From e8972449c15f8b56554ce630295fa035b8077c10 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Tue, 5 May 2020 15:51:51 +0200
Subject: [PATCH] Got most everything working for the web interface
---
.../src/dfall_pkg/crazyradio/CrazyRadio.py | 20 +
.../nodes/AgentStatusForWebInterface.h | 26 +-
.../include/nodes/CrazyRadioEmulator.h | 5 +
.../include/nodes/StudentControllerService.h | 2 +-
.../src/dfall_pkg/param/CrazyRadioConfig.yaml | 4 +
.../src/nodes/AgentStatusForWebInterface.cpp | 313 +++++++++++-
.../src/nodes/CrazyRadioEmulator.cpp | 23 +
.../src/nodes/StudentControllerService.cpp | 32 +-
web_interface/html/agent.php | 19 +-
.../html/agent_control_tab_default.html | 123 ++++-
.../html/agent_control_tab_student.html | 220 ++++++--
web_interface/html/agent_tab_code.html | 11 +-
web_interface/html/agent_tab_control.php | 8 +-
.../bashscripts/rosGetStatusJson_forAgent.sh | 82 +++
.../html/bashscripts/rosLoadYaml_forAgent.sh | 54 ++
web_interface/html/callBashScript.php | 8 +
web_interface/html/checkForRosAgent.php | 4 -
web_interface/html/checkForRosMaster.php | 11 -
web_interface/html/css/buttons.css | 36 --
web_interface/html/css/debug_values_table.css | 91 ++++
web_interface/html/css/layout.css | 20 +
.../css/measurement_setpoint_error_table.css | 151 ++++++
web_interface/html/css/status_bar.css | 71 +++
web_interface/html/css/switches.css | 75 +++
web_interface/html/css/tabs_control.css | 9 +
web_interface/html/css/tabs_main.css | 24 +-
web_interface/html/img/battery_20.png | Bin 0 -> 2099 bytes
web_interface/html/img/battery_40.png | Bin 0 -> 2147 bytes
web_interface/html/img/battery_60.png | Bin 0 -> 2232 bytes
web_interface/html/img/battery_80.png | Bin 0 -> 2252 bytes
web_interface/html/img/battery_empty.png | Bin 0 -> 3379 bytes
web_interface/html/img/battery_full.png | Bin 0 -> 2152 bytes
.../html/img/battery_unavailable.png | Bin 0 -> 2775 bytes
web_interface/html/img/battery_unknown.png | Bin 0 -> 3138 bytes
.../html/img/flying_state_disabling.png | Bin 0 -> 3303 bytes
.../html/img/flying_state_enabling.png | Bin 0 -> 3512 bytes
.../html/img/flying_state_flying.png | Bin 0 -> 3001 bytes
web_interface/html/img/flying_state_off.png | Bin 0 -> 3106 bytes
.../html/img/flying_state_unavailable.png | Bin 0 -> 4797 bytes
.../html/img/flying_state_unknown.png | Bin 0 -> 3868 bytes
web_interface/html/img/rf_connected.png | Bin 0 -> 6410 bytes
web_interface/html/img/rf_connecting.png | Bin 0 -> 5679 bytes
web_interface/html/img/rf_disconnected.png | Bin 0 -> 5321 bytes
web_interface/html/js/sendRosMessage.js | 9 +
web_interface/html/js/sse_agentStatus.js | 468 ++++++++++++++++++
web_interface/html/killRosAgent.php | 4 -
web_interface/html/launchRosAgent.php | 4 -
web_interface/html/page_header.html | 4 +-
web_interface/html/rosnodeList.php | 4 -
web_interface/html/sse_agentStatus.php | 30 ++
web_interface/html/temp.html | 69 ---
51 files changed, 1806 insertions(+), 228 deletions(-)
create mode 100755 web_interface/html/bashscripts/rosGetStatusJson_forAgent.sh
create mode 100755 web_interface/html/bashscripts/rosLoadYaml_forAgent.sh
delete mode 100644 web_interface/html/checkForRosAgent.php
delete mode 100644 web_interface/html/checkForRosMaster.php
create mode 100644 web_interface/html/css/debug_values_table.css
create mode 100644 web_interface/html/css/measurement_setpoint_error_table.css
create mode 100644 web_interface/html/css/status_bar.css
create mode 100644 web_interface/html/img/battery_20.png
create mode 100644 web_interface/html/img/battery_40.png
create mode 100644 web_interface/html/img/battery_60.png
create mode 100644 web_interface/html/img/battery_80.png
create mode 100644 web_interface/html/img/battery_empty.png
create mode 100644 web_interface/html/img/battery_full.png
create mode 100644 web_interface/html/img/battery_unavailable.png
create mode 100644 web_interface/html/img/battery_unknown.png
create mode 100644 web_interface/html/img/flying_state_disabling.png
create mode 100644 web_interface/html/img/flying_state_enabling.png
create mode 100644 web_interface/html/img/flying_state_flying.png
create mode 100644 web_interface/html/img/flying_state_off.png
create mode 100644 web_interface/html/img/flying_state_unavailable.png
create mode 100644 web_interface/html/img/flying_state_unknown.png
create mode 100644 web_interface/html/img/rf_connected.png
create mode 100644 web_interface/html/img/rf_connecting.png
create mode 100644 web_interface/html/img/rf_disconnected.png
create mode 100644 web_interface/html/js/sse_agentStatus.js
delete mode 100644 web_interface/html/killRosAgent.php
delete mode 100644 web_interface/html/launchRosAgent.php
delete mode 100644 web_interface/html/rosnodeList.php
create mode 100644 web_interface/html/sse_agentStatus.php
delete mode 100644 web_interface/html/temp.html
diff --git a/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py b/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
index ca3dd25a..fb0e3cf5 100755
--- a/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
+++ b/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
@@ -252,6 +252,20 @@ class CrazyRadioClient:
def _data_received_stateEstimate_callback(self, timestamp, data, logconf):
+ # Perform safety check if required
+ if (isEnabled_strictSafety):
+ # Estimate the height at the next measurement
+ height_at_next_measurement = data["stateEstimateZ.z"] / 1000.0 + (cfStateEstimate_polling_period / 1000.0) * (data["stateEstimateZ.vz"] / 1000.0)
+ # Turn-off if too high
+ if (height_at_next_measurement > maxHeight_for_strictSafety_meters):
+ # Publish a motors OFF command
+ msg = IntWithHeader()
+ msg.shouldCheckForAgentID = False
+ msg.data = CMD_CRAZYFLY_MOTORS_OFF
+ self.flyingAgentClient_command_publisher.publish(msg)
+ # Inform the user
+ rospy.logerr("[CRAZY RADIO] Height safety check failed, measured = %f, max allowed = %f" % (height_at_next_measurement, maxHeight_for_strictSafety_meters))
+
# Initialise the variable for the flying vehicle state
cfStateEstimate = FlyingVehicleState()
@@ -747,6 +761,12 @@ if __name__ == '__main__':
global cfStateEstimate_polling_period
cfStateEstimate_polling_period = rospy.get_param(ros_namespace + "CrazyRadio/CrazyRadioConfig/cfStateEstimate_polling_period")
+ global isEnabled_strictSafety
+ isEnabled_strictSafety = rospy.get_param(ros_namespace + "CrazyRadio/CrazyRadioConfig/isEnabled_strictSafety")
+
+ global maxHeight_for_strictSafety_meters
+ maxHeight_for_strictSafety_meters = rospy.get_param(ros_namespace + "CrazyRadio/CrazyRadioConfig/maxHeight_for_strictSafety_meters")
+
# Fetch the YAML paramter "agentID" and "coordID"
global m_agentID
m_agentID = rospy.get_param(ros_namespace + "/FlyingAgentClient/agentID")
diff --git a/dfall_ws/src/dfall_pkg/include/nodes/AgentStatusForWebInterface.h b/dfall_ws/src/dfall_pkg/include/nodes/AgentStatusForWebInterface.h
index 48ea1086..c7dcef7e 100644
--- a/dfall_ws/src/dfall_pkg/include/nodes/AgentStatusForWebInterface.h
+++ b/dfall_ws/src/dfall_pkg/include/nodes/AgentStatusForWebInterface.h
@@ -56,6 +56,8 @@
// Include the DFALL message types
#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/FlyingVehicleState.h"
+#include "dfall_pkg/DebugMsg.h"
// Include the DFALL service types
#include "dfall_pkg/IntStringService.h"
@@ -95,6 +97,10 @@ using namespace dfall_pkg;
// > as received via messages
int m_crazyradio_status = CRAZY_RADIO_STATE_DISCONNECTED;
+// The battery level
+// > as received via messages
+int m_battery_level = BATTERY_LEVEL_UNAVAILABLE;
+
// The flying state of the agent
// > as received via messages
int m_agent_operating_state = STATE_UNAVAILABLE;
@@ -103,10 +109,6 @@ int m_agent_operating_state = STATE_UNAVAILABLE;
// > as received via messages
int m_instant_controller = DEFAULT_CONTROLLER;
-// The battery level
-// > as received via messages
-int m_battery_level = BATTERY_LEVEL_UNAVAILABLE;
-
// The setpoint of the default controller
// > as received via messages
float m_setpoint_default[4] = {0.0,0.0,0.4,0.0};
@@ -115,6 +117,14 @@ float m_setpoint_default[4] = {0.0,0.0,0.4,0.0};
// > as received via messages
float m_setpoint_student[4] = {0.0,0.0,0.4,0.0};
+// The debug values of the student controller
+// > as received via messages
+float m_debug_values_student[10] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0};
+
+// The current state estimate of the Crazyflie
+// > as received via messages
+float m_cf_state_estimate_xyz_rpy[6] = {0.0,0.0,0.0,0.0,0.0,0.0};
+
@@ -137,16 +147,20 @@ float m_setpoint_student[4] = {0.0,0.0,0.4,0.0};
// Callbacks for messages with the status of things:
// > For the status of the crazyradio
void crazyRadioStatusCallback(const std_msgs::Int32& msg);
+// > For the battery level
+void newBatteryLevelCallback(const std_msgs::Int32& msg);
// > For the flying state of the agent
void agentOperatingStateCallback(const std_msgs::Int32& msg);
// > For the instant controller
void instantControllerChangedCallback(const std_msgs::Int32& msg);
-// > For the battery level
-void newBatteryLevelCallback(const std_msgs::Int32& msg);
// > For the Default Controller Setpoint
void defaultControllerSetpointChangedCallback(const SetpointWithHeader& newSetpoint);
// > For the Student Controller Setpoint
void studentControllerSetpointChangedCallback(const SetpointWithHeader& newSetpoint);
+// > For the Student Controller Debug Values
+void studentControllerDebugValuesCallback(const DebugMsg& newDebugMsg);
+// > For the State Estimate from the Crazyflie
+void cfStateEstimateCallback(const FlyingVehicleState & newStateEstimate);
// Service callback for providing status to the Web Interface
bool statusForWebInterfaceCallback(IntStringService::Request &request, IntStringService::Response &response);
\ No newline at end of file
diff --git a/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h b/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h
index 71481271..a4af6736 100644
--- a/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h
+++ b/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h
@@ -153,6 +153,11 @@ ros::Publisher cfSimulationStatePublisher;
// Frequency of requesting the battery voltage, in [seconds]
float yaml_battery_polling_period_in_seconds = 0.2f;
+// Flag for whether to use height as a trigger for
+// publishing a motors-OFF command
+bool yaml_isEnabled_strictSafety = true;
+float yaml_maxHeight_for_strictSafety_meters = 1.2;
+
// // Battery thresholds while in the "motors off" state, in [Volts]
// float yaml_battery_voltage_threshold_lower_while_standby = 3.30f;
// float yaml_battery_voltage_threshold_upper_while_standby = 4.20f;
diff --git a/dfall_ws/src/dfall_pkg/include/nodes/StudentControllerService.h b/dfall_ws/src/dfall_pkg/include/nodes/StudentControllerService.h
index 67647069..bb04171a 100644
--- a/dfall_ws/src/dfall_pkg/include/nodes/StudentControllerService.h
+++ b/dfall_ws/src/dfall_pkg/include/nodes/StudentControllerService.h
@@ -69,7 +69,7 @@
// Include the DFALL service types
#include "dfall_pkg/LoadYamlFromFilename.h"
#include "dfall_pkg/GetSetpointService.h"
-#include "dfall_pkg/GetDebugValuesService.h"
+//#include "dfall_pkg/GetDebugValuesService.h"
// Include the shared definitions
#include "nodes/Constants.h"
diff --git a/dfall_ws/src/dfall_pkg/param/CrazyRadioConfig.yaml b/dfall_ws/src/dfall_pkg/param/CrazyRadioConfig.yaml
index 88ddd0a7..6f2892f8 100755
--- a/dfall_ws/src/dfall_pkg/param/CrazyRadioConfig.yaml
+++ b/dfall_ws/src/dfall_pkg/param/CrazyRadioConfig.yaml
@@ -1,6 +1,10 @@
# Frequency of requesting the onboard state estimate, in [milliseconds]
cfStateEstimate_polling_period: 20
+# Flag for whether to use height as a trigger for
+# publishing a motors-OFF command
+isEnabled_strictSafety: true
+maxHeight_for_strictSafety_meters: 1.2
# ----------------------------------------------- #
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/AgentStatusForWebInterface.cpp b/dfall_ws/src/dfall_pkg/src/nodes/AgentStatusForWebInterface.cpp
index d7718333..612fd244 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/AgentStatusForWebInterface.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/AgentStatusForWebInterface.cpp
@@ -70,6 +70,11 @@ void crazyRadioStatusCallback(const std_msgs::Int32& msg)
m_crazyradio_status = msg.data;
}
+// > For the battery level
+void newBatteryLevelCallback(const std_msgs::Int32& msg)
+{
+ m_battery_level = msg.data;
+}
// > For the flying state of the agent
void agentOperatingStateCallback(const std_msgs::Int32& msg)
@@ -83,12 +88,6 @@ void instantControllerChangedCallback(const std_msgs::Int32& msg)
m_instant_controller = msg.data;
}
-// > For the battery level
-void newBatteryLevelCallback(const std_msgs::Int32& msg)
-{
- m_battery_level = msg.data;
-}
-
// > For the Default Controller Setpoint
void defaultControllerSetpointChangedCallback(const SetpointWithHeader& newSetpoint)
{
@@ -107,6 +106,34 @@ void studentControllerSetpointChangedCallback(const SetpointWithHeader& newSetpo
m_setpoint_student[3] = newSetpoint.yaw;
}
+// > For the Student Controller Debug Values
+void studentControllerDebugValuesCallback(const DebugMsg& newDebugMsg)
+{
+ m_debug_values_student[0] = newDebugMsg.value_1;
+ m_debug_values_student[1] = newDebugMsg.value_2;
+ m_debug_values_student[2] = newDebugMsg.value_3;
+ m_debug_values_student[3] = newDebugMsg.value_4;
+ m_debug_values_student[4] = newDebugMsg.value_5;
+ m_debug_values_student[5] = newDebugMsg.value_6;
+ m_debug_values_student[6] = newDebugMsg.value_7;
+ m_debug_values_student[7] = newDebugMsg.value_8;
+ m_debug_values_student[8] = newDebugMsg.value_9;
+ m_debug_values_student[9] = newDebugMsg.value_10;
+}
+
+// > For the State Estimate from the Crazyflie
+void cfStateEstimateCallback(const FlyingVehicleState & newStateEstimate)
+{
+ // > For (x,y,z) positions
+ m_cf_state_estimate_xyz_rpy[0] = newStateEstimate.x;
+ m_cf_state_estimate_xyz_rpy[1] = newStateEstimate.y;
+ m_cf_state_estimate_xyz_rpy[2] = newStateEstimate.z;
+ // > For (roll,pitch,yaw) orientation
+ m_cf_state_estimate_xyz_rpy[3] = newStateEstimate.roll;
+ m_cf_state_estimate_xyz_rpy[4] = newStateEstimate.pitch;
+ m_cf_state_estimate_xyz_rpy[5] = newStateEstimate.yaw;
+}
+
@@ -114,8 +141,8 @@ void studentControllerSetpointChangedCallback(const SetpointWithHeader& newSetpo
// SERVICE CALLBACK FOR PROVIDING STATUS TO THE WEB INTERFACE
bool statusForWebInterfaceCallback(IntStringService::Request &request, IntStringService::Response &response)
{
- // Get the statuses as string
- str::string crazyradio_status_string;
+ // Get the CrazyRadio status as a string
+ std::string crazyradio_status_string;
switch (m_crazyradio_status)
{
case CRAZY_RADIO_STATE_CONNECTED:
@@ -140,11 +167,248 @@ bool statusForWebInterfaceCallback(IntStringService::Request &request, IntString
}
}
+
+ // Get the Battery level as a string
+ std::string battery_level_string;
+ switch (m_battery_level)
+ {
+ case BATTERY_LEVEL_000:
+ {
+ battery_level_string = "000";
+ break;
+ }
+ case BATTERY_LEVEL_010:
+ {
+ battery_level_string = "010";
+ break;
+ }
+ case BATTERY_LEVEL_020:
+ {
+ battery_level_string = "020";
+ break;
+ }
+ case BATTERY_LEVEL_030:
+ {
+ battery_level_string = "030";
+ break;
+ }
+ case BATTERY_LEVEL_040:
+ {
+ battery_level_string = "040";
+ break;
+ }
+ case BATTERY_LEVEL_050:
+ {
+ battery_level_string = "050";
+ break;
+ }
+ case BATTERY_LEVEL_060:
+ {
+ battery_level_string = "060";
+ break;
+ }
+ case BATTERY_LEVEL_070:
+ {
+ battery_level_string = "070";
+ break;
+ }
+ case BATTERY_LEVEL_080:
+ {
+ battery_level_string = "080";
+ break;
+ }
+ case BATTERY_LEVEL_090:
+ {
+ battery_level_string = "090";
+ break;
+ }
+ case BATTERY_LEVEL_100:
+ {
+ battery_level_string = "100";
+ break;
+ }
+ case BATTERY_LEVEL_UNAVAILABLE:
+ {
+ battery_level_string = "unavailable";
+ break;
+ }
+ default:
+ {
+ battery_level_string = "unavailable";
+ break;
+ }
+ }
+
+ // Get the Flying status as a string
+ std::string flying_state_string;
+ switch (m_agent_operating_state)
+ {
+ case STATE_MOTORS_OFF:
+ {
+ flying_state_string = "motorsoff";
+ break;
+ }
+ case STATE_TAKE_OFF:
+ {
+ flying_state_string = "takeoff";
+ break;
+ }
+ case STATE_FLYING:
+ {
+ flying_state_string = "flying";
+ break;
+ }
+ case STATE_LAND:
+ {
+ flying_state_string = "land";
+ break;
+ }
+ case STATE_UNAVAILABLE:
+ {
+ flying_state_string = "unavailable";
+ break;
+ }
+ default:
+ {
+ flying_state_string = "unavailable";
+ break;
+ }
+ }
+
+ // Get the Flying status as a string
+ std::string instant_controller_string;
+ switch (m_instant_controller)
+ {
+ case DEFAULT_CONTROLLER:
+ {
+ instant_controller_string = "default";
+ break;
+ }
+ case DEMO_CONTROLLER:
+ {
+ instant_controller_string = "demo";
+ break;
+ }
+ case STUDENT_CONTROLLER:
+ {
+ instant_controller_string = "student";
+ break;
+ }
+ case MPC_CONTROLLER:
+ {
+ instant_controller_string = "mpc";
+ break;
+ }
+ case REMOTE_CONTROLLER:
+ {
+ instant_controller_string = "remote";
+ break;
+ }
+ case TUNING_CONTROLLER:
+ {
+ instant_controller_string = "tuning";
+ break;
+ }
+ case PICKER_CONTROLLER:
+ {
+ instant_controller_string = "picker";
+ break;
+ }
+ case TEMPLATE_CONTROLLER:
+ {
+ instant_controller_string = "template";
+ break;
+ }
+ case CSONE_CONTROLLER:
+ {
+ instant_controller_string = "csone";
+ break;
+ }
+ case TESTMOTORS_CONTROLLER:
+ {
+ instant_controller_string = "testmotors";
+ break;
+ }
+ default:
+ {
+ instant_controller_string = "none";
+ break;
+ }
+ }
+
// Concatenate the json together using a string stream
std::stringstream ss;
- ss << "{\u0022crazyradiostatus\u0022: \u0022" << crazyradio_status_string << "\u0022}";
- //ss << R"({"crazyradiostatus": ")" << m_crazyradio_status << R"("})";
- std::string s = ss.str();
+ ss << "{";
+ ss << "\u0022crazyradiostatus\u0022: \u0022" << crazyradio_status_string << "\u0022";
+ ss << " , ";
+ ss << "\u0022batterylevel\u0022: \u0022" << battery_level_string << "\u0022";
+ ss << " , ";
+ ss << "\u0022flyingstate\u0022: \u0022" << flying_state_string << "\u0022";
+ ss << " , ";
+ ss << "\u0022instantcontroller\u0022: \u0022" << instant_controller_string << "\u0022";
+ ss << " , ";
+ ss << "\u0022setpointdefault\u0022:";
+ ss << "{";
+ ss << "\u0022x\u0022: " << std::setprecision(3) << std::fixed << m_setpoint_default[0];
+ ss << " , ";
+ ss << "\u0022y\u0022: " << std::setprecision(3) << std::fixed << m_setpoint_default[1];
+ ss << " , ";
+ ss << "\u0022z\u0022: " << std::setprecision(3) << std::fixed << m_setpoint_default[2];
+ ss << " , ";
+ ss << "\u0022yaw\u0022: " << std::setprecision(1) << std::fixed << m_setpoint_default[3]*RAD2DEG;
+ ss << "}";
+ ss << " , ";
+ ss << "\u0022setpointstudent\u0022:";
+ ss << "{";
+ ss << "\u0022x\u0022: " << std::setprecision(3) << std::fixed << m_setpoint_student[0];
+ ss << " , ";
+ ss << "\u0022y\u0022: " << std::setprecision(3) << std::fixed << m_setpoint_student[1];
+ ss << " , ";
+ ss << "\u0022z\u0022: " << std::setprecision(3) << std::fixed << m_setpoint_student[2];
+ ss << " , ";
+ ss << "\u0022yaw\u0022: " << std::setprecision(1) << std::fixed << m_setpoint_student[3]*RAD2DEG;
+ ss << "}";
+ ss << " , ";
+ ss << "\u0022stateestimate\u0022:";
+ ss << "{";
+ ss << "\u0022x\u0022: " << std::setprecision(3) << std::fixed << m_cf_state_estimate_xyz_rpy[0];
+ ss << " , ";
+ ss << "\u0022y\u0022: " << std::setprecision(3) << std::fixed << m_cf_state_estimate_xyz_rpy[1];
+ ss << " , ";
+ ss << "\u0022z\u0022: " << std::setprecision(3) << std::fixed << m_cf_state_estimate_xyz_rpy[2];
+ ss << " , ";
+ ss << "\u0022roll\u0022: " << std::setprecision(1) << std::fixed << m_cf_state_estimate_xyz_rpy[3]*RAD2DEG;
+ ss << " , ";
+ ss << "\u0022pitch\u0022: " << std::setprecision(1) << std::fixed << m_cf_state_estimate_xyz_rpy[4]*RAD2DEG;
+ ss << " , ";
+ ss << "\u0022yaw\u0022: " << std::setprecision(1) << std::fixed << m_cf_state_estimate_xyz_rpy[5]*RAD2DEG;
+ ss << "}";
+ ss << " , ";
+ ss << "\u0022debugvaluesstudent\u0022:";
+ ss << "{";
+ ss << "\u0022value1\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[0];
+ ss << " , ";
+ ss << "\u0022value2\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[1];
+ ss << " , ";
+ ss << "\u0022value3\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[2];
+ ss << " , ";
+ ss << "\u0022value4\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[3];
+ ss << " , ";
+ ss << "\u0022value5\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[4];
+ ss << " , ";
+ ss << "\u0022value6\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[5];
+ ss << " , ";
+ ss << "\u0022value7\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[6];
+ ss << " , ";
+ ss << "\u0022value8\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[7];
+ ss << " , ";
+ ss << "\u0022value9\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[8];
+ ss << " , ";
+ ss << "\u0022value10\u0022: " << std::setprecision(3) << std::fixed << m_debug_values_student[9];
+ ss << "}";
+ ss << "}";
+
+ //std::string s = ss.str();
// Put the string into the response
//response.data = "test of service for web interface";
//response.data = "{\"crazyradiostatus\": \"%d\"}", m_crazyradio_status;
@@ -192,6 +456,13 @@ int main(int argc, char* argv[])
// > Subscribe to the topic
ros::Subscriber crazyRadioStatusSubscriber = nodeHandle_to_crazyradio.subscribe("CrazyRadioStatus", 1, crazyRadioStatusCallback);
+ // FOR THE BATTERY LEVEL
+ // > Get a node handle to the Battery Monitor
+ std::string namespace_to_BatteryMonitor = m_namespace + "/BatteryMonitor";
+ ros::NodeHandle nodeHandle_to_BatteryMonitor(namespace_to_BatteryMonitor);
+ // > Subscribe to the topic
+ ros::Subscriber newBatteryLevelSubscriber = nodeHandle_to_BatteryMonitor.subscribe("Level", 1, newBatteryLevelCallback);
+
// FOR THE FLYING STATE OF THE AGENT
// > Get a node handle to the Flying Agent Client
std::string namespace_to_FlyingAgentClient = m_namespace + "/FlyingAgentClient";
@@ -203,13 +474,6 @@ int main(int argc, char* argv[])
// > Subscribe to the topic
ros::Subscriber instantControllerSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("ControllerUsed", 1, instantControllerChangedCallback);
- // FOR THE BATTERY LEVEL
- // > Get a node handle to the Battery Monitor
- std::string namespace_to_BatteryMonitor = m_namespace + "/BatteryMonitor";
- ros::NodeHandle nodeHandle_to_BatteryMonitor(namespace_to_BatteryMonitor);
- // > Subscribe to the topic
- ros::Subscriber newBatteryLevelSubscriber = nodeHandle_to_BatteryMonitor.subscribe("Level", 1, newBatteryLevelCallback);
-
// FOR THE DEFAULT CONTROLLER SETPOINT
// > Get a node handle to the Default Controller Service
std::string namespace_to_DefaultController = m_namespace + "/DefaultControllerService";
@@ -222,7 +486,18 @@ int main(int argc, char* argv[])
std::string namespace_to_StudentController = m_namespace + "/StudentControllerService";
ros::NodeHandle nodeHandle_to_StudentController(namespace_to_StudentController);
// > Subscribe to the topic
- ros::Subscriber stuentControllerSetpointChangedSubscriber = nodeHandle_to_StudentController.subscribe("SetpointChanged", 1, studentControllerSetpointChangedCallback);
+ ros::Subscriber studentControllerSetpointChangedSubscriber = nodeHandle_to_StudentController.subscribe("SetpointChanged", 1, studentControllerSetpointChangedCallback);
+
+ // FOR THE DEBUG VALUES OF THE STUDENT CONTROLLER
+ // > Subscribe to the topic
+ ros::Subscriber studentControllerDebugValuesSubscriber = nodeHandle_to_StudentController.subscribe("DebugTopic", 1, studentControllerDebugValuesCallback);
+
+ // FOR THE STATE ESTIMATE FROM THE CRAZYFLIE
+ // > Get a node handle to the Crazy Radio node
+ std::string namespace_to_CrazyRadio = m_namespace + "/CrazyRadio";
+ ros::NodeHandle nodeHandle_to_CrazyRadio(namespace_to_CrazyRadio);
+ // > Subscribe to the topic
+ ros::Subscriber cfStateEstimateSubscriber = nodeHandle_to_CrazyRadio.subscribe("CFStateEstimate", 1, cfStateEstimateCallback);
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp b/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
index 87af0d62..6ce70b49 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
@@ -305,6 +305,24 @@ void timerCallback_update_cfStateEstimate(const ros::TimerEvent&)
// Simulate the quadrotor for one time step
m_quadrotor_sim.simulate_for_one_time_step( yaml_cfSimulation_deltaT_in_seconds );
+ // Perform safety check if required
+ if (yaml_isEnabled_strictSafety)
+ {
+ // Estimate the height at the next measurement
+ float height_at_next_measurement = m_quadrotor_sim.m_position[2] + yaml_cfSimulation_deltaT_in_seconds * m_quadrotor_sim.m_velocity[2];
+ // Turn-off if too high
+ if (height_at_next_measurement > yaml_maxHeight_for_strictSafety_meters)
+ {
+ // Send the MOTORS-OFF command to the Flying Agent Client
+ IntWithHeader msg;
+ msg.shouldCheckForAgentID = false;
+ msg.data = CMD_CRAZYFLY_MOTORS_OFF;
+ flyingAgentClientCommandPublisher.publish(msg);
+ // Inform the user
+ ROS_ERROR_STREAM("[CRAZY RADIO] Height safety check failed, measured = " << height_at_next_measurement << ", max allowed = " << yaml_maxHeight_for_strictSafety_meters );
+ }
+ }
+
// Local variable for the data of this quadrotor
FlyingVehicleState quadrotor_data;
@@ -467,6 +485,11 @@ void fetchCrazyRadioConfigYamlParameters(ros::NodeHandle& nodeHandle)
// Add the "CrazyRadioConfig" namespace to the "nodeHandle"
ros::NodeHandle nodeHandle_for_paramaters(nodeHandle, "CrazyRadioConfig");
+ // FLAG FOR WHETHER TO USE HEIGHT AS A TRIGGER FOR
+ // PUBLISHING A MOTORS-OFF COMMAND
+ yaml_isEnabled_strictSafety = getParameterBool(nodeHandle_for_paramaters,"isEnabled_strictSafety");
+ yaml_maxHeight_for_strictSafety_meters = getParameterFloat(nodeHandle_for_paramaters,"maxHeight_for_strictSafety_meters");
+
// SIMULATION FREQUENCY FOR EMULATING A CRAZYFLIE [Hertz]
float yaml_cfSimulation_frequency = getParameterFloat(nodeHandle_for_paramaters,"cfSimulation_frequency");
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp
index 424a48df..20c0131b 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp
@@ -452,7 +452,10 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// The "DebugMsg" type has 10 properties from "value_1" to "value_10", all of
// type "float64" that you can fill in with data you would like to plot in
// real-time.
- // debugMsg.value_1 = thrustAdjustment;
+ debugMsg.value_1 = thrustAdjustment;
+ debugMsg.value_2 = rollRate_forResponse;
+ debugMsg.value_3 = pitchRate_forResponse;
+ debugMsg.value_4 = yawRate_forResponse;
// ......................
// debugMsg.value_10 = your_variable_name;
@@ -639,25 +642,6 @@ bool getCurrentSetpointCallback(GetSetpointService::Request &request, GetSetpoin
return true;
}
-// --------------------------------------------------------------------------------
-// DDDD EEEEE BBBB U U GGGG V V A L U U EEEEE SSSS
-// D D E B B U U G V V A A L U U E S
-// D D EEE BBBB U U G GG V V A A L U U EEE SSS
-// D D E B B U U G G V V AAAAA L U U E S
-// DDDD EEEEE BBBB UUU GGG V A A LLLLL UUU EEEEE SSSS
-//
-// CCCC A L L BBBB A CCCC K K
-// C A A L L B B A A C K K
-// C A A L L BBBB A A C KKK
-// C AAAAA L L B B AAAAA C K K
-// CCCC A A LLLLL LLLLL BBBB A A CCCC K K
-// --------------------------------------------------------------------------------
-
-bool getDebugValuesCallback(GetDebugValuesService::Request &request, GetDebugValuesService::Response &response)
-{
- // What should I write in this function? Or do the students fill it in depending on what they want to debug?
-}
-
@@ -1101,14 +1085,6 @@ int main(int argc, char* argv[]) {
- // Instantiate the local variable "getDebugValuesService" to be
- // a "ros::ServiceServer" type variable that advertises the service
- // called "GetDebugValues". This service has the input-output
- // behaviour defined in the "GetDebugValuesService.srv" file (located
- // in the "srv" folder). When a request is made
- // of this service the "getDebugValuesCallback" function is called.
- ros::ServiceServer getDebugValuesService = nodeHandle.advertiseService("GetDebugValues", getDebugValuesCallback);
-
// Print out some information to the user.
diff --git a/web_interface/html/agent.php b/web_interface/html/agent.php
index deee41d2..6b19f212 100644
--- a/web_interface/html/agent.php
+++ b/web_interface/html/agent.php
@@ -2,6 +2,10 @@
include("page_header.html");
?>
+
+<script src="js/sse_agentStatus.js?ver=0.1"></script>
+
+
<div class="full-window-fixed">
</div>
@@ -29,8 +33,19 @@
</tr>
</table>
- <div class="top-bar-title padbelow">
- Agent (IP <?php echo $_SERVER['REMOTE_ADDR']; ?>)
+ <!--
+ <div class="top-bar-title">
+ Agent (IP <?php echo $_SERVER['REMOTE_ADDR']; ?>)
+ </div>
+ -->
+
+ <div class="top-bar-status-icons padbelow">
+ <div class="on-off-switch type2forstatusbar">
+ <input type="checkbox" id="checkboxTopBarStatus" onchange=checkboxTopBarStatus_changed()><label for="checkboxTopBarStatus"></label>
+ </div>
+ <img id="radio-icon" class="status-icon-radio" src="img/rf_disconnected.png">
+ <img id="battery-icon" class="status-icon-battery" src="img/battery_unavailable.png">
+ <img id="flying-state-icon" class="status-icon-flying-state" src="img/flying_state_unavailable.png">
</div>
</div>
diff --git a/web_interface/html/agent_control_tab_default.html b/web_interface/html/agent_control_tab_default.html
index 5f92bf87..f187738b 100644
--- a/web_interface/html/agent_control_tab_default.html
+++ b/web_interface/html/agent_control_tab_default.html
@@ -202,5 +202,126 @@
<hr class="hr-basic navy">
+<br>
+
+<table class="mse-table">
+ <tr>
+ <td></td>
+ <td class="mse-column-title-cell">
+ <span class="mse-column-title-span-full-text">Measured<br>Pose</span>
+ <span class="mse-column-title-span-short-text">Meas.<br>Pose</span>
+ </td>
+ <td class="mse-column-title-cell">
+ <span class="mse-column-title-span-full-text">Error</span>
+ <span class="mse-column-title-span-short-text">Error</span>
+ </td>
+ <td class="mse-column-title-cell">
+ <span class="mse-column-title-span-full-text">Current<br>Setpoint</span>
+ <span class="mse-column-title-span-short-text">Curr.<br>Setp.</span>
+ </td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ x
+ </td>
+ <td class="mse-data-cell" id="default-measurement-x">xx.xx</td>
+ <td class="mse-data-cell" id="default-error-x">xx.xx</td>
+ <td class="mse-data-cell" id="default-setpoint-x">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ y
+ </td>
+ <td class="mse-data-cell" id="default-measurement-y">xx.xx</td>
+ <td class="mse-data-cell" id="default-error-y">xx.xx</td>
+ <td class="mse-data-cell" id="default-setpoint-y">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ z
+ </td>
+ <td class="mse-data-cell" id="default-measurement-z">xx.xx</td>
+ <td class="mse-data-cell" id="default-error-z">xx.xx</td>
+ <td class="mse-data-cell" id="default-setpoint-z">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ yaw
+ </td>
+ <td class="mse-data-cell" id="default-measurement-yaw">xx.xx</td>
+ <td class="mse-data-cell" id="default-error-yaw">xx.xx</td>
+ <td class="mse-data-cell" id="default-setpoint-yaw">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ pitch
+ </td>
+ <td class="mse-data-cell" id="default-measurement-pitch">xx.xx</td>
+ <td></td>
+ <td></td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ roll
+ </td>
+ <td class="mse-data-cell" id="default-measurement-roll">xx.xx</td>
+ <td></td>
+ <td></td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>NOTES:</b>
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>(x,y,z)</b> in meters
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>(roll,pitch,yaw)</b> in degrees
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>error =</b> measured - setpoint
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>~2Hz</b> data refresh rate
+ </td>
+ </tr>
+</table>
+
+<br>
+
+<hr class="hr-basic navy">
+
+<table class="git-table">
+ <tr>
+ <td class="git-button-cell">
+ <button
+ class="button-push navy fullwidth"
+ id="buttonLoadYamlDefault"
+ onclick="sendRosMessage_outputLabelID('loadyamldefault', 'labelLoadYamlDefault')"
+ >
+ Load YAML Paramters for Default Controller
+ <div class="div-for-button-highlight-on-touchscreen navy"></div>
+ </button>
+ </td>
+ </tr>
+ <tr>
+ <td
+ style="text-align: center;"
+ id="labelLoadYamlDefault"
+ >
+  
+ </td>
+ </tr>
+</table>
+
+<hr class="hr-basic navy">
-<br><br><br><br><br>
\ No newline at end of file
+<br><br><br><br>
\ No newline at end of file
diff --git a/web_interface/html/agent_control_tab_student.html b/web_interface/html/agent_control_tab_student.html
index 9265271c..57f0f48e 100644
--- a/web_interface/html/agent_control_tab_student.html
+++ b/web_interface/html/agent_control_tab_student.html
@@ -200,51 +200,211 @@
</tr>
</table>
+<hr class="hr-basic navy">
+
<br>
-<table class="centered-table">
+<table class="mse-table">
<tr>
- <td class="centered-table-button-cell">
- <button
- class="button-push navy"
- id="buttonGetSetpointStudent"
- onclick="getSetpointViaRosServiceCall_outputLabelID('student', 'labelGetSetpointStudent')"
- >
- get current
- <div class="div-for-button-highlight-on-touchscreen navy"></div>
- </button>
+ <td></td>
+ <td class="mse-column-title-cell">
+ <span class="mse-column-title-span-full-text">Measured<br>Pose</span>
+ <span class="mse-column-title-span-short-text">Meas.<br>Pose</span>
+ </td>
+ <td class="mse-column-title-cell">
+ <span class="mse-column-title-span-full-text">Error</span>
+ <span class="mse-column-title-span-short-text">Error</span>
+ </td>
+ <td class="mse-column-title-cell">
+ <span class="mse-column-title-span-full-text">Current<br>Setpoint</span>
+ <span class="mse-column-title-span-short-text">Curr.<br>Setp.</span>
+ </td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ x
+ </td>
+ <td class="mse-data-cell" id="student-measurement-x">xx.xx</td>
+ <td class="mse-data-cell" id="student-error-x">xx.xx</td>
+ <td class="mse-data-cell" id="student-setpoint-x">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ y
+ </td>
+ <td class="mse-data-cell" id="student-measurement-y">xx.xx</td>
+ <td class="mse-data-cell" id="student-error-y">xx.xx</td>
+ <td class="mse-data-cell" id="student-setpoint-y">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ z
+ </td>
+ <td class="mse-data-cell" id="student-measurement-z">xx.xx</td>
+ <td class="mse-data-cell" id="student-error-z">xx.xx</td>
+ <td class="mse-data-cell" id="student-setpoint-z">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ yaw
+ </td>
+ <td class="mse-data-cell" id="student-measurement-yaw">xx.xx</td>
+ <td class="mse-data-cell" id="student-error-yaw">xx.xx</td>
+ <td class="mse-data-cell" id="student-setpoint-yaw">xx.xx</td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ pitch
+ </td>
+ <td class="mse-data-cell" id="student-measurement-pitch">xx.xx</td>
+ <td></td>
+ <td></td>
+ </tr>
+ <tr>
+ <td class="mse-row-title-cell">
+ roll
</td>
- <td class="centered-table-button-cell">
+ <td class="mse-data-cell" id="student-measurement-roll">xx.xx</td>
+ <td></td>
+ <td></td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>NOTES:</b>
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>(x,y,z)</b> in meters
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>(roll,pitch,yaw)</b> in degrees
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>error =</b> measured - setpoint
+ </td>
+ </tr>
+ <tr>
+ <td colspan="4" class="mse-caption-below">
+ <b>~2Hz</b> data refresh rate
+ </td>
+ </tr>
+</table>
+
+<br>
+
+<hr class="hr-basic navy">
+
+<table class="git-table">
+ <tr>
+ <td class="git-button-cell">
<button
- class="button-push navy"
- id="buttonSetDefaultSetpointStudent"
- onclick="putDefaultSetpointForGivenBaseID('inputControlStudentSetpoint')"
+ class="button-push navy fullwidth"
+ id="buttonLoadYamlStudent"
+ onclick="sendRosMessage_outputLabelID('loadyamlstudent', 'labelLoadYamlStudent')"
>
- put default
+ Load YAML Paramters for Student Controller
<div class="div-for-button-highlight-on-touchscreen navy"></div>
</button>
</td>
</tr>
<tr>
- <td class="centered-table-button-cell">
- <div
- style="text-align: center;"
- id="labelGetSetpointStudent"
- >
-  
- </div>
+ <td
+ style="text-align: center;"
+ id="labelLoadYamlStudent"
+ >
+  
</td>
- <td class="centered-table-button-cell">
- <div
- style="text-align: center;"
- id="labelSetDeaultSetpointStudent"
- >
-  
- </div>
+ </tr>
+</table>
+
+<hr class="hr-basic navy">
+
+<br>
+
+<h2 style="text-align: center;">
+ Debug Values
+</h2>
+
+<table class="debug-values-table">
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 1
+ </td>
+ <td class="debug-values-data-cell" id="debug-value1">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 2
</td>
+ <td class="debug-values-data-cell" id="debug-value2">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 3
+ </td>
+ <td class="debug-values-data-cell" id="debug-value3">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 4
+ </td>
+ <td class="debug-values-data-cell" id="debug-value4">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 5
+ </td>
+ <td class="debug-values-data-cell" id="debug-value5">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 6
+ </td>
+ <td class="debug-values-data-cell" id="debug-value6">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 7
+ </td>
+ <td class="debug-values-data-cell" id="debug-value7">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 8
+ </td>
+ <td class="debug-values-data-cell" id="debug-value8">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 9
+ </td>
+ <td class="debug-values-data-cell" id="debug-value9">xx.xx</td>
+ </tr>
+ <tr>
+ <td></td>
+ <td class="debug-values-row-title-cell">
+ Value 10
+ </td>
+ <td class="debug-values-data-cell" id="debug-value10">xx.xx</td>
</tr>
</table>
+<br>
+
<hr class="hr-basic navy">
-<br><br><br><br><br>
\ No newline at end of file
+<br><br><br><br>
\ No newline at end of file
diff --git a/web_interface/html/agent_tab_code.html b/web_interface/html/agent_tab_code.html
index 08f1127c..38bf15e7 100644
--- a/web_interface/html/agent_tab_code.html
+++ b/web_interface/html/agent_tab_code.html
@@ -8,11 +8,16 @@
Upload your code below.
<br>
<br>
- <input class="fileupload" type="file" id="myToUpload" name="fileToUpload">
- <br>
- <input type="submit" value="Upload Code" name="submit">
+ <input class="fileupload" type="file" id="myToUpload" name="fileToUpload">
+ <br>
+ <input type="submit" value="Upload Code" name="submit">
</form>
+ <br><br><br>
+
+ <div id="agentStatusDebuggingDiv"></div>
+
+ <br><br>
</main>
</div>
</body>
\ No newline at end of file
diff --git a/web_interface/html/agent_tab_control.php b/web_interface/html/agent_tab_control.php
index 51095d44..77f93a7a 100644
--- a/web_interface/html/agent_tab_control.php
+++ b/web_interface/html/agent_tab_control.php
@@ -78,7 +78,7 @@
<div class="control-tabs">
<input name="control-tabs" type="radio" id="control-tab-1" checked="checked" class="control-tab-input"/>
<label for="control-tab-1" class="control-tab-label">Default</label>
- <div class="control-tab-panel">
+ <div class="control-tab-panel" id="control-tab-panel-default">
<?php
include("agent_control_tab_default.html");
?>
@@ -86,10 +86,12 @@
<input name="control-tabs" type="radio" id="control-tab-2" class="control-tab-input"/>
<label for="control-tab-2" class="control-tab-label">Student</label>
- <div class="control-tab-panel">
+ <div class="control-tab-panel" id="control-tab-panel-student">
<?php
include("agent_control_tab_student.html");
?>
</div>
-</div>
\ No newline at end of file
+</div>
+
+<br>
\ No newline at end of file
diff --git a/web_interface/html/bashscripts/rosGetStatusJson_forAgent.sh b/web_interface/html/bashscripts/rosGetStatusJson_forAgent.sh
new file mode 100755
index 00000000..8b2d573e
--- /dev/null
+++ b/web_interface/html/bashscripts/rosGetStatusJson_forAgent.sh
@@ -0,0 +1,82 @@
+#!/bin/bash
+#
+#
+# Check whether a command is supplied
+# > and put it into a more redable variable
+if [ "$#" -eq 0 ]; then
+ eventid="0"
+elif [ "$#" -eq 1 ]; then
+ eventid=$1
+else
+ echo "not allowed to supply two or more arguments"
+ exit 1
+fi
+#
+# Check that the command supplied is valid
+if ! [[ $eventid =~ ^[0-9]*$ ]]; then
+ echo "event id must be an integer, event id = $1"
+ exit 1
+fi
+#
+# Make the ROS commands available
+# NOTE: these paths should NOT use ~
+source /opt/ros/melodic/setup.bash
+source /home/www-share/dfall/dfall-system/dfall_ws/devel/setup.bash
+source /home/www-share/dfall/dfall-system/dfall_ws/src/dfall_pkg/launch/Config.sh
+#
+# Check that the ROS Master exists
+# > Note: the -q options converts the
+# grep output to a true/false
+if rosnode list | grep -q /rosout; then
+ # Check if the agent exists
+ if rosnode list | grep -q "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)"; then
+ # Set a flag that agent was found
+ agentfound="true"
+ # Convert the agent ID to a zero padded string
+ agentnamespace=$(printf "agent%03d" $DFALL_DEFAULT_AGENT_ID)
+ # Perform the service call for the status json
+ statusjsonfull="$(rosservice call /$ROS_NAMESPACE/$agentnamespace/AgentStatusForWebInterface/StatusAsJson 0)"
+ # Cut out the "data: " from the start, and the single " at the end
+ statusjsoncut1="${statusjsonfull:7:${#statusjsonfull}-8}"
+ # Remove all new line characters followed by 2 spaces
+ statusjsoncut2=$(echo $statusjsoncut1|tr -d '\n ')
+ # Remove all remaining new line characters
+ statusjsoncut3=$(echo $statusjsoncut2|tr -d '\n')
+ #statusjsoncut3=${statusjsoncut2//$'\n'/}
+ # Remove all carriage return characters
+ statusjsoncut4=$(echo $statusjsoncut3|tr -d '\r')
+ # Remove all tab characters
+ statusjsoncut5=$(echo $statusjsoncut4|tr -d '\t')
+ # Remove all remaining \ escape characters
+ statusjson=${statusjsoncut5//\\}
+ #
+ # Check that the status json is valid based on length
+ if [ ${#statusjsonfull} -le 1 ]; then
+ # Set a flag that agent was NOT found
+ agentfound="false"
+ # Set all other values to "not available (na)"
+ statusjson="\"na\""
+ fi
+ #
+ else
+ # Set a flag that agent was NOT found
+ agentfound="false"
+ # Set all other values to "not available (na)"
+ statusjson="\"na\""
+ fi
+else
+ # Set a flag that agent was NOT found
+ agentfound="false"
+ # Set all other values to "not available (na)"
+ statusjson="\"na\""
+fi
+
+# Return that the values collected
+echo "{"\
+ "\"id\": \"$eventid\","\
+ "\"agentfound\": \"$agentfound\","\
+ "\"statusjson\": $statusjson"\
+ "}"
+
+# DEBUGGING: For testing directly in terminal
+# rosservice call /dfall/agent001/AgentStatusForWebInterface/StatusAsJson 0
\ No newline at end of file
diff --git a/web_interface/html/bashscripts/rosLoadYaml_forAgent.sh b/web_interface/html/bashscripts/rosLoadYaml_forAgent.sh
new file mode 100755
index 00000000..d2b2ecbe
--- /dev/null
+++ b/web_interface/html/bashscripts/rosLoadYaml_forAgent.sh
@@ -0,0 +1,54 @@
+#!/bin/bash
+#
+# Check that exactly one command is supplied
+if [ "$#" -ne 1 ]; then
+ echo "failed"
+ exit 1
+fi
+#
+# Check that the command supplied is valid
+if [ "$1" != "default" ] && [ "$1" != "student" ]; then
+ echo "failed"
+ exit 1
+fi
+#
+# Put the command into a variable for make things more readable
+command=$1
+#
+# Make the ROS commands available
+# NOTE: these paths should NOT use ~
+source /opt/ros/melodic/setup.bash
+source /home/www-share/dfall/dfall-system/dfall_ws/devel/setup.bash
+source /home/www-share/dfall/dfall-system/dfall_ws/src/dfall_pkg/launch/Config.sh
+#
+# Check that the ROS Master exists
+# > Note: the -q options converts the
+# grep output to a true/false
+if rosnode list | grep -q /rosout; then
+ # Check if the agent exists
+ if rosnode list | grep -q "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)"; then
+ # Convert the agent ID to a zero padded string
+ agentnamespace=$(printf "agent%03d" $DFALL_DEFAULT_AGENT_ID)
+ # Send the message
+ if [ "$command" == "default" ]; then
+ # Publish the request
+ temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/ParameterService/requestLoadYamlFilename dfall_pkg/StringWithHeader "{data: DefaultController, shouldCheckForAgentID: False}")"
+ # Return that the message was sent
+ echo "sent"
+ #
+ elif [ "$command" == "student" ]; then
+ # Publish the request
+ temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/ParameterService/requestLoadYamlFilename dfall_pkg/StringWithHeader "{data: StudentController, shouldCheckForAgentID: False}")"
+ # Return that the message was sent
+ echo "sent"
+ #
+ else
+ # Return that the command is not recognised
+ echo "controller = $command is not a valid option"
+ fi
+ else
+ echo "Agent $DFALL_DEFAULT_AGENT_ID not found"
+ fi
+else
+ echo "ROS Master not found"
+fi
diff --git a/web_interface/html/callBashScript.php b/web_interface/html/callBashScript.php
index 0e2b4553..c3b7401d 100644
--- a/web_interface/html/callBashScript.php
+++ b/web_interface/html/callBashScript.php
@@ -88,6 +88,14 @@
elseif ($scriptname == "rosGetSetpointStudent") {
$output = shell_exec("./bashscripts/rosGetCurrentSetpoint_forAgent.sh student");
}
+ // For the CONTROL tab:
+ // LOAD YAML PARAMETERS
+ elseif ($scriptname == "rosLoadYamlDefault") {
+ $output = shell_exec("./bashscripts/rosLoadYaml_forAgent.sh default");
+ }
+ elseif ($scriptname == "rosLoadYamlStudent") {
+ $output = shell_exec("./bashscripts/rosLoadYaml_forAgent.sh student");
+ }
echo "$output";
diff --git a/web_interface/html/checkForRosAgent.php b/web_interface/html/checkForRosAgent.php
deleted file mode 100644
index df098596..00000000
--- a/web_interface/html/checkForRosAgent.php
+++ /dev/null
@@ -1,4 +0,0 @@
-<?php
- $output = shell_exec("./checkForRosAgent.sh");
- echo "$output";
-?>
diff --git a/web_interface/html/checkForRosMaster.php b/web_interface/html/checkForRosMaster.php
deleted file mode 100644
index db6b26f8..00000000
--- a/web_interface/html/checkForRosMaster.php
+++ /dev/null
@@ -1,11 +0,0 @@
-<?php
- $output = shell_exec("./checkForRosMaster.sh");
- if ($output == 1)
- {
- echo "exists";
- }
- else
- {
- echo "not found";
- }
-?>
diff --git a/web_interface/html/css/buttons.css b/web_interface/html/css/buttons.css
index b64a03fa..c69685cb 100644
--- a/web_interface/html/css/buttons.css
+++ b/web_interface/html/css/buttons.css
@@ -1,39 +1,3 @@
-.setpoint-label-cell
-{
- margin: 0;
- padding-top: 2px;
- padding-bottom: 2px;
- font-size: 1.4em;
- font-weight: bold;
- text-align: center;
-
-}
-
-.setpoint-increment-cell
-{
- margin: 0;
- padding-top: 5px;
- padding-bottom: 5px;
-}
-
-.setpoint-input-field-cell
-{
- margin: 0;
- padding-top: 5px;
- padding-bottom: 5px;
-}
-
-.setpoint-input-field
-{
- width:7em;
- margin: 0;
- padding-top: 5px;
- padding-bottom: 5px;
- font-size: 1.4em;
- font-family: monospace;
- text-align: right;
-}
-
.button-push
{
position: relative;
diff --git a/web_interface/html/css/debug_values_table.css b/web_interface/html/css/debug_values_table.css
new file mode 100644
index 00000000..81e5fef1
--- /dev/null
+++ b/web_interface/html/css/debug_values_table.css
@@ -0,0 +1,91 @@
+.debug-values-table
+{
+ margin-left: auto;
+ margin-right: auto;
+ padding: 0;
+ border-collapse: collapse;
+ table-layout: fixed;
+ //border: 1px solid black;
+ //border-left: 2px solid black;
+}
+
+.debug-values-column-title-cell
+{
+ margin: 0;
+ padding-left: 10px;
+ padding-right: 10px;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ font-size: 1.4em;
+ font-weight: bold;
+ text-align: center;
+ border: 1px solid black;
+}
+
+.debug-values-row-title-cell
+{
+ margin: 0;
+ padding-left: 10px;
+ padding-right: 10px;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ font-size: 1.4em;
+ font-weight: bold;
+ text-align: center;
+ border: 1px solid black;
+}
+
+.debug-values-data-cell
+{
+ margin: 0;
+ padding-left: 10px;
+ padding-right: 10px;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ font-size: 1.4em;
+ font-weight: normal;
+ font-family: monospace;
+ text-align: right;
+ border: 1px solid black;
+}
+
+.debug-values-caption-below
+{
+ margin: 0;
+ padding-left: 5px;
+ padding-right: 5px;
+ padding-top: 5px;
+ padding-bottom: 2px;
+ font-size: 1.2em;
+ font-weight: normal;
+ text-align: left;
+ //border: 1px solid black;
+}
+
+
+
+
+
+/* SETTINGS FOR WHEN THE SCREEN IS SMALL */
+@media screen and (max-width: 420px)
+{
+ .debug-values-column-title-cell
+ {
+ font-size: 1.2em;
+ }
+
+ .debug-values-row-title-cell
+ {
+ font-size: 1.2em;
+ }
+
+ .debug-values-data-cell
+ {
+ font-size: 1.2em;
+ }
+
+ .debug-values-caption-below
+ {
+ font-size: 1.0em;
+ }
+}
diff --git a/web_interface/html/css/layout.css b/web_interface/html/css/layout.css
index b156d1eb..ec5d25d4 100644
--- a/web_interface/html/css/layout.css
+++ b/web_interface/html/css/layout.css
@@ -107,6 +107,26 @@
padding-bottom: 10px;
}
+.top-bar-status-icons
+{
+ position: relative;
+ width: 100%;
+ text-align: center;
+ font-size: 1.2em;
+ font-weight: 400;
+ padding-top: 0px;
+ padding-bottom: 0px;
+ padding-left: 0px;
+ padding-right: 0px;
+ background: none;
+ white-space: nowrap;
+ overflow-x: hidden;
+}
+.top-bar-status-icons.padbelow
+{
+ padding-bottom: 5px;
+}
+
.ros-table
{
diff --git a/web_interface/html/css/measurement_setpoint_error_table.css b/web_interface/html/css/measurement_setpoint_error_table.css
new file mode 100644
index 00000000..48f0e7fc
--- /dev/null
+++ b/web_interface/html/css/measurement_setpoint_error_table.css
@@ -0,0 +1,151 @@
+.setpoint-label-cell
+{
+ margin: 0;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ font-size: 1.4em;
+ font-weight: bold;
+ text-align: center;
+}
+
+.setpoint-increment-cell
+{
+ margin: 0;
+ padding-top: 5px;
+ padding-bottom: 5px;
+}
+
+.setpoint-input-field-cell
+{
+ margin: 0;
+ padding-top: 5px;
+ padding-bottom: 5px;
+}
+
+.setpoint-input-field
+{
+ width:7em;
+ margin: 0;
+ padding-top: 5px;
+ padding-bottom: 5px;
+ font-size: 1.4em;
+ font-family: monospace;
+ text-align: right;
+}
+
+
+
+
+
+.mse-table
+{
+ margin-left: auto;
+ margin-right: auto;
+ padding: 0;
+ border-collapse: collapse;
+ table-layout: fixed;
+ //border: 1px solid black;
+ //border-left: 2px solid black;
+}
+
+.mse-column-title-cell
+{
+ width: 28%;
+ margin: 0;
+ padding-left: 5px;
+ padding-right: 5px;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ font-size: 1.4em;
+ font-weight: bold;
+ text-align: center;
+ border: 1px solid black;
+}
+
+.mse-column-title-span-full-text
+{
+ display: inline;
+}
+
+.mse-column-title-span-short-text
+{
+ display: none;
+}
+
+.mse-row-title-cell
+{
+ margin: 0;
+ padding-left: 2px;
+ padding-right: 2px;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ font-size: 1.4em;
+ font-weight: bold;
+ text-align: center;
+ border: 1px solid black;
+}
+
+.mse-data-cell
+{
+ margin: 0;
+ padding-left: 5px;
+ padding-right: 5px;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ font-size: 1.4em;
+ font-weight: normal;
+ font-family: monospace;
+ text-align: right;
+ border: 1px solid black;
+}
+
+.mse-caption-below
+{
+ margin: 0;
+ padding-left: 5px;
+ padding-right: 5px;
+ padding-top: 5px;
+ padding-bottom: 2px;
+ font-size: 1.2em;
+ font-weight: normal;
+ text-align: left;
+ //border: 1px solid black;
+}
+
+
+
+
+
+/* SETTINGS FOR WHEN THE SCREEN IS SMALL */
+@media screen and (max-width: 420px)
+{
+ .mse-column-title-cell
+ {
+ font-size: 1.2em;
+ }
+
+ .mse-row-title-cell
+ {
+ font-size: 1.2em;
+ }
+
+ .mse-column-title-span-full-text
+ {
+ display: none;
+ }
+
+ .mse-column-title-span-short-text
+ {
+ display: inline;
+ }
+
+ .mse-data-cell
+ {
+ font-size: 1.2em;
+ }
+
+ .mse-caption-below
+ {
+ font-size: 1.0em;
+ }
+}
diff --git a/web_interface/html/css/status_bar.css b/web_interface/html/css/status_bar.css
new file mode 100644
index 00000000..936fc8f6
--- /dev/null
+++ b/web_interface/html/css/status_bar.css
@@ -0,0 +1,71 @@
+.status-icon-radio
+{
+ height: 40px;
+ width: 55px;
+ object-fit: contain;
+ text-align: center;
+ margin-left: 0px;
+ margin-right: 0px;
+ margin-top: 0px;
+ margin-bottom: 0px;
+ padding-left: 10px;
+ padding-right: 10px;
+ padding-top: 0px;
+ padding-bottom: 0px;
+}
+
+.status-icon-battery
+{
+ height: 40px;
+ width: 26px;
+ object-fit: contain;
+ text-align: center;
+ margin-left: 0px;
+ margin-right: 0px;
+ margin-top: 0px;
+ margin-bottom: 0px;
+ padding-left: 10px;
+ padding-right: 10px;
+ padding-top: 0px;
+ padding-bottom: 0px;
+}
+
+.status-icon-flying-state
+{
+ height: 40px;
+ width: 51px;
+ object-fit: contain;
+ text-align: center;
+ margin-left: 0px;
+ margin-right: 0px;
+ margin-top: 0px;
+ margin-bottom: 0px;
+ padding-left: 10px;
+ padding-right: 10px;
+ padding-top: 0px;
+ padding-bottom: 0px;
+}
+
+
+
+/* SETTINGS FOR WHEN THE SCREEN IS SMALL */
+@media screen and (max-width: 420px)
+{
+ .status-icon-radio
+ {
+ padding-left: 5px;
+ padding-right: 5px;
+ }
+
+ .status-icon-battery
+ {
+ padding-left: 5px;
+ padding-right: 5px;
+ }
+
+ .status-icon-flying-state
+ {
+ padding-left: 5px;
+ padding-right: 5px;
+ }
+}
\ No newline at end of file
diff --git a/web_interface/html/css/switches.css b/web_interface/html/css/switches.css
index 82e09139..2fcdce35 100644
--- a/web_interface/html/css/switches.css
+++ b/web_interface/html/css/switches.css
@@ -175,6 +175,81 @@
+/* =========================== */
+/* === TYPE 2 === */
+/* =========================== */
+.on-off-switch.type2forstatusbar:after
+{
+ position: absolute;
+ top: 0px;
+ right: 12px;
+
+ content: '';
+
+ color: #ccc;
+ font-family: Arial;
+ font-size: 18px;
+ line-height: 40px;
+ font-weight: bold;
+}
+
+.on-off-switch.type2forstatusbar label
+{
+ width: 70px;
+ height: 32px;
+ background: none;
+ border:3px solid #ccc;
+ border-radius: 19px;
+}
+
+.on-off-switch.type2forstatusbar label:after
+{
+ top: 4px;
+ left: auto;
+ right: 4px;
+ overflow: hidden;
+
+ content: 'LIVE';
+
+ width: 24px;
+ height: 24px;
+
+ color: #fff;
+ font-family: Arial;
+ font-size: 18px;
+ line-height: 25px;
+ text-align: center;
+ font-weight: bold;
+ text-indent: 80px;
+ background: #ccc;
+ box-shadow: none;
+ border-radius: 12px;
+
+ transform: translateX(-38px);
+ transition: all 0.4s 0.2s, width 0.2s linear, text-indent 0.4s linear;
+}
+
+.on-off-switch.type2forstatusbar input:checked + label
+{
+ border-color: #269CE9;
+}
+
+.on-off-switch.type2forstatusbar input:checked + label:after
+{
+ left: auto;
+
+ width: 62px;
+ text-indent: 0;
+ background: #269CE9;
+
+ transform: translateX(0px);
+ transition: all 0.4s, width 0.2s 0.4s linear, text-indent 0.3s 0.4s linear;
+}
+
+
+
+
+
/* =========================== */
/* === TYPE 3 === */
/* =========================== */
diff --git a/web_interface/html/css/tabs_control.css b/web_interface/html/css/tabs_control.css
index e02f56e9..7d0c8c4e 100644
--- a/web_interface/html/css/tabs_control.css
+++ b/web_interface/html/css/tabs_control.css
@@ -70,6 +70,15 @@
color:black;
overflow: hidden;
overflow-y: scroll;
+ border-left: 1px solid;
+ border-right: 1px solid;
+ border-width: 10px;
+ border-color: #c43c35;
+ /*
+ border-color: #c43c35;
+ border-color: #f44336;
+ border-color: #57a957;
+ */
}
/* Make the respective panel visible when its tab-input is checked */
diff --git a/web_interface/html/css/tabs_main.css b/web_interface/html/css/tabs_main.css
index 3be20ea5..0fb1582f 100644
--- a/web_interface/html/css/tabs_main.css
+++ b/web_interface/html/css/tabs_main.css
@@ -51,6 +51,16 @@
color: #000;
}
+/* The "top" specification here is critical */
+/* Use: */
+/* 189px when the top banner contains the */
+/* motors-off button and agent IP */
+/* 190px when the top banner contains the */
+/* motors-off button and status */
+/* icons */
+/* 229px when the top banner contains the */
+/* motors-off button, agent IP, and */
+/* status icons. */
.main-tab-panel
{
order: 99;
@@ -60,7 +70,7 @@
bottom: 0;
left: 0px;
right: 0px;
- top: 189px;
+ top: 190px;
bottom: 0px;
margin-top: 0px;
margin-bottom: 0px;
@@ -121,9 +131,19 @@
text-align: center;
}
+ /* The "top" specification here is critical */
+ /* Use: */
+ /* 147px when the top banner contains the */
+ /* motors-off button and agent IP */
+ /* 162px when the top banner contains the */
+ /* motors-off button and status */
+ /* icons */
+ /* 190px when the top banner contains the */
+ /* motors-off button, agent IP, and */
+ /* status icons. */
.main-tab-panel
{
- top: 147px;
+ top: 162px;
}
.main-tab-panel.thin-padding
diff --git a/web_interface/html/img/battery_20.png b/web_interface/html/img/battery_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc7ae62ab7c662f7cf3e098e713232d2d6e0ae14
GIT binary patch
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diff --git a/web_interface/html/img/battery_empty.png b/web_interface/html/img/battery_empty.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bf35549aab7c7c0247cebd69a176d68ea67387c
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diff --git a/web_interface/html/img/battery_full.png b/web_interface/html/img/battery_full.png
new file mode 100644
index 0000000000000000000000000000000000000000..495383be5e346e624d7a92670fcf9ddb053f99ef
GIT binary patch
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diff --git a/web_interface/html/img/battery_unavailable.png b/web_interface/html/img/battery_unavailable.png
new file mode 100644
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GIT binary patch
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new file mode 100644
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new file mode 100644
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diff --git a/web_interface/html/img/flying_state_enabling.png b/web_interface/html/img/flying_state_enabling.png
new file mode 100644
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GIT binary patch
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HcmV?d00001
diff --git a/web_interface/html/img/flying_state_flying.png b/web_interface/html/img/flying_state_flying.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0b51f3d42edbfad9f875c1faa413391c4f21de9
GIT binary patch
literal 3001
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HcmV?d00001
diff --git a/web_interface/html/img/flying_state_off.png b/web_interface/html/img/flying_state_off.png
new file mode 100644
index 0000000000000000000000000000000000000000..70669664f07c12ef27a41f5b5fb918aff93da688
GIT binary patch
literal 3106
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diff --git a/web_interface/html/img/flying_state_unavailable.png b/web_interface/html/img/flying_state_unavailable.png
new file mode 100644
index 0000000000000000000000000000000000000000..60f6878b603abc0ba5dd375765ff06ad36a397ab
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diff --git a/web_interface/html/img/flying_state_unknown.png b/web_interface/html/img/flying_state_unknown.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c0c7337a103e5726af53def62e37ad22209c972
GIT binary patch
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diff --git a/web_interface/html/img/rf_disconnected.png b/web_interface/html/img/rf_disconnected.png
new file mode 100644
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diff --git a/web_interface/html/js/sendRosMessage.js b/web_interface/html/js/sendRosMessage.js
index cabbe8cd..91bbd954 100644
--- a/web_interface/html/js/sendRosMessage.js
+++ b/web_interface/html/js/sendRosMessage.js
@@ -30,6 +30,15 @@ function sendRosMessage_outputLabelID(rosMessage, labelID)
{
scriptname_for_php = scriptname_for_php + "rosEnablestudent";
}
+ else if (rosMessage == "loadyamldefault")
+ {
+ scriptname_for_php = scriptname_for_php + "rosLoadYamlDefault";
+ }
+ else if (rosMessage == "loadyamlstudent")
+ {
+ scriptname_for_php = scriptname_for_php + "rosLoadYamlStudent";
+ }
+
// Set the label to be sending
diff --git a/web_interface/html/js/sse_agentStatus.js b/web_interface/html/js/sse_agentStatus.js
new file mode 100644
index 00000000..34c1172d
--- /dev/null
+++ b/web_interface/html/js/sse_agentStatus.js
@@ -0,0 +1,468 @@
+let agentStatusEventSource;
+
+window.onload = function() {
+ document.getElementById("checkboxTopBarStatus").checked = false;
+};
+
+function checkboxTopBarStatus_changed()
+{
+ if ( document.getElementById("checkboxTopBarStatus").checked )
+ {
+ severSentAgentStatus_start();
+ }
+ else
+ {
+ severSentAgentStatus_stop();
+ }
+}
+
+
+function severSentAgentStatus_start()
+{
+ // Check is server sent events are supported
+ if (typeof(EventSource) == "undefined")
+ {
+ // Server-sent events are NOT supported
+ // Display this to the user
+ document.getElementById("agentStatusDebuggingDiv").innerHTML = "Server Sent Events are not supported by this browser.";
+ return;
+ }
+
+ // If the code makes it to here, then
+ // server sent events are supported
+
+ // Create the "EventSource" variable
+ agentStatusEventSource = new EventSource("sse_agentStatus.php");
+
+ // Handle the "onopen" event
+ agentStatusEventSource.onopen = function(eventSource)
+ {
+ // DEBUGGING: print out
+ //document.getElementById("agentStatusDebuggingDiv").innerHTML += "Event: on open <br>";
+ };
+
+ // Handle the "onerror" event
+ agentStatusEventSource.onerror = function(eventSource)
+ {
+ // DEBUGGING: print out
+ document.getElementById("agentStatusDebuggingDiv").innerHTML += "Event: on error <br>";
+
+ // Check is the event is still connecting
+ if (this.readyState == EventSource.CONNECTING)
+ {
+ // DEBUGGING: print out
+ document.getElementById("agentStatusDebuggingDiv").innerHTML += "Reconnecting (readyState = " + this.readyState + ")... <br>";
+ }
+ else
+ {
+ // DEBUGGING: print out
+ document.getElementById("agentStatusDebuggingDiv").innerHTML += "Error has occured. <br>";
+ }
+ };
+
+ // Handle the "message" event
+ //agentStatusEventSource.onmessage = function(eventSource)
+ agentStatusEventSource.addEventListener("message", function(eventSource)
+ {
+ // DEBUGGING: print out the whole message
+ //document.getElementById("agentStatusDebuggingDiv").innerHTML += "Event: message, data: " + eventSource.data + " <br>";
+ });
+
+ // Handle the "ping" event
+ agentStatusEventSource.addEventListener("agentstatus", function(eventSource)
+ {
+ // Extract "agent found" entry in the json
+ agent_found = JSON.parse(eventSource.data).agentfound;
+
+ // If the agent is found
+ if ( agent_found === "true" )
+ {
+ // Parse the status dictionary from the JSON
+ status_dict = JSON.parse(eventSource.data).statusjson;
+
+ // Call the fuctions to update the status icons
+ // > For the Radio status:
+ updateStatusIconRadio( status_dict.crazyradiostatus );
+ // > For the Battery level:
+ updateStatusIconBattery( status_dict.batterylevel );
+ // > For the Flying state:
+ updateStatusIconFlyingState( status_dict.flyingstate );
+ // > For the Instant controller:
+ updateStatusForInstantController( status_dict.instantcontroller );
+
+ // Call the function to update the "measurement,
+ // setpoint, error" tables
+ // > For the Default controller:
+ updateDefaultMseTable( status_dict.stateestimate , status_dict.setpointdefault );
+ // > For the Student controller:
+ updateStudentMseTable( status_dict.stateestimate , status_dict.setpointstudent );
+
+ // Call the function to update the "debug values" table
+ updateStudentDebugValuesTable( status_dict.debugvaluesstudent );
+
+ // DEBUGGING: print out the whole message
+ //document.getElementById("agentStatusDebuggingDiv").innerHTML += "Event: agent status, data: " + eventSource.data + " <br>";
+ }
+ // Otherwise, the agent is NOT found
+ else
+ {
+ // So set all the icons accordingly
+ // > For the Radio status:
+ updateStatusIconRadio( "disconnected" );
+ // > For the Battery level:
+ updateStatusIconBattery( "unavailable" );
+ // > For the Flying state:
+ updateStatusIconFlyingState( "unavailable" );
+ // > For the Instant controller:
+ updateStatusForInstantController( "none" );
+
+ // Call the function to clear the "measurement,
+ // setpoint, error" tables
+ // > For the Default controller:
+ clearDefaultMseTable();
+ // > For the Student controller:
+ clearStudentMseTable();
+
+ // Call the function to clear the "debug values" table
+ clearStudentDebugValuesTable();
+
+ // DEBUGGING: print out the whole message
+ //document.getElementById("agentStatusDebuggingDiv").innerHTML += "Event: agent status, data: " + eventSource.data + " <br>";
+ }
+ });
+
+} // END OF: function severSentAgentStatus_start()
+
+
+
+
+
+function severSentAgentStatus_stop()
+{
+ // Check is server sent events are supported
+ if (typeof(EventSource) == "undefined")
+ {
+ // Server-sent events are NOT supported
+ // Display this to the user
+ document.getElementById("agentStatusDebuggingDiv").innerHTML = "Server Sent Events are not supported by this browser.";
+ return;
+ }
+
+ // If the code makes it to here, then
+ // server sent events are supported
+
+ // Close the "EventSource" variable
+ agentStatusEventSource.close();
+
+ // DEBUGGING: print out
+ //document.getElementById("agentStatusDebuggingDiv").innerHTML += "Closed. <br>";
+
+ // So set all the icons accordingly
+ // > For the Radio status:
+ updateStatusIconRadio( "disconnected" );
+ // > For the Battery level:
+ updateStatusIconBattery( "unavailable" );
+ // > For the Flying state:
+ updateStatusIconFlyingState( "unavailable" );
+ // > For the Instant controller:
+ updateStatusForInstantController( "none" );
+
+ // Call the function to clear the "measurement,
+ // setpoint, error" tables
+ // > For the Default controller:
+ clearDefaultMseTable();
+ // > For the Student controller:
+ clearStudentMseTable();
+
+ // Call the function to clear the "debug values" table
+ clearStudentDebugValuesTable();
+
+} // END OF: function severSentAgentStatus_stop()
+
+
+
+function updateStatusIconRadio( status_string )
+{
+ if ( typeof status_string !== "string" )
+ {
+ // Default to disconnected
+ status_string = "disconnected";
+ }
+
+ switch ( status_string.toLowerCase() )
+ {
+ case "connected":
+ document.getElementById("radio-icon").src = "img/rf_connected.png";
+ break;
+ case "connecting":
+ document.getElementById("radio-icon").src = "img/rf_connecting.png";
+ break;
+ case "disconnected":
+ document.getElementById("radio-icon").src = "img/rf_disconnected.png";
+ break;
+ default:
+ document.getElementById("radio-icon").src = "img/rf_disconnected.png";
+ }
+
+} // END OF: "function updateStatusIconRadio( status_string )"
+
+
+
+function updateStatusIconBattery( level_string )
+{
+ if ( typeof level_string !== "string" )
+ {
+ // Default to unavailable
+ level_string = "unavailable";
+ }
+
+ switch ( level_string.toLowerCase() )
+ {
+ case "000":
+ document.getElementById("battery-icon").src = "img/battery_empty.png";
+ break;
+ case "010":
+ document.getElementById("battery-icon").src = "img/battery_20.png";
+ break;
+ case "020":
+ document.getElementById("battery-icon").src = "img/battery_20.png";
+ break;
+ case "030":
+ document.getElementById("battery-icon").src = "img/battery_40.png";
+ break;
+ case "040":
+ document.getElementById("battery-icon").src = "img/battery_40.png";
+ break;
+ case "050":
+ document.getElementById("battery-icon").src = "img/battery_60.png";
+ break;
+ case "060":
+ document.getElementById("battery-icon").src = "img/battery_60.png";
+ break;
+ case "070":
+ document.getElementById("battery-icon").src = "img/battery_80.png";
+ break;
+ case "080":
+ document.getElementById("battery-icon").src = "img/battery_80.png";
+ break;
+ case "090":
+ document.getElementById("battery-icon").src = "img/battery_full.png";
+ break;
+ case "100":
+ document.getElementById("battery-icon").src = "img/battery_full.png";
+ break;
+ case "unknown":
+ document.getElementById("battery-icon").src = "img/battery_unknown.png";
+ break;
+ case "unavailable":
+ document.getElementById("battery-icon").src = "img/battery_unavailable.png";
+ break;
+ default:
+ document.getElementById("battery-icon").src = "img/battery_unavailable.png";
+ }
+
+} // END OF: "function updateStatusIconBattery( level_string )"
+
+
+
+function updateStatusIconFlyingState( state_string )
+{
+ if ( typeof state_string !== "string" )
+ {
+ // Default to unavailable
+ state_string = "unavailable";
+ }
+
+ switch ( state_string.toLowerCase() )
+ {
+ case "motorsoff":
+ document.getElementById("flying-state-icon").src = "img/flying_state_off.png";
+ break;
+ case "takeoff":
+ document.getElementById("flying-state-icon").src = "img/flying_state_enabling.png";
+ break;
+ case "flying":
+ document.getElementById("flying-state-icon").src = "img/flying_state_flying.png";
+ break;
+ case "land":
+ document.getElementById("flying-state-icon").src = "img/flying_state_disabling.png";
+ break;
+ case "unavailable":
+ document.getElementById("flying-state-icon").src = "img/flying_state_unavailable.png";
+ break;
+ default:
+ document.getElementById("flying-state-icon").src = "img/flying_state_unavailable.png";
+ }
+
+} // END OF: "function updateStatusIconRadio( status_string )"
+
+
+
+function updateStatusForInstantController( controller_string )
+{
+ if ( typeof controller_string !== "string" )
+ {
+ // Default to unavailable
+ controller_string = "none";
+ }
+
+ // Colours:
+ // #c43c35 Dark Red
+ // #f44336 Light Red
+ // #57a957 Green
+
+ // Set all border colours to red
+ document.getElementById("control-tab-panel-default").style.borderColor = "#c43c35";
+ document.getElementById("control-tab-panel-student").style.borderColor = "#c43c35";
+
+ switch ( controller_string.toLowerCase() )
+ {
+ case "default":
+ document.getElementById("control-tab-panel-default").style.borderColor = "#57a957";
+ break;
+ case "student":
+ document.getElementById("control-tab-panel-student").style.borderColor = "#57a957";
+ break;
+ }
+
+} // END OF: "function updateStatusIconRadio( status_string )"
+
+
+function updateDefaultMseTable( measurement_dict , setpoint_dict )
+{
+ if ( (typeof measurement_dict !== "object") || (typeof setpoint_dict !== "object") )
+ {
+ // Call function to set fields to blank
+ clearDefaultMseTable();
+ return;
+ }
+
+ document.getElementById("default-measurement-x").innerHTML = measurement_dict.x.toFixed(3);
+ document.getElementById("default-measurement-y").innerHTML = measurement_dict.y.toFixed(3);
+ document.getElementById("default-measurement-z").innerHTML = measurement_dict.z.toFixed(3);
+ document.getElementById("default-measurement-yaw").innerHTML = measurement_dict.yaw.toFixed(3);
+ document.getElementById("default-measurement-pitch").innerHTML = measurement_dict.pitch.toFixed(1);
+ document.getElementById("default-measurement-roll").innerHTML = measurement_dict.roll.toFixed(1);
+
+ document.getElementById("default-setpoint-x").innerHTML = setpoint_dict.x.toFixed(3);
+ document.getElementById("default-setpoint-y").innerHTML = setpoint_dict.y.toFixed(3);
+ document.getElementById("default-setpoint-z").innerHTML = setpoint_dict.z.toFixed(3);
+ document.getElementById("default-setpoint-yaw").innerHTML = setpoint_dict.yaw.toFixed(1);
+
+ document.getElementById("default-error-x").innerHTML = (measurement_dict.x -setpoint_dict.x ).toFixed(3);
+ document.getElementById("default-error-y").innerHTML = (measurement_dict.y -setpoint_dict.y ).toFixed(3);
+ document.getElementById("default-error-z").innerHTML = (measurement_dict.z -setpoint_dict.z ).toFixed(3);
+ document.getElementById("default-error-yaw").innerHTML = (measurement_dict.yaw-setpoint_dict.yaw).toFixed(1);
+
+} // END OF: "function updateDefaultMseTable( measurement_dict , setpoint_dict )"
+
+function clearDefaultMseTable()
+{
+ document.getElementById("default-measurement-x").innerHTML = "xx.xx";
+ document.getElementById("default-measurement-y").innerHTML = "xx.xx";
+ document.getElementById("default-measurement-z").innerHTML = "xx.xx";
+ document.getElementById("default-measurement-yaw").innerHTML = "xx.xx";
+ document.getElementById("default-measurement-pitch").innerHTML = "xx.xx";
+ document.getElementById("default-measurement-roll").innerHTML = "xx.xx";
+
+ document.getElementById("default-setpoint-x").innerHTML = "xx.xx";
+ document.getElementById("default-setpoint-y").innerHTML = "xx.xx";
+ document.getElementById("default-setpoint-z").innerHTML = "xx.xx";
+ document.getElementById("default-setpoint-yaw").innerHTML = "xx.xx";
+
+ document.getElementById("default-error-x").innerHTML = "xx.xx";
+ document.getElementById("default-error-y").innerHTML = "xx.xx";
+ document.getElementById("default-error-z").innerHTML = "xx.xx";
+ document.getElementById("default-error-yaw").innerHTML = "xx.xx";
+
+} // END OF: "function clearDefaultMseTable()"
+
+
+
+function updateStudentMseTable( measurement_dict , setpoint_dict )
+{
+ if ( (typeof measurement_dict !== "object") || (typeof setpoint_dict !== "object") )
+ {
+ // Call function to set fields to blank
+ clearStudentMseTable();
+ return;
+ }
+
+ document.getElementById("student-measurement-x").innerHTML = measurement_dict.x.toFixed(3);
+ document.getElementById("student-measurement-y").innerHTML = measurement_dict.y.toFixed(3);
+ document.getElementById("student-measurement-z").innerHTML = measurement_dict.z.toFixed(3);
+ document.getElementById("student-measurement-yaw").innerHTML = measurement_dict.yaw.toFixed(3);
+ document.getElementById("student-measurement-pitch").innerHTML = measurement_dict.pitch.toFixed(1);
+ document.getElementById("student-measurement-roll").innerHTML = measurement_dict.roll.toFixed(1);
+
+ document.getElementById("student-setpoint-x").innerHTML = setpoint_dict.x.toFixed(3);
+ document.getElementById("student-setpoint-y").innerHTML = setpoint_dict.y.toFixed(3);
+ document.getElementById("student-setpoint-z").innerHTML = setpoint_dict.z.toFixed(3);
+ document.getElementById("student-setpoint-yaw").innerHTML = setpoint_dict.yaw.toFixed(1);
+
+ document.getElementById("student-error-x").innerHTML = (measurement_dict.x -setpoint_dict.x ).toFixed(3);
+ document.getElementById("student-error-y").innerHTML = (measurement_dict.y -setpoint_dict.y ).toFixed(3);
+ document.getElementById("student-error-z").innerHTML = (measurement_dict.z -setpoint_dict.z ).toFixed(3);
+ document.getElementById("student-error-yaw").innerHTML = (measurement_dict.yaw-setpoint_dict.yaw).toFixed(1);
+
+} // END OF: "function updateStudentMseTable( measurement_dict , setpoint_dict )"
+
+function clearStudentMseTable()
+{
+ document.getElementById("student-measurement-x").innerHTML = "xx.xx";
+ document.getElementById("student-measurement-y").innerHTML = "xx.xx";
+ document.getElementById("student-measurement-z").innerHTML = "xx.xx";
+ document.getElementById("student-measurement-yaw").innerHTML = "xx.xx";
+ document.getElementById("student-measurement-pitch").innerHTML = "xx.xx";
+ document.getElementById("student-measurement-roll").innerHTML = "xx.xx";
+
+ document.getElementById("student-setpoint-x").innerHTML = "xx.xx";
+ document.getElementById("student-setpoint-y").innerHTML = "xx.xx";
+ document.getElementById("student-setpoint-z").innerHTML = "xx.xx";
+ document.getElementById("student-setpoint-yaw").innerHTML = "xx.xx";
+
+ document.getElementById("student-error-x").innerHTML = "xx.xx";
+ document.getElementById("student-error-y").innerHTML = "xx.xx";
+ document.getElementById("student-error-z").innerHTML = "xx.xx";
+ document.getElementById("student-error-yaw").innerHTML = "xx.xx";
+
+} // END OF: "function clearStudentMseTable()"
+
+
+
+
+function updateStudentDebugValuesTable( values_dict )
+{
+ if (typeof values_dict !== "object")
+ {
+ // Call function to set fields to blank
+ clearStudentDebugValuesTable();
+ return;
+ }
+
+ document.getElementById("debug-value1").innerHTML = values_dict.value1.toFixed(3);
+ document.getElementById("debug-value2").innerHTML = values_dict.value2.toFixed(3);
+ document.getElementById("debug-value3").innerHTML = values_dict.value3.toFixed(3);
+ document.getElementById("debug-value4").innerHTML = values_dict.value4.toFixed(3);
+ document.getElementById("debug-value5").innerHTML = values_dict.value5.toFixed(3);
+ document.getElementById("debug-value6").innerHTML = values_dict.value6.toFixed(3);
+ document.getElementById("debug-value7").innerHTML = values_dict.value7.toFixed(3);
+ document.getElementById("debug-value8").innerHTML = values_dict.value8.toFixed(3);
+ document.getElementById("debug-value9").innerHTML = values_dict.value9.toFixed(3);
+ document.getElementById("debug-value10").innerHTML = values_dict.value10.toFixed(3);
+
+} // END OF: "function updateStudentDebugValuesTable( values_dict )"
+
+function clearStudentDebugValuesTable()
+{
+ document.getElementById("debug-value1").innerHTML = "xx.xx";
+ document.getElementById("debug-value2").innerHTML = "xx.xx";
+ document.getElementById("debug-value3").innerHTML = "xx.xx";
+ document.getElementById("debug-value4").innerHTML = "xx.xx";
+ document.getElementById("debug-value5").innerHTML = "xx.xx";
+ document.getElementById("debug-value6").innerHTML = "xx.xx";
+ document.getElementById("debug-value7").innerHTML = "xx.xx";
+ document.getElementById("debug-value8").innerHTML = "xx.xx";
+ document.getElementById("debug-value9").innerHTML = "xx.xx";
+ document.getElementById("debug-value10").innerHTML = "xx.xx";
+} // END OF: "function clearStudentDebugValuesTable()"
\ No newline at end of file
diff --git a/web_interface/html/killRosAgent.php b/web_interface/html/killRosAgent.php
deleted file mode 100644
index 4d727404..00000000
--- a/web_interface/html/killRosAgent.php
+++ /dev/null
@@ -1,4 +0,0 @@
-<?php
- $output = shell_exec("./killRosAgent.sh");
- echo "$output";
-?>
diff --git a/web_interface/html/launchRosAgent.php b/web_interface/html/launchRosAgent.php
deleted file mode 100644
index 8b39f485..00000000
--- a/web_interface/html/launchRosAgent.php
+++ /dev/null
@@ -1,4 +0,0 @@
-<?php
- $output = shell_exec("./launchRosAgent.sh");
- echo "<pre>$output</pre>";
-?>
diff --git a/web_interface/html/page_header.html b/web_interface/html/page_header.html
index a2377b8c..92c815de 100644
--- a/web_interface/html/page_header.html
+++ b/web_interface/html/page_header.html
@@ -27,7 +27,9 @@
<link rel="stylesheet" type="text/css" href="css/tabs_main.css?ver=0.1" />
<link rel="stylesheet" type="text/css" href="css/tabs_home.css?ver=0.1" />
<link rel="stylesheet" type="text/css" href="css/tabs_control.css?ver=0.1" />
-
+ <link rel="stylesheet" type="text/css" href="css/status_bar.css?ver=0.1" />
+ <link rel="stylesheet" type="text/css" href="css/measurement_setpoint_error_table.css?ver=0.1" />
+ <link rel="stylesheet" type="text/css" href="css/debug_values_table.css?ver=0.1" />
<!-- Link the JavaScript files -->
<script src="js/general.js?ver=0.1"></script>
diff --git a/web_interface/html/rosnodeList.php b/web_interface/html/rosnodeList.php
deleted file mode 100644
index c0e0db44..00000000
--- a/web_interface/html/rosnodeList.php
+++ /dev/null
@@ -1,4 +0,0 @@
-<?php
- $output = shell_exec("./rosnodeList.sh");
- echo "<pre>$output</pre>";
-?>
diff --git a/web_interface/html/sse_agentStatus.php b/web_interface/html/sse_agentStatus.php
new file mode 100644
index 00000000..60eeed05
--- /dev/null
+++ b/web_interface/html/sse_agentStatus.php
@@ -0,0 +1,30 @@
+ <?php
+ //date_default_timezone_set("America/New_York");
+ header("Cache-Control: no-cache");
+ header("Content-Type: text/event-stream");
+ //header('Connection: keep-alive');
+
+ $event_id_counter = 0;
+
+ while (true) {
+ // Every second, send a "ping" event.
+
+ echo "event: agentstatus\n";
+
+ $output = shell_exec("./bashscripts/rosGetStatusJson_forAgent.sh " . $event_id_counter);
+
+ //$curDate = date(DATE_ISO8601);
+ //echo 'data: {"time": "' . $curDate . '"}';
+
+ echo "data: $output";
+ echo "\n\n";
+
+ // Send a simple message at random intervals.
+
+ $event_id_counter++;
+
+ ob_end_flush();
+ flush();
+ usleep(250000);
+ }
+?>
\ No newline at end of file
diff --git a/web_interface/html/temp.html b/web_interface/html/temp.html
deleted file mode 100644
index 35a76519..00000000
--- a/web_interface/html/temp.html
+++ /dev/null
@@ -1,69 +0,0 @@
- <?php echo "hello world"; ?>
-
- <?php echo '<br>'; ?>
-
- <?php echo date('Y-m-d H:i:s'); ?>
-
- <?php echo '<br>'; ?>
-
- <!-- <?php phpinfo(); ?> -->
-
-
- <?php
- // outputs the username that owns the running php/httpd process
- // (on a system with the "whoami" executable in the path)
- echo exec('whoami');
- ?>
-
- <?php echo '<br>'; ?>
-
-
-
- <?php
- $output = shell_exec("ls -lart");
- echo "<pre>$output</pre>";
- ?>
-
- <?php echo '<br>'; ?>
-
- <!--
- <?php
- $output = shell_exec("./rosnode_list.sh");
- echo "<pre>$output</pre>";
- ?>
- -->
-
- <?php echo '<br>'; ?>
-
- <!--$output = shell_exec("./roscore.sh");-->
- <!--$output = shell_exec("nohup ./roscore.sh > /dev/null &");-->
-
- <?php echo '<br>'; ?>
-
- <!--
- <?php
- $output = shell_exec("./rosnode_list.sh");
- echo "<pre>$output</pre>";
- ?>
- -->
-
- <?php echo '<br>'; ?>
-
- <!--
- <?php
- $output = shell_exec("source /opt/ros/melodic/setup.bash");
- echo "<pre>$output</pre>";
- $outputtwo = shell_exec("rosnode list");
- echo "<pre>$outputtwo</pre>";
- ?>
- -->
-
- <?php echo '<br>'; ?>
-
- <!--
- <?php
- exec("dir", $output, $return);
- echo "Dir returned $return, and output:\n";
- var_dump($output);
- ?>
- -->
--
GitLab