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[Personalrobots-commit] SF.net SVN: personalrobots:[23541] pkg/trunk/sandbox/web
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From: <rob...@us...> - 2009-09-01 17:01:34
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Revision: 23541
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23541&view=rev
Author: rob_wheeler
Date: 2009-09-01 17:01:24 +0000 (Tue, 01 Sep 2009)
Log Message:
-----------
Checkpoint the navigation web application
Added Paths:
-----------
pkg/trunk/sandbox/web/navigation_application/
pkg/trunk/sandbox/web/navigation_application/cgibin/
pkg/trunk/sandbox/web/navigation_application/cgibin/__init__.py
pkg/trunk/sandbox/web/navigation_application/cgibin/navigation_application_index.py
pkg/trunk/sandbox/web/navigation_application/images/
pkg/trunk/sandbox/web/navigation_application/images/screenshot.jpg
pkg/trunk/sandbox/web/navigation_application/jslib/
pkg/trunk/sandbox/web/navigation_application/jslib/map_viewer.js
pkg/trunk/sandbox/web/navigation_application/manifest.xml
pkg/trunk/sandbox/web/navigation_application/navigation_application.app
pkg/trunk/sandbox/web/navigation_application/templates/
pkg/trunk/sandbox/web/navigation_application/templates/index.cs
Added: pkg/trunk/sandbox/web/navigation_application/cgibin/navigation_application_index.py
===================================================================
--- pkg/trunk/sandbox/web/navigation_application/cgibin/navigation_application_index.py (rev 0)
+++ pkg/trunk/sandbox/web/navigation_application/cgibin/navigation_application_index.py 2009-09-01 17:01:24 UTC (rev 23541)
@@ -0,0 +1,30 @@
+#! /usr/bin/env python
+
+"""
+usage: %(progname)s [args]
+"""
+
+import os, sys, string, time, getopt, re
+import neo_cgi, neo_util, neo_cs
+from pyclearsilver.log import *
+from pyclearsilver import CSPage, odb
+
+from webui import MBPage
+
+class MyPage(MBPage.MBPage):
+ def setup(self, hdf):
+ pass
+
+ def display(self, hdf):
+ pass
+
+
+def run(context):
+ return MyPage(context, pagename="index", nologin=1)
+
+def main():
+ context = CSPage.Context()
+ run(context).start()
+
+if __name__ == "__main__":
+ main()
Property changes on: pkg/trunk/sandbox/web/navigation_application/cgibin/navigation_application_index.py
___________________________________________________________________
Added: svn:executable
+ *
Added: pkg/trunk/sandbox/web/navigation_application/images/screenshot.jpg
===================================================================
(Binary files differ)
Property changes on: pkg/trunk/sandbox/web/navigation_application/images/screenshot.jpg
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: pkg/trunk/sandbox/web/navigation_application/jslib/map_viewer.js
===================================================================
--- pkg/trunk/sandbox/web/navigation_application/jslib/map_viewer.js (rev 0)
+++ pkg/trunk/sandbox/web/navigation_application/jslib/map_viewer.js 2009-09-01 17:01:24 UTC (rev 23541)
@@ -0,0 +1,230 @@
+var MapTile = Class.create({
+ initialize: function(x, y, width, height, scale) {
+ this.left = x;
+ this.top = y;
+ this.width = width;
+ this.height = height;
+ this.scale = scale;
+
+ this.img = new Element("img");
+ this.img.style.position = "absolute";
+ this.img.style.left = this.left;
+ this.img.style.top = this.top;
+ this.load_image();
+
+ $('map_panner').appendChild(this.img);
+ },
+
+ rescale : function(scale) {
+ this.scale = scale;
+ this.load_image();
+ },
+
+ load_image: function() {
+ var url = "http://cib.willowgarage.com:8080/map";
+ url += '?x=' + this.left;
+ url += '&y=' + this.top;
+ url += '&width=' + this.width;
+ url += '&height=' + this.height;
+ url += '&scale=' + this.scale;
+ this.img.src = url;
+ },
+
+ move: function(dx, dy) {
+ this.left += dx;
+ this.top += dy;
+
+ this.img.style.left = this.left;
+ this.img.style.top = this.top;
+
+ this.load_image();
+ },
+});
+
+
+var MapViewer = Class.create({
+ initialize: function(domobj) {
+ this.viewer = domobj;
+ this.topics = domobj.getAttribute("topic").split(',');
+ },
+
+ init: function() {
+ // Overlay a canvas the same size as this div
+ this.canvas = new Element('canvas', {'id': 'map_canvas', 'width': this.viewer.getWidth(), 'height': this.viewer.getHeight(), 'style': 'z-index:1;position:absolute'});
+ this.viewer.appendChild(this.canvas);
+
+ // Create a div to contain the image tiles
+ this.panner = new Element('div', {'id': 'map_panner', 'style': 'padding:0;position:absolute;top:0px;left:0px;z-index:0'});
+ this.viewer.appendChild(this.panner);
+
+ this.sourceWidth = 2332;
+ this.sourceHeight = 1825;
+ this.sourceResolution = 0.025;
+ this.tileWidth = 256;
+ this.tileHeight = 256;
+ this.scale = 1.0;
+ this.dim = this.viewer.getDimensions();
+ this.tilesWide = Math.floor((this.dim.width + this.tileWidth - 1) / this.tileWidth + 2);
+ this.tilesHigh = Math.floor((this.dim.height + this.tileHeight - 1) / this.tileHeight + 2);
+
+ // Create tiles
+ this.tiles = [];
+ for (var row = 0; row < this.tilesHigh; ++row) {
+ for (var col = 0; col < this.tilesWide; ++col) {
+ this.tiles.push(new MapTile((col-1)*this.tileWidth, (row-1)*this.tileHeight, this.tileWidth, this.tileHeight, this.scale));
+ }
+ }
+
+ // Register event handlers
+ this.viewer.observe('mousedown', this.handleMouseDown.bind(this));
+ this.viewer.observe('dblclick', this.handleDblClick.bind(this));
+ Event.observe(document, 'mouseup', this.handleMouseUp.bind(this));
+ Event.observe(document, 'mousemove', this.handleMouseMove.bind(this));
+ Event.observe(document, 'keypress', this.handleKeyPress.bind(this));
+ this.pressed = false;
+ },
+
+ handleDblClick : function(e) {
+ if (Event.isLeftClick(e)) {
+ var off = this.viewer.cumulativeOffset();
+ this.zoom(-0.25,
+ Event.pointerX(e) - off.left,
+ Event.pointerY(e) - off.top);
+ }
+ },
+
+ handleMouseDown : function(e) {
+ if (Event.isLeftClick(e)) {
+ this.pressed = true;
+ this.mark = [Event.pointerX(e), Event.pointerY(e)];
+ }
+ },
+
+ handleMouseUp : function(e) {
+ if (Event.isLeftClick(e)) {
+ this.pressed = false;
+ }
+ },
+
+ handleMouseMove : function(e) {
+ if (this.pressed) {
+ var old_mark = this.mark;
+ this.mark = [Event.pointerX(e), Event.pointerY(e)];
+ this.panMap(this.mark[0] - old_mark[0],
+ this.mark[1] - old_mark[1]);
+ }
+ },
+
+ handleKeyPress : function(e) {
+ if (e.keyCode == 37) { // Left
+ this.panMap(-10, 0);
+ } else if (e.keyCode == 38) { // Up
+ if (e.ctrlKey)
+ this.zoom(-0.25, 0, 0);
+ else
+ this.panMap(0, -10);
+ } else if (e.keyCode == 39) { // Right
+ this.panMap(10, 0);
+ } else if (e.keyCode == 40) { // Down
+ if (e.ctrlKey)
+ this.zoom(0.25, 0, 0);
+ else
+ this.panMap(0, 10);
+ }
+ },
+
+ zoom : function(factor, center_x, center_y) {
+ this.scale += factor;
+ for (var i = 0; i < this.tiles.length; ++i) {
+ var tile = this.tiles[i];
+ tile.rescale(this.scale);
+ }
+ this.drawRobot();
+ },
+
+ panMap : function(x, y) {
+ var left = parseInt(this.panner.style.left) + x;
+ var top = parseInt(this.panner.style.top) + y;
+ if (left > 0) left = 0;
+ if (top > 0) top = 0;
+ if (left < (this.dim.width - this.sourceWidth/this.scale))
+ left = this.dim.width - this.sourceWidth/this.scale;
+ if (top < (this.dim.height - this.sourceHeight/this.scale))
+ top = this.dim.height - this.sourceHeight/this.scale;
+ this.panner.style.left = left;
+ this.panner.style.top = top;
+
+ for (var i = 0; i < this.tiles.length; ++i) {
+ var tile = this.tiles[i];
+ var tileLeft = left + tile.left;
+ var tileTop = top + tile.top;
+ var dx = 0, dy = 0;
+ if (tileLeft + tile.width < -this.tileWidth)
+ dx += this.tilesWide * this.tileWidth;
+ else if (tileLeft > (this.dim.width + this.tileWidth))
+ dx -= this.tilesWide * this.tileWidth;
+ if (tileTop + parseInt(tile.height) < -this.tileHeight)
+ dy += this.tilesHigh * this.tileHeight;
+ else if (tileTop > (this.dim.height + this.tileHeight))
+ dy -= this.tilesHigh * this.tileHeight;
+ if (dx || dy) tile.move(dx, dy);
+ }
+ this.drawRobot();
+ },
+
+ mapToPixel: function(p) {
+ var x = Math.floor(p.x / this.scale / this.sourceResolution);
+ var y = this.sourceHeight / this.scale - Math.floor(p.y / this.scale / this.sourceResolution);
+ x += parseInt(this.panner.style.left);
+ y += parseInt(this.panner.style.top);
+ return [x, y];
+ },
+
+ drawRobot: function() {
+ var ctx = this.canvas.getContext('2d');
+ ctx.clearRect(0, 0, this.canvas.width, this.canvas.height);
+
+ // Draw plan
+ if (this.plan) {
+ ctx.strokeStyle = "rgb(0, 255, 0)";
+ ctx.beginPath();
+ var p = this.mapToPixel(this.plan[0].pose.position);
+ ctx.moveTo(p[0], p[1]);
+ for (var i = 1; i < this.plan.length; ++i) {
+ p = this.mapToPixel(this.plan[i].pose.position);
+ ctx.lineTo(p[0], p[1]);
+ }
+ ctx.stroke();
+ }
+
+ // Draw robot footprint
+ if (this.footprint) {
+ ctx.strokeStyle = "rgb(255, 0, 0)";
+ ctx.beginPath();
+ var p = this.mapToPixel(this.footprint[0]);
+ ctx.moveTo(p[0], p[1]);
+ for (var i = 1; i < this.footprint.length; ++i) {
+ p = this.mapToPixel(this.footprint[i]);
+ ctx.lineTo(p[0], p[1]);
+ }
+ ctx.closePath();
+ ctx.stroke();
+ }
+ },
+
+ receive: function(msg) {
+ var ctx = this.canvas.getContext('2d');
+ ctx.clearRect(0, 0, this.canvas.width, this.canvas.height);
+ if (msg.polygon) {
+ this.footprint = msg.polygon.points;
+ } else if (msg.poses) {
+ this.plan = msg.poses;
+ }
+ this.drawRobot();
+ },
+
+});
+
+gRosClasses['MapViewer'] = function(dom) {
+ return new MapViewer(dom);
+}
Added: pkg/trunk/sandbox/web/navigation_application/manifest.xml
===================================================================
--- pkg/trunk/sandbox/web/navigation_application/manifest.xml (rev 0)
+++ pkg/trunk/sandbox/web/navigation_application/manifest.xml 2009-09-01 17:01:24 UTC (rev 23541)
@@ -0,0 +1,14 @@
+<package>
+ <description brief="navigation">
+ Navigation Application
+ </description>
+ <author>Scott Hassan</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://pr.willowgarage.com/wiki/navigation_application</url>
+ <depend package="roslib"/>
+ <depend package="rospy"/>
+ <depend package="webui"/>
+</package>
+
+
Added: pkg/trunk/sandbox/web/navigation_application/navigation_application.app
===================================================================
--- pkg/trunk/sandbox/web/navigation_application/navigation_application.app (rev 0)
+++ pkg/trunk/sandbox/web/navigation_application/navigation_application.app 2009-09-01 17:01:24 UTC (rev 23541)
@@ -0,0 +1,7 @@
+name: Navigation
+package: navigation_application
+launch_file: navigation.launch
+description: A navigation web application
+icon: images/screenshot.jpg
+provides:
+depends:
Added: pkg/trunk/sandbox/web/navigation_application/templates/index.cs
===================================================================
--- pkg/trunk/sandbox/web/navigation_application/templates/index.cs (rev 0)
+++ pkg/trunk/sandbox/web/navigation_application/templates/index.cs 2009-09-01 17:01:24 UTC (rev 23541)
@@ -0,0 +1,28 @@
+<html>
+<head>
+<?cs include:"includes.cs" ?>
+<script type="text/javascript" src="jslib/map_viewer.js"></script>
+</head>
+
+<body onload="ros_handleOnLoad('/ros')">
+<?cs include:"header.cs" ?>
+<h3>Navigation</h3>
+
+<table align=right>
+<td>
+<input class=app_button type=button value="" objtype="LaunchButtonWidget2" topic="/app_update" taskid="<?cs var:CGI.cur.app.taskid ?>">
+<div class=app_status objtype=TextWidget topic="/app_update" key=status selector="taskid" selectorValue="<?cs var:CGI.cur.app.taskid?>"> </div>
+</td>
+</table>
+
+<table width=80% align=center>
+<tr>
+<td>
+<div style="position:absolute;overflow:hidden;width:80%;height:600;border:red 2px solid" objtype=MapViewer topic="/move_base/TrajectoryPlannerROS/robot_footprint,/move_base/NavfnROS/plan"></div><br>
+</td>
+</table>
+
+<div id=ErrorDiv></div>
+
+</body>
+</html>
Property changes on: pkg/trunk/sandbox/web/navigation_application/templates/index.cs
___________________________________________________________________
Added: svn:executable
+ *
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