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<!DOCTYPE html>
< html lang = 'en' >
< head >
< title > Rover Control Panel< / title >
< meta charset = "utf-8" >
< meta name = "viewport" content = "width=device-width, initial-scale=1" >
< link rel = "shortcut icon" href = "/favicon.ico" type = "image/x-icon" >
< link rel = "icon" href = "/favicon.ico" type = "image/x-icon" >
< style >
* {
box-sizing: border-box;
}
.flex-container {
display: flex;
flex-wrap: nowrap;
}
:is(h1, h2, h3, h4, h5, h6, label, strong, meter) {
font-family: Arial, Helvetica, sans-serif;
}
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h2{
margin: 0px;
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}
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.slider {
-webkit-appearance: none;
width: 100%;
height: 25px;
background: #d3d3d3;
outline: none;
opacity: 0.7;
-webkit-transition: .2s;
transition: opacity .2s;
}
.slider:hover {
opacity: 1;
}
.slider::-webkit-slider-thumb {
-webkit-appearance: none;
appearance: none;
width: 25px;
height: 25px;
background: #000000;
cursor: pointer;
}
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#command_space {
width:100%;
height: 200px;
line-height: normal;
overflow: auto;
background-color: rgb(248, 248, 248);
color: black;
border: 1px solid black;
}
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meter {
width: 100%;
height: 40px;
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transform: translateY(8px);
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}
meter::after {
content: attr(value) attr(title);
top: -28px;
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left: 45%;
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position: relative;
}
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button {
width: 100%;
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display: inline-block;
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padding: 7px 7px;
font-size: 12px;
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cursor: pointer;
text-align: center;
text-decoration: none;
outline: none;
color: rgb(255, 255, 255);
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background-color: #222222;
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border: none;
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border-radius: 5px;
box-shadow: 0 3px rgb(161, 161, 161);
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-webkit-transition: .2s;
transition: background-color .2s;
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}
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button:hover {
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background-color: #585858
}
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button:active {
box-shadow: 0 3px rgb(161, 161, 161);
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transform: translateY(1px);
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}
.clearfix::after {
content: "";
clear: both;
display: table;
}
< / style >
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< / head >
< body >
< h1 style = "text-align:center;" > ROVER COMMAND CENTER< / h1 >
< div class = "clearfix" >
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< table style = "width:1100px; border-spacing: 10px; margin-left: auto; margin-right: auto;" >
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< tr >
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< th style = "width: 33%;" > < h2 > Control Panel< / h2 > < / th >
< th style = "width: 33%;" > < h2 > Telemetry< / h2 > < / th >
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< th style = "width: 33%;" > < h2 > Command Console< / h2 > < / th >
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< / tr >
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< tr > < hr > < / tr >
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<!-- Control Panel Section -->
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< tr >
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< td style = "vertical-align: top;" >
< table style = "width:100%; border-spacing: 5px;" >
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< tr > < td colspan = "6" > < hr > < / td > < / tr >
< tr >
< td style = "text-align: center;" colspan = "6" > < strong > Main< / strong > < / td >
< / tr >
< tr >
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< td style = "text-align: center;" colspan = "2" > < button onclick = "setCmdMode(0); stpCmd();" style = "color: red;" > Emergency< br > Stop< / button > < / td >
< td style = "text-align: center;" colspan = "2" > < button onclick = "setCmdMode(-1); telRst();" > Telemetry< br > Reset< / button > < / td >
< td style = "text-align: center;" colspan = "2" > < button onclick = "setCmdMode(2); chrgCmd(100);" > Full< br > Charge< / button > < / td >
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< / tr >
< tr > < td colspan = "6" > < hr > < / td > < / tr >
< tr >
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< td style = "text-align: center;" colspan = "6" > < strong > Set Heading to: < / strong > < strong id = "SetHeading" style = "font-size: 18px;" > 270< / strong > < strong > ° < / strong > < / td >
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< / tr >
< tr >
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< td colspan = "6" > < input type = "range" min = "0" max = "359" value = "180" class = "slider" id = "HdgSlider" > < / td >
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< / tr >
< tr >
< td style = "text-align: center;" colspan = "6" > < strong > Set Translation to: < / strong > < strong id = "SetTrans" style = "font-size: 18px;" > 180< / strong > < strong > mm< / strong > < / td >
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< / tr >
< tr >
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< td colspan = "6" > < input type = "range" min = "-200" max = "100" value = "0" class = "slider" id = "TranSlider" > < / td >
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< / tr >
< tr >
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< td style = "text-align: center;" colspan = "6" > < strong > Set Speed to: < / strong > < strong id = "SetSpd" style = "font-size: 18px;" > 50< / strong > < strong > %< / strong > < / td >
< / tr >
< tr >
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< td colspan = "6" > < input type = "range" min = "0" max = "100" value = "100" class = "slider" id = "SpdSlider" > < / td >
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< / tr >
< tr >
< td colspan = "6" > < button onclick = "setCmdMode(1); moveCmd(setTransto, setHdgto, setSpdto);" > Send< br > Command< / button > < / td >
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< / tr >
< tr > < td colspan = "6" > < hr > < / td > < / tr >
< / table >
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< / td >
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<!-- Telemetry Section -->
< td style = "vertical-align: top;" >
< table style = "width:100%; border-spacing: 5px; " >
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< tr > < td colspan = "2" > < hr > < / td > < / tr >
< tr >
< td style = "width:50%;" > < label > Rover Status< / label > < / td >
< td style = "width:50%;" > < strong id = "Rov_status" > X< / strong >
< / tr >
< tr > < td colspan = "2" > < hr > < / td > < / tr >
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< tr >
< td style = "width:50%;" > < label > Signal Strength< / label > < / td >
< td style = "width:50%;" > < meter id = "SigStr" min = "-80" max = "-30" low = "-70" high = "-50" optimum = "-40" value = "-XX"
title="dB">< / meter > < / td >
< / tr >
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< tr > < td colspan = "2" > < hr > < / td > < / tr >
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< tr >
< td style = "width:50%;" > < label > Position< / label > < / td >
< td style = "width:50%;" > < strong id = "PosX" > X< / strong > < strong > ,< / strong > < strong id = "PosY" > Y< / strong > < / td >
< / tr >
< tr >
< td style = "width:50%;" > < label > Heading< / label > < / td >
< td style = "width:50%;" > < strong id = "Hdg" > H< / strong > < strong > ° < / strong > < / td >
< / tr >
< tr >
< td style = "width:50%;" > < label > Trip Distance< / label > < / td >
< td style = "width:50%;" > < strong id = "TrpDist" > X< / strong > < strong > mm< / strong > < / td >
< / tr >
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< tr > < td colspan = "2" > < hr > < / td > < / tr >
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< tr >
< td style = "width:50%;" > < label > Battery Voltage< / label > < / td >
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< td style = "width:50%;" > < strong id = "btry_volt" > X< / strong > < strong > V< / strong > < / td >
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< / tr >
< tr >
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< td style = "width:50%;" > < label > Battery Level< / label > < / td >
< td style = "width:50%;" > < strong id = "btry_lvl" > X< / strong > < strong > %< / strong > < / td >
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< / tr >
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< tr >
< td style = "width:50%;" > < label > Battery Cycles< / label > < / td >
< td style = "width:50%;" > < strong id = "btry_cycls" > X< / strong > < / td >
< / tr >
< tr > < td colspan = "2" > < hr > < / td > < / tr >
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< / table >
< / td >
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<!-- Command Buffer Section -->
< td style = "vertical-align: top;" >
< table style = "width:100%; border-spacing: 5px; " >
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< tr > < td colspan = "2" > < hr > < / td > < / tr >
< tr > < td colspan = "2" > < div id = "command_space" > < p id = "command_buffer" style = "padding-left: 5px; font-size: 12px; font-family: 'Courier New', Courier, monospace;" > < / p > < / div > < / td > < / tr >
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< tr >
< td > < input type = "text" placeholder = "Type a command or 'help'." id = "commandInput" value = "" onkeyup = "if(event.keyCode == 13){document.getElementById('commandEnter').click();}" style = "width: 100%; font-size: 14px; font-family: 'Courier New', Courier, monospace;" > < / td >
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< td style = "width: 7%; " > < button onclick = "setCmdMode(0); RunParser();" id = "commandEnter" style = "height: 20px; width: 20px; padding: 3px 2px;" > ↵ < / button > < / td >
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< / tr >
< / table >
< / td >
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< / tr >
< / table >
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< / div >
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< / body >
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< script src = "command.js" > < / script >
< script >
var connection = new WebSocket('ws://' + location.hostname + ':81/');
var command_id = 1;
var mode = 0;
var reqHeading = 0;
var reqDistance = 0;
var reqSpeed = 0;
var reqCharge = 0;
var pstop_time = 0;
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var hunt_colour = "";
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var state = 0;
var batteryVoltage = 0;
var batteryLevel = 0;
var totalTripDistance = 0;
var currentHeading = 0;
var current_pos = [,];
var current_x = 0;
var current_y = 0;
var signal_strength = 0;
var lastCompletedCommand_id = 0;
var batteryCycles = 0;
connection.onmessage = function (event) {
var raw_data = event.data;
console.log(raw_data);
var data = JSON.parse(raw_data);
state = data.st;
batteryLevel = data.bV;
batteryVoltage = data.bV;
batteryCycles = data.bC;
totalTripDistance = data.tD;
currentHeading = data.cH;
current_pos = data.pos;
current_x = current_pos[0];
current_y = current_pos[1];
signal_strength = data.rssi;
lastCompletedCommand_id = data.LCCid;
var rStatus = ""
if(state == -1){
rStatus = "Error";
}else if(state == 0){
rStatus = "Idle";
}else if(state == 1){
rStatus = "Moving";
}else if(state == 2){
rStatus = "Charging";
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}else if(state == 3){
rStatus = "Waiting";
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}else{
rStatus = "Undefined";
}
document.getElementById("Rov_status").innerHTML = rStatus;
document.getElementById("SigStr").value = signal_strength;
document.getElementById("PosX").innerHTML = current_x;
document.getElementById("PosY").innerHTML = current_y;
document.getElementById("Hdg").innerHTML = currentHeading;
document.getElementById("TrpDist").innerHTML = totalTripDistance;
document.getElementById("btry_volt").innerHTML = batteryVoltage;
document.getElementById("btry_lvl").innerHTML = batteryLevel;
document.getElementById("btry_cycls").innerHTML = batteryCycles;
}
function send_data() {
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var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + ',"col":' + hunt_colour + '}';
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connection.send(raw_data);
console.log(raw_data);
}
function setCmdMode(mode){
cmdMode = mode;
}
function updateCommandBuffer(){
var bufferOutput = "";
if(cmdMode == 0){
bufferOutput = document.getElementById("commandInput").value;
}else if(cmdMode == 1){
bufferOutput = "move " + reqDistance + "mm " + reqHeading + "deg " + reqSpeed + "%";
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}else if(cmdMode == 2){
bufferOutput = "charge " + reqCharge + "%";
}else if(cmdMode == 3){
bufferOutput = "wait " + pstop_time + "s";
}else if(cmdMode == -1){
bufferOutput = "telemetry reset";
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}
if((mode == 1) || (mode == -1) || (mode == 2) || (mode == 3)){
document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + bufferOutput + "< br > ";
document.getElementById("commandInput").value = ""
}else if(mode == 0){
document.getElementById("command_buffer").innerHTML = "Rover Emergency Stop." + "< br > " +"Command buffer cleared." + "< br > ";
document.getElementById("commandInput").value = "";
}
}
function printHelpDetails(){
document.getElementById("command_buffer").innerHTML =
("------------------------------------------" + "< br > " + "< br > " +
"Types of commands available:" + "< br > " + "< br > " +
"'move' moves rover along a given vector" + "< br > " +
"> move [distance]mm [heading]deg [speed]%" + "< br > " + "< br > " +
"'pstop' short for planned stop it stops the rover without reseting the command buffer" + "< br > " +
"> pstop" + "< br > " + "< br > " +
"'charge' stops the rover and recharges to a set battery level" + "< br > " +
"> charge to [percentage]%" + "< br > " + "< br > " +
"'telemetry reset' resets X,Y coordinates and Trip Distance" + "< br > " +
"> telemetry reset" + "< br > " + "< br > " +
"'stop' and emergency stop that stops the rover and resets the command buffer" + "< br > " +
"> stop" + "< br > " + "< br > " +
"------------------------------------------"
)
document.getElementById("commandInput").value = "";
}
function moveCmd(dist,hdg,spd){
mode = 1;
reqDistance = dist;
reqHeading = hdg;
reqSpeed = spd;
reqCharge = 0;
pstop_time = 0;
tel_rst = 0;
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hunt_colour = "";
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send_data();
updateCommandBuffer();
command_id++;
}
function stpCmd(){
mode = 0;
reqDistance = 0;
reqHeading = 0;
reqSpeed = 0;
reqCharge = 0;
pstop_time = 0;
tel_rst = 0;
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hunt_colour = "";
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send_data();
command_id = 1;
updateCommandBuffer();
}
function pstpCmd(pstp_tme){
mode = 3;
reqDistance = 0;
reqHeading = 0;
reqSpeed = 0;
reqCharge = 0;
pstop_time = pstp_tme;
tel_rst = 0;
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hunt_colour = "";
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send_data();
updateCommandBuffer();
command_id++;
}
function chrgCmd(chrglvl){
mode = 2;
reqDistance = 0;
reqHeading = 0;
reqSpeed = 0;
reqCharge = chrglvl;
pstop_time = 0;
tel_rst = 0;
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hunt_colour = "";
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send_data();
updateCommandBuffer();
command_id++;
}
function telRst(){
mode = -1;
reqDistance = 0;
reqHeading = 0;
reqSpeed = 0;
reqCharge = 0;
pstop_time = 0;
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hunt_colour = "";
send_data();
updateCommandBuffer();
command_id++;
}
function colourCmd(clrName){
mode = 4;
reqDistance = 0;
reqHeading = 0;
reqSpeed = 0;
reqCharge = 0;
pstop_time = 0;
hunt_colour = clrName;
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send_data();
updateCommandBuffer();
command_id++;
}
function RunParser(){
var commandstring = document.getElementById("commandInput").value;
try{
command.parse(commandstring);
} catch(err){
alert(err);
}
}
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var setHdgto = 180;
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var hdg_slider = document.getElementById("HdgSlider");
var hdg_output = document.getElementById("SetHeading");
hdg_output.innerHTML = hdg_slider.value;
hdg_slider.oninput = function() {
hdg_output.innerHTML = this.value;
setHdgto = this.value;
}
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var setTransto = 0;
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var tran_slider = document.getElementById("TranSlider");
var tran_output = document.getElementById("SetTrans");
tran_output.innerHTML = tran_slider.value;
tran_slider.oninput = function() {
tran_output.innerHTML = this.value;
setTransto = this.value;
}
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var setSpdto = 100;
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var spd_slider = document.getElementById("SpdSlider");
var spd_output = document.getElementById("SetSpd");
spd_output.innerHTML = spd_slider.value;
spd_slider.oninput = function() {
spd_output.innerHTML = this.value;
setSpdto = this.value;
}
< / script >
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< / html >
