mirror of
https://github.com/supleed2/ELEC50003-P1-CW.git
synced 2024-11-10 01:35:50 +00:00
470 lines
16 KiB
HTML
470 lines
16 KiB
HTML
<!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;
|
|
}
|
|
|
|
h2{
|
|
margin: 0px;
|
|
}
|
|
|
|
.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;
|
|
}
|
|
|
|
#command_space {
|
|
width:100%;
|
|
height: 200px;
|
|
line-height: normal;
|
|
overflow: auto;
|
|
background-color: rgb(248, 248, 248);
|
|
color: black;
|
|
border: 1px solid black;
|
|
}
|
|
|
|
meter {
|
|
width: 100%;
|
|
height: 40px;
|
|
transform: translateY(8px);
|
|
}
|
|
|
|
meter::after {
|
|
content: attr(value) attr(title);
|
|
top: -28px;
|
|
left: 45%;
|
|
position: relative;
|
|
}
|
|
|
|
button {
|
|
width: 100%;
|
|
display: inline-block;
|
|
padding: 7px 7px;
|
|
font-size: 12px;
|
|
cursor: pointer;
|
|
text-align: center;
|
|
text-decoration: none;
|
|
outline: none;
|
|
color: rgb(255, 255, 255);
|
|
background-color: #222222;
|
|
border: none;
|
|
border-radius: 5px;
|
|
box-shadow: 0 3px rgb(161, 161, 161);
|
|
-webkit-transition: .2s;
|
|
transition: background-color .2s;
|
|
}
|
|
|
|
button:hover {
|
|
background-color: #585858
|
|
}
|
|
|
|
button:active {
|
|
box-shadow: 0 3px rgb(161, 161, 161);
|
|
transform: translateY(1px);
|
|
}
|
|
|
|
.clearfix::after {
|
|
content: "";
|
|
clear: both;
|
|
display: table;
|
|
}
|
|
</style>
|
|
|
|
</head>
|
|
|
|
<body>
|
|
<h1 style="text-align:center;">ROVER COMMAND CENTER</h1>
|
|
|
|
<div class="clearfix">
|
|
<table style="width:1100px; border-spacing: 10px; margin-left: auto; margin-right: auto;">
|
|
<tr>
|
|
<th style="width: 33%;"><h2>Control Panel</h2></th>
|
|
<th style="width: 33%;"><h2>Telemetry</h2></th>
|
|
<th style="width: 33%;"><h2>Command Console</h2></th>
|
|
</tr>
|
|
<tr><hr></tr>
|
|
|
|
<!-- Control Panel Section -->
|
|
<tr>
|
|
<td style="vertical-align: top;">
|
|
<table style="width:100%; border-spacing: 5px;">
|
|
<tr><td colspan="6"><hr></td></tr>
|
|
<tr>
|
|
<td style="text-align: center;" colspan="6"><strong>Main</strong></td>
|
|
</tr>
|
|
|
|
<tr>
|
|
<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>
|
|
</tr>
|
|
<tr><td colspan="6"><hr></td></tr>
|
|
<tr>
|
|
<td style="text-align: center;" colspan="6"><strong> Set Heading to: </strong><strong id="SetHeading" style="font-size: 18px;">270</strong><strong>°</strong></td>
|
|
</tr>
|
|
<tr>
|
|
<td colspan="6"><input type ="range" min="0" max="359" value="180" class="slider" id="HdgSlider"></td>
|
|
</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>
|
|
</tr>
|
|
<tr>
|
|
<td colspan="6"><input type ="range" min="-200" max="200" value="0" class="slider" id="TranSlider"></td>
|
|
</tr>
|
|
<tr>
|
|
<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>
|
|
<td colspan="6"><input type ="range" min="0" max="100" value="100" class="slider" id="SpdSlider"></td>
|
|
</tr>
|
|
<tr>
|
|
<td colspan="6"><button onclick="setCmdMode(1); moveCmd(setTransto, setHdgto, setSpdto);">Send<br>Command</button></td>
|
|
</tr>
|
|
<tr><td colspan="6"><hr></td></tr>
|
|
</table>
|
|
</td>
|
|
|
|
<!-- Telemetry Section -->
|
|
|
|
<td style="vertical-align: top;">
|
|
<table style="width:100%; border-spacing: 5px; ">
|
|
<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>
|
|
<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>
|
|
<tr><td colspan="2"><hr></td></tr>
|
|
<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>
|
|
<tr><td colspan="2"><hr></td></tr>
|
|
<tr>
|
|
<td style="width:50%;"><label>Battery Voltage</label></td>
|
|
<td style="width:50%;"><strong id="btry_volt">X</strong><strong>V</strong></td>
|
|
</tr>
|
|
<tr>
|
|
<td style="width:50%;"><label>Battery Level</label></td>
|
|
<td style="width:50%;"><strong id="btry_lvl">X</strong><strong>%</strong></td>
|
|
</tr>
|
|
<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>
|
|
|
|
</table>
|
|
</td>
|
|
|
|
<!-- Command Buffer Section -->
|
|
<td style="vertical-align: top;">
|
|
<table style="width:100%; border-spacing: 5px; ">
|
|
<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>
|
|
<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>
|
|
<td style="width: 7%; "><button onclick="setCmdMode(0); RunParser();" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">↵</button></td>
|
|
</tr>
|
|
</table>
|
|
|
|
</td>
|
|
</tr>
|
|
</table>
|
|
|
|
</div>
|
|
|
|
</body>
|
|
<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;
|
|
var hunt_colour = "";
|
|
|
|
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.bL;
|
|
batteryVoltage = data.bV;
|
|
batteryCycles = data.bC;
|
|
totalTripDistance = data.tD;
|
|
currentHeading = 180 - 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";
|
|
}else if(state == 3){
|
|
rStatus = "Waiting";
|
|
}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() {
|
|
var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + ',"col":"' + hunt_colour + '"}';
|
|
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 + "%";
|
|
}else if(cmdMode == 2){
|
|
bufferOutput = "charge " + reqCharge + "%";
|
|
}else if(cmdMode == 3){
|
|
bufferOutput = "wait " + pstop_time + "s";
|
|
}else if(cmdMode == 4){
|
|
bufferOutput = "colour " + hunt_colour;
|
|
}else if(cmdMode == -1){
|
|
bufferOutput = "telemetry reset";
|
|
}
|
|
if((mode == 1) || (mode == -1) || (mode == 2) || (mode == 3) || (mode == 4)){
|
|
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 = 360 - hdg;
|
|
reqSpeed = spd;
|
|
reqCharge = 0;
|
|
pstop_time = 0;
|
|
tel_rst = 0;
|
|
hunt_colour = "";
|
|
send_data();
|
|
updateCommandBuffer();
|
|
command_id++;
|
|
}
|
|
|
|
function stpCmd(){
|
|
mode = 0;
|
|
reqDistance = 0;
|
|
reqHeading = 0;
|
|
reqSpeed = 0;
|
|
reqCharge = 0;
|
|
pstop_time = 0;
|
|
tel_rst = 0;
|
|
hunt_colour = "";
|
|
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;
|
|
hunt_colour = "";
|
|
send_data();
|
|
updateCommandBuffer();
|
|
command_id++;
|
|
}
|
|
|
|
function chrgCmd(chrglvl){
|
|
mode = 2;
|
|
reqDistance = 0;
|
|
reqHeading = 0;
|
|
reqSpeed = 0;
|
|
reqCharge = chrglvl;
|
|
pstop_time = 0;
|
|
tel_rst = 0;
|
|
hunt_colour = "";
|
|
send_data();
|
|
updateCommandBuffer();
|
|
command_id++;
|
|
}
|
|
|
|
function telRst(){
|
|
mode = -1;
|
|
reqDistance = 0;
|
|
reqHeading = 0;
|
|
reqSpeed = 0;
|
|
reqCharge = 0;
|
|
pstop_time = 0;
|
|
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;
|
|
send_data();
|
|
updateCommandBuffer();
|
|
command_id++;
|
|
}
|
|
|
|
|
|
function RunParser(){
|
|
var commandstring = document.getElementById("commandInput").value;
|
|
try{
|
|
command.parse(commandstring);
|
|
} catch(err){
|
|
alert(err);
|
|
}
|
|
}
|
|
|
|
var setHdgto = 180;
|
|
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;
|
|
}
|
|
|
|
var setTransto = 0;
|
|
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;
|
|
}
|
|
|
|
var setSpdto = 100;
|
|
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>
|
|
|
|
</html> |