sl-webui
6d047ca50c
Subscribes to saltybot/phone/gps (JSON: {ts, lat, lon, alt_m,
accuracy_m, speed_ms, bearing_deg, provider}) and renders a blue
Leaflet marker + blue breadcrumb trail alongside the robot's
orange/cyan marker. Status bar now shows PHONE badge with stale
detection. Sidebar adds phone lat/lon/speed/accuracy/provider section.
Clear button resets both trails.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
431 lines
16 KiB
JavaScript
431 lines
16 KiB
JavaScript
/**
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* gps_map_panel.js — Robot GPS Live Map (Issue #709 companion)
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*
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* Subscribes via rosbridge to:
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* saltybot/gps/fix std_msgs/String JSON — {lat, lon, alt, stat, t}
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* saltybot/gps/vel std_msgs/String JSON — {spd, hdg, t}
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* saltybot/phone/gps std_msgs/String JSON — {ts, lat, lon, alt_m, accuracy_m, speed_ms, bearing_deg, provider}
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*
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* Renders a Leaflet map with:
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* - Live robot position marker (cyan/orange) with heading arrow
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* - Live phone/user position marker (blue) with bearing arrow
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* - Orange robot trail + blue phone trail (up to MAX_TRAIL points each)
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* - Sidebar: speed, altitude, heading compass, fix status, coordinates, phone position
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* - FOLLOW mode (auto-pan) toggled by button or manual drag
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* - Stale detection at 5 s
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*/
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'use strict';
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// ── Constants ─────────────────────────────────────────────────────────────────
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const MAX_TRAIL = 2000;
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const MAX_LOG = 80;
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const STALE_MS = 5000;
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const RECONNECT_BASE = 2000;
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const RECONNECT_MAX = 30000;
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const RECONNECT_MUL = 1.5;
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// ── State ─────────────────────────────────────────────────────────────────────
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let ros = null;
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const gps = {
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lat: null, lon: null, alt: null, stat: null,
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spd: null, hdg: null,
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fixes: 0, msgs: 0,
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tsfix: 0, tsvel: 0,
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};
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const phone = {
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lat: null, lon: null, alt: null,
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spd: null, bearing: null,
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accuracy: null, provider: null,
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msgs: 0, ts: 0,
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};
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let trail = []; // [{lat, lon}]
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let phoneTrail = []; // [{lat, lon}]
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let logEntries = [];
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let followMode = true;
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let reconnDelay = RECONNECT_BASE;
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let reconnTimer = null;
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let reconnTick = null;
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// ── DOM ───────────────────────────────────────────────────────────────────────
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const $ = id => document.getElementById(id);
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// ── Leaflet map ───────────────────────────────────────────────────────────────
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const map = L.map('map', { center: [43.45, -79.76], zoom: 15, zoomControl: true });
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L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
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attribution: '© OpenStreetMap contributors',
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maxZoom: 19,
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}).addTo(map);
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// Heading-aware SVG marker icon (rotated via CSS transform on the div)
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function makeIcon(hdg) {
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const rot = (hdg != null && hdg >= 0) ? hdg : 0;
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return L.divIcon({
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className: '',
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html: `<svg width="28" height="36" viewBox="0 0 28 36" xmlns="http://www.w3.org/2000/svg"
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style="transform:rotate(${rot}deg);transform-origin:14px 20px">
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<!-- body circle -->
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<circle cx="14" cy="20" r="10" fill="#06b6d4" fill-opacity=".3" stroke="#06b6d4" stroke-width="2"/>
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<circle cx="14" cy="20" r="4" fill="#06b6d4"/>
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<!-- heading arrow (points up = north when hdg=0) -->
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<polygon points="14,2 10,14 18,14" fill="#f97316" opacity=".9"/>
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</svg>`,
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iconSize: [28, 36],
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iconAnchor: [14, 20],
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});
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}
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// Robot marker (cyan body, orange heading arrow)
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let marker = null;
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let polyline = L.polyline([], {
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color: '#f97316', weight: 2.5, opacity: .8, lineJoin: 'round',
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}).addTo(map);
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// Phone/user marker (blue body, blue bearing arrow)
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function makePhoneIcon(bearing) {
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const rot = (bearing != null && bearing >= 0) ? bearing : 0;
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return L.divIcon({
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className: '',
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html: `<svg width="24" height="32" viewBox="0 0 24 32" xmlns="http://www.w3.org/2000/svg"
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style="transform:rotate(${rot}deg);transform-origin:12px 17px">
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<!-- body circle -->
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<circle cx="12" cy="17" r="8" fill="#3b82f6" fill-opacity=".35" stroke="#3b82f6" stroke-width="2"/>
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<circle cx="12" cy="17" r="3.5" fill="#3b82f6"/>
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<!-- bearing arrow (points up = north when bearing=0) -->
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<polygon points="12,2 9,12 15,12" fill="#60a5fa" opacity=".9"/>
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</svg>`,
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iconSize: [24, 32],
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iconAnchor: [12, 17],
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});
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}
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let phoneMarker = null;
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let phonePolyline = L.polyline([], {
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color: '#3b82f6', weight: 2, opacity: .7, lineJoin: 'round',
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}).addTo(map);
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// ── Canvas compass ────────────────────────────────────────────────────────────
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function drawCompass(hdg) {
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const canvas = $('compass-canvas');
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const ctx = canvas.getContext('2d');
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const W = canvas.width, H = canvas.height, cx = W / 2, cy = H / 2;
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const r = cx - 4;
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ctx.clearRect(0, 0, W, H);
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ctx.beginPath(); ctx.arc(cx, cy, r, 0, Math.PI * 2);
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ctx.fillStyle = '#070712'; ctx.fill();
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ctx.strokeStyle = '#1e3a5f'; ctx.lineWidth = 1.5; ctx.stroke();
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const cards = ['N', 'E', 'S', 'W'];
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ctx.font = 'bold 8px monospace'; ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
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cards.forEach((c, i) => {
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const a = i * Math.PI / 2;
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const lx = cx + Math.sin(a) * (r - 9);
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const ly = cy - Math.cos(a) * (r - 9);
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ctx.fillStyle = c === 'N' ? '#ef4444' : '#4b5563';
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ctx.fillText(c, lx, ly);
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});
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if (hdg == null || hdg < 0) {
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ctx.fillStyle = '#374151'; ctx.font = '9px monospace';
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ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
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ctx.fillText('—', cx, cy);
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return;
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}
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const rad = (hdg - 90) * Math.PI / 180;
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const tipLen = r - 14;
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const tailLen = 9;
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ctx.save(); ctx.translate(cx, cy);
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ctx.beginPath();
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ctx.moveTo(Math.cos(rad) * tipLen, Math.sin(rad) * tipLen);
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ctx.lineTo(Math.cos(rad + Math.PI) * tailLen, Math.sin(rad + Math.PI) * tailLen);
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ctx.strokeStyle = '#f97316'; ctx.lineWidth = 2.5; ctx.lineCap = 'round'; ctx.stroke();
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ctx.beginPath(); ctx.arc(0, 0, 3, 0, Math.PI * 2);
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ctx.fillStyle = '#9ca3af'; ctx.fill();
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ctx.restore();
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}
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// ── Render ────────────────────────────────────────────────────────────────────
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function setSysBadge(id, level, text) {
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const el = $(id); if (!el) return;
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el.className = `sys-badge badge-${level}`;
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if (text !== undefined) el.textContent = text;
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}
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function render() {
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const now = Date.now();
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// Stale badges
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const fixStale = now - gps.tsfix > STALE_MS;
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const velStale = now - gps.tsvel > STALE_MS;
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const phoneStale = now - phone.ts > STALE_MS;
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setSysBadge('badge-fix', fixStale ? 'stale' : 'ok', fixStale ? 'STALE' : 'LIVE');
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setSysBadge('badge-vel', velStale ? 'stale' : 'ok', velStale ? 'STALE' : 'LIVE');
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setSysBadge('badge-phone', phone.ts === 0 ? 'stale' : phoneStale ? 'stale' : 'ok',
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phone.ts === 0 ? 'NO DATA' : phoneStale ? 'STALE' : 'LIVE');
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// Speed
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const spdKmh = gps.spd != null ? gps.spd : null;
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const spdTxt = spdKmh != null ? spdKmh.toFixed(1) : '—';
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const spdColor = spdKmh == null ? '#6b7280'
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: spdKmh < 2 ? '#22c55e'
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: spdKmh < 30 ? '#f97316'
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: '#ef4444';
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$('val-speed').textContent = spdTxt;
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$('val-speed').style.color = spdColor;
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// Altitude
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$('val-alt').textContent = gps.alt != null ? gps.alt.toFixed(1) : '—';
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// Heading
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const hdg = gps.hdg != null && gps.hdg >= 0 ? Math.round(gps.hdg) : null;
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$('val-hdg').textContent = hdg != null ? hdg + '°' : '—';
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drawCompass(gps.hdg);
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// Fix status
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const statMap = { 0: 'NO FIX', 1: 'GPS', 2: 'DGPS', 3: 'PPS', 4: 'RTK', 5: 'RTK-F', 6: 'EST' };
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$('val-stat').textContent = gps.stat != null ? (statMap[gps.stat] || gps.stat) : '—';
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$('val-stat').style.color = gps.stat ? '#22c55e' : '#ef4444';
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$('val-fixes').textContent = gps.fixes;
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$('bb-fixes').textContent = gps.fixes;
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$('bb-msgs').textContent = gps.msgs;
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$('bb-trail').textContent = trail.length;
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// Coordinates
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$('val-lat').textContent = gps.lat != null ? gps.lat.toFixed(6) : '—';
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$('val-lon').textContent = gps.lon != null ? gps.lon.toFixed(6) : '—';
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// Phone position
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$('phone-lat').textContent = phone.lat != null ? phone.lat.toFixed(6) : '—';
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$('phone-lon').textContent = phone.lon != null ? phone.lon.toFixed(6) : '—';
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const phoneSpdMs = phone.spd;
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$('phone-spd').textContent = phoneSpdMs != null ? (phoneSpdMs * 3.6).toFixed(1) + ' km/h' : '—';
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$('phone-acc').textContent = phone.accuracy != null ? phone.accuracy.toFixed(1) + ' m' : '—';
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$('phone-provider').textContent = phone.provider || '—';
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$('bb-phone').textContent = phone.msgs;
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}
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function updateMap(lat, lon, hdg) {
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const icon = makeIcon(hdg);
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if (!marker) {
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marker = L.marker([lat, lon], { icon }).addTo(map);
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if (followMode) map.setView([lat, lon], 16);
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} else {
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marker.setIcon(icon);
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marker.setLatLng([lat, lon]);
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if (followMode) map.panTo([lat, lon]);
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}
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trail.push({ lat, lon });
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if (trail.length > MAX_TRAIL) trail.shift();
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polyline.setLatLngs(trail.map(p => [p.lat, p.lon]));
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}
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function updatePhoneMap(lat, lon, bearing) {
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const icon = makePhoneIcon(bearing);
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if (!phoneMarker) {
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phoneMarker = L.marker([lat, lon], { icon }).addTo(map);
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} else {
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phoneMarker.setIcon(icon);
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phoneMarker.setLatLng([lat, lon]);
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}
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phoneTrail.push({ lat, lon });
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if (phoneTrail.length > MAX_TRAIL) phoneTrail.shift();
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phonePolyline.setLatLngs(phoneTrail.map(p => [p.lat, p.lon]));
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}
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function addLog(lat, lon, spd, t) {
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const time = new Date((t || Date.now() / 1000) * 1000)
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.toLocaleTimeString('en-US', { hour12: false });
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const spdTxt = spd != null ? spd.toFixed(1) + ' km/h' : '?';
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logEntries.unshift({ time, lat, lon, spdTxt });
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if (logEntries.length > MAX_LOG) logEntries.pop();
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$('trail-log').innerHTML = logEntries.map(e =>
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`<div class="trail-entry">${e.time} <span class="te-coord">${e.lat.toFixed(5)},${e.lon.toFixed(5)}</span> <span class="te-spd">${e.spdTxt}</span></div>`
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).join('');
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}
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// ── ROS / auto-reconnect ──────────────────────────────────────────────────────
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function cancelReconn() {
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if (reconnTimer) { clearTimeout(reconnTimer); reconnTimer = null; }
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if (reconnTick) { clearInterval(reconnTick); reconnTick = null; }
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}
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function scheduleReconn(url) {
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cancelReconn();
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let secs = Math.round(reconnDelay / 1000);
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$('conn-label').textContent = `Retry in ${secs}s…`;
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reconnTick = setInterval(() => {
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secs = Math.max(0, secs - 1);
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if (secs > 0) $('conn-label').textContent = `Retry in ${secs}s…`;
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}, 1000);
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reconnTimer = setTimeout(() => { reconnTimer = null; connect(url, true); }, reconnDelay);
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reconnDelay = Math.min(reconnDelay * RECONNECT_MUL, RECONNECT_MAX);
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}
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function connect(url, isRetry) {
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cancelReconn();
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if (!isRetry) reconnDelay = RECONNECT_BASE;
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if (ros) { try { ros.close(); } catch(_) {} }
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ros = new ROSLIB.Ros({ url });
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ros.on('connection', () => {
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reconnDelay = RECONNECT_BASE;
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cancelReconn();
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$('conn-dot').className = 'connected';
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$('conn-label').style.color = '#22c55e';
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$('conn-label').textContent = 'Connected';
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$('ws-input').value = url;
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localStorage.setItem('gps_map_ws_url', url);
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setupTopics();
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});
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ros.on('error', () => {
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$('conn-dot').className = 'error';
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$('conn-label').style.color = '#ef4444';
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$('conn-label').textContent = 'Error';
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});
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ros.on('close', () => {
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$('conn-dot').className = '';
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$('conn-label').style.color = '#6b7280';
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scheduleReconn($('ws-input').value.trim());
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});
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}
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function setupTopics() {
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// saltybot/gps/fix — {lat, lon, alt, stat, t}
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new ROSLIB.Topic({
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ros, name: 'saltybot/gps/fix',
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messageType: 'std_msgs/String', throttle_rate: 500,
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}).subscribe(msg => {
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try {
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const d = JSON.parse(msg.data);
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gps.lat = d.lat ?? gps.lat;
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gps.lon = d.lon ?? gps.lon;
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gps.alt = d.alt ?? gps.alt;
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gps.stat = d.stat ?? gps.stat;
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gps.fixes++;
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gps.msgs++;
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gps.tsfix = Date.now();
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if (gps.lat != null && gps.lon != null) {
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updateMap(gps.lat, gps.lon, gps.hdg);
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addLog(gps.lat, gps.lon, gps.spd, d.t);
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}
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$('last-update').textContent = 'Last: ' + new Date().toLocaleTimeString('en-US', { hour12: false });
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$('last-msg').textContent = 'fix @ ' + new Date().toLocaleTimeString('en-US', { hour12: false });
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render();
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} catch(_) {}
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});
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// saltybot/gps/vel — {spd, hdg, t}
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new ROSLIB.Topic({
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ros, name: 'saltybot/gps/vel',
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messageType: 'std_msgs/String', throttle_rate: 500,
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}).subscribe(msg => {
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try {
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const d = JSON.parse(msg.data);
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gps.spd = d.spd ?? gps.spd;
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gps.hdg = d.hdg ?? gps.hdg;
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gps.msgs++;
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gps.tsvel = Date.now();
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// Update marker heading if we have a position
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if (marker && gps.lat != null) {
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marker.setIcon(makeIcon(gps.hdg));
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}
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render();
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} catch(_) {}
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});
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// saltybot/phone/gps — {ts, lat, lon, alt_m, accuracy_m, speed_ms, bearing_deg, provider}
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new ROSLIB.Topic({
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ros, name: 'saltybot/phone/gps',
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messageType: 'std_msgs/String', throttle_rate: 500,
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}).subscribe(msg => {
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try {
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const d = JSON.parse(msg.data);
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phone.lat = d.lat ?? phone.lat;
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phone.lon = d.lon ?? phone.lon;
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phone.alt = d.alt_m ?? phone.alt;
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phone.accuracy = d.accuracy_m ?? phone.accuracy;
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phone.spd = d.speed_ms ?? phone.spd;
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phone.bearing = d.bearing_deg ?? phone.bearing;
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phone.provider = d.provider ?? phone.provider;
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phone.msgs++;
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phone.ts = Date.now();
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if (phone.lat != null && phone.lon != null) {
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updatePhoneMap(phone.lat, phone.lon, phone.bearing);
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}
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render();
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} catch(_) {}
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});
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}
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// ── Stale checker (1 Hz) ──────────────────────────────────────────────────────
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setInterval(render, 1000);
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// ── Controls ──────────────────────────────────────────────────────────────────
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$('btn-connect').addEventListener('click', () => connect($('ws-input').value.trim(), false));
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$('ws-input').addEventListener('keydown', e => {
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if (e.key === 'Enter') connect($('ws-input').value.trim(), false);
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});
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$('btn-follow').addEventListener('click', () => {
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followMode = !followMode;
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$('btn-follow').classList.toggle('active', followMode);
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$('btn-follow').textContent = followMode ? '⊙ FOLLOW' : '⊙ FREE';
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if (followMode && gps.lat != null) map.panTo([gps.lat, gps.lon]);
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});
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$('btn-clear').addEventListener('click', () => {
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trail = []; phoneTrail = []; logEntries = []; gps.fixes = 0;
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if (marker) { marker.remove(); marker = null; }
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if (phoneMarker) { phoneMarker.remove(); phoneMarker = null; }
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polyline.setLatLngs([]);
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phonePolyline.setLatLngs([]);
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$('trail-log').innerHTML = '';
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render();
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});
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map.on('dragstart', () => {
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if (followMode) {
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followMode = false;
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$('btn-follow').classList.remove('active');
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$('btn-follow').textContent = '⊙ FREE';
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}
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});
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// ── Init ──────────────────────────────────────────────────────────────────────
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(function init() {
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const saved = localStorage.getItem('gps_map_ws_url') || 'ws://localhost:9090';
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$('ws-input').value = saved;
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drawCompass(null);
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connect(saved, false);
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})();
|