PathPlannerAutoDashboard/index.html at main · 2826WaveRobotics/PathPlannerAutoDashboard · GitHub

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<!DOCTYPE html>
<html lang="en">
<head>
    <meta charset="UTF-8">
    <meta name="viewport" content="width=device-width, initial-scale=1.0">
    <title>Auto dashboard</title>
    <script src="/networktables/networktables.js"></script>
    <style>
        *, *::before, *::after {
            box-sizing: border-box;
        }
        body {
            width: calc(100% - 1rem);
            padding: 0.5rem;
            background-color: #252525;
            color: aliceblue;
            overflow-x: hidden;
            font-family: 'Lucida Sans', 'Lucida Sans Regular', 'Lucida Grande', 'Lucida Sans Unicode', Geneva, Verdana, sans-serif;
        }
        ::-webkit-scrollbar {
            background-color: #363636;
        }
        ::-webkit-scrollbar-thumb {
            background-color: #aaa;
            border-radius: 100vw;
        }
        .autos {
            --title-size: 1.75rem;
            display: grid;
            grid-template-columns: 1fr 1fr;
            width: 100%;
        }
        .auto {
            display: flex;
            flex-direction: column;
            min-width: 0;
            margin: 0.5rem;
            padding: 0.5rem;
            background-color: #363636;
            border-radius: 0.5rem;
        }
        .auto.selected {
            background-color: #2c492c;
        }
        .auto span {
            font-size: var(--title-size);
            margin-bottom: 0.75rem;
            margin-left: 0.5rem;
        }
        .auto .buttons {
            display: flex;
            flex-direction: row;
            justify-content: space-around;
            padding: 0.5rem;
        }
        .auto button.displaystart {
            background-color: #855585;
        }
        .auto button.displaystart:hover {
            background-color: #9c649c;
        }
        .auto button.displaystart:active {
            background-color: #b172b1;
        }
        .auto button.selectpath {
            background-color: #497449;
        }
        .auto button.selectpath:hover {
            background-color: #558a55;
        }
        .auto button.selectpath:active {
            background-color: #63a063;
        }

        .auto .selectedText {
            color: #7fcc7f;
            font-size: calc(var(--title-size) * 0.6);
            margin-left: 1rem;
            display: none;
        }
        .auto.selected .selectedText {
            display: inline;
        }

        .top {
            display: flex;
            flex-direction: row;
            justify-content: space-between;
            align-items: center;
            padding: 0 2rem;
        }
        .top h1 {
            font-size: 2rem;
        }
        .top .sideButton {
            background-color: #49746d;
            font-size: 1.5rem;
            height: 3rem;
            width: 20rem;
        }
        .top .sideButton:hover {
            background-color: #49746d;
        }
        .top .sideButton:active {
            background-color: #49746d;
        }

        .top .columns {
            background-color: #746049;
            color: white;
            border: none;
            outline: none;
            border-radius: 5px;
            padding: 0.5rem;
            font-size: 1.5rem;
            width: 13rem;
        }

        button {
            outline: none;
            border: none;
            border-radius: 5px;
            color: white;
            padding: 0.5rem;
            width: 10rem;
        }
    </style>
</head>
<body>
    <div class="top">
        <h1>Wave 2826 autos</h1>
        <button class="sideButton" id="sideButton">Switch to red (only visual)</button>
        <select class="columns" id="columns">
            <option value="1">1 column</option>
            <option value="2" selected>2 columns</option>
            <option value="3">3 columns</option>
            <option value="4">4 columns</option>
        </select>
        <div>
            Robot state: <span id="robotstate"></span><br />
            Dashboard connection state: <span id="connectstate"></span><br />
            Robot address: <span id="robotAddress"></span><br />
        </div>
    </div>
    <br />

    <div id="autos" class="autos">

    </div>
    <script>
        "use strict";

        let renderFunctions = [];
        let isBlue = true;

        const selectedAutoPath = "/SmartDashboard/Auto Choices/selected";
        let selectedAuto = "None";

        document.addEventListener("DOMContentLoaded", () => {
            // A function that will be called when the websocket connects/disconnects
            NetworkTables.addWsConnectionListener(onNetworkTablesConnection, true);
            // A function that will be called when the robot connects/disconnects
            NetworkTables.addRobotConnectionListener(onRobotConnection, true);
            // A function that will be called when any NetworkTables key/value changes
            NetworkTables.addKeyListener("/2826AutoDashboard/AutoData", autoDataChanged);
            NetworkTables.addKeyListener(selectedAutoPath, selectedAutoChanged);

            const sideButton = document.getElementById("sideButton");
            sideButton.addEventListener("click", () => {
                isBlue = !isBlue;
                sideButton.textContent = isBlue ? "Switch to red (only visual)" : "Switch to blue (only visual)";
                renderFunctions.forEach(f => f());
            });

            const columns = document.getElementById("columns");
            const autos = document.getElementById("autos");
            columns.addEventListener("change", () => {
                const columnNumber = parseInt(columns.value);
                autos.style.gridTemplateColumns = "1fr ".repeat(columnNumber);
                autos.style.setProperty("--title-size", `${2.734 * (0.8 ** columnNumber)}rem`);
            });
        });


        function onRobotConnection(connected) {
            document.getElementById('robotstate').textContent = connected ? "Connected!" : "Disconnected";
            document.getElementById('robotAddress').textContent = connected ? NetworkTables.getRobotAddress() : "Unknown";
        }

        function onNetworkTablesConnection(connected) {
            if(connected) {
                document.getElementById("connectstate").textContent = "Connected!";
            } else {
                document.getElementById("connectstate").textContent = "Disconnected!";
            }
        }

        const fieldData = {
            "game": "Crescendo",
            "field-image": "2024-field.png",
            "field-corners": {
                "top-left": [
                    150,
                    79
                ],
                "bottom-right": [
                    2961,
                    1476
                ]
            },
            "field-size": [
                54.27083,
                26.9375
            ],
            "field-unit": "foot"
        };

        function updateSelected() {
            document.querySelectorAll(".auto.selected").forEach(e => e.classList.remove("selected"));
            document.querySelector(`.auto[autoName='${selectedAuto}']`)?.classList?.add("selected");
        }

        function selectedAutoChanged(key, value, isNew) {
            selectedAuto = value;
            updateSelected();
        }

        function autoDataChanged(key, value, isNew) {
            try {
                const data = JSON.parse(value);
                const autoChoices = data.autoChoices;

                const fieldImage = new Image();
                fieldImage.onload = () => {
                    const canvasWidth = 1920;
                    const canvasHeight = Math.floor(canvasWidth * (fieldImage.height / fieldImage.width));

                    const fieldTopPixels = fieldData["field-corners"]["top-left"][1] / fieldImage.height * canvasHeight;
                    const fieldBottomPixels = fieldData["field-corners"]["bottom-right"][1] / fieldImage.height * canvasHeight;
                    const fieldLeftPixels = fieldData["field-corners"]["top-left"][0] / fieldImage.width * canvasWidth;
                    const fieldRightPixels = fieldData["field-corners"]["bottom-right"][0] / fieldImage.width * canvasWidth;
                    const fieldHeightRatio = (fieldBottomPixels - fieldTopPixels) / canvasHeight;
                    const fieldWidthRatio = (fieldRightPixels - fieldLeftPixels) / canvasWidth;

                    const robotWidthMeters = 0.6604; // Side to side
                    const robotLengthMeters = 0.6604; // Front to back

                    const autosElement = document.getElementById("autos");
                    autosElement.innerHTML = "";
                    renderFunctions = [];
                    for(const autoChoice of autoChoices) {
                        const auto = document.createElement("div");
                        auto.classList.add("auto");

                        auto.setAttribute("autoName", autoChoice.name);

                        const autoName = document.createElement("span");
                        autoName.innerText = autoChoice.name;

                        const selectedText = document.createElement("span");
                        selectedText.innerText = "(Selected)";
                        selectedText.classList.add("selectedText");
                        autoName.appendChild(selectedText);

                        const autoCanvas = document.createElement("canvas");
                        const autoCtx = autoCanvas.getContext("2d");

                        autoCanvas.width = canvasWidth;
                        autoCanvas.height = canvasHeight;
                        autoCtx.width = canvasWidth;
                        autoCtx.height = canvasHeight;

                        auto.appendChild(autoName);
                        auto.appendChild(autoCanvas);

                        const feetToMeters = 0.3048;
                        const fieldWidth = fieldData["field-size"][0] * feetToMeters;
                        const fieldHeight = fieldData["field-size"][1] * feetToMeters;

                        const fieldPosToPixelPos = (pos) => {
                            const x = (pos.x / fieldWidth * autoCanvas.width) * fieldWidthRatio + fieldLeftPixels;
                            return {
                                x: isBlue ? x : (autoCanvas.width * fieldWidthRatio) - (x - fieldLeftPixels) + fieldLeftPixels,
                                y: (autoCanvas.height - pos.y / fieldHeight * autoCanvas.height) * fieldHeightRatio + fieldTopPixels
                            };
                        };

                        let showingStart = true;
                        function render() {
                            autoCtx.clearRect(0, 0, canvasWidth, canvasHeight);

                            autoCtx.drawImage(fieldImage, 0, 0, autoCtx.width, autoCtx.height);

                            autoCtx.strokeStyle = "#aaaa55";
                            autoCtx.lineCap = "round";
                            autoCtx.lineJoin = "round";
                            autoCtx.lineWidth = 15;
                            autoCtx.beginPath();

                            for(let i = 0; i < autoChoice.poses.length; i++) {
                                const pathPoint = autoChoice.poses[i];
                                const pos = fieldPosToPixelPos({ x: pathPoint.x, y: pathPoint.y });

                                if(i === 0) autoCtx.moveTo(pos.x, pos.y);
                                else autoCtx.lineTo(pos.x, pos.y);
                            }
                            autoCtx.stroke();

                            if(showingStart) {
                                autoCtx.strokeStyle = "#bb5555";
                                const lineWidth = 15;
                                autoCtx.lineWidth = lineWidth;
                                autoCtx.beginPath();
                                const center = autoChoice.poses[0];
                                const rotation = -autoChoice.poses[0].rot; // Radians
                                function rotate(cx, cy, x, y, angle) {
                                    const cos = Math.cos(angle);
                                    const sin = Math.sin(angle);
                                    const nx = (cos * (x - cx)) + (sin * (y - cy)) + cx;
                                    const ny = (cos * (y - cy)) - (sin * (x - cx)) + cy;
                                    return [nx, ny];
                                }
                                const rotatePoint = (center, rotation, reference) => {
                                    const point = rotate(center.x, center.y, reference.x + center.x, reference.y + center.y, rotation);
                                    return {
                                        x: point[0],
                                        y: point[1]
                                    };
                                };
                                const lineWidthMeters = lineWidth / autoCanvas.width * fieldWidth;
                                const length = robotLengthMeters / 2 - lineWidthMeters / 2;
                                const width = robotWidthMeters / 2 - lineWidthMeters / 2;
                                const points = [
                                    fieldPosToPixelPos(rotatePoint(center, rotation, { x: length, y: width })),
                                    fieldPosToPixelPos(rotatePoint(center, rotation, { x: length, y: -width })),
                                    fieldPosToPixelPos(rotatePoint(center, rotation, { x: -length, y: -width })),
                                    fieldPosToPixelPos(rotatePoint(center, rotation, { x: -length, y: width }))
                                ];
                                autoCtx.moveTo(points[0].x, points[0].y);
                                for(let i = 0; i < points.length; i++) {
                                    autoCtx.lineTo(points[i].x, points[i].y);
                                }
                                autoCtx.lineTo(points[0].x, points[0].y);
                                autoCtx.stroke();
                            }
                        }
                        renderFunctions.push(render);

                        render();

                        const buttons = document.createElement("div");
                        buttons.classList.add("buttons");

                        const displayStartButton = document.createElement("button");
                        const selectPathButton = document.createElement("button");

                        displayStartButton.textContent = showingStart ? "Hide start" : "Display start";
                        selectPathButton.textContent = "Select path";
                        displayStartButton.classList.add("displaystart");
                        selectPathButton.classList.add("selectpath");

                        displayStartButton.onclick = () => {
                            showingStart = !showingStart;
                            displayStartButton.textContent = showingStart ? "Hide start" : "Display start";
                            render();
                        };
                        selectPathButton.onclick = () => {
                            NetworkTables.putValue(selectedAutoPath, autoChoice.name);
                        };

                        buttons.appendChild(displayStartButton);
                        buttons.appendChild(selectPathButton);

                        auto.appendChild(buttons);

                        autosElement.appendChild(auto);
                    }

                    updateSelected();
                };
                fieldImage.src = fieldData["field-image"];
            } catch(e) {
                console.error(e);
            }
        }
    </script>
</body>
</html>