X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=www%2Findex.html;h=b08e6ec89a990722b911f159a5eba04bddb48ab3;hp=5a229a790278504a0b9310f78255fe30703823c8;hb=fae56e6c96b9a61d41799d013bed687bed058f50;hpb=01848a9a84b296519ca4b4f41906159fd4158213

diff --git a/www/index.html b/www/index.html
index 5a229a7..b08e6ec 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">
@@ -18,27 +28,15 @@
 			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>
-				`);
+				information.alerts.push({message: "Connected to websocket server.", success: true});
 			});
 
 			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>
-				`);
+				information.alerts.push({message: "Error connecting to websocket server.", danger: true});
 			});
 
 			ros.on('close', function() {
-				$("#information").append(`
-				<div class="alert alert-dismissible alert-info">
-					<span data-dismiss="alert">Connection to websocket server closed.</span>
-				</div>
-				`);
+				information.alerts.push({message: "Connection to websocket server closed.", info: true});
 			});
 
 			//tfClient.subscribe('base_link', function(tf) {
@@ -53,6 +51,7 @@
 			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();
@@ -60,18 +59,16 @@
 			});
 
 			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);
+				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) {
-				powerdiv = $("#power");
-				powerdiv.find("input[name=voltage]").val(message.voltage.toFixed(1));
-				powerdiv.find("input[name=current]").val(message.current.toFixed(1));
+				power.voltage = message.voltage.toFixed(1);
+				power.current = message.current.toFixed(1);
 			});
 
 			viewer2D = new ROS2D.Viewer({
@@ -118,28 +115,28 @@
 			});
 
 			// 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.speed = ui.value;
 					// 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 = ($('#speed-slider').slider('value') / 100.0);
+			teleop.scale = ($('#speed-slider').slider('value') * 2);
 
 			$('.led_color').minicolors({
 				control: 'wheel',
@@ -147,18 +144,102 @@
 				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);
+				}
+			});
+
+			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'),
+				}
+			})
 		}
 		</script>
 		<title>Wild Thumper control</title>
@@ -166,6 +247,9 @@
 	<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">
@@ -180,6 +264,9 @@
 					<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">
@@ -189,14 +276,14 @@
 							<h4>Power</h4>
 							<label>Voltage:</label>
 							<div class="input-group">
-								<input type=text name="voltage" class="form-control" readonly>
+								<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" readonly>
+								<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>
@@ -206,83 +293,116 @@
 							<h4>Sensors</h4>
 							<label>Light:</label>
 							<div class="input-group">
-								<input type=text name="light" class="form-control" readonly>
+								<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" readonly>
+								<input type=text name="temp" class="form-control" v-model="temp" readonly>
 								<div class="input-group-append">
 									<span class="input-group-text">&#x2103</span>
 								</div>
 							</div>
 							<label>Humidity:</label>
 							<div class="input-group">
-								<input type=text name="humidity" class="form-control" readonly>
+								<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" readonly>
+								<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" readonly>
+							<input type=text name="co" class="form-control" v-model="co" readonly>
 						</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 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>
@@ -296,5 +416,6 @@
 		<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>