X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=www%2Findex.html;fp=www%2Findex.html;h=e9e23f672d195fb4fd94cc798953fd7a760a3143;hp=b08e6ec89a990722b911f159a5eba04bddb48ab3;hb=5d2b909797fd168b0981af8f4570d608a9a32626;hpb=6bd26b4ce6d44b8bd14b38090280b86e761beca7

diff --git a/www/index.html b/www/index.html
index b08e6ec..e9e23f6 100644
--- a/www/index.html
+++ b/www/index.html
@@ -6,242 +6,22 @@
 		<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 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: '',
-				}
-			})
+		<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>
 
-			speed_label = new Vue({
-				el: '#speed-label',
-				data: {
-					speed: $('#speed-slider').slider('value'),
-				}
-			})
-		}
-		</script>
 		<title>Wild Thumper control</title>
 	</head>
 	<body onload="init()">
@@ -405,17 +185,5 @@
 				</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>
 </html>