
- .top-leds > .minicolors-theme-default.minicolors { margin-top: 70px; }
- .wt-icon {background: url('assets/images/wt_top.png'); background-size: cover; background-size: 100%; background-repeat: no-repeat; background-position: center; height: 260px;}
- .cmd_vel_circle {
- height: 250px;
- width: 250px;
- background-color: #bbb;
- border-radius: 50%;
- display: inline-block;
- }
- </style>
-
+ <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>
<script type="text/javascript">
- function init() {
- var ros = new ROSLIB.Ros();
- ros.connect('ws://wildthumper:9090');
- var isDragging = false;
-
- ros.on('connection', function() {
- information.alerts.push({message: "Connected to websocket server.", success: true});
- });
-
- ros.on('error', function(error) {
- information.alerts.push({message: "Error connecting to websocket server.", danger: true});
- });
-
- ros.on('close', function() {
- information.alerts.push({message: "Connection to websocket server closed.", info: true});
- });
-
- //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'});
- var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
- var cmdVelTopic = new ROSLIB.Topic({ros: ros, name: '/teleop/cmd_vel', messageType: 'geometry_msgs/Twist'});
-
- poseTopic.subscribe(function(message) {
- var now = new Date();
- $("#pose").text(now.toLocaleTimeString() + ": (" + message.position.x + ", " + message.position.y + ")");
- });
-
- sensorTopic.subscribe(function(message) {
- sensors.light = message.light;
- sensors.temp = message.temp.toFixed(1);
- sensors.humidity = message.humidity;
- sensors.pressure = message.pressure.toFixed(1);
- sensors.co = message.co;
- });
-
- batteryTopic.subscribe(function(message) {
- power.voltage = message.voltage.toFixed(1);
- power.current = 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.
- teleop = new KEYBOARDTELEOP.Teleop({
- ros : ros,
- topic : '/teleop/cmd_vel'
- });
-
- // Create a UI slider using JQuery UI.
- $('#speed-slider').slider({
- range : 'min',
- min : 0.10,
- max : 1.0,
- step : 0.05,
- value : 0.5,
- slide : function(event, ui) {
- // Change the speed label.
- speed_label.speed = ui.value;
- // Scale the speed.
- teleop.scale = (ui.value * 2);
- }
- });
-
- // Set the initial speed.
- teleop.scale = ($('#speed-slider').slider('value') * 2);
-
- $('.led_color').minicolors({
- control: 'wheel',
- format: 'rgb',
- defaultValue: '#000000',
- change: function(value) {
- var rgb = $(this).minicolors('rgbObject');
- var nums = jQuery.parseJSON($(this).prop("name"));
- var msg = new ROSLIB.Message({
- leds: []
- });
- jQuery.each(nums, function(i, num) {
- msg["leds"].push({
- num: num,
- red: parseInt(rgb.r*127/255),
- green: parseInt(rgb.g*127/255),
- blue: parseInt(rgb.b*127/255)
- })
- });
- ledStripeTopic.publish(msg);
- }
- });
-
- function setSpeed(trans, rot) {
- var msg = new ROSLIB.Message({
- linear: {
- x : trans,
- y : 0,
- z : 0
- },
- angular: {
- x : 0,
- y : 0,
- z : rot
- },
- });
- cmdVelTopic.publish(msg);
- }
-
- $('.cmd_vel_circle')
- .bind('mousedown touchstart', function(e) {
- isDragging = true;
- })
- .bind('mouseup touchend mouseleave', function(e) {
- isDragging = false;
- setSpeed(0, 0);
- })
- .bind('mousemove touchmove', function(e) {
- if (isDragging) {
- // absolute click position
- var X,Y;
- if (e.originalEvent.touches) {
- X = e.originalEvent.touches[0].pageX;
- Y = e.originalEvent.touches[0].pageY;
- } else {
- X = e.pageX;
- Y = e.pageY;
- }
- // relative click position
- var Xrel = X - this.offsetLeft - $(this).width()/2;
- var Yrel = Y - this.offsetTop - $(this).height()/2;
- // scale to -1..+1
- var trans = -Yrel / ($(this).height()/2);
- var rot = -Xrel / ($(this).width()/2);
- setSpeed(trans, rot*3);
- }
- });
-
- information = new Vue({
- el: '#information',
- data: {
- alerts: [],
- },
- methods: {
- classObject: function(id) {
- return {
- "alert-success": this.alerts[id].success,
- "alert-danger": this.alerts[id].danger,
- "alert-info": this.alerts[id].info
- }
- }
- }
- })
-
- sensors = new Vue({
- el: '#sensors',
- data: {light: '', temp: '', humidity: '', pressure: '', co: ''}
- })
-
- power = new Vue({
- el: '#power',
- data: {
- voltage: '',
- current: '',
- }
- })
-
- speed_label = new Vue({
- el: '#speed-label',
- data: {
- speed: $('#speed-slider').slider('value'),
- }
- })
- }
+ robothostname="wildthumper"
</script>
+
<title>Wild Thumper control</title>
</head>
<body onload="init()">
<li class="nav-item">
<a class="nav-link" href="#drive" data-toggle="tab" role="tab">Drive</a>
</li>
+ <li class="nav-item">
+ <a class="nav-link imagelink" href="#image" data-toggle="tab" role="tab">Image</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" v-model="voltage" readonly>
- <div class="input-group-append">
- <span class="input-group-text">V</span>
- </div>
- </div>
- <label>Current:</label>
- <div class="input-group">
- <input type=text name="current" class="form-control" v-model="current" readonly>
- <div class="input-group-append">
- <span class="input-group-text">A</span>
- </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" v-model="light" readonly>
- <div class="input-group-append">
- <span class="input-group-text">lx</span>
- </div>
- </div>
- <label>Temperature:</label>
- <div class="input-group">
- <input type=text name="temp" class="form-control" v-model="temp" readonly>
- <div class="input-group-append">
- <span class="input-group-text">℃</span>
- </div>
- </div>
- <label>Humidity:</label>
- <div class="input-group">
- <input type=text name="humidity" class="form-control" v-model="humidity" readonly>
- <div class="input-group-append">
- <span class="input-group-text">%</span>
- </div>
- </div>
- <label>Pressure:</label>
- <div class="input-group">
- <input type=text name="pressure" class="form-control" v-model="pressure" readonly>
- <div class="input-group-append">
- <span class="input-group-text">kPa</span>
- </div>
- </div>
- <label>CO:</label>
- <input type=text name="co" class="form-control" v-model="co" 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 class="row">
<div class="col-md-2 offset-md-1" >
<div class="d-flex justify-content-center">
- <input class="led_color" type="hidden" name="[0]" readonly="true"/>
- <input class="led_color" type="hidden" name="[1]" readonly="true"/>
- <input class="led_color" type="hidden" name="[2]" readonly="true"/>
- <input class="led_color" type="hidden" name="[3]" readonly="true"/>
+ <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="[14]" readonly="true"/>
- <input class="led_color" type="hidden" name="[15]" readonly="true"/>
+ <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="[7]" readonly="true"/>
- <input class="led_color" type="hidden" name="[6]" readonly="true"/>
- <input class="led_color" type="hidden" name="[5]" readonly="true"/>
- <input class="led_color" type="hidden" name="[4]" readonly="true"/>
+ <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="[13]" readonly="true"/>
- <input class="led_color" type="hidden" name="[12]" readonly="true"/>
+ <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="[8]" readonly="true"/>
- <input class="led_color" type="hidden" name="[9]" readonly="true"/>
- <input class="led_color" type="hidden" name="[10]" readonly="true"/>
- <input class="led_color" type="hidden" name="[11]" readonly="true"/>
+ <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">
- <div class="form-group row">
- <label class="col-sm-2 col-form-label">Alle</label>
- <div class="col-sm-10">
- <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"/>
- </div>
- </div>
- <div class="form-group row">
- <label class="col-sm-2 col-form-label">Front</label>
- <div class="col-sm-10">
- <input class="led_color" type="text" name="[0, 1, 2, 3]" class="form-control" readonly="true"/>
- </div>
- </div>
- <div class="form-group row">
- <label class="col-sm-2 col-form-label">Aft</label>
- <div class="col-sm-10">
- <input class="led_color" type="text" name="[8, 9, 10, 11]" class="form-control readonly="true""/>
- </div>
- </div>
- <div class="form-group row">
- <label class="col-sm-2 col-form-label">Top</label>
- <div class="col-sm-10">
- <input class="led_color" type="text" name="[4, 5, 6, 7]" class="form-control" readonly="true"/>
- </div>
- </div>
- <div class="form-group row">
- <label class="col-sm-2 col-form-label">Bottom</label>
- <div class="col-sm-10">
- <input class="led_color" type="text" name="[12, 13, 14, 15]" class="form-control" readonly="true"/>
- </div>
- </div>
+ <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 id="image" class="tab-pane" role="tabpanel">
+ <img id="usb_cam" src="http://"+robothostname+":8080/stream?topic=/usb_cam/image_raw" style="transform:rotate(-90deg); transform-origin: 60% 60%;"></img>
+ </div>
</div>
</div>
- <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>
</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