X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=www%2Findex.html;h=4e6b5650bc3225ea157c69a65d88365f7f2cce3e;hp=5a229a790278504a0b9310f78255fe30703823c8;hb=67dc60206f09f8e712d96b2b0c847e563f4c46ac;hpb=01848a9a84b296519ca4b4f41906159fd4158213

diff --git a/www/index.html b/www/index.html
index 5a229a7..4e6b565 100644
--- a/www/index.html
+++ b/www/index.html
@@ -9,6 +9,16 @@
 
 		<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">
@@ -53,6 +63,7 @@
 			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();
@@ -118,28 +129,29 @@
 			});
 
 			// Initialize the teleop.
-			var teleop = new KEYBOARDTELEOP.Teleop({
+			teleop = new KEYBOARDTELEOP.Teleop({
 				ros : ros,
-				topic : '/cmd_vel'
+				topic : '/teleop/cmd_vel'
 			});
 
 			// Create a UI slider using JQuery UI.
 			$('#speed-slider').slider({
 				range : 'min',
-				min : 0,
-				max : 100,
-				value : 50,
+				min : 0.10,
+				max : 1.0,
+				step : 0.05,
+				value : 0.5,
 				slide : function(event, ui) {
 					// Change the speed label.
-					$('#speed-label').html('Speed: ' + ui.value + '%');
+					$('#speed-label').html('Speed: ' + ui.value + ' m/s');
 					// Scale the speed.
-					teleop.scale = (ui.value / 100.0);
+					teleop.scale = (ui.value * 2);
 				}
 			});
 
 			// Set the initial speed.
-			$('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + '%');
-			teleop.scale = ($('#speed-slider').slider('value') / 100.0);
+			$('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + ' m/s');
+			teleop.scale = ($('#speed-slider').slider('value') * 2);
 
 			$('.led_color').minicolors({
 				control: 'wheel',
@@ -147,18 +159,66 @@
 				defaultValue: '#000000',
 				change: function(value) {
 					var rgb = $(this).minicolors('rgbObject');
-					var num = $(this).prop("name");
+					var nums = jQuery.parseJSON($(this).prop("name"));
 					var msg = new ROSLIB.Message({
-						leds: [{
-							num: parseInt(num),
+						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);
+				}
+			});
 		}
 		</script>
 		<title>Wild Thumper control</title>
@@ -180,6 +240,9 @@
 					<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">
@@ -244,45 +307,78 @@
 					<div id="speed-slider"></div>
 				</div>
 				<div id="lights" class="tab-pane" role="tabpanel">
-					<div class="row d-flex align-items-center">
-						<div class="col-md-1">
-							<div class="float-right align-middle">
-								<input class="led_color" type="hidden" name="15"/>
-								<input class="led_color" type="hidden" name="14"/>
-							</div>
-						</div>
-						<div class="col-md-2" >
+					<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"/>
-								<input class="led_color" type="hidden" name="1"/>
-								<input class="led_color" type="hidden" name="2"/>
-								<input class="led_color" type="hidden" name="3"/>
+								<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"/>
 							</div>
 							<div>
-								<div style="background: url('assets/images/wt_top.png'); background-size: cover; background-size: 100%; background-repeat: no-repeat; height: 260px;">
-									<div class="d-flex justify-content-center" style="padding-top: 70px;">
-										<input class="led_color" type="hidden" name="7"/>
-										<input class="led_color" type="hidden" name="6"/>
-										<input class="led_color" type="hidden" name="5"/>
-										<input class="led_color" type="hidden" name="4"/>
+								<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"/>
+									</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"/>
+										</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"/>
 									</div>
 								</div>
 							</div>
 							<div class="d-flex justify-content-center">
-								<input class="led_color" type="hidden" name="8"/>
-								<input class="led_color" type="hidden" name="9"/>
-								<input class="led_color" type="hidden" name="10"/>
-								<input class="led_color" type="hidden" name="11"/>
+								<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"/>
 							</div>
 						</div>
-						<div class="col-md-1">
-							<div class="float-left align-middle">
-								<input class="led_color" type="hidden" name="13"/>
-								<input class="led_color" type="hidden" name="12"/>
+						<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>
 						</div>
 					</div>
 				</div>
+				<div id="drive" class="tab-pane" role="tabpanel">
+					<div class="cmd_vel_circle"></div>
+				</div>
 			</div>
 		</div>
 		<script src="assets/javascripts/jquery-3.3.1.min.js"></script>