Add simple experimental web gcs

2026-05-26 21:19:35 +00:00 · 2019-02-21 15:58:41 +03:00
parent af244973c3
commit 21b753ad16
2 changed files with 98 additions and 0 deletions
--- a/clever/www/gcs.html
+++ b/clever/www/gcs.html
@@ -0,0 +1,29 @@
+<html>
+	<head>
+		<title>Disconnected</title>
+		<script src="js/roslib.js"></script>
+		<style>
+			body {
+				font-family: sans-serif;
+				background: rgba(0, 0, 0, 0.8);
+				color: rgba(255, 255, 255, 0.9);
+			}
+			.dash {
+				font-size: 30px;
+				text-align: center;
+				position: absolute;
+				left: 50%;
+				top: 50%;
+				transform: translate(-50%, -50%);
+				line-height: 150%;
+			}
+		</style>
+	</head>
+	<body>
+		<div class="dash">
+			<div class="mode">&nbsp;</div>
+			<div class="battery">&nbsp;</div>
+		</div>
+	</body>
+	<script src="js/gcs.js"></script>
+</html>
--- a/clever/www/js/gcs.js
+++ b/clever/www/js/gcs.js
@@ -0,0 +1,69 @@
+var body = document.querySelector('body');
+var titleEl = document.querySelector('title');
+var modeEl = document.querySelector('.mode');
+var batteryEl = document.querySelector('.battery');
+
+var url = 'ws://' + location.host + ':9090';
+var ros = new ROSLIB.Ros({ url: url });
+
+function speak(txt) {
+	var utterance = new SpeechSynthesisUtterance(txt);
+	window.speechSynthesis.speak(utterance);
+}
+
+ros.on('connection', function () {
+	body.classList.add('connected');
+	titleEl.innerText = 'Connected';
+});
+
+ros.on('close', function () {
+	titleEl.innerText = 'Disconnected';
+	modeEl.innerHTML = '';
+	body.classList.remove('connected');
+	setTimeout(function() {
+		titleEl.innerText = 'Reconnecting';
+		ros.connect(url);
+	}, 2000);
+});
+
+var fcuState = {};
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/mavros/state',
+	messageType: 'mavros_msgs/State'
+}).subscribe(function(msg) {
+	modeEl.innerHTML = msg.mode;
+	if (fcuState.mode != msg.mode) {
+		// mode changed
+		speak(msg.mode + ' flight mode');
+	}
+	fcuState = msg;
+});
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/mavros/statustext/recv',
+	messageType: 'mavros_msgs/StatusText'
+}).subscribe(function(message) {
+	var BLACKLIST = [];
+	if (message.severity <= 4) {
+		if (BLACKLIST.some(function(e) {
+				return message.text.indexOf(e) != -1;
+			})) {
+			console.log('Filtered out message ' + message.text);
+			return;
+		}
+		speak(message.text);
+	}
+});
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/mavros/battery',
+	messageType: 'sensor_msgs/BatteryState',
+	throttle_rate: 5000
+}).subscribe(function(message) {
+	var LOW_BATTERY = 3.8;
+	batteryEl.innerHTML = (message.cell_voltage[0].toFixed(2) + ' V') || '';
+});