sl-webui
fe979fdd1f
Adds standalone vanilla JS/HTML/CSS panel for live CAN sensor monitoring:
- can_monitor_panel.html: 5-card dashboard grid with VESC L/R, Balance,
IMU Attitude (span-2), and Barometer cards
- can_monitor_panel.css: dark-theme styles matching existing panel suite;
bidirectional bars, live-dot flash, stat-grid, responsive layout
- can_monitor_panel.js: rosbridge subscriptions to
/vesc/left/state + /vesc/right/state (RPM bidir bar, current gauge,
voltage/duty/temp stats, fault badge, stale detection)
/saltybot/imu (quaternion→Euler, angular vel, lin accel, cal badge
from orientation_covariance[0], canvas artificial horizon + compass)
/saltybot/balance_state (state badge, motor_cmd bidir bar, PID grid)
/saltybot/barometer (altitude, pressure, temp)
Auto-connect from localStorage, 1 Hz stale checker, msg rate display
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
424 lines
17 KiB
JavaScript
424 lines
17 KiB
JavaScript
/**
|
|
* 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);
|
|
}
|
|
})();
|