source: trunk/webmap/html/js/application.js @ 47

var log        = null;
var container  = null;
var connection = null;
var map        = null;

/// Create a circle model.
function circleModel(radius) {
        var svg    = document.createElementNS(webmap.svgns, "g");
        var circle = document.createElementNS(webmap.svgns, "circle");
        var line   = document.createElementNS(webmap.svgns, "line");
        svg.appendChild(circle);
        svg.appendChild(line);
        
        circle.setAttribute("cx", 0);
        circle.setAttribute("cy", 0);
        circle.setAttribute("r", radius);
        
        line.setAttribute("x1", 0);
        line.setAttribute("y1", 0);
        line.setAttribute("x2", radius);
        line.setAttribute("y2", 0);
        
        return svg;
}

/// Example robot class for Stage robots.
function StageRobot(name, index, connecion) {
        
        // Create SVG content.
        var svg = circleModel(0.2);
        
        // Call parent constructor.
        webmap.Robot.call(this, name, svg);
        
        // Add CSS classes.
        this.svg.classList.add("stage");
        this.svg.classList.add("stage_" + index);
        
        // Set up odometry, navigation and laser scanner.
        var topic_base = "/robot_" + index;
        this.setOdometryTopic(connection, topic_base + "/odom");
        this.setTwistTopic(connection, topic_base + "/cmd_vel");
        this.addModule("LaserScanner", connection, topic_base + "/base_scan");
}

webmap.extend(webmap.Robot, StageRobot);

function init() {
        log        = document.getElementById("log");
        container  = document.getElementById("webmap_container");
        
        // Create the map.
        map = new webmap.Map(container, 700, 500);
        map.addModule("MouseViewControl", 1, 1.5);
        map.addModule("ShowSelected", document.getElementById("selected"));
        map.addModule("Teleop", 1, 1.5);
        map.addImage("background.png", -29.35, -27, 58.7, 54.0);
        map.scale(500 / 58.7, map.canvas_width * 0.5, map.canvas_height * 0.5);
        
        // Create the rosbridge connection.
        connection = new ros.Bridge("ws://localhost:9090");
        connection.onClose = function (e) {
                log.textContent = "Connection closed.\n" + log.textContent;
        };
        connection.onError = function (e) {
                log.textContent = "Error: " + e + ".\n" + log.textContent;
        };
        connection.onOpen = function (e) {
                log.textContent = "Connection established.\n" + log.textContent;
                // Add two Stage robots.
                map.addRobot(new StageRobot("Robot 0", 0, connection));
                map.addRobot(new StageRobot("Robot 1", 1, connection));
        };
}

document.addEventListener("DOMContentLoaded", init, false);