diff --git a/ui/can_monitor_panel.css b/ui/can_monitor_panel.css new file mode 100644 index 0000000..f431dee --- /dev/null +++ b/ui/can_monitor_panel.css @@ -0,0 +1,193 @@ +/* can_monitor_panel.css — CAN Sensor Remote Monitor (Issue #681) */ + +*, *::before, *::after { box-sizing: border-box; margin: 0; padding: 0; } + +:root { + --bg0: #050510; + --bg1: #070712; + --bg2: #0a0a1a; + --border: #0c2a3a; + --border2: #1e3a5f; + --text-dim: #374151; + --text-mid: #6b7280; + --text-base: #9ca3af; + --text-hi: #d1d5db; + --cyan: #06b6d4; + --cyan-dim: #0e4f69; + --green: #22c55e; + --amber: #f59e0b; + --red: #ef4444; + --orange: #f97316; +} + +body { + font-family: 'Courier New', Courier, monospace; + font-size: 12px; + background: var(--bg0); + color: var(--text-base); + min-height: 100dvh; + display: flex; + flex-direction: column; +} + +/* ── Header ── */ +#header { + display: flex; + align-items: center; + justify-content: space-between; + padding: 6px 16px; + background: var(--bg1); + border-bottom: 1px solid var(--border); + flex-shrink: 0; + flex-wrap: wrap; + gap: 8px; +} +.logo { color: #f97316; font-weight: bold; letter-spacing: 0.15em; font-size: 13px; } +.logo a { color: inherit; text-decoration: none; } +.logo a:hover { text-decoration: underline; } + +#conn-bar { display: flex; align-items: center; gap: 6px; } +#conn-dot { + width: 8px; height: 8px; border-radius: 50%; + background: var(--text-dim); flex-shrink: 0; transition: background 0.3s; +} +#conn-dot.connected { background: var(--green); } +#conn-dot.error { background: var(--red); animation: blink 1s infinite; } + +@keyframes blink { 0%,100% { opacity:1; } 50% { opacity:0.4; } } + +#ws-input { + background: var(--bg2); border: 1px solid var(--border2); border-radius: 4px; + color: #67e8f9; padding: 2px 8px; font-family: monospace; font-size: 11px; width: 200px; +} +#ws-input:focus { outline: none; border-color: var(--cyan); } + +.hdr-btn { + padding: 3px 10px; border-radius: 4px; border: 1px solid var(--border2); + background: var(--bg2); color: #67e8f9; font-family: monospace; + font-size: 10px; font-weight: bold; cursor: pointer; transition: background 0.15s; +} +.hdr-btn:hover { background: var(--cyan-dim); } + +#hz-display { font-size: 10px; color: var(--text-mid); } + +/* ── Status bar ── */ +#status-bar { + display: flex; gap: 8px; align-items: center; + padding: 4px 16px; background: var(--bg1); + border-bottom: 1px solid var(--border); font-size: 10px; flex-wrap: wrap; +} +.sys-badge { + padding: 2px 8px; border-radius: 3px; font-weight: bold; + border: 1px solid; letter-spacing: 0.05em; +} +.badge { padding: 2px 7px; border-radius: 3px; font-weight: bold; border: 1px solid; font-size: 10px; } +.badge-ok { background: #052e16; border-color: #166534; color: #4ade80; } +.badge-warn { background: #451a03; border-color: #92400e; color: #fcd34d; } +.badge-error { background: #450a0a; border-color: #991b1b; color: #f87171; animation: blink 1s infinite; } +.badge-stale { background: #111827; border-color: #374151; color: #6b7280; } +#last-update { color: var(--text-mid); margin-left: auto; font-size: 10px; } + +/* ── Dashboard grid ── */ +#dashboard { + flex: 1; + display: grid; + grid-template-columns: repeat(3, 1fr); + gap: 12px; + padding: 12px; + align-content: start; + overflow-y: auto; +} + +@media (max-width: 1024px) { #dashboard { grid-template-columns: repeat(2, 1fr); } } +@media (max-width: 640px) { #dashboard { grid-template-columns: 1fr; } } + +.span2 { grid-column: span 2; } +.span3 { grid-column: 1 / -1; } + +/* ── Card ── */ +.card { + background: var(--bg1); + border: 1px solid var(--border); + border-radius: 8px; + padding: 10px 12px; + display: flex; + flex-direction: column; + gap: 8px; +} +.card.border-error { border-color: #991b1b; } + +.card-title { + font-size: 9px; font-weight: bold; letter-spacing: 0.15em; + color: #0891b2; text-transform: uppercase; + display: flex; align-items: center; justify-content: space-between; gap: 6px; +} + +/* ── Big numerics ── */ +.big-row { display: flex; gap: 16px; align-items: flex-end; flex-wrap: wrap; } +.big-metric { display: flex; flex-direction: column; } +.big-label { font-size: 9px; color: var(--text-mid); margin-bottom: 1px; } +.big-num { font-size: 28px; font-weight: bold; font-family: monospace; line-height: 1; } +.big-unit { font-size: 11px; color: var(--text-mid); } + +/* ── Gauge bar (unidirectional) ── */ +.gauge-row { display: flex; flex-direction: column; gap: 3px; } +.gauge-label-row { display: flex; justify-content: space-between; font-size: 10px; } +.gauge-label { color: var(--text-mid); } +.gauge-track { + width: 100%; height: 8px; + background: var(--bg2); border-radius: 4px; + overflow: hidden; border: 1px solid var(--border2); +} +.gauge-fill { + height: 100%; border-radius: 4px; + transition: width 0.3s ease, background 0.3s ease; +} + +/* ── Bidirectional bar ── */ +.bidir-row { display: flex; flex-direction: column; gap: 3px; } +.bidir-label-row { display: flex; justify-content: space-between; font-size: 10px; } +.bidir-track { + width: 100%; height: 8px; position: relative; + background: var(--bg2); border-radius: 4px; + border: 1px solid var(--border2); overflow: hidden; +} +.bidir-track::after { + content: ''; position: absolute; + left: 50%; top: 0; width: 1px; height: 100%; + background: var(--border2); +} +.bidir-fill { + position: absolute; top: 0; height: 100%; + transition: left 0.3s ease, width 0.3s ease, background 0.3s ease; + border-radius: 2px; +} + +/* ── Stat grid ── */ +.stat-grid { + display: grid; grid-template-columns: repeat(4, 1fr); gap: 4px; +} +.stat-cell { + background: var(--bg2); border: 1px solid var(--border); + border-radius: 5px; padding: 5px 6px; text-align: center; +} +.stat-lbl { font-size: 8px; color: var(--text-mid); margin-bottom: 2px; } +.stat-val { font-size: 13px; font-weight: bold; font-family: monospace; } + +.stat-grid-3 { display: grid; grid-template-columns: repeat(3, 1fr); gap: 4px; } + +/* ── Live dot ── */ +.ts-row { display: flex; align-items: center; gap: 6px; font-size: 10px; color: var(--text-mid); margin-top: 2px; } +.live-dot { + width: 6px; height: 6px; border-radius: 50%; + background: var(--text-dim); flex-shrink: 0; transition: background 0.2s; +} +.live-dot.active { background: var(--cyan); } + +/* ── Canvas ── */ +canvas { + display: block; + border-radius: 5px; + border: 1px solid var(--border2); + background: var(--bg0); +} diff --git a/ui/can_monitor_panel.html b/ui/can_monitor_panel.html new file mode 100644 index 0000000..c12fcfc --- /dev/null +++ b/ui/can_monitor_panel.html @@ -0,0 +1,303 @@ + + + + + +Saltybot — CAN Monitor + + + + + + + + + +
+ VESC L + STALE + │ + VESC R + STALE + │ + IMU + STALE + │ + BALANCE + STALE + │ + BARO + STALE + Awaiting data… +
+ + +
+ + +
+
+ VESC LEFT — /vesc/left/state + STALE +
+ +
+
+
RPM
+
—
+
+
+
VOLTAGE
+
— V
+
+
+ +
+
+ RPM + — +
+
+
+ +
+
+ CURRENT + — +
+
+
+ +
+
+
IN CURR
+
—
+
+
+
DUTY
+
—
+
+
+
FET °C
+
—
+
+
+
MTR °C
+
—
+
+
+ +
+
+ — +
+
+ + +
+
+ VESC RIGHT — /vesc/right/state + STALE +
+ +
+
+
RPM
+
—
+
+
+
VOLTAGE
+
— V
+
+
+ +
+
+ RPM + — +
+
+
+ +
+
+ CURRENT + — +
+
+
+ +
+
+
IN CURR
+
—
+
+
+
DUTY
+
—
+
+
+
FET °C
+
—
+
+
+
MTR °C
+
—
+
+
+ +
+
+ — +
+
+ + +
+
+ BALANCE STATE — /saltybot/balance_state + — +
+ +
+
+ MOTOR CMD + — +
+
+
+ +
+
+
PID ERR
+
—
+
+
+
INTEGRAL
+
—
+
+
+
PITCH
+
—
+
+
+
FRAMES
+
—
+
+
+ +
+
+ — +
+
+ + +
+
+ IMU ATTITUDE — /saltybot/imu + CAL: ? +
+ +
+
+
+
+
PITCH °
+
—
+
+
+
ROLL °
+
—
+
+
+
YAW °
+
—
+
+
+
+
+
ωP °/s
+
—
+
+
+
ωR °/s
+
—
+
+
+
ωY °/s
+
—
+
+
+
+
+
aX m/s²
+
—
+
+
+
aY m/s²
+
—
+
+
+
aZ m/s²
+
—
+
+
+
+ +
+ + +
+
+ +
+
+ — +
+
+ + +
+
BAROMETER — /saltybot/barometer
+ +
+
+
ALTITUDE
+
— m
+
+
+ +
+
+
PRESSURE Pa
+
—
+
+
+
TEMP °C
+
—
+
+
+ +
+
+ — +
+
+ +
+ + + + diff --git a/ui/can_monitor_panel.js b/ui/can_monitor_panel.js new file mode 100644 index 0000000..54b2f30 --- /dev/null +++ b/ui/can_monitor_panel.js @@ -0,0 +1,423 @@ +/** + * can_monitor_panel.js — CAN Sensor Remote Monitor (Issue #681) + * + * Subscribes (via rosbridge WebSocket) to: + * /saltybot/imu sensor_msgs/Imu — quaternion, ang-vel, lin-accel, cov + * /saltybot/balance_state std_msgs/String (JSON) — state, motor_cmd, pid_error_deg, pitch + * /saltybot/barometer std_msgs/String (JSON) — pressure_pa, temp_c, altitude_m + * /vesc/left/state std_msgs/String (JSON) — rpm, current_a, temp_fet_c, voltage_v … + * /vesc/right/state std_msgs/String (JSON) — same + * + * Each topic drives a card with update indicator (flashing dot). + * Stale detection at 3 s; badges flip to STALE automatically. + */ + +'use strict'; + +// ── Constants ───────────────────────────────────────────────────────────────── + +const RPM_MAX = 6000; +const CURRENT_MAX_A = 60.0; +const CMD_MAX = 1000; +const STALE_MS = 3000; +const TEMP_FET_WARN = 70; +const TEMP_MOTOR_WARN = 80; + +// ── State ───────────────────────────────────────────────────────────────────── + +let ros = null; + +const state = { + vescL: null, + vescR: null, + imu: null, // { pitch, roll, yaw, wp, wr, wy, ax, ay, az, cov0 } + bal: null, // parsed JSON from /saltybot/balance_state + baro: null, // { pressure_pa, temp_c, altitude_m } + ts: { vescL: 0, vescR: 0, imu: 0, balance: 0, baro: 0 }, + msgCount: 0, + rateLast: performance.now(), +}; + +// ── DOM helpers ─────────────────────────────────────────────────────────────── + +const $ = id => document.getElementById(id); + +function setText(id, text, color) { + const el = $(id); + if (!el) return; + el.textContent = text; + if (color !== undefined) el.style.color = color; +} + +function setBadge(id, level, text) { + const el = $(id); + if (!el) return; + el.className = `badge badge-${level}`; + if (text !== undefined) el.textContent = text; +} + +function setSysBadge(id, level, text) { + const el = $(id); + if (!el) return; + el.className = `sys-badge badge-${level}`; + if (text !== undefined) el.textContent = text; +} + +function setGauge(barId, norm, color) { + const el = $(barId); + if (!el) return; + el.style.width = `${Math.max(0, Math.min(1, norm)) * 100}%`; + if (color) el.style.background = color; +} + +function setBidir(barId, value, max, colorPos, colorNeg) { + const el = $(barId); + if (!el) return; + const norm = Math.max(-1, Math.min(1, value / max)); + const pct = Math.abs(norm) * 50; + if (norm >= 0) { + el.style.left = '50%'; + el.style.width = pct + '%'; + el.style.background = colorPos || '#f97316'; + } else { + el.style.left = (50 - pct) + '%'; + el.style.width = pct + '%'; + el.style.background = colorNeg || '#3b82f6'; + } +} + +function flashDot(id) { + const el = $(id); + if (!el) return; + el.classList.add('active'); + setTimeout(() => el.classList.remove('active'), 350); +} + +function fmtTs(ts) { + return new Date(ts).toLocaleTimeString('en-US', { + hour12: false, hour: '2-digit', minute: '2-digit', second: '2-digit', + }); +} + +function fmt1(v) { return v == null ? '—' : Number(v).toFixed(1); } +function fmt0(v) { return v == null ? '—' : Math.round(Number(v)).toString(); } + +// ── Stale checker (runs 1 Hz) ───────────────────────────────────────────────── + +function checkStale() { + const now = Date.now(); + const s = state.ts; + [ + ['badge-vesc-l', s.vescL, 'ALIVE', 'STALE'], + ['badge-vesc-r', s.vescR, 'ALIVE', 'STALE'], + ['badge-imu', s.imu, 'LIVE', 'STALE'], + ['badge-balance',s.balance, 'LIVE', 'STALE'], + ['badge-baro', s.baro, 'LIVE', 'STALE'], + ].forEach(([id, ts, okText, staleText]) => { + const stale = now - ts > STALE_MS; + setSysBadge(id, stale ? 'stale' : 'ok', stale ? staleText : okText); + }); +} + +setInterval(() => { + const now = performance.now(); + const dt = (now - state.rateLast) / 1000; + $('hz-display').textContent = dt > 0 ? (state.msgCount / dt).toFixed(1) + ' msg/s' : '—'; + state.msgCount = 0; + state.rateLast = now; + checkStale(); +}, 1000); + +// ── VESC render ─────────────────────────────────────────────────────────────── + +function renderVesc(side, d) { + const p = `vesc-${side}`; + const card = $(`card-vesc-${side}`); + + if (!d) { setText(`${p}-rpm`, '—'); setText(`${p}-voltage`, '—'); setBadge(`${p}-fault-badge`, 'stale', 'STALE'); return; } + + // Fault / alive badge + let lvl = 'ok', txt = 'OK'; + if (!d.alive) { lvl = 'error'; txt = 'OFFLINE'; } + else if (d.fault_code) { lvl = 'error'; txt = d.fault_name || `FAULT ${d.fault_code}`; } + setBadge(`${p}-fault-badge`, lvl, txt); + card.className = 'card' + (lvl === 'error' ? ' border-error' : ''); + + // Big numerics + const rpmColor = d.rpm > 0 ? '#f97316' : d.rpm < 0 ? '#3b82f6' : '#6b7280'; + setText(`${p}-rpm`, fmt0(d.rpm), rpmColor); + const soc = Math.max(0, Math.min(100, ((d.voltage_v - 12.0) / (16.8 - 12.0)) * 100)); + const vColor = soc > 50 ? '#22c55e' : soc > 20 ? '#f59e0b' : '#ef4444'; + setText(`${p}-voltage`, fmt1(d.voltage_v), vColor); + + // Gauges + setText(`${p}-rpm-val`, fmt0(d.rpm) + ' rpm'); + setBidir(`${p}-rpm-bar`, d.rpm, RPM_MAX, '#f97316', '#3b82f6'); + + const currNorm = Math.abs(d.current_a) / CURRENT_MAX_A; + const currColor = currNorm > 0.85 ? '#ef4444' : currNorm > 0.6 ? '#f59e0b' : '#06b6d4'; + setText(`${p}-current-val`, fmt1(d.current_a) + ' A'); + setGauge(`${p}-current-bar`, currNorm, currColor); + + // Stat cells + setText(`${p}-current-in`, fmt1(d.current_in_a) + ' A'); + setText(`${p}-duty`, (d.duty_cycle * 100).toFixed(1) + '%'); + setText(`${p}-temp-fet`, fmt1(d.temp_fet_c) + '°C', d.temp_fet_c > TEMP_FET_WARN ? '#f59e0b' : '#9ca3af'); + setText(`${p}-temp-motor`, fmt1(d.temp_motor_c) + '°C', d.temp_motor_c > TEMP_MOTOR_WARN ? '#f59e0b' : '#9ca3af'); +} + +// ── Balance render ──────────────────────────────────────────────────────────── + +const BAL_LEVEL = { running: 'ok', startup: 'warn', tilt_warning: 'warn', tilt_kill: 'error', error: 'error' }; + +function renderBalance(d) { + if (!d) { setBadge('balance-state-badge', 'stale', '—'); return; } + const key = (d.state || '').toLowerCase(); + setBadge('balance-state-badge', BAL_LEVEL[key] || 'stale', (d.state || '—').toUpperCase()); + + const cmd = d.motor_cmd ?? 0; + setText('balance-cmd-val', cmd + ' / ±' + CMD_MAX); + setBidir('balance-cmd-bar', cmd, CMD_MAX, '#f97316', '#3b82f6'); + + const pe = d.pid_error_deg; + setText('balance-pid-error', pe != null ? fmt1(pe) + '°' : '—'); + setText('balance-integral', d.integral != null ? fmt1(d.integral) : '—'); + setText('balance-pitch', d.pitch != null ? fmt1(d.pitch) + '°' : '—'); + setText('balance-frames', d.frames != null ? String(d.frames) : '—'); +} + +// ── Barometer render ────────────────────────────────────────────────────────── + +function renderBaro(d) { + if (!d) return; + setText('baro-alt', d.altitude_m != null ? fmt1(d.altitude_m) : '—'); + setText('baro-pressure', d.pressure_pa != null ? fmt0(d.pressure_pa) : '—'); + setText('baro-temp', d.temp_c != null ? fmt1(d.temp_c) : '—'); +} + +// ── IMU render ──────────────────────────────────────────────────────────────── + +function renderImu(imu) { + if (!imu) return; + setText('imu-pitch', fmt1(imu.pitch), Math.abs(imu.pitch) > 20 ? '#f59e0b' : '#06b6d4'); + setText('imu-roll', fmt1(imu.roll), Math.abs(imu.roll) > 20 ? '#f59e0b' : '#06b6d4'); + setText('imu-yaw', fmt1((imu.yaw + 360) % 360)); + setText('imu-wp', fmt1(imu.wp)); + setText('imu-wr', fmt1(imu.wr)); + setText('imu-wy', fmt1(imu.wy)); + setText('imu-ax', fmt1(imu.ax)); + setText('imu-ay', fmt1(imu.ay)); + setText('imu-az', fmt1(imu.az)); + + // Calibration badge from orientation_covariance[0] + const c = imu.cov0; + if (c === -1 || c == null) setBadge('imu-cal-badge', 'error', 'CAL: UNKNOWN'); + else if (c < 0.0001) setBadge('imu-cal-badge', 'ok', 'CAL: GOOD'); + else if (c < 0.001) setBadge('imu-cal-badge', 'warn', 'CAL: PARTIAL'); + else setBadge('imu-cal-badge', 'error', 'CAL: POOR'); + + drawHorizon(imu.pitch, imu.roll); + drawCompass(imu.yaw); +} + +// ── 2D canvas: artificial horizon ──────────────────────────────────────────── + +function drawHorizon(pitch, roll) { + const hCanvas = $('horizon-canvas'); + if (!hCanvas) return; + const ctx = hCanvas.getContext('2d'); + const W = hCanvas.width, H = hCanvas.height; + const cx = W / 2, cy = H / 2; + const rollRad = roll * Math.PI / 180; + const pitchPx = pitch * (H / 60); + + ctx.clearRect(0, 0, W, H); + ctx.fillStyle = '#051a30'; ctx.fillRect(0, 0, W, H); + ctx.save(); + ctx.translate(cx, cy); ctx.rotate(-rollRad); + + ctx.fillStyle = '#1a0f00'; ctx.fillRect(-W, pitchPx, W * 2, H * 2); + ctx.strokeStyle = '#00ffff'; ctx.lineWidth = 1.5; + ctx.beginPath(); ctx.moveTo(-W, pitchPx); ctx.lineTo(W, pitchPx); ctx.stroke(); + + for (let d = -30; d <= 30; d += 10) { + if (d === 0) continue; + const y = pitchPx + d * (H / 60); + const lw = Math.abs(d) % 20 === 0 ? 22 : 14; + ctx.strokeStyle = 'rgba(0,210,210,0.4)'; ctx.lineWidth = 0.7; + ctx.beginPath(); ctx.moveTo(-lw, y); ctx.lineTo(lw, y); ctx.stroke(); + ctx.fillStyle = 'rgba(0,210,210,0.5)'; ctx.font = '7px monospace'; ctx.textAlign = 'left'; + ctx.fillText((-d).toString(), lw + 2, y + 3); + } + ctx.restore(); + + ctx.strokeStyle = '#f97316'; ctx.lineWidth = 1.5; + ctx.beginPath(); + ctx.moveTo(cx - 28, cy); ctx.lineTo(cx - 8, cy); + ctx.moveTo(cx + 8, cy); ctx.lineTo(cx + 28, cy); + ctx.moveTo(cx, cy - 4); ctx.lineTo(cx, cy + 4); + ctx.stroke(); +} + +function drawCompass(yaw) { + const cCanvas = $('compass-canvas'); + if (!cCanvas) return; + const ctx = cCanvas.getContext('2d'); + const W = cCanvas.width, H = cCanvas.height, cx = W / 2; + const degPerPx = W / 70; + const cardinals = { 0:'N', 45:'NE', 90:'E', 135:'SE', 180:'S', 225:'SW', 270:'W', 315:'NW' }; + + ctx.clearRect(0, 0, W, H); + ctx.fillStyle = '#050510'; ctx.fillRect(0, 0, W, H); + + for (let i = -35; i <= 35; i++) { + const deg = ((Math.round(yaw) + i) % 360 + 360) % 360; + const x = cx + i * degPerPx; + const isMaj = deg % 45 === 0, isMed = deg % 15 === 0; + if (!isMed && !isMaj) continue; + ctx.strokeStyle = isMaj ? '#00cccc' : 'rgba(0,200,200,0.3)'; + ctx.lineWidth = isMaj ? 1.5 : 0.5; + ctx.beginPath(); ctx.moveTo(x, 0); ctx.lineTo(x, isMaj ? 16 : 7); ctx.stroke(); + if (isMaj && cardinals[deg] !== undefined) { + ctx.fillStyle = deg === 0 ? '#ff4444' : '#00cccc'; + ctx.font = 'bold 9px monospace'; ctx.textAlign = 'center'; + ctx.fillText(cardinals[deg], x, 28); + } + } + const hdg = ((Math.round(yaw) % 360) + 360) % 360; + ctx.fillStyle = '#00ffff'; ctx.font = 'bold 11px monospace'; ctx.textAlign = 'center'; + ctx.fillText(hdg + '°', cx, H - 4); + ctx.strokeStyle = '#f97316'; ctx.lineWidth = 2; + ctx.beginPath(); ctx.moveTo(cx, 0); ctx.lineTo(cx, 10); ctx.stroke(); +} + +// ── ROS connection ──────────────────────────────────────────────────────────── + +function connect(url) { + if (ros) { try { ros.close(); } catch(_) {} } + ros = new ROSLIB.Ros({ url }); + + ros.on('connection', () => { + $('conn-dot').className = 'connected'; + $('conn-label').style.color = '#22c55e'; + $('conn-label').textContent = 'Connected'; + $('ws-input').value = url; + localStorage.setItem('can_monitor_ws_url', url); + setupTopics(); + }); + + ros.on('error', () => { + $('conn-dot').className = 'error'; + $('conn-label').style.color = '#ef4444'; + $('conn-label').textContent = 'Error'; + }); + + ros.on('close', () => { + $('conn-dot').className = ''; + $('conn-label').style.color = '#6b7280'; + $('conn-label').textContent = 'Disconnected'; + }); +} + +function setupTopics() { + + // /vesc/left/state + new ROSLIB.Topic({ ros, name: '/vesc/left/state', messageType: 'std_msgs/String', throttle_rate: 200 }) + .subscribe(msg => { + try { + state.vescL = JSON.parse(msg.data); + state.ts.vescL = Date.now(); state.msgCount++; + flashDot('dot-vesc-l'); + setText('ts-vesc-l', fmtTs(state.ts.vescL)); + renderVesc('l', state.vescL); + $('last-update').textContent = 'Last: ' + fmtTs(Date.now()); + } catch(_) {} + }); + + // /vesc/right/state + new ROSLIB.Topic({ ros, name: '/vesc/right/state', messageType: 'std_msgs/String', throttle_rate: 200 }) + .subscribe(msg => { + try { + state.vescR = JSON.parse(msg.data); + state.ts.vescR = Date.now(); state.msgCount++; + flashDot('dot-vesc-r'); + setText('ts-vesc-r', fmtTs(state.ts.vescR)); + renderVesc('r', state.vescR); + } catch(_) {} + }); + + // /saltybot/imu — sensor_msgs/Imu + new ROSLIB.Topic({ ros, name: '/saltybot/imu', messageType: 'sensor_msgs/Imu', throttle_rate: 100 }) + .subscribe(msg => { + state.ts.imu = Date.now(); state.msgCount++; + flashDot('dot-imu'); + setText('ts-imu', fmtTs(state.ts.imu)); + + const o = msg.orientation || {}; + const av = msg.angular_velocity || {}; + const la = msg.linear_acceleration || {}; + const cov = msg.orientation_covariance || []; + + const { x = 0, y = 0, z = 0, w = 1 } = o; + state.imu = { + pitch: Math.asin(2 * (w * y - z * x)) * 180 / Math.PI, + roll: Math.atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y)) * 180 / Math.PI, + yaw: Math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)) * 180 / Math.PI, + wp: (av.x || 0) * 180 / Math.PI, + wr: (av.y || 0) * 180 / Math.PI, + wy: (av.z || 0) * 180 / Math.PI, + ax: la.x || 0, ay: la.y || 0, az: la.z || 0, + cov0: cov.length > 0 ? cov[0] : null, + }; + renderImu(state.imu); + $('last-update').textContent = 'Last: ' + fmtTs(Date.now()); + }); + + // /saltybot/balance_state — std_msgs/String JSON + new ROSLIB.Topic({ ros, name: '/saltybot/balance_state', messageType: 'std_msgs/String', throttle_rate: 200 }) + .subscribe(msg => { + try { + state.bal = JSON.parse(msg.data); + state.ts.balance = Date.now(); state.msgCount++; + flashDot('dot-balance'); + setText('ts-balance', fmtTs(state.ts.balance)); + renderBalance(state.bal); + } catch(_) {} + }); + + // /saltybot/barometer — std_msgs/String JSON + new ROSLIB.Topic({ ros, name: '/saltybot/barometer', messageType: 'std_msgs/String', throttle_rate: 500 }) + .subscribe(msg => { + try { + const d = JSON.parse(msg.data); + state.baro = { + pressure_pa: d.pressure_pa ?? d.fluid_pressure ?? null, + temp_c: d.temp_c ?? null, + altitude_m: d.altitude_m ?? null, + }; + state.ts.baro = Date.now(); state.msgCount++; + flashDot('dot-baro'); + setText('ts-baro', fmtTs(state.ts.baro)); + renderBaro(state.baro); + } catch(_) {} + }); +} + +// ── UI wiring ───────────────────────────────────────────────────────────────── + +$('btn-connect').addEventListener('click', () => connect($('ws-input').value.trim())); +$('ws-input').addEventListener('keydown', e => { if (e.key === 'Enter') connect($('ws-input').value.trim()); }); + +// ── Auto-connect on load ────────────────────────────────────────────────────── + +(function init() { + const saved = localStorage.getItem('can_monitor_ws_url'); + const url = saved || 'ws://localhost:9090'; + $('ws-input').value = url; + drawHorizon(0, 0); + drawCompass(0); + connect(url); + if (!saved && location.hostname && location.hostname !== 'localhost') { + setTimeout(() => { if (!ros || !ros.isConnected) connect(`ws://${location.hostname}:9090`); }, 1500); + } +})();