X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=www%2Findex.html;h=db7e48d8b2adcea71f0090abeeabbac4aa82a76a;hp=4e6b5650bc3225ea157c69a65d88365f7f2cce3e;hb=5265263d46b9396252d852a763e68913ad3a913e;hpb=17c670f1932371d1b1ba431eb0f331507445023e

diff --git a/www/index.html b/www/index.html
index 4e6b565..db7e48d 100644
--- a/www/index.html
+++ b/www/index.html
@@ -6,226 +6,33 @@
 		<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").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'});
-			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) {
-				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);
-			});
-
-			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.
-			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').html('Speed: ' + ui.value + ' m/s');
-					// Scale the speed.
-					teleop.scale = (ui.value * 2);
-				}
-			});
-
-			// Set the initial speed.
-			$('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + ' m/s');
-			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);
-				}
-			});
-		}
+			robothostname="wildthumper"
 		</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">
@@ -243,154 +50,104 @@
 					<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" 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>
-								<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" 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>
-								<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>
-								<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>
-								<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-value v-model="light" label="Light" unit="lx"></input-value>
+							<input-value v-model="temp" label="Temperature" unit="&#x2103"></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="[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 class="row">
+						<div class="col-sd-10">
+							<div class="cmd_vel_circle"></div>
+						</div>
+						<div class="col-sd-1">
+							<input type="number" value="1.0" min="0.1" max="5.0" step="0.1" class="form-control" id="scale_trans">
+							<input type="number" value="3.0" min="1.0" max="5.0" step="0.1" class="form-control" id="scale_rot">
+						</div>
+					</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>
 	</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>