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[Personalrobots-commit] SF.net SVN: personalrobots:[23862] pkg/trunk/sandbox/web/ navigation_application/src/navigation_application
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From: <rob...@us...> - 2009-09-04 20:22:52
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Revision: 23862
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23862&view=rev
Author: rob_wheeler
Date: 2009-09-04 20:22:44 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
Add functionality to the map toolbar buttons.
Modified Paths:
--------------
pkg/trunk/sandbox/web/navigation_application/src/navigation_application/jslib/map_viewer.js
Added Paths:
-----------
pkg/trunk/sandbox/web/navigation_application/src/navigation_application/images/pose_disable.png
pkg/trunk/sandbox/web/navigation_application/src/navigation_application/images/pose_enable.png
Added: pkg/trunk/sandbox/web/navigation_application/src/navigation_application/images/pose_disable.png
===================================================================
(Binary files differ)
Property changes on: pkg/trunk/sandbox/web/navigation_application/src/navigation_application/images/pose_disable.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: pkg/trunk/sandbox/web/navigation_application/src/navigation_application/images/pose_enable.png
===================================================================
(Binary files differ)
Property changes on: pkg/trunk/sandbox/web/navigation_application/src/navigation_application/images/pose_enable.png
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Modified: pkg/trunk/sandbox/web/navigation_application/src/navigation_application/jslib/map_viewer.js
===================================================================
--- pkg/trunk/sandbox/web/navigation_application/src/navigation_application/jslib/map_viewer.js 2009-09-04 20:19:06 UTC (rev 23861)
+++ pkg/trunk/sandbox/web/navigation_application/src/navigation_application/jslib/map_viewer.js 2009-09-04 20:22:44 UTC (rev 23862)
@@ -41,7 +41,6 @@
},
});
-
var MapViewer = Class.create({
initialize: function(domobj) {
this.viewer = domobj;
@@ -60,9 +59,32 @@
],
addButton: function(b) {
- this.buttonbar.insert('<img title="'+b.desc+'" style="margin:1;border:1px solid" src="' + window.location.pathname + '/images/'+b.name+'_disable.png"><br>');
+ this.buttonbar.insert('<img id="' + b.name + '_button" title="'+b.desc+'" style="margin:1;border:1px solid" src="' + window.location.pathname + '/images/'+b.name+'_disable.png"><br>');
+ $(b.name + '_button').observe('click', this.handleClick.bind(this));
+ $(b.name + '_button').observe('mousedown', function(e) {e.stop()});
},
+ mode : {'PAN' : 0, 'GOAL' : 1, 'POSE': 2},
+
+ handleClick : function(e) {
+ var button = e.element();
+ if (button.id == "zoomin_button") {
+ this.zoom(-0.25, this.dim.width/2, this.dim.height/2);
+ } else if (button.id == "zoomout_button") {
+ this.zoom(0.25, this.dim.width/2, this.dim.height/2);
+ } else if (button.id == "pan_button") {
+ this.currentMode = this.mode.PAN;
+ button.src = window.location.pathname + '/images/pan_enable.png'
+ } else if (button.id == "goal_button") {
+ this.currentMode = this.mode.GOAL;
+ } else if (button.id == "pose_button") {
+ this.currentMode = this.mode.POSE;
+ } else if (button.id == "pin_button") {
+ this.follow = !this.follow;
+ }
+ return false;
+ },
+
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'});
@@ -102,10 +124,10 @@
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.panning = false;
- this.settingGoal = false;
- this.settingPose = false;
+ this.currentMode = this.mode.PAN;
+ this.follow = false;
+
this.robot_img = new Image();
this.robot_img.src = window.location.pathname + '/images/pr2_small.png';
},
@@ -120,29 +142,22 @@
},
handleMouseDown : function(e) {
- this.mark = [Event.pointerX(e), Event.pointerY(e)];
if (Event.isLeftClick(e)) {
- this.panning = true;
- } else if (Event.isMiddleClick(e)) {
- if (e.ctrlKey)
- this.settingPose = true;
- else
- this.settingGoal = true;
+ this.mark = [Event.pointerX(e), Event.pointerY(e)];
}
},
handleMouseUp : function(e) {
if (Event.isLeftClick(e)) {
- this.panning = false;
- } else if (Event.isMiddleClick(e)) {
- if (this.settingGoal || this.settingPose) {
+ if (this.currentMode == this.mode.GOAL ||
+ this.currentMode == this.mode.POSE) {
var dx = Event.pointerX(e) - this.mark[0];
var dy = Event.pointerY(e) - this.mark[1];
var angle = Math.atan2(-dy, dx);
var off = this.viewer.cumulativeOffset();
var pos = this.pixelToMap([this.mark[0]-off.left, this.mark[1]-off.top]);
var url = 'http://' + window.location.hostname + ':8080';
- url += this.settingGoal ? '/map/set_goal' : '/map/set_pose';
+ url += this.currentMode == this.mode.GOAL ? '/map/set_goal' : '/map/set_pose';
url += '?x=' + pos.x;
url += '&y=' + pos.y;
url += '&angle=' + angle;
@@ -152,23 +167,27 @@
delete this.robot_est;
delete this.plan;
}
+ delete this.mark;
}
},
handleMouseMove : function(e) {
- if (this.panning) {
- 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]);
- } else if (this.settingGoal || this.settingPose) {
- var off = this.viewer.cumulativeOffset();
- var pos = this.pixelToMap([this.mark[0]-off.left, this.mark[1]-off.top]);
- var dx = Event.pointerX(e) - this.mark[0];
- var dy = Event.pointerY(e) - this.mark[1];
- var angle = Math.atan2(dy, dx);
- this.robot_est = {'x': pos.x, 'y': pos.y, 'angle': angle};
- this.updateCanvas();
+ if (this.mark) {
+ if (this.currentMode == this.mode.PAN) {
+ 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]);
+ } else if (this.currentMode == this.mode.GOAL ||
+ this.currentMode == this.mode.POSE) {
+ var off = this.viewer.cumulativeOffset();
+ var pos = this.pixelToMap([this.mark[0]-off.left, this.mark[1]-off.top]);
+ var dx = Event.pointerX(e) - this.mark[0];
+ var dy = Event.pointerY(e) - this.mark[1];
+ var angle = Math.atan2(dy, dx);
+ this.robot_est = {'x': pos.x, 'y': pos.y, 'angle': angle};
+ this.updateCanvas();
+ }
}
},
@@ -341,7 +360,8 @@
var coords = this.mapToPixel(msg.pose.position);
coords[0] -= this.panner.left;
coords[1] -= this.panner.top;
- //this.panMap(this.dim.width/2-coords[0], this.dim.height/2-coords[1], false);
+ if (this.follow)
+ this.panMap(this.dim.width/2-coords[0], this.dim.height/2-coords[1], false);
this.robot = {'x': msg.pose.position.x,
'y': msg.pose.position.y,
'angle': angle};
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