339 lines
13 KiB
Plaintext
Executable File
339 lines
13 KiB
Plaintext
Executable File
<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>Odometry Comparison Test</title>
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<script src="https://cdnjs.cloudflare.com/ajax/libs/microsoft-signalr/8.0.0/signalr.min.js"></script>
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<style>
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* {
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margin: 0;
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padding: 0;
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box-sizing: border-box;
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}
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body {
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font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
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background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
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min-height: 100vh;
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padding: 20px;
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color: #333;
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}
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.container {
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max-width: 1200px;
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margin: 0 auto;
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}
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h1 {
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color: white;
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text-align: center;
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margin-bottom: 30px;
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font-size: 2.5em;
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text-shadow: 2px 2px 4px rgba(0,0,0,0.3);
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}
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.controls {
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background: white;
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padding: 20px;
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border-radius: 12px;
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box-shadow: 0 8px 16px rgba(0,0,0,0.2);
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margin-bottom: 20px;
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display: flex;
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gap: 15px;
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align-items: center;
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}
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button {
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background: linear-gradient(135deg, #667eea, #764ba2);
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color: white;
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border: none;
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padding: 12px 24px;
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border-radius: 8px;
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cursor: pointer;
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font-size: 16px;
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font-weight: 600;
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transition: all 0.3s ease;
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box-shadow: 0 4px 8px rgba(0,0,0,0.2);
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}
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button:hover {
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transform: translateY(-2px);
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box-shadow: 0 6px 12px rgba(0,0,0,0.3);
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}
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button:active {
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transform: translateY(0);
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}
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button:disabled {
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opacity: 0.5;
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cursor: not-allowed;
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}
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#status {
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flex: 1;
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font-weight: 600;
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padding: 10px;
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border-radius: 6px;
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text-align: center;
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}
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.status-disconnected { background: #fee; color: #c33; }
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.status-connecting { background: #ffeaa7; color: #d63031; }
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.status-connected { background: #d5f4e6; color: #00b894; }
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.comparison-grid {
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display: grid;
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grid-template-columns: 1fr 1fr;
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gap: 20px;
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margin-bottom: 20px;
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}
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.odom-card {
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background: white;
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padding: 25px;
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border-radius: 12px;
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box-shadow: 0 8px 16px rgba(0,0,0,0.2);
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}
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.odom-card h2 {
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margin-bottom: 20px;
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color: #667eea;
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border-bottom: 3px solid #667eea;
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padding-bottom: 10px;
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}
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.raw h2 { color: #e74c3c; border-bottom-color: #e74c3c; }
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.filtered h2 { color: #27ae60; border-bottom-color: #27ae60; }
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.data-row {
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display: flex;
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justify-content: space-between;
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padding: 12px;
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margin: 8px 0;
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background: #f8f9fa;
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border-radius: 6px;
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border-left: 4px solid #667eea;
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}
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.raw .data-row { border-left-color: #e74c3c; }
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.filtered .data-row { border-left-color: #27ae60; }
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.label {
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font-weight: 600;
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color: #666;
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}
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.value {
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font-family: 'Courier New', monospace;
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font-weight: 700;
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color: #333;
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}
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.diff-card {
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background: white;
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padding: 25px;
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border-radius: 12px;
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box-shadow: 0 8px 16px rgba(0,0,0,0.2);
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}
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.diff-card h2 {
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margin-bottom: 20px;
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color: #f39c12;
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border-bottom: 3px solid #f39c12;
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padding-bottom: 10px;
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}
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.diff-row {
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padding: 12px;
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margin: 8px 0;
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background: #fff3cd;
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border-radius: 6px;
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border-left: 4px solid #f39c12;
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display: flex;
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justify-content: space-between;
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align-items: center;
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}
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.warning {
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background: #fee;
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border-left-color: #e74c3c;
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color: #c33;
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}
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.success {
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background: #d5f4e6;
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border-left-color: #27ae60;
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color: #00b894;
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}
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</style>
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</head>
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<body>
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<div class="container">
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<h1>🤖 Odometry Comparison: Raw vs Filtered</h1>
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<div class="controls">
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<button id="connectBtn" onclick="connect()">Connect</button>
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<button id="refreshBtn" onclick="refresh()" disabled>🔄 Refresh Data</button>
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<div id="status" class="status-disconnected">Disconnected</div>
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</div>
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<div class="comparison-grid">
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<div class="odom-card raw">
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<h2>📊 RAW Odometry (Encoder Only)</h2>
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<div id="rawData">
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<div class="data-row"><span class="label">Position X:</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Position Y:</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Theta (yaw):</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Linear X:</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Angular Z:</span><span class="value">-</span></div>
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</div>
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</div>
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<div class="odom-card filtered">
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<h2>✨ FILTERED Odometry (EKF + Slip Detection)</h2>
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<div id="filteredData">
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<div class="data-row"><span class="label">Position X:</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Position Y:</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Theta (yaw):</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Linear X:</span><span class="value">-</span></div>
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<div class="data-row"><span class="label">Angular Z:</span><span class="value">-</span></div>
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</div>
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</div>
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</div>
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<div class="diff-card">
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<h2>⚠️ Differences (Slip Impact)</h2>
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<div id="diffData">
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<div class="diff-row"><span class="label">ΔX:</span><span class="value">-</span></div>
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<div class="diff-row"><span class="label">ΔY:</span><span class="value">-</span></div>
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<div class="diff-row"><span class="label">Δθ:</span><span class="value">-</span></div>
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</div>
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</div>
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</div>
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<script>
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let connection = null;
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let updateInterval = null;
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async function connect() {
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const statusEl = document.getElementById('status');
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const connectBtn = document.getElementById('connectBtn');
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const refreshBtn = document.getElementById('refreshBtn');
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try {
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statusEl.textContent = 'Connecting...';
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statusEl.className = 'status-connecting';
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connectBtn.disabled = true;
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connection = new signalR.HubConnectionBuilder()
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.withUrl("https://0.0.0.0:7002/hubs/odometry", {
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skipNegotiation: true,
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transport: signalR.HttpTransportType.WebSockets
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})
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.withAutomaticReconnect()
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.build();
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await connection.start();
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statusEl.textContent = 'Connected ✓';
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statusEl.className = 'status-connected';
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refreshBtn.disabled = false;
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// Auto refresh every 500ms
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updateInterval = setInterval(refresh, 500);
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refresh();
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} catch (err) {
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console.error('Connection error:', err);
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statusEl.textContent = 'Connection failed: ' + err.message;
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statusEl.className = 'status-disconnected';
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connectBtn.disabled = false;
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}
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}
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async function refresh() {
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if (!connection) return;
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try {
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const comparison = await connection.invoke("GetOdometryComparison");
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updateDisplay(comparison);
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} catch (err) {
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console.error('Refresh error:', err);
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}
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}
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function updateDisplay(comparison) {
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const raw = comparison.raw;
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const filtered = comparison.filtered;
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if (!raw || !filtered) return;
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// Raw data
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const rawPos = raw.pose?.pose?.position || {};
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const rawOri = raw.pose?.pose?.orientation || {};
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const rawTwist = raw.twist?.twist || {};
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document.querySelector('#rawData .data-row:nth-child(1) .value').textContent =
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(rawPos.x || 0).toFixed(3) + ' m';
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document.querySelector('#rawData .data-row:nth-child(2) .value').textContent =
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(rawPos.y || 0).toFixed(3) + ' m';
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document.querySelector('#rawData .data-row:nth-child(3) .value').textContent =
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quaternionToYaw(rawOri).toFixed(3) + ' rad';
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document.querySelector('#rawData .data-row:nth-child(4) .value').textContent =
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(rawTwist.linear?.x || 0).toFixed(3) + ' m/s';
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document.querySelector('#rawData .data-row:nth-child(5) .value').textContent =
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(rawTwist.angular?.z || 0).toFixed(3) + ' rad/s';
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// Filtered data
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const filtPos = filtered.pose?.pose?.position || {};
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const filtOri = filtered.pose?.pose?.orientation || {};
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const filtTwist = filtered.twist?.twist || {};
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document.querySelector('#filteredData .data-row:nth-child(1) .value').textContent =
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(filtPos.x || 0).toFixed(3) + ' m';
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document.querySelector('#filteredData .data-row:nth-child(2) .value').textContent =
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(filtPos.y || 0).toFixed(3) + ' m';
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document.querySelector('#filteredData .data-row:nth-child(3) .value').textContent =
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quaternionToYaw(filtOri).toFixed(3) + ' rad';
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document.querySelector('#filteredData .data-row:nth-child(4) .value').textContent =
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(filtTwist.linear?.x || 0).toFixed(3) + ' m/s';
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document.querySelector('#filteredData .data-row:nth-child(5) .value').textContent =
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(filtTwist.angular?.z || 0).toFixed(3) + ' rad/s';
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// Differences
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const diffX = Math.abs((rawPos.x || 0) - (filtPos.x || 0));
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const diffY = Math.abs((rawPos.y || 0) - (filtPos.y || 0));
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const diffTheta = Math.abs(quaternionToYaw(rawOri) - quaternionToYaw(filtOri));
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const diffRows = document.querySelectorAll('#diffData .diff-row');
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updateDiffRow(diffRows[0], 'ΔX:', diffX, 'm');
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updateDiffRow(diffRows[1], 'ΔY:', diffY, 'm');
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updateDiffRow(diffRows[2], 'Δθ:', diffTheta, 'rad');
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}
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function updateDiffRow(row, label, value, unit) {
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row.querySelector('.label').textContent = label;
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row.querySelector('.value').textContent = value.toFixed(3) + ' ' + unit;
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// Color code based on magnitude
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if (value > 0.5) {
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row.className = 'diff-row warning';
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} else if (value < 0.05) {
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row.className = 'diff-row success';
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} else {
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row.className = 'diff-row';
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}
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}
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function quaternionToYaw(q) {
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if (!q) return 0;
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const sinYaw = 2.0 * (q.w * q.z + q.x * q.y);
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const cosYaw = 1.0 - 2.0 * (q.y * q.y + q.z * q.z);
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return Math.atan2(sinYaw, cosYaw);
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}
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</script>
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</body>
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</html>
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