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index-vr.html
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<html>
<head>
<title>SWARM GCS</title>
<meta charset="utf-8" />
<meta name="apple-mobile-web-app-capable" content="yes"/>
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=0" >
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" >
<meta name="apple-mobile-web-app-title" content="SwarmGCS">
<link rel="apple-touch-icon" type="image/png" href="./icon_ios.png" />
<link rel="icon" type="image/png" href="./icon.png" />
<!-- Bootstrap CSS -->
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css"
integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous" />
<script src="https://code.jquery.com/jquery-3.3.1.slim.min.js"
integrity="sha384-q8i/X+965DzO0rT7abK41JStQIAqVgRVzpbzo5smXKp4YfRvH+8abtTE1Pi6jizo"
crossorigin="anonymous"></script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js"
integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1"
crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js"
integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM"
crossorigin="anonymous"></script>
<script src="./libs/mavlink_bundle.js"></script>
<script src="./libs/jszip.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/vue/dist/vue.js"></script>
<script src="./libs/roslib.min.js"></script>
<!-- <script src='./libs/jszip.min.js'></script> -->
<link rel="stylesheet" type="text/css" href="gcs_common.css">
<style>
#swarm-sidebar {
border-radius: 30px;
/* background-color: aqua; */
background-color: rgba(124, 145, 150, 0.8);
/* filter: blur(10px); */
/* overflow-y: scroll; */
height: 80%;
position: fixed;
left: 1em;
top: 5em;
padding: 5px 15px;
z-index: 1001;
}
</style>
</head>
<script id="vertexShader" type="x-shader/x-vertex">
#extension GL_OES_standard_derivatives : enable
precision highp float;
uniform mat4 modelViewMatrix;
uniform mat4 projectionMatrix;
attribute vec3 position;
attribute vec3 offset;
varying vec4 vColor;
attribute vec4 ca;
attribute vec4 edgeColor;
attribute vec3 center;
varying vec3 vCenter;
varying vec4 vedgeColor;
attribute vec2 uv;
varying vec2 vUv;
void main() {
vCenter = center;
vedgeColor = edgeColor;
gl_Position = projectionMatrix * modelViewMatrix * vec4( offset + position, 1.0 );
vColor = ca;
vUv = uv;
}
</script>
<script id="fshader" type="x-shader/x-fragment">
precision highp float;
varying vec4 vColor;
varying vec3 vCenter;
varying vec2 vUv;
varying vec4 vedgeColor;
bool is_border() {
float vEdgeWidth = 0.05;
return vUv.x > 1.0 - vEdgeWidth || vUv.x < vEdgeWidth|| vUv.y > 1.0 - vEdgeWidth || vUv.y < vEdgeWidth ;
}
void main() {
if (is_border()) {
gl_FragColor = vec4(0.043, 0.235, 0.431, 1.0);
gl_FragColor = vec4(0.043, 0.235, 0.431, 1.0);
} else {
gl_FragColor = vColor;
}
}
</script>
<body draggable="false" ontouchstart=””>
<div id="urdf"></div>
<div class="container-fluid" style="width: 100%" id="container">
<nav class="navbar navbar-expand-lg navbar-dark bg-dark">
<a class="navbar-brand" href="#" v-on:click="toggle_fullscreen()">SWARM GCS</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarSupportedContent"
aria-controls="navbarSupportedContent" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse my-2 my-lg-0" id="navbarSupportedContent">
<ul class="nav navbar-nav navbar-center ml-auto">
<li class="nav-item active">
<a class="nav-link" href="#" v-bind:style="{ color: ros_conn_color }">ROS: {{ros_conn}}</a>
</li>
<li class="nav-item">
<a class="nav-link" href="#" v-bind:style="{ color: self_id_color }">GCS_ID: {{self_id}}</a>
</li>
<li class="nav-item">
<a class="nav-link" href="#" v-bind:style="{ color: total_remote_color }">NODES: {{available_nodes}}/{{remote_nodes}}</a>
</li>
<!--As we don't use vicon basically, disable this-->
<!--
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown"
aria-haspopup="true" aria-expanded="false">
DISPLAY:{{display_mode}}
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="#" v-on:click="set_display_mode_global">GLOBAL</a>
<a class="dropdown-item" href="#" v-on:click="set_display_mode_local">LOCAL</a>
</div>
</li> -->
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown"
aria-haspopup="true" aria-expanded="false">
LOOP:{{loop_mode}}
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="#" v-on:click="set_loop_mode_on">LOOP ON</a>
<a class="dropdown-item" href="#" v-on:click="set_loop_mode_off">LOOP OFF</a>
</div>
</li>
<li class="nav-item">
<a class="nav-link" href="#">
<img src="material-design-icons/maps/drawable-xxxhdpi/ic_flight_white_48dp.png" style="height: 1.4em; width: 1.4em;" />
SELECTED:{{selected_uav}}
</a>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown"
aria-haspopup="true" aria-expanded="false">
PRIMARY:{{primary_id}}
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="#" v-for="(_, _id) in uavs" v-on:click="set_primary_id(_id)">{{_id}}</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown"
aria-haspopup="true" aria-expanded="false">
SERVER:{{server_ip}}
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<!-- <a class="dropdown-item" href="#" v-on:click="set_server_ip('127.0.0.1')">LOCALHOST</a> -->
<a class="dropdown-item" href="#" v-for="(_ip, _i) in server_ip_list"
v-on:click="set_server_ip(_ip)">{{_ip}}</a>
</div>
</li>
<li class="nav-item">
<a class="nav-link disabled lps_time" href="#" tabindex="-1" aria-disabled="true"
v-bind:style="{ color: lps_time_color }">LPS_TIME {{lps_time}}</a>
</li>
</ul>
<!-- <form class="form-inline my-2 my-lg-0">
<input class="form-control mr-sm-2" type="search" placeholder="Search" aria-label="Search">
<button class="btn btn-outline-success my-2 my-sm-0" type="submit">Search</button>
</form> -->
</div>
</nav>
<div class="row" style="height: 90%"></div>
<transition name="slide-fade">
<div v-if="! is_wrap_swarm" class="container-fluid col-2 container-fluid" id="swarm-sidebar">
<h2 id="SWARM" v-on:click="select_all">SWARM</h2>
<img src="material-design-icons/navigation/drawable-hdpi/ic_expand_less_white_48dp.png"
class="middle_icon"
style="position: absolute; right:1em; top:1em;"
v-on:click="wrap_swarm()"
/>
<hr/>
<div class="uav-list">
<uav-component class="uav_comp" v-for="(_status, status) in uavs" v-bind:_id="_status._id"
v-bind:status="_status"></uav-component>
</div>
</div>
<div v-else class="container-fluid col-2 container-fluid" id="swarm-sidebar-wrap">
<h2 id="SWARM" v-on:click="select_all">SWARM</h2>
<img src="material-design-icons/navigation/drawable-hdpi/ic_expand_more_white_48dp.png"
class="middle_icon"
style="position: absolute; right:1em; top:1em;"
v-on:click="unwrap_swarm()"
/>
<hr/>
</div>
</transition>
<div style="position: fixed; left:1em; bottom:1em" id="stats"></div>
<div id="cmdAera">
<div>
<button type="button" v-on:click="command('takeoff')" class="btn btn-lg btn-primary" id="takeoff">
<img src="material-design-icons/action/drawable-xxxhdpi/ic_flight_takeoff_white_48dp.png" class="small_icon" />
Takeoff
</button>
<button type="button" v-on:click="command('landing')" class="btn btn-primary btn-lg" id="landing">
<img src="material-design-icons/action/drawable-xxxhdpi/ic_flight_land_white_48dp.png" class="small_icon" />
Landing</button>
<button type="button" v-on:click="command('emergency')" class="btn btn-danger btn-lg"id="emlanding">
<img src="material-design-icons/alert/drawable-xxxhdpi/ic_warning_white_48dp.png" class="small_icon" />
Emergency
</button>
<!-- <button type="button" v-on:click="command('flyto')" class="btn btn-primary btn-lg"
id="flyto">
<img src="material-design-icons/content/drawable-xxxhdpi/ic_forward_white_48dp.png" class="small_icon" />
Direct Flyto</button> -->
<button type="button" v-on:click="command('flyto_traj')" class="btn btn-primary btn-lg"
id="flyto">
<img src="material-design-icons/content/drawable-xxxhdpi/ic_forward_white_48dp.png" class="small_icon" />
Flyto</button>
<button type="button" v-on:click="command('circle')" class="btn btn-primary btn-lg" >
<img src="material-design-icons/av/drawable-xxxhdpi/ic_loop_white_48dp.png" class="small_icon" />
Circle</button>
<button type="button" v-on:click="trigger_flyto()"
v-bind:class="[flyto_class]" >
<img src="material-design-icons/content/drawable-xxxhdpi/ic_forward_white_48dp.png" class="small_icon" />
FLYTO</button>
<!-- <button type="button" v-on:click="command('traj2')" class="btn btn-primary btn-lg">
<img src="material-design-icons/action/drawable-xxxhdpi/ic_hourglass_empty_white_48dp.png" class="small_icon" />
Traj</button> -->
<!-- <button type="button" v-on:click="range_select" class="btn btn-primary btn-lg"
id="range_select">
<img src="material-design-icons/content/drawable-xxxhdpi/ic_select_all_white_48dp.png" class="small_icon" />
Select</button> -->
<hr />
<h4>FORMATIONs</h4>
<button type="button" v-on:click="formation_hold(0)" class="btn btn-primary btn-lg">
<img src="material-design-icons/navigation/drawable-xxxhdpi/ic_apps_white_48dp.png" class="small_icon" />
Hold</button>
<button type="button" v-on:click="formation_hold(1)" class="btn btn-primary btn-lg">
<img src="material-design-icons/navigation/drawable-xxxhdpi/ic_apps_white_48dp.png" class="small_icon" />
Lock</button>
<button type="button" v-on:click="formation_swap()" class="btn btn-primary btn-lg">
<img src="material-design-icons/av/drawable-xxxhdpi/ic_repeat_white_48dp.png" class="small_icon" />
Swap</button>
<button type="button" class="btn btn-secondary btn-danger" v-on:click="stop_formation()">
<img src="material-design-icons/navigation/drawable-xxxhdpi/ic_cancel_white_48dp.png" class="small_icon" />
STOP</button>
<br/>
<button type="button" v-on:click="formation(0)" v-bind:class="[formation_class[0]]">
<img src="material-design-icons/image/drawable-xxxhdpi/ic_transform_white_48dp.png" class="small_icon" />
0</button>
<button type="button" v-on:click="formation(1)" v-bind:class="[formation_class[1]]">
<img src="material-design-icons/image/drawable-xxxhdpi/ic_transform_white_48dp.png" class="small_icon" />
1</button>
<button type="button" v-on:click="formation(2)" v-bind:class="[formation_class[2]]">
<img src="material-design-icons/image/drawable-xxxhdpi/ic_transform_white_48dp.png" class="small_icon" />
2</button>
<button type="button" v-on:click="formation(3)" v-bind:class="[formation_class[3]]">
<img src="material-design-icons/image/drawable-xxxhdpi/ic_transform_white_48dp.png" class="small_icon" />
3</button>
<button type="button" v-on:click="formation(4)" v-bind:class="[formation_class[4]]">
<img src="material-design-icons/image/drawable-xxxhdpi/ic_transform_white_48dp.png" class="small_icon" />
4</button>
</div>
<!-- <button type="button" class="btn btn-secondary btn-lg" >Mission C</button> -->
<!-- <button type="button" class="btn btn-secondary btn-lg" >Mission D</button> -->
</div>
<div class="drone_id" v-for="(_, _id) in uav_screen_pos" v-bind:style="{ top: uav_screen_pos[_id].y, left: uav_screen_pos[_id].x, position: 'fixed', color:uav_label_colors[_id]}">{{_id}}</div>
</div>
<script type="module">
import { SwarmCommander } from './src/swarm_commander.mjs';
import { SwarmGCSUI } from "./src/gcs_view.mjs";
var ui = new SwarmGCSUI({}, {
chessboard:true,
grid: false
});
// console.log(ui);
var sc = new SwarmCommander(ui);
window.ui = ui;
</script>
</body>
</html>