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web_rviz.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript"
src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
<style>
body {
margin: 0;
background: #eee;
}
#canvas {
background: #fff;
user-select: none;
-webkit-user-select: none;
-moz-user-select: none;
-webkit-touch-callout: none;
-khtml-user-select: none;
-ms-user-select: none;
outline: none;
-webkit-tap-highlight-color: rgba(255, 255, 255, 0);
/* mobile webkit */
}
input[type=button] {
user-select: none;
-webkit-user-select: none;
-moz-user-select: none;
-webkit-touch-callout: none;
-khtml-user-select: none;
-ms-user-select: none;
outline: none;
-webkit-tap-highlight-color: rgba(255, 255, 255, 0);
/* mobile webkit */
}
</style>
</head>
<body>
<h1>F1/10 Web Interface</h1>
Car IP Address: <input type="text" id="ipaddr" value="localhost">
<input type="button" id="connect" onclick="connect()" value="Connect"><br>
Status: <label id="status">Unknown</label><br>
<input type="button" id="setLocation" onclick="setLocationButton()" value="Set Pose">
<input type="button" id="setNavGoal" onclick="setNavGoalButton()" value="Set Nav Target">
Map:
<select id="map" value="GDC1" onchange="changeMap()">
<option value="GDC1">GDC1</option>
<option value="GDC2">GDC2</option>
<option value="GDC3">GDC3</option>
<option value="TestMap">TestMap</option>
</select>
<br>
<canvas id="canvas" width="800" height="600" tabindex="0"> </canvas>
<br>
<label id="coords">0,0</label>
<script type="text/javascript" type="text/javascript">
var canvas = document.getElementById("canvas");
var visMsg = undefined;
var scale = 20;
var origin = { x: 0.5 * canvas.width, y: 0.5 * canvas.height };
var prev_origin = { x: 0, y: 0 };
var ctx = canvas.getContext("2d");
var mouseDownLoc;
var mouseDown = false;
var setLocation = false;
var setNavGoal = false;
var coords = document.getElementById("coords");
var mapList = document.getElementById("map");
var robotPose = undefined;
var tLastDraw = 0;
var map = [];
var lastLaserScan = undefined;
var particles = undefined;
var robot_interface = undefined;
if (window.localStorage.getItem('ipaddr')) {
document.getElementById('ipaddr').value =
window.localStorage.getItem('ipaddr');
}
canvas.width = window.innerWidth;
canvas.height = Math.max(600, window.innerHeight - 175);
origin = { x: 0.5 * canvas.width, y: 0.5 * canvas.height };
canvas.addEventListener('wheel', onMouseScroll, false);
window.addEventListener("keypress", onKeyPress, false);
canvas.onmouseup = onMouseUp;
canvas.onmousedown = onMouseDown;
canvas.onmousemove = onMouseMove;
changeMap();
class DataParser {
constructor(arrayBuffer) {
this.header = {
num_particles: 0,
num_path_options: 0,
num_points: 0,
num_lines: 0,
num_arcs: 0,
num_laser_rays: 0,
num_local_points: 0,
num_local_lines: 0,
num_local_arcs: 0,
laser_min_angle: 0,
laser_max_angle: 0,
simulator_pose: { x: NaN, y: NaN, theta: NaN }
};
this.length = arrayBuffer.byteLength;
this.remainingBytes = this.length;
this.dataView = new DataView(arrayBuffer, 0);
this.offset = 0;
this.littleEndian = true;
// The first 4 bytes are the encoded number '42'.
// If the data is littleEndian the first byte should not be 0.
if (arrayBuffer[0] === 0) {
this.littleEndian = false;
}
this.offset += 4;
this.remainingBytes -= 4;
}
readUint8() {
let x = this.dataView.getUint8(this.offset, this.littleEndian);
this.offset += 1;
this.remainingBytes -= 1;
return x;
}
readUint32() {
let x = this.dataView.getUint32(this.offset, this.littleEndian);
this.offset += 4;
this.remainingBytes -= 4;
return x;
}
readUint16() {
let x = this.dataView.getUint16(this.offset, this.littleEndian);
this.offset += 2;
this.remainingBytes -= 2;
return x;
}
readFloat32() {
let x = this.dataView.getFloat32(this.offset, this.littleEndian);
this.offset += 4;
this.remainingBytes -= 4;
return x;
}
readHeader() {
this.header.num_particles = this.readUint32();
this.header.num_path_options = this.readUint32();
this.header.num_points = this.readUint32();
this.header.num_lines = this.readUint32();
this.header.num_arcs = this.readUint32();
this.header.num_laser_rays = this.readUint32();
this.header.num_local_points = this.readUint32();
this.header.num_local_lines = this.readUint32();
this.header.num_local_arcs = this.readUint32();
this.header.laser_min_angle = this.readFloat32();
this.header.laser_max_angle = this.readFloat32();
this.header.simulator_pose = {
x: this.readFloat32(),
y: this.readFloat32(),
theta: this.readFloat32()
};
return this.header;
}
readPose() {
let pose = {
x: 0,
y: 0,
theta: 0
};
pose.x = this.readFloat32();
pose.y = this.readFloat32();
pose.theta = this.readFloat32();
return pose;
}
readPathVisualization() {
let path = {
curvature: 0,
distance: 0,
clearance: 0
};
path.curvature = this.readFloat32();
path.distance = this.readFloat32();
path.clearance = this.readFloat32();
return path;
}
readMultiple(n, reader) {
let arr = [];
for (let i = 0; i < n; ++i) {
arr.push(reader());
}
return arr;
}
readLaser() {
let laser = {
angle_min: this.header.laser_min_angle,
angle_max: this.header.laser_max_angle,
ranges: this.readMultiple(this.header.num_laser_rays, () => this.readUint16())
}
for (let i = 0; i < laser.ranges.length; ++i) {
laser.ranges[i] = 0.001 * laser.ranges[i];
}
return laser;
}
readColor() {
return '#' + (this.readUint32()).toString(16);
}
readPoint2D() {
return {
x: this.readFloat32(),
y: this.readFloat32()
};
}
readPoint() {
return {
point: this.readPoint2D(),
color: this.readColor()
};
}
readLine() {
return {
p0: this.readPoint2D(),
p1: this.readPoint2D(),
color: this.readColor()
};
}
readArc() {
return {
center: this.readPoint2D(),
radius: this.readFloat32(),
start_angle: this.readFloat32(),
end_angle: this.readFloat32(),
color: this.readColor()
};
}
computeRobotPose(particles) {
if (particles.length < 1) return undefined;
let total = particles.reduce(
function (cur_total, v) {
cur_total.x += v.x / particles.length;
cur_total.y += v.y / particles.length;
cur_total.c += Math.cos(v.theta) / particles.length;
cur_total.s += Math.sin(v.theta) / particles.length;
return cur_total;
},
{ x: 0, y: 0, c: 0, s: 0 }
)
let pose = {
x: total.x,
y: total.y,
theta: Math.atan2(total.s, total.c)
}
return pose;
}
readMessage() {
let message = {
header: this.readHeader(),
laser: this.readLaser(),
particles: this.readMultiple(this.header.num_particles, () => this.readPose()),
path_options: this.readMultiple(this.header.num_path_options, () => this.readPathVisualization()),
points: this.readMultiple(this.header.num_points, () => this.readPoint()),
lines: this.readMultiple(this.header.num_lines, () => this.readLine()),
arcs: this.readMultiple(this.header.num_arcs, () => this.readArc()),
robotPose: undefined
}
message.robotPose = this.computeRobotPose(message.particles);
if (message.robotPose === undefined &&
isFinite(message.header.simulator_pose.x) &&
isFinite(message.header.simulator_pose.y) &&
isFinite(message.header.simulator_pose.theta)) {
message.robotPose = message.header.simulator_pose;
}
return message;
}
};
class RobotInterface {
// Constructor: set up callbacks.
constructor() {
this.socket = null;
// Set up callbacks.
this.callbacks = {
onopen: null,
onReceiveRobotData: null,
onReceiveJSON: null,
onerror: null,
onclose: null
};
}
onopen(event) {
console.log(`Connected to ${this.socket.url}`);
if (this.callbacks.onopen) this.callbacks.onopen(event);
}
onReceiveRobotData(data) {
let parser = new DataParser(data);
let message = parser.readMessage();
this.callbacks.onReceiveRobotData(message);
}
onmessage(event) {
if (typeof (event.data) === "string" &&
this.callbacks.onReceiveJSON) {
this.callbacks.onReceiveJSON(JSON.parse(event.data));
} else if (typeof (event.data) === "object" &&
this.callbacks.onReceiveRobotData) {
new Response(event.data).arrayBuffer().then(
(data) => this.onReceiveRobotData(data)
);
} else {
console.error(`Unknown data type: ${typeof (event.data)}`);
}
}
onclose(e) {
if (event.wasClean) {
console.log(`[close] Connection closed cleanly, code=${event.code} reason=${event.reason}`);
} else {
// e.g. server process killed or network down
// event.code is usually 1006 in this case
console.log('[close] Connection died');
}
if (this.callbacks.onclose) this.callbacks.onclose(e);
this.socket = null;
close();
}
onerror(error) {
console.log(`[error] ${error.message}`);
if (this.callbacks.onerror) this.callbacks.onerror(e);
}
// Connect to a host.
connect(hostname, callbacks) {
this.callbacks = callbacks;
// Create ws.
if (this.socket) {
console.error(`Error: Already connected to ${this.socket.url}`);
return;
}
try {
this.socket = new WebSocket("ws://" + hostname + ":10272");
} catch (error) {
this.onerror(error);
return;
}
this.socket.onopen = (e) => this.onopen(e);
this.socket.onmessage = (e) => this.onmessage(e);
this.socket.onclose = (e) => this.onclose(e);
this.socket.onerror = (e) => this.onerror(e);
}
// Send initial pose message.
setInitialPose(x, y, theta) {
if (!this.socket) {
console.error('Error: not connected');
return;
}
this.socket.send(JSON.stringify({
type: "set_initial_pose",
x: x,
y: y,
theta: theta
}));
}
// Send navigation target.
setNavGoal(x, y, theta) {
if (!this.socket) {
console.error('Error: not connected');
return;
}
this.socket.send(JSON.stringify({
type: "set_nav_goal",
x: x,
y: y,
theta: theta
}));
}
close() {
if (!this.socket) return;
this.socket.close();
this.socket = null;
}
};
function changeMap() {
let url = `http://amrl.cs.utexas.edu/f1tenth_course/maps/${mapList.value}.json`;
var xhr = new XMLHttpRequest();
xhr.open('GET', url, true);
// xhr.responseType = 'json';
xhr.onload = function () {
var status = xhr.status;
if (status === 200) {
map = JSON.parse(xhr.response);
} else {
console.log("XHR ERROR");
}
};
xhr.send();
}
function setLocationButton() {
setLocation = true;
setNavGoal = false;
document.getElementById("setLocation").style = "border-style:inset;";
}
function setNavGoalButton() {
setLocation = false;
setNavGoal = true;
document.getElementById("setNavGoal").style = "border-style:inset;";
}
// Get the "true" mouse location, compensting for scroll, zoom, etc.
function getMouseLocation(event, element) {
var posx = 0;
var posy = 0;
if (!event) var event = window.event;
if (event.pageX || event.pageY) {
posx = event.pageX;
posy = event.pageY;
} else if (event.clientX || event.clientY) {
posx = event.clientX + document.body.scrollLeft
+ document.documentElement.scrollLeft;
posy = event.clientY + document.body.scrollTop
+ document.documentElement.scrollTop;
}
if (element != undefined &&
isFinite(element.offsetLeft) &&
isFinite(element.offsetTop)) {
posx -= element.offsetLeft;
posy -= element.offsetTop;
}
return ({ x: posx, y: posy });
}
function canvasToWorld(p) {
return {
x: (p.x - origin.x) / scale,
y: (origin.y - p.y) / scale
};
}
function worldToCanvas(p) {
return {
x: p.x * scale + origin.x,
y: origin.y - p.y * scale
};
}
function onMouseMove(event) {
loc = getMouseLocation(event, canvas);
w = canvasToWorld(loc);
const x_str = w.x.toFixed(3);
const y_str = w.y.toFixed(3);
coords.innerHTML = `x=${x_str}, y=${y_str}`;
if (!mouseDown) return;
if (setLocation || setNavGoal) return;
origin.x = prev_origin.x + loc.x - mouseDownLoc.x;
origin.y = prev_origin.y + loc.y - mouseDownLoc.y;
};
function onMouseDown(event) {
mouseDownLoc = getMouseLocation(event, canvas);
mouseDown = true;
prev_origin = { x: origin.x, y: origin.y };
if (event.ctrlKey) {
setNavGoal = true;
} else if (event.shiftKey) {
setLocation = true;
}
};
function onMouseUp(event) {
let loc = getMouseLocation(event, canvas);
let w = canvasToWorld(loc);
if (setNavGoal) {
// Set nav target here.
if (robot_interface) {
let w0 = canvasToWorld(mouseDownLoc);
let a = Math.atan2(mouseDownLoc.y - loc.y, loc.x - mouseDownLoc.x);
robot_interface.setNavGoal(w0.x, w0.y, a);
}
} else if (setLocation) {
// Set localization here.
if (robot_interface) {
let w0 = canvasToWorld(mouseDownLoc);
let a = Math.atan2(mouseDownLoc.y - loc.y, loc.x - mouseDownLoc.x);
robot_interface.setInitialPose(w0.x, w0.y, a);
}
} else {
// Pan.
origin.x = prev_origin.x + loc.x - mouseDownLoc.x;
origin.y = prev_origin.y + loc.y - mouseDownLoc.y;
prev_origin = origin;
}
setNavGoal = false;
setLocation = false;
mouseDown = false;
document.getElementById("setLocation").style = "";
document.getElementById("setNavGoal").style = "";
}
function onMouseScroll(event) {
let loc = getMouseLocation(event, canvas);
let s1 = scale;
if (event.deltaY > 0) {
scale *= 0.95;
//
} else if (event.deltaY < 0) {
scale *= 1.05;
}
let s2 = scale;
origin.x = loc.x * (s1 - s2) / s1 + s2 / s1 * origin.x;
origin.y = loc.y * (s1 - s2) / s1 + s2 / s1 * origin.y;
event.preventDefault();
return false;
}
function onKeyPress(event) {
// console.log("Pressed: " + event.which);
};
function drawPoint(color, x, y) {
ctx.fillStyle = color;
const p = worldToCanvas({ x: x, y: y });
ctx.fillRect(p.x, p.y, 2, 2);
}
function drawLine(color, x1, y1, x2, y2) {
ctx.strokeStyle = color;
ctx.beginPath();
const p1 = worldToCanvas({ x: x1, y: y1 });
const p2 = worldToCanvas({ x: x2, y: y2 });
ctx.moveTo(p1.x, p1.y);
ctx.lineTo(p2.x, p2.y);
ctx.stroke();
}
function updateStatus(str) {
let s = document.getElementById("status");
s.innerHTML = str;
}
function receiveData(d) {
// console.log(d.header);
visMsg = d;
lastLaserScan = d.laser;
particles = d.particles;
robotPose = d.robotPose;
}
function processJsonData(json) {
console.log("Received JSON:");
console.log(json);
}
function close(event) {
console.log('Robot interface closed.');
robot_interface = undefined;
document.getElementById("connect").value = "Connect";
}
function onopen(event) {
let ipaddr = document.getElementById('ipaddr').value;
window.localStorage.setItem('ipaddr', ipaddr)
document.getElementById("connect").value = "Disconnect";
}
function connect() {
if (robot_interface) {
// Disconnect.
robot_interface.close();
document.getElementById("connect").value = "Connect";
robot_interface = undefined;
} else {
// Connect.
let ipaddr = document.getElementById('ipaddr').value;
let callbacks = {
onReceiveRobotData: receiveData,
onReceiveJSON: processJsonData,
onopen: onopen,
close: close
};
robot_interface = new RobotInterface();
robot_interface.connect(ipaddr, callbacks);
}
}
// DRAW LOOP
window.requestAnimationFrame = window.requestAnimationFrame ||
window.webkitRequestAnimationFrame || window.mozRequestAnimationFrame ||
window.msRequestAnimationFrame;
function drawLoop() {
requestAnimationFrame(drawLoop);
draw();
}
window.onload = function () {
drawLoop();
};
function subscribe(topic, type, callback) {
let listener = new ROSLIB.Topic({
ros: ros,
name: topic,
messageType: type,
queue_size: 1,
throttle_rate: 10
});
listener.subscribe(callback);
}
function drawMap() {
ctx.lineWidth = 1;
map.forEach(function (l) {
drawLine("#319bd4", l.p0.x, l.p0.y, l.p1.x, l.p1.y);
});
}
function drawPose(p, color) {
const l = 0.5;
const h = 0.1;
const a = p.theta;
const dir = { x: Math.cos(a), y: Math.sin(a) };
const perp = { x: -dir.y, y: dir.x };
const p0 = p;
const p1 = { x: p0.x + l * dir.x, y: p0.y + l * dir.y };
const p2 = {
x: p1.x + h * (-dir.x + perp.x),
y: p1.y + h * (-dir.y + perp.y)
};
const p3 = {
x: p1.x + h * (-dir.x - perp.x),
y: p1.y + h * (-dir.y - perp.y)
};
const kPoseColor = color;
drawLine(kPoseColor, p0.x, p0.y, p1.x, p1.y);
drawLine(kPoseColor, p2.x, p2.y, p1.x, p1.y);
drawLine(kPoseColor, p3.x, p3.y, p1.x, p1.y);
}
function drawParticles() {
if (particles === undefined) return;
ctx.lineWidth = 2;
particles.forEach(p => drawPose(p, 'rgba(200, 0, 0, 0.2)'));
ctx.lineWidth = 1;
}
function draw() {
const kDrawInterval = 0.03;
const tNow = window.performance.now();
if (tNow - tLastDraw < kDrawInterval) return;
tLastDraw = tNow;
// Clear canvas
ctx.clearRect(0, 0, canvas.width, canvas.height);
drawGrid();
drawMap();
drawLaserScan();
drawPoints();
drawLines();
drawPathOptions();
drawParticles();
if (visMsg) drawPose(visMsg.header.simulator_pose, 'rgb(0, 150, 0)');
}
function setColor(c) {
ctx.fillStyle = `rgb(${c.r * 255},${c.g * 255},${c.b * 255})`;
}
function drawPoints() {
if (visMsg === undefined) return;
visMsg.points.forEach(function (p) {
setColor(p.color);
const pw = worldToCanvas(p);
ctx.fillRect(pw.x, pw.y, 2, 2);
});
}
function drawLines() {
if (visMsg === undefined) return;
// console.log(visMsg.lines);
visMsg.lines.forEach(function (l) {
drawLine(l.color, l.p0.x, l.p0.y, l.p1.x, l.p1.y);
});
}
function drawArc(color, x, y, r, a0, a1) {
ctx.strokeStyle = color;
const p = worldToCanvas({ x: x, y: y });
ctx.beginPath();
ctx.arc(p.x, p.y, r * scale, a0, a1, true);
ctx.stroke();
}
function angleMod(angle) {
angle -= 2 * Math.PI * Math.round(angle / (2 * Math.PI));
return angle;
}
function drawPathOption(color, o, drawClearance) {
if (Math.abs(o.curvature) < 1e-4) {
// Straight line.
let p0 = { x: 0, y: 0 };
let p1 = { x: o.distance, y: 0 };
let a = 0;
if (robotPose !== undefined) {
p0 = robotPose;
a = robotPose.theta;
let c = Math.cos(robotPose.theta);
let s = Math.sin(robotPose.theta);
let d = o.distance;
p1 = { x: robotPose.x + d * c, y: robotPose.y + d * s };
}
drawLine(color, p0.x, p0.y, p1.x, p1.y);
if (drawClearance) {
let c = Math.cos(a);
let s = Math.sin(a);
let d = o.clearance;
drawLine(color,
p0.x - s * d, p0.y + c * d,
p1.x - s * d, p1.y + c * d);
drawLine(color,
p0.x + s * d, p0.y - c * d,
p1.x + s * d, p1.y - c * d);
}
return;
}
let r = 1 / o.curvature;
let center = {
x: 0,
y: r
};
let a0 = (r > 0) ?
(-Math.PI / 2) :
(Math.PI / 2 + o.distance * o.curvature);
let a1 = (r > 0) ?
(-Math.PI / 2 + o.distance * o.curvature) :
(Math.PI / 2);
if (robotPose) {
center = {
x: robotPose.x - r * Math.sin(robotPose.theta),
y: robotPose.y + r * Math.cos(robotPose.theta)
};
a0 = angleMod(a0 + robotPose.theta);
a1 = angleMod(a1 + robotPose.theta);
}
// console.log(`${a0}, ${a1}`);
drawArc(color, center.x, center.y, Math.abs(r), -a0, -a1);
if (drawClearance) {
if (Math.abs(r) - o.clearance > 0) {
drawArc(color, center.x, center.y, Math.abs(r) - o.clearance, -a0, -a1);
}
drawArc(color, center.x, center.y, Math.abs(r) + o.clearance, -a0, -a1);
}
}
function drawPathOptions() {
if (visMsg === undefined) return;
visMsg.path_options.forEach(function (o) {
drawPathOption("#c0c0c0", o, false);
});
if (visMsg.path_options.length > 0) {
let bestOption = visMsg.path_options[visMsg.path_options.length - 1];
drawPathOption("#1000FF", bestOption, true);
}
}
function drawMarkerLineList(m) {
let individualColors = false;
if (m.points.length === m.colors.length) {
individualColors = true;
} else {
setColor(m.color);
}
let c = `rgb(${m.color.r * 255},${m.color.g * 255},${m.color.b * 255})`;
for (let i = 0; i < m.points.length; i += 2) {
let p0 = m.points[i];
let p1 = m.points[i + 1];
if (individualColors) {
c = `rgb(${m.colors[i].r * 255},${m.colors[i].g * 255},${m.colors[i].b * 255})`;
}
drawLine(c, p0.x, p0.y, p1.x, p1.y);
}
}
function drawLaserScan() {
if (!lastLaserScan) return;
let offset = { x: 0, y: 0, theta: 0 };
if (robotPose) {
// Note: Assumes the laser is at (0.2, 0) on the robot.
offset = {
x: robotPose.x + 0.2 * Math.cos(robotPose.theta),
y: robotPose.y + 0.2 * Math.sin(robotPose.theta),
theta: robotPose.theta
};
}
// Update map and draw line being made.
// ctx.strokeStyle = 'rgba(82, 125, 232, 1)';
// ctx.lineWidth = 2;
const da = (lastLaserScan.angle_max - lastLaserScan.angle_min) /
lastLaserScan.ranges.length;
for (let i = 0; i < lastLaserScan.ranges.length; ++i) {
const r = lastLaserScan.ranges[i];
if (r >= 9.9) continue;
const a = lastLaserScan.angle_min + i * da + offset.theta;
const x = Math.cos(a) * r + offset.x;
const y = Math.sin(a) * r + offset.y;
drawPoint("#eb8334", x, y);
}
}
function drawGrid() {
const D = 50 * scale;
const d = 2 * scale;
ctx.strokeStyle = "#d1d1d1";
ctx.beginPath();
ctx.lineWidth = 1;
for (let i = -D; i < D; i += d) {
ctx.moveTo(i + origin.x, -D + origin.y);
ctx.lineTo(i + origin.x, D + origin.y);
ctx.moveTo(-D + origin.x, i + origin.y);
ctx.lineTo(D + origin.x, i + origin.y);
}
ctx.stroke();
ctx.lineWidth = 4;
drawLine("#EF0000", 0, 0, 1.5, 0);
drawLine("#00AF00", 0, 0, 0, 1.5);
}
</script>
</body>
</html>