KeisukeShima
diff --git a/‎common/autoware_web_controller/CMakeLists.txt
+13 b/‎common/autoware_web_controller/CMakeLists.txt
+13
diff --git a/‎common/autoware_web_controller/README.md
+42 b/‎common/autoware_web_controller/README.md
+42
diff --git a/‎common/autoware_web_controller/images/web_controller.png
70.6 KB b/‎common/autoware_web_controller/images/web_controller.png
70.6 KB
diff --git a/‎common/autoware_web_controller/launch/autoware_web_controller.launch.xml
+8 b/‎common/autoware_web_controller/launch/autoware_web_controller.launch.xml
+8
diff --git a/‎common/autoware_web_controller/package.xml
+22 b/‎common/autoware_web_controller/package.xml
+22
diff --git a/‎common/autoware_web_controller/www/autoware_web_controller/css/autoware_web_controller_style.css
+62 b/‎common/autoware_web_controller/www/autoware_web_controller/css/autoware_web_controller_style.css
+62
diff --git a/‎common/autoware_web_controller/www/autoware_web_controller/icon/autoware.ico
1.12 KB b/‎common/autoware_web_controller/www/autoware_web_controller/icon/autoware.ico
1.12 KB
diff --git a/‎common/autoware_web_controller/www/autoware_web_controller/index.html
+105 b/‎common/autoware_web_controller/www/autoware_web_controller/index.html
+105
diff --git a/‎common/autoware_web_controller/www/autoware_web_controller/js/autoware_engage.js
+94 b/‎common/autoware_web_controller/www/autoware_web_controller/js/autoware_engage.js
+94
diff --git a/‎common/autoware_web_controller/www/autoware_web_controller/js/autoware_state.js
+45 b/‎common/autoware_web_controller/www/autoware_web_controller/js/autoware_state.js
+45
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_web_controller)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  www
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package(
+)
@@ -0,0 +1,42 @@
+# autoware_web_controller
+
+## Purpose
+
+This packages is for visualizing the status of Autoware and sending topics for Autoware from a web page.
+
+## Inputs / Outputs
+
+### Input
+
+| Name                                               | Type                                            | Description                  |
+| -------------------------------------------------- | ----------------------------------------------- | ---------------------------- |
+| `/control/current_gate_mode`                       | `autoware_control_msgs::msg::GateMode`          | Gate mode (AUTO or EXTERNAL) |
+| `/autoware/state`                                  | `autoware_auto_system_msgs::msg::AutowareState` | State of Autoware            |
+| `/autoware/engage`                                 | `autoware_auto_system_msgs::msg::Engage`        | Engage signal for Autoware   |
+| `/vehicle/engage`                                  | `autoware_auto_system_msgs::msg::Engage`        | Engage signal for a vehicle  |
+| `/planning/scenario_planning/max_velocity_default` | `autoware_planning_msgs::msg::VelocityLimit`    | Max velocity of Autoware     |
+
+### Output
+
+| Name                                                                                                    | Type                                         | Description                                                                               |
+| ------------------------------------------------------------------------------------------------------- | -------------------------------------------- | ----------------------------------------------------------------------------------------- |
+| `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval` | `autoware_planning_msgs::msg::Approval`      | Send an approval signal for path change request such as lane change or obstacle avoidance |
+| `/autoware/engage`                                                                                      | `autoware_auto_system_msgs::msg::Engage`     | Send an engage signal for Autoware                                                        |
+| `/vehicle/engage`                                                                                       | `autoware_auto_system_msgs::msg::Engage`     | Send an engage signal for a vehicle                                                       |
+| `/planning/scenario_planning/max_velocity_default`                                                      | `autoware_planning_msgs::msg::VelocityLimit` | Set a max velocity of Autoware                                                            |
+
+## Parameter
+
+### Core Parameters
+
+None
+
+## Assumptions / Known limits
+
+TBD.
+
+## Usage
+
+1. Access to <http://localhost:8085/autoware_web_controller> after launching Autoware.
+   ![select_panel](./images/web_controller.png)
+2. Check the status of Autoware or send topics by the buttons.
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Web Controller -->
+
+  <executable cmd="python3 -m http.server 8085" cwd="$(find-pkg-share autoware_web_controller)/www" name="web_server"/>
+  <node pkg="rosbridge_server" exec="rosbridge_websocket" name="rosbridge_server_node">
+  </node>
+</launch>
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_web_controller</name>
+  <version>0.1.0</version>
+  <description>The autoware_web_controller package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>autoware_auto_system_msgs</exec_depend>
+  <exec_depend>autoware_control_msgs</exec_depend>
+  <exec_depend>autoware_planning_msgs</exec_depend>
+  <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -0,0 +1,62 @@
+.menu {
+  position: absolute;
+  float: left;
+  left: 3%;
+  top: 50pt;
+}
+
+.time {
+  font-size: small;
+}
+
+.contents {
+  position: absolute;
+  left: 200pt;
+  right: 10%;
+  float: right;
+}
+
+* {
+  margin: 0;
+  padding: 0;
+}
+
+#wrapper {
+  width: 80%;
+  margin: 0 auto 0 20px;
+}
+
+h1 {
+  height: auto;
+  margin: 40px 0 10px 20px;
+  padding: 0;
+  color: #444444;
+  font-size: 30px;
+  font-weight: bold;
+  border-top: 0;
+  line-height: 1.5;
+}
+
+h2 {
+  margin: 60px 0 10px 0;
+  padding: 0 0 0 15px;
+  font-size: 26px;
+  font-weight: bold;
+  border-width: 0 0 0 4px;
+  border-style: solid;
+  border-color: #0f5296;
+}
+
+h3 {
+  padding: 20px 0 5px 0px;
+  font-size: 22px;
+  font-weight: bold;
+  border-width: 0 0 1px 0;
+  border-style: solid;
+  border-color: #e6e6e6;
+}
+
+form {
+  display: inline-block;
+  margin: 0 5px;
+}
@@ -0,0 +1,105 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en">
+  <head>
+    <meta http-equiv="content-type" content="text/html;charset=utf-8" />
+    <title>Autoware WEB Controller</title>
+    <link rel="shortcut icon" href="icon/autoware.ico" />
+    <link rel="stylesheet" href="css/autoware_web_controller_style.css" type="text/css" />
+    <script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
+    <script src="https://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
+    <link rel="stylesheet" href="http://code.jquery.com/ui/1.9.1/themes/base/jquery-ui.css" />
+    <script src="http://code.jquery.com/jquery-1.8.2.js"></script>
+    <script src="http://code.jquery.com/ui/1.9.1/jquery-ui.js"></script>
+    <script type="text/javascript" src="js/autoware_state.js"></script>
+    <script type="text/javascript" src="js/autoware_engage.js"></script>
+    <script type="text/javascript" src="js/vehicle_engage.js"></script>
+    <script type="text/javascript" src="js/velocity_limit.js"></script>
+    <script type="text/javascript" src="js/path_change_approval.js"></script>
+    <style>
+      .ui-menu {
+        min-width: 90px;
+        max-width: 150px;
+      }
+
+      .ui-menu .ui-menu-item {
+        margin: 0;
+        padding: 0;
+        width: 100%;
+      }
+    </style>
+  </head>
+
+  <body>
+    <!-- menu -->
+    <ul id="menu" class="menu">
+      <li id="menu_autoware"><a href="#autoware">Autoware</a></li>
+      <li id="menu_vehicle"><a href="#vehicle">Vehicle</a></li>
+      <li>
+        <a href="https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto" target="_blank"
+          >Github</a
+        >
+      </li>
+      <li><a href="https://webviz.io/app/" target="_blank">Webviz</a></li>
+      <li class="ui-state-disabled"><a href="#">Amesville</a></li>
+    </ul>
+    <div class="contents">
+      <h1>Status： <label id="state">Disconnect</label></h1>
+      <div id="autoware">
+        <h2>Autoware</h2>
+
+        <h3>Autoware State : <span id="autoware_state"> - </span></h3>
+        <textarea readonly id="autoware_state_msg" rows="20" , cols="200"></textarea>
+
+        <h3>Autoware Engage :<span id="autoware_engage_info"> - </span></h3>
+        <form action="javascript:AutowareEngagePublisher.send('Engage');" id="ui">
+          <input type="submit" value="Engage" id="btn" /><br />
+        </form>
+        <form action="javascript:AutowareEngagePublisher.send('Disengage');" id="ui">
+          <input type="submit" value="Disengage" id="btn" /><br />
+        </form>
+        <div>
+          <span>Status:</span>
+          <span id="autoware_engage_status"> - </span>
+        </div>
+        <h3>Vehicle Engage</h3>
+        <form action="javascript:VehicleEngagePublisher.send('Engage');" id="ui">
+          <input type="submit" value="Engage" id="btn" /><br />
+        </form>
+        <form action="javascript:VehicleEngagePublisher.send('Disengage');" id="ui">
+          <input type="submit" value="Disengage" id="btn" /><br />
+        </form>
+        <div>
+          <span>Status:</span>
+          <span id="vehicle_engage_status"> - </span>
+        </div>
+        <div>
+          <span>Control Mode:</span>
+          <span id="vehicle_control_mode_status"> - </span>
+        </div>
+        <h3>Velocity Limit : <span id="velocity_limit_info"> - </span></h3>
+        <form action="javascript:VelocityLimitPublisher.send();" id="ui" name="velocity_limit_form">
+          <input type="text" name="velocity_limit" />
+          <input type="submit" value="Send" id="btn" /><br />
+        </form>
+        <div>
+          <span>Status:</span>
+          <span id="velocity_limit_status"> - </span>
+          <span>km/h</span>
+        </div>
+        <h3>Path Change Approval : <span id="path_change_approval_info"> - </span></h3>
+        <form action="javascript:PathChangeApprovalPublisher.send();" id="ui">
+          <input type="submit" value="Approve" id="btn" /><br />
+        </form>
+        <div>
+          <span>Status:</span>
+          <span id="path_change_approval_status"> - </span>
+        </div>
+      </div>
+      <div id="vehicle">
+        <h2>Vehicle</h2>
+        <hr size="2" color="#333333" width="100%" />
+      </div>
+    </div>
+  </body>
+  <script type="text/javascript" src="js/menu.js"></script>
+</html>
@@ -0,0 +1,94 @@
+if (!AutowareEngagePublisher) {
+  var AutowareEngagePublisher = {
+    ros: null,
+    name: "",
+    init: function () {
+      this.ros = new ROSLIB.Ros();
+      this.ros.on("error", function (error) {
+        document.getElementById("autoware_engage_info").innerHTML = "Error";
+      });
+      this.ros.on("connection", function (error) {
+        document.getElementById("autoware_engage_info").innerHTML = "Connected";
+      });
+      this.ros.on("close", function (error) {
+        document.getElementById("autoware_engage_info").innerHTML = "Closed";
+      });
+      this.ros.connect("ws://" + location.hostname + ":9090");
+    },
+    send: function (value) {
+      var pub = new ROSLIB.Topic({
+        ros: this.ros,
+        name: "/autoware/engage",
+        messageType: "autoware_auto_vehicle_msgs/Engage",
+        latch: "true",
+      });
+
+      if (value == "Engage") {
+        var str = new ROSLIB.Message({
+          stamp: {
+            sec: 0,
+            nanosec: 0,
+          },
+          engage: true,
+        });
+        pub.publish(str);
+      } else {
+        var str = new ROSLIB.Message({
+          stamp: {
+            sec: 0,
+            nanosec: 0,
+          },
+          engage: false,
+        });
+        pub.publish(str);
+      }
+    },
+  };
+  AutowareEngagePublisher.init();
+
+  window.onload = function () {};
+  window.onunload = function () {
+    AutowareEngagePublisher.ros.close();
+  };
+}
+if (!AutowareEngageStatusSubscriber) {
+  var AutowareEngageStatusSubscriber = {
+    ros: null,
+    name: "",
+    init: function () {
+      this.ros = new ROSLIB.Ros();
+      this.ros.on("error", function (error) {
+        document.getElementById("state").innerHTML = "Error";
+      });
+      this.ros.on("connection", function (error) {
+        document.getElementById("state").innerHTML = "Connect";
+      });
+      this.ros.on("close", function (error) {
+        document.getElementById("state").innerHTML = "Close";
+      });
+      this.ros.connect("ws://" + location.hostname + ":9090");
+
+      var sub = new ROSLIB.Topic({
+        ros: this.ros,
+        name: "/autoware/engage",
+        messageType: "autoware_auto_vehicle_msgs/Engage",
+      });
+      sub.subscribe(function (message) {
+        const div = document.getElementById("autoware_engage_status");
+        if (div.hasChildNodes()) {
+          div.removeChild(div.firstChild);
+        }
+        var res = message.engage;
+        var el = document.createElement("span");
+        el.innerHTML = res;
+        document.getElementById("autoware_engage_status").appendChild(el);
+      });
+    },
+  };
+  AutowareEngageStatusSubscriber.init();
+
+  window.onload = function () {};
+  window.onunload = function () {
+    AutowareEngageStatusSubscriber.ros.close();
+  };
+}
@@ -0,0 +1,45 @@
+if (!AutowareStateSubscriber) {
+  var AutowareStateSubscriber = {
+    ros: null,
+    name: "",
+    init: function () {
+      this.ros = new ROSLIB.Ros();
+      this.ros.connect("ws://" + location.hostname + ":9090");
+
+      var sub = new ROSLIB.Topic({
+        ros: this.ros,
+        name: "/autoware/state",
+        messageType: "autoware_auto_system_msgs/AutowareState",
+      });
+
+      sub.subscribe(function (message) {
+        var res = "";
+        if (message.state == 1) {
+          res = "INITIALIZING";
+        } else if (message.state == 2) {
+          res = "WAITING_FOR_ROUTE";
+        } else if (message.state == 3) {
+          res = "PLANNING";
+        } else if (message.state == 4) {
+          res = "WAITING_FOR_ENGAGE";
+        } else if (message.state == 5) {
+          res = "DRIVING";
+        } else if (message.state == 6) {
+          res = "ARRIVED_GOAL";
+        } else if (message.state == 7) {
+          res = "FINALIZING";
+        } else {
+          res = "Undefined";
+        }
+
+        document.getElementById("autoware_state").innerHTML = res;
+      });
+    },
+  };
+  AutowareStateSubscriber.init();
+
+  window.onload = function () {};
+  window.onunload = function () {
+    AutowareStateSubscriber.ros.close();
+  };
+}