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openuav integration
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@darknight-007
darknight-007 committed Oct 15, 2017
1 parent 7fee00c commit f6a4f8f
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124 changes: 124 additions & 0 deletions webclient/templates/webclient/console.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="https://label.ag/static/scripts/eventemitter2.min.js"></script>
<script type="text/javascript" src="https://label.ag/static/scripts//roslib.min.js"></script>

<script type="text/javascript" type="text/javascript">
// Connecting to ROS
// -----------------


websocket_url_str = 'wss://label.ag:{{port_prefix}}090';
gzweb_url_str = 'https://label.ag:{{port_prefix}}86';

var ros = new ROSLIB.Ros({
url : websocket_url_str
});

ros.on('connection', function() {
console.log('Connected to websocket server.');

});
function onLoad(){
document.getElementById('gzweb-frame').src = gzweb_url_str;
$('html, body').animate({scrollTop: 0},'slow');
}
ros.on('error', function(error) {
console.log('Error connecting to websocket server: ', error);
});

ros.on('close', function() {
console.log('Connection to websocket server closed.');
});


// Subscribing to a Topic
// ----------------------
listener = ["1" , "2", "3", "4","5", "6", "7"]
OFF = 10
SCALE = 25
for (i = 1; i < 8; i++) {
listener[i-1] = new ROSLIB.Topic({
ros : ros,
name : '/mavros' + i + '/local_position/pose',
messageType : 'geometry_msgs/PoseStamped'
});
}

var ALT_SCL=1.7
listener[0].subscribe(function(message) {
//console.log(document.getElementById(listener[0]).name);
document.getElementById("/mavros1/local_position/pose").setAttribute("cx", (OFF + message.pose.position.x)*SCALE);
document.getElementById("/mavros1/local_position/pose").setAttribute("cy", (OFF + message.pose.position.y)*SCALE);
document.getElementById("/mavros1/local_position/pose").setAttribute("r", (OFF + message.pose.position.z)/ALT_SCL);
});

listener[1].subscribe(function(message) {
//console.log(document.getElementById(listener[0]).name);
document.getElementById("/mavros2/local_position/pose").setAttribute("cx", (OFF + message.pose.position.x)*SCALE);
document.getElementById("/mavros2/local_position/pose").setAttribute("cy", (OFF + message.pose.position.y)*SCALE);
document.getElementById("/mavros2/local_position/pose").setAttribute("r", (OFF + message.pose.position.z)/ALT_SCL);
});

listener[2].subscribe(function(message) {
//console.log(document.getElementById(listener[0]).name);
document.getElementById("/mavros3/local_position/pose").setAttribute("cx", (OFF + message.pose.position.x)*SCALE);
document.getElementById("/mavros3/local_position/pose").setAttribute("cy", (OFF + message.pose.position.y)*SCALE);
document.getElementById("/mavros3/local_position/pose").setAttribute("r", (OFF + message.pose.position.z)/ALT_SCL);
});


listener[3].subscribe(function(message) {
//console.log(document.getElementById(listener[0]).name);
document.getElementById("/mavros4/local_position/pose").setAttribute("cx", (OFF + message.pose.position.x)*SCALE);
document.getElementById("/mavros4/local_position/pose").setAttribute("cy", (OFF + message.pose.position.y)*SCALE);
document.getElementById("/mavros4/local_position/pose").setAttribute("r", (OFF + message.pose.position.z)/ALT_SCL);
});


listener[4].subscribe(function(message) {
//console.log(document.getElementById(listener[0]).name);
document.getElementById("/mavros5/local_position/pose").setAttribute("cx", (OFF + message.pose.position.x)*SCALE);
document.getElementById("/mavros5/local_position/pose").setAttribute("cy", (OFF + message.pose.position.y)*SCALE);
document.getElementById("/mavros5/local_position/pose").setAttribute("r", (OFF + message.pose.position.z)/ALT_SCL);
});

listener[5].subscribe(function(message) {
//console.log(document.getElementById(listener[0]).name);
document.getElementById("/mavros6/local_position/pose").setAttribute("cx", (OFF + message.pose.position.x)*SCALE);
document.getElementById("/mavros6/local_position/pose").setAttribute("cy", (OFF + message.pose.position.y)*SCALE);
document.getElementById("/mavros6/local_position/pose").setAttribute("r", (OFF + message.pose.position.z)/ALT_SCL);
});


listener[6].subscribe(function(message) {
//console.log(document.getElementById(listener[0]).name);
document.getElementById("/mavros7/local_position/pose").setAttribute("cx", (OFF + message.pose.position.x)*SCALE);
document.getElementById("/mavros7/local_position/pose").setAttribute("cy", (OFF + message.pose.position.y)*SCALE);
document.getElementById("/mavros7/local_position/pose").setAttribute("r", (OFF + message.pose.position.z)/ALT_SCL);
});



</script>
</head>

<body onLoad="onLoad();">
<h1>OpenUAV Web Console</h1>

<svg version="1.1"
xmlns="http://www.w3.org/2000/svg" height="600" width="800">
<circle id="/mavros1/local_position/pose" cx="50" cy="50" r="3" stroke="black" stroke-width="1" fill="red" />
<circle id="/mavros2/local_position/pose" cx="50" cy="50" r="3" stroke="black" stroke-width="1" fill="red" />
<circle id="/mavros3/local_position/pose" cx="50" cy="50" r="3" stroke="black" stroke-width="1" fill="red" />
<circle id="/mavros4/local_position/pose" cx="50" cy="50" r="3" stroke="black" stroke-width="1" fill="red" />
<circle id="/mavros5/local_position/pose" cx="50" cy="50" r="3" stroke="black" stroke-width="1" fill="red" />
<circle id="/mavros6/local_position/pose" cx="50" cy="50" r="3" stroke="black" stroke-width="1" fill="red" />

</svg>
<iframe id='gzweb-frame' src='http://openuav.us' width="1600px" height="1200px" scrolling=yes >< /iframe>
</td>

5 changes: 3 additions & 2 deletions webclient/views.py
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import subprocess
import os
import ansible.runner
from django.shortcuts import render


import re
Expand Down Expand Up @@ -402,8 +403,8 @@ def simulate(request):
num_uavs = request.GET['num_uavs']
port_prefix=request.GET['port_prefix']
results = ansible.runner.Runner(pattern='172.19.0.1',module_name='command', module_args='sh /home/jdas/open-uav/Firmware/testScripts/ansible-openuav-launch.sh ' + num_uavs + ' ' + port_prefix,).run()
return JsonResponse(results)

#return JsonResponse(results)
return HttpResponse(render(request, 'webclient/console.html', {'port_prefix' : port_prefix, 'num_uavs' : num_uavs}))


'''
Expand Down

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