package oculusPrime;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileInputStream;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.util.Date;
import java.util.HashMap;
import java.util.Iterator;
import java.util.Set;
import java.util.Vector;
import javax.servlet.ServletConfig;
import javax.servlet.ServletException;
import javax.servlet.http.HttpServlet;
import javax.servlet.http.HttpServletRequest;
import javax.servlet.http.HttpServletResponse;
import developer.Navigation;
import developer.NavigationUtilities;
import oculusPrime.State.values;
import oculusPrime.commport.PowerLogger;
public class DashboardServlet extends HttpServlet implements Observer {
static final long serialVersionUID = 1L;
// private static final int MAX_STATE_HISTORY = 40;
private static final String HTTP_REFRESH_DELAY_SECONDS = "30";
static final String runroute = "<a href=\"dashboard?action=runroute\">";
static final String viewslinks =
"<a href=\"navigationlog/index.html\" target=\"_blank\">navigation log</a>\n"+
"<a href=\"/oculusPrime/media\" target=\"_blank\">media files</a>" +
"<a href=\"dashboard?view=routes\">route stats</a>\n" +
// "<a href=\"dashboard?view=drive\">drive</a>\n" +
"<a href=\"dashboard?action=snapshot\" target=\"_blank\">snaphot</a>\n"+
"<a href=\"dashboard?view=users\">users</a>\n" +
"<a href=\"dashboard?view=stdout\">stdout</a>\n" +
"<a href=\"dashboard?view=history\">history</a>\n" +
"<a href=\"dashboard?view=state\">state</a>\n";
static final String commandlinks =
"<a href=\"dashboard?action=gotodock\">return dock</a>\n" +
"<a href=\"dashboard?action=cancel\">cancel route</a>\n" +
"<a href=\"dashboard?action=deletelogs\">delete log files</a>\n" +
"<a href=\"dashboard?action=trunc\">truncate media</a>" +
"<a href=\"dashboard?action=archivelogs\">archive log folder</a>" +
"<a href=\"dashboard?action=reboot\">reboot linux</a>" +
"<a href=\"dashboard?action=restart\">restart java</a>" +
"<a href=\"dashboard?action=email\">send email</a>\n";
static final double VERSION = new Updater().getCurrentVersion();
// static Vector<String> history = new Vector<String>();
static Settings settings = Settings.getReference();
static BanList ban = BanList.getRefrence();
static State state = State.getReference();
static Application app = null;
static String httpport = null;
static Vector<String> pointslist;
String delay = "30";
String estimatedmeters;
String estimatedseconds;
long time;
final String css = getCSS();
final int restarts = settings.getInteger(ManualSettings.restarted);
public String getCSS(){
StringBuffer buffer = new StringBuffer();
try {
String line = null;
FileInputStream filein = new FileInputStream(System.getenv("RED5_HOME") + "/webapps/oculusPrime/dashboard.css");
BufferedReader reader = new BufferedReader(new InputStreamReader(filein));
while ((line = reader.readLine()) != null) buffer.append(line + "\n");
reader.close();
filein.close();
} catch (Exception e) {
Util.log("getCSS(): " + e.getMessage(), this);
}
return buffer.toString();
}
public void init(ServletConfig config) throws ServletException {
super.init(config);
state = State.getReference();
httpport = state.get(State.values.httpport);
settings = Settings.getReference();
ban = BanList.getRefrence();
state.addObserver(this);
}
public static void setApp(Application a){app = a;}
public void doPost(HttpServletRequest request, HttpServletResponse response) throws ServletException, IOException {
doGet(request, response);
}
public void doGet(HttpServletRequest request, HttpServletResponse response) throws ServletException, IOException {
if( ! settings.getBoolean(ManualSettings.developer.name())){
Util.log("dangerous.. not in developer mode: "+request.getRemoteAddr(), this);
response.sendRedirect("/oculusPrime");
return;
}
if( ! ban.knownAddress(request.getRemoteAddr())){
Util.log("unknown address: sending to login: "+request.getRemoteAddr(), this);
response.sendRedirect("/oculusPrime");
return;
}
String view = null;
String action = null;
String route = null;
String move = null;
try {
view = request.getParameter("view");
delay = request.getParameter("delay");
action = request.getParameter("action");
route = request.getParameter("route");
move = request.getParameter("move");
} catch (Exception e) {}
if(delay == null) delay = HTTP_REFRESH_DELAY_SECONDS;
if(move != null){
if(state.equals(values.dockstatus, AutoDock.DOCKED)){
state.set(values.motionenabled, true);
double distance = 1.0;
app.driverCallServer(PlayerCommands.forward, String.valueOf(distance));
Util.delay((long) (distance / state.getDouble(values.odomlinearmpms.name())) + 2000);
} else app.driverCallServer(PlayerCommands.nudge, move);
}
if(action != null && app != null){
if(action.equalsIgnoreCase("camon")){
new Thread(new Runnable() { public void run(){
app.driverCallServer(PlayerCommands.publish, "camera");
Util.delay(4000); // TODO: BETTER WAY TO KNOW IF CAMERA IS ON?
if(Navigation.turnLightOnIfDark()) Util.log("light was turned on because was dark", this);
}}).start();
}
if(action.equalsIgnoreCase("camoff")) {
app.driverCallServer(PlayerCommands.publish, "stop");
app.driverCallServer(PlayerCommands.spotlight, "0");
}
if( route != null ){
// Util.debug("......doGet(): route: " + route, this);
// if(action.equalsIgnoreCase("resetstats")) app.driverCallServer(PlayerCommands.resetroutedata, route);
if(action.equalsIgnoreCase("gotowp")) app.driverCallServer(PlayerCommands.gotowaypoint, route);
if(action.equalsIgnoreCase("runroute")) app.driverCallServer(PlayerCommands.runroute, route);
}
if(action.equalsIgnoreCase("cancel")) {
// Util.debug("......doGet(): cancel route: " + state.get(values.navigationroute), this);
app.driverCallServer(PlayerCommands.move, "stop");
app.driverCallServer(PlayerCommands.cancelroute, null);
Util.delay(3000);
app.driverCallServer(PlayerCommands.gotodock, null);
}
if(action.equalsIgnoreCase("debugon")) app.driverCallServer(PlayerCommands.writesetting, ManualSettings.debugenabled.name() + " true");
if(action.equalsIgnoreCase("debugoff")) app.driverCallServer(PlayerCommands.writesetting, ManualSettings.debugenabled.name() + " false");
if(action.equalsIgnoreCase("startrec")) app.driverCallServer(PlayerCommands.record, "true dashboard");
if(action.equalsIgnoreCase("stoprec")) app.driverCallServer(PlayerCommands.record, "false");
if(action.equalsIgnoreCase("motor")) app.driverCallServer(PlayerCommands.motorsreset, null);
if(action.equalsIgnoreCase("power")) app.driverCallServer(PlayerCommands.powerreset, null);
if(action.equalsIgnoreCase("gotodock")) app.driverCallServer(PlayerCommands.gotodock, null);
if(action.equalsIgnoreCase("startnav")) app.driverCallServer(PlayerCommands.startnav, null);
if(action.equalsIgnoreCase("stopnav")) app.driverCallServer(PlayerCommands.stopnav, null);
if(action.equalsIgnoreCase("redock")) app.driverCallServer(PlayerCommands.redock, null);
if(action.equalsIgnoreCase("deletelogs")) app.driverCallServer(PlayerCommands.deletelogs, null);
if(action.equalsIgnoreCase("archivelogs")) app.driverCallServer(PlayerCommands.archivelogs, null);
if(action.equalsIgnoreCase("trunclogs")){
Util.log(".... trunc logs stub ....",this);
// Util.truncStaleNavigationFiles();
Util.truncStaleAudioVideo();
Util.truncStaleFrames();
}
if(action.equalsIgnoreCase("gui")) state.delete(values.guinotify);
if(action.equalsIgnoreCase("email")) sendEmail();
if(action.equalsIgnoreCase("reboot")){
new Thread(new Runnable() { public void run(){
Util.log("reboot called, going down..", this);
Util.delay(2000); // redirect before calling..
app.driverCallServer(PlayerCommands.reboot, null);
}}).start();
}
if(action.equalsIgnoreCase("restart")){
new Thread(new Runnable(){ public void run(){
// app.driverCallServer(PlayerCommands.move, "stop");
Util.log("restart called, going down..", this);
Util.delay(2000); // redirect before calling..
app.driverCallServer(PlayerCommands.restart, null);
}}).start();
}
if(action.equalsIgnoreCase("snapshot")) {
sendSnap(request, response);
return;
}
/*
if(action.equalsIgnoreCase("save")) {
new Thread(new Runnable() { public void run() {
if( ! new Downloader().FileDownload("http://" + state.get(values.localaddress)
+ ":" + httpport + "/oculusPrime/dashboard?action=snapshot", "snapshot_"+ System.currentTimeMillis() +".txt", "log"))
Util.log("snapshot save failed", this);
}}).start();
}
*/
response.sendRedirect("/oculusPrime/dashboard?delay=" + delay);
}
response.setContentType("text/html");
PrintWriter out = response.getWriter();
if(view != null){
if(view.equalsIgnoreCase("drive")){
out.println("<html><head><meta http-equiv=\"refresh\" content=\""+ delay + "\"></head><body> \n");
out.println("<br/> <a href=\"dashboard\">dashboard</a> ");
out.println("nudge: <a href=\"dashboard?view=drive&move=forward\">forward</a> ");
out.println("<a href=\"dashboard?view=drive&move=backward\">backward</a> ");
out.println("<a href=\"dashboard?view=drive&move=left\">left</a> ");
out.println("<a href=\"dashboard?view=drive&move=right\">right</a> ");
out.println("<br/><img src=\"frameGrabHTTP\"><br/>\n");
out.println("\n</body></html> \n");
out.close();
}
if(view.equalsIgnoreCase("users")){
out.println("<html><head><meta http-equiv=\"refresh\" content=\""+ delay + "\"></head><body> \n");
out.println("<a href=\"dashboard\">dashboard</a> <br/>\n");
out.println(ban + "<br />\n");
out.println(ban.tail(30) + "\n");
String str = "RTMP users login records:<br>";
for (int i = 0; i < LoginRecords.list.size(); i++)
str += i + " " + LoginRecords.list.get(i).toString() + "<br>";
out.println("<br>" + str);
out.println("\n</body></html> \n");
out.close();
}
if(view.equalsIgnoreCase("state")){
out.println("<html><body> \n");
out.println(" <a href=\"dashboard\">dashboard</a>");
out.println(" <a href=\"dashboard?view=history\">history</a><br /><br />\n");
out.println(toHTML() + "\n");
out.println("\n</body></html> \n");
out.close();
}
if(view.equalsIgnoreCase("routes")){
out.println("<!DOCTYPE html PUBLIC \"-//W3C//DTD XHTML 1.0 Transitional//EN\" \"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd\">\n");
out.println("<html><head><meta http-equiv=\"Content-Type\" content=\"text/html; charset=windows-1252\"><title>Oculus Prime Route Statistics</title> \n");
out.println("<style type=\"text/css\">");
out.println("body, p, ol, ul {font-family: verdana, arial, helvetica, sans-serif; font-size: 16px;}");
out.println("th, td { text-align: left; padding: 12px; }");
out.println("tr:nth-child(even){background-color: #f2f2f2}");
out.println("th { background-color: #4CAF50; color: white; }");
out.println("</style><html><body>\n");
out.println("\n");
// out.println(" <a href=\"dashboard\">back to dashboard</a></br></br>");
out.println(NavigationUtilities.getRouteStatsHTML() + "\n");
out.println("\n</body></html> \n");
out.close();
}
if(view.equalsIgnoreCase("stdout")){
out.println("<html><head><meta http-equiv=\"refresh\" content=\""+ delay + "\"></head><body> \n");
out.println("<a href=\"dashboard\">dashboard</a> \n"
+ new File(Settings.stdout).getAbsolutePath() + "<br /><br />\n");
out.println(Util.tail(35) + "\n");
out.println("\n</body></html> \n");
out.close();
}
if(view.equalsIgnoreCase("power")){
out.println("<html><head><meta http-equiv=\"refresh\" content=\""+ delay + "\"></head><body> \n");
out.println("<a href=\"dashboard\">dashboard</a> \n"
+ new File(PowerLogger.powerlog).getAbsolutePath() + "<br /><br />\n");
out.println(PowerLogger.tail(45) + "\n");
out.println("\n</body></html> \n");
out.close();
}
/*
if(view.equalsIgnoreCase("history")){
out.println("<html><head><meta http-equiv=\"refresh\" content=\""+ delay + "\"></head><body> \n");
out.println("<a href=\"dashboard\">dashboard</a>");
out.println(" <a href=\"dashboard?view=state\">state</a><br /><br />\n");
out.println(getHistory().replaceAll("\n", "<br>\n"));
out.println("\n</body></html> \n");
out.close();
}
*/
}
// default view
out.println("<!DOCTYPE html PUBLIC \"-//W3C//DTD XHTML 1.0 Transitional//EN\" \"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd\">\n");
out.println("<html>\n<head><meta http-equiv=\"refresh\" content=\""+ delay + "\">\n<title>Oculus Prime</title>\n<style type=\"text/css\">"+ css +"</style></head>\n<body> \n");
out.println(toDashboard(request.getServerName()+":"+request.getServerPort() + "/oculusPrime/dashboard") + "\n");
out.println("\n</body></html>\n");
out.close();
}
public void sendEmail(){
new Thread(new Runnable() { public void run() {
StringBuffer text = new StringBuffer();
text.append("\n\r-- " + new Date() + " --\n");
text.append(Util.tail(999).replaceAll("<br>", "\n"));
// text.append("\n\r -- state history --\n");
// text.append(getHistory() + "\n\r");
text.append("\n\r -- state values -- \n");
text.append(state.toString().replaceAll("<br>", "\n"));
text.append("\n\r -- battery --\n");
text.append(PowerLogger.tail(45) + "\n");
text.append("\n\r -- settings --\n");
text.append(Settings.getReference().toString().replaceAll("<br>", "\n"));
new SendMail("oculus prime snapshot", text.toString());
// Util.delay(5000);
// new SendMail("oculus prime log files", "see attached", new String[]{ Settings.settingsfile, Navigation.navroutesfile.getAbsolutePath() });
}}).start();
}
public String toHTML(){
StringBuffer str = new StringBuffer("<table>");
HashMap<String, String> props = state.getState();
Set<String> keys = props.keySet();
for(Iterator<String> i = keys.iterator(); i.hasNext();){
try {
if( !i.hasNext()) break;
String key = i.next();
if(key.equals(values.rosamcl.name())) key = i.next();
if(key.equals(values.rosglobalpath.name())) key = i.next();
if(key.equals(values.rosmapinfo.name())) key = i.next();
if(key.equals(values.rosscan.name())) key = i.next();
if(key.equals(values.rosmapwaypoints.name())) key = i.next();
if(key.equals(values.batteryinfo.name())) key = i.next();
if(key.equals(values.networksinrange.name())) key = i.next();
if(key.equals(values.rosmapinfo.name())) key = i.next();
str.append("<tr><td>" + key + "<td>" + props.get(key) + "</a>");
if( !i.hasNext()) break;
key = i.next();
if(key.equals(values.rosamcl.name())) key = i.next();
if(key.equals(values.rosglobalpath.name())) key = i.next();
if(key.equals(values.rosmapinfo.name())) key = i.next();
if(key.equals(values.rosscan.name())) key = i.next();
if(key.equals(values.rosmapwaypoints.name())) key = i.next();
if(key.equals(values.batteryinfo.name())) key = i.next();
if(key.equals(values.networksinrange.name())) key = i.next();
if(key.equals(values.rosmapinfo.name())) key = i.next();
str.append("<td>" + key + "<td>" + props.get(key) + "</a>");
if( !i.hasNext()) break;
} catch (Exception e) { break; }
}
Vector<String> points = getAllWaypoints();
String pnames = "NONE";
if(points.size() > 0) pnames = points.toString();
str.append("<tr><td colspan=\"9\"><hr><tr><td colspan=\"9\">wapoints: " + pnames);
str.append("<tr><td colspan=\"9\"><hr><tr><td colspan=\"9\">null's");
for (values key : values.values()) if(! props.containsKey(key.name())) str.append(" " + key.name() + " ");
str.append("</table>\n");
return str.toString();
}
public void sendSnap(HttpServletRequest request, HttpServletResponse response) throws ServletException, IOException {
response.setContentType("text");
PrintWriter out = response.getWriter();
out.println("\n\r-- " + new Date() + " --\n\r");
out.println(Util.tail(999).replaceAll("<br>", "\n"));
// out.println("\n\r -- state history --\n\r");
// out.println(getHistory() + "\n\r");
out.println("\n\r -- state values -- \n\r");
out.println(state.toString().replaceAll("<br>", "\n"));
out.println("\n\r -- settings --\n\r");
out.println(Settings.getReference().toString().replaceAll("<br>", "\n"));
out.println("\n\r -- route stats -- \n\r");
out.println(NavigationUtilities.getRouteStats() + "\n");
out.println("\n\r -- batter info -- \n\r");
out.println(PowerLogger.tail(99).replaceAll("<br>", "\n") + "\n");
out.close();
}
public String toDashboard(final String url){
String motor, power;
if(state.exists(values.powerport)) power = "<a href=\"dashboard?action=power\" >"+state.get(values.powerport)+"</a>";
else power = "<a href=\"dashboard?action=power\" >connect power</a>";
if(state.exists(values.motorport)) motor = "<a href=\"dashboard?action=motor\" >"+state.get(values.motorport)+"</a>";
else motor = "<a href=\"dashboard?action=motor\" >connect motors</a>";
String rec = state.get(values.record);
if(rec == null) rec = "<td class='menu'>record<td class='off'><a href=\"dashboard?action=startrec\"> on</a> | <a href=\"dashboard?action=stoprec\">off</a>";
else {
if(rec.contains("cam")){
rec = "<td class='menu'>record<td class='on'><a href=\"dashboard?action=startrec\"> on</a> | <a href=\"dashboard?action=stoprec\">off</a>";
} else {
rec = "<td class='menu'>record<td class='off'><a href=\"dashboard?action=startrec\"> on</a> | <a href=\"dashboard?action=stoprec\">off</a>";
}
}
String cam = state.get(values.stream);
if(cam == null) cam = "";
else {
if(cam.contains("cam")) {
cam = "<td class='menu'>camera<td class='on'><a href=\"dashboard?action=camon\"> on</a> | <a href=\"dashboard?action=camoff\">off</a>";
} else {
cam = "<td class='menu'>camera<td class='off'><a href=\"dashboard?action=camon\"> on</a> | <a href=\"dashboard?action=camoff\">off</a>";
}
}
String od = "<td class='menu'>nav<td class='off'><a href=\"dashboard?action=startnav\"\"> on </a>| off";
if(state.getBoolean(values.odometry))
od = "<td class='menu'>nav<td class='on'> on | <a href=\"dashboard?action=stopnav\">off</a>";
String debug = "<td class='menu'>debug<td class='off'><a href=\"dashboard?action=debugon\"> on </a>| off";
if(settings.getBoolean(ManualSettings.debugenabled))
debug = "<td class='menu'>debug<td class='on'> on | <a href=\"dashboard?action=debugoff\">off</a>";
if(httpport == null) httpport = state.get(State.values.httpport);
String dock = "undocked>";
if(state.equals(values.dockstatus, AutoDock.DOCKED)) dock = "<a href=\"dashboard?action=redock\" title=\"force re-dock the robot\">docked</a>";
if(!state.getBoolean(values.odometry) || state.equals(values.dockstatus, AutoDock.DOCKED))
dock = "<a href=\"dashboard?action=redock\" title=\"force re-dock the robot\">docked</a>";
if(state.equals(values.dockstatus, AutoDock.DOCKED))
dock = "<a href=\"dashboard?action=redock\" title=\"force re-dock the robot\">docked</a>";
if(state.equals(values.dockstatus, AutoDock.UNDOCKED)) dock = "<a href=\"dashboard?action=redock\">un-docked</a>";
if(state.equals(values.dockstatus, AutoDock.DOCKING)) dock = "docking";
if(state.equals(values.dockstatus, AutoDock.UNKNOWN)) dock = "UNKNOWN";
if(state.getBoolean(values.autodocking)) dock = "auto-docking";
//------------------- now build HTML buffer ------------------------------------------------------------//
StringBuffer str = new StringBuffer("<table cellspacing=\"8\"><tbody>\n");
// version | views | ssid | rate
str.append("\n<tr><td class='menu'>version " + VERSION);
str.append("<td><div class=\"dropdown\"><button class=\"dropbtn\">commands</button><div class=\"dropdown-content\">\n" + commandlinks + "\n</div></div>");
str.append("\n<td class='menu'>ssid<td><a href=\"http://"+state.get(values.localaddress) +"\" target=\"_blank\">" + state.get(values.ssid));
if(delay.equals("5")) str.append("\n<td class='menu'>rate<td>" + "5 | <a href=\"dashboard?delay=10\">10</a> | <a href=\"dashboard?delay=30\">30</a>");
if(delay.equals("10")) str.append("\n<td class='menu'>rate<td>" + "<a href=\"dashboard?delay=5\">5</a> | 10 | <a href=\"dashboard?delay=30\">30</a>");
if(delay.equals("30")) str.append("\n<td class='menu'>rate<td>" + "<a href=\"dashboard?delay=5\">5</a> | <a href=\"dashboard?delay=10\">10</a> | 30");
// motor | wan | hdd
str.append("\n<tr>");
str.append("<td class='menu'>motor<td>" + motor );
String ext = state.get(values.externaladdress);
if( ext == null ) str.append("<td class='menu'>wan<td>disconnected");
else str.append("<td class='menu'>wan<td><a href=\"http://"+ ext + ":" + httpport + "/oculusPrime/" +"\" target=\"_blank\">" + ext + "</a>");
str.append( "<td class='menu'>hdd<td>" + Util.diskFullPercent() + "% used</a></tr> \n");
// power | lan | prime
str.append("\n<tr>");
str.append("<td class='menu'>power<td>" + power );
str.append("<td class='menu'>lan<td><a href=\"http://"+state.get(values.localaddress) +"\" target=\"_blank\">" + state.get(values.localaddress) + "</a>");
str.append("<td class='menu'>prime<td>" + Util.countAllMbytes(".") + " mb</tr> \n");
// dock | battery | streams
str.append("\n<tr>");
if( ! state.equals(values.dockstatus, AutoDock.DOCKED)) str.append("<td class='menu'>dock<td class='busy'>" + dock);
else str.append("<td class='menu'>dock<td>" + dock);
str.append("<td class='menu'>battery<td><a href=\"dashboard?view=power\">" + state.get(values.batterylife) + "</a>");
str.append("<td class='menu'>streams<td>" + Util.countAllMbytes(Settings.streamfolder) + "</a> mb</tr> \n" );
// record | booted | archive
str.append("\n<tr>");
str.append(rec);
str.append("<td class='menu'>booted<td>" + (((System.currentTimeMillis() - state.getLong(values.linuxboot)) / 1000) / 60)+ "</a> mins");
str.append("<td class='menu'>archive<td>"+ Util.countMbytes("./log/archive") + " mb</tr> \n" );
// camera | uptime | frames
str.append("\n<tr>");
str.append(cam);
if(restarts < 5) str.append("<td class='menu'>up time<td>" + (state.getUpTime()/1000)/60 + "</a> mins");
else str.append("<td class='menu'>up time<td class='busy'>" + (state.getUpTime()/1000)/60 + "</a> mins (" + restarts + ")");
str.append("<td class='menu'>frames<td>" + Util.countAllMbytes(Settings.framefolder) + " mb</tr> \n" );
// navigation | cpu | logs
str.append("\n<tr>");
str.append(od);
String cpuvalue;
if(state.getBoolean(values.waitingforcpu)) cpuvalue = "<td class='busy'>" + state.get(values.cpu) + "% waiting..</td>";
else cpuvalue = "<td>" + state.get(values.cpu) + "%";
str.append("<td class='menu'>cpu" + cpuvalue);
str.append("<td class='menu'>logs<td>" + Util.countMbytes(Settings.logfolder) + " mb</tr> \n" );
// debug | telnet | ros
str.append("\n<tr>");
str.append(debug
+ "<td class='menu'>telnet<td>" + state.get(values.telnetusers)
+ "<td class='menu'>ros<td>" + Util.getRosCheck() + "</tr> \n" ); // doesn't work on hidden file? Util.countMbytes(Settings.roslogfolder)
str.append(getActiveRoute());
str.append("\n\n<tr><td class='menu'>routes<td>"+ getRouteLinks() +" \n");
String waypoint = state.get(values.roswaypoint);
if(waypoint == null) waypoint = "not active";
String drop = "\n<td class='menu'>points<td><div class=\"dropdown\"><button class=\"dropbtn\">"+waypoint+"</button><div class=\"dropdown-content\">";
Vector<String> waypointsAll = getAllWaypoints();
if(waypointsAll != null){
for(int i = 0 ; i < waypointsAll.size() ; i++) {
drop += "\n<a href=\"dashboard?action=gotowp&route="+ waypointsAll.get(i).replaceAll(" ", " ").trim() +"\">" + waypointsAll.get(i) + "</a> ";
}
}
drop += "</div></div>";
str.append(drop);
str.append("<td><div class=\"dropdown\"><button class=\"dropbtn\">views</button><div class=\"dropdown-content\">\n" + viewslinks + "\n</div></div>");
// str.append("<td><div class=\"dropdown\"><button class=\"dropbtn\">commands</button><div class=\"dropdown-content\">\n" + commandlinks + "\n</div></div>");
str.append("<td>");
// --- active --- //
String m = "# " + Navigation.consecutiveroute + " ";
if(pointslist != null) // m+= pointslist;
for(int c = 0 ; c < pointslist.size(); c++ )
m+= "<a href=\"media?filter="+ pointslist.get(c) + "\" target=\"_blank\">" + pointslist.get(c) + "</a>, ";
m += " <a href=\"dashboard?action=gotodock\">return to dock</a> ";
// if(state.getBoolean(values.routeoverdue)) m += " *overdue* ";
// if(state.getBoolean(values.waypointbusy)) m += " *waypointbusy* ";
if(state.getBoolean(values.rosgoalcancel)) m += " *ros goal cancel* ";
if(m.length() > 0) str.append("\n<tr><td class='menu'>active<td class='tail' colspan=\"11\">"+ m.trim() +"</tr>\n");
// --- gui notify --- //
String msg = state.get(values.guinotify);
if(msg == null) msg = "";
else msg += " (<a href=\"dashboard?action=gui\">ignore</a>)";
if(msg.length() > 1) {
msg = "<tr><td class='menu'>message<td class='tail' colspan=\"11\">" + msg + "</tr> \n";
str.append(msg);
}
str.append(getTail(12) + "\n");
str.append("\n</tbody></table>\n");
return str.toString();
}
private String getRouteLinks(){
Vector<String> list = NavigationUtilities.getRoutes();
String rname = state.get(values.navigationroute);
if(rname == null) rname = "not active";
String drop = "\n<div class=\"dropdown\"><button class=\"dropbtn\">"+rname+"</button><div class=\"dropdown-content\">";
for(int i = 0; i < list.size(); i++) drop += "<a href=\"dashboard?action=runroute&route="+list.get(i)+"\">" + list.get(i) + "</a>";
return drop += "</div></div>";
}
private String getActiveRoute(){
String link = "<tr><td class='menu'>next<td>";
String rname = state.get(values.navigationroute);
String next = "err";
rname = state.get(values.navigationroute);
if(rname == null) rname = "xml: " + NavigationUtilities.getActiveRoute();
time = ((System.currentTimeMillis() - Navigation.routestarttime)/1000);
next = state.get(values.roswaypoint);
if(state.equals(values.dockstatus, AutoDock.DOCKED) && !state.getBoolean(values.odometry)){
if(state.exists(values.nextroutetime)){
next = ((state.getLong(values.nextroutetime) - System.currentTimeMillis())/1000)+ " sec";
time = 0;
}
}
if(next==null) time = 0;
link += next += "<td class='menu'>meters<td>" + Navigation.getRouteMeters() + " | " + estimatedmeters + "<td class='menu'>time<td>" + time + " | " + estimatedseconds;
return link;
}
public static String tailFormated(int lines){
int i = 0;
final long now = System.currentTimeMillis();
StringBuffer str = new StringBuffer();
if(Util.history.size() > lines) i = Util.history.size() - lines;
for(; i < Util.history.size() ; i++){
String line = Util.history.get(i).substring(Util.history.get(i).indexOf(",")+1).trim();
String stamp = Util.history.get(i).substring(0, Util.history.get(i).indexOf(","));
line = line.replaceFirst("\\$[0-9]", "");
line = line.replaceFirst("^oculusprime.", "");
line = line.replaceFirst("^oculusPrime.", "");
line = line.replaceFirst("^Application.", "");
line = line.replaceFirst("^static, ", "");
double delta = (double)(now - Long.parseLong(stamp)) / (double) 1000;
String unit = " sec ";
String d = Util.formatFloat(delta, 0);
if(delta > 60) { delta = delta / 60; unit = " min "; d = Util.formatFloat(delta, 1); }
str.append("\n<tr><td class='menu'>" + d + " " + unit + "<td class='tail' colspan=\"11\">" + line.trim() + "</tr> \n");
}
return str.toString();
}
private String getTail(int lines){
String reply = "\n\n"; // <table cellspacing=\"8\"> \n";
reply += tailFormated(lines);
// reply += ("\n</table>\n");
return reply;
}
/*
private String getHistory(){
String reply = "";
for(int i = 0 ; i < history.size() ; i++) {
long time = Long.parseLong(history.get(i).substring(0, history.get(i).indexOf(" ")));
String mesg = history.get(i).substring(history.get(i).indexOf(" "));
String date = new Date(time).toString();
date = date.substring(10, date.length()-8).trim();
double delta = (double)(System.currentTimeMillis() - time) / (double) 1000;
String unit = " sec ";
if(delta > 60) { delta = delta / 60; unit = " min "; }
reply += " " + Util.formatFloat(delta, 1) + " " + unit + "" + mesg.trim() + "\n";
}
return reply;
}
*/
@Override
public void updated(String key){
// if(state.exists(key)) Util.log("updated: " + key + " " + state.get(key), this);
// only read from file on change
if(key.equals(values.navigationroute.name())){
if(state.exists(values.navigationroute)){
estimatedmeters = NavigationUtilities.getRouteDistanceEstimateString(state.get(values.navigationroute));
estimatedseconds = NavigationUtilities.getRouteTimeEstimateString(state.get(values.navigationroute));
pointslist = NavigationUtilities.getWaypointsForRoute(state.get(values.navigationroute));
} else {
pointslist = null;
estimatedmeters = "0";
estimatedseconds = "0";
time = 0;
}
}
if(key.equals(values.dockstatus.name())){
if(state.equals(values.dockstatus, AutoDock.DOCKED)){
// estimatedmeters = "0";
// estimatedseconds = "0";
time = 0;
}
}
// if(state.getBoolean(values.routeoverdue))
// state.set(values.guinotify, "route over due: " + NavigationUtilities.getActiveRoute());
// if(key.equals(values.framegrabbusy.name())) return;
// if(key.equals(values.rosglobalpath.name())) return;
// if(key.equals(values.rosscan.name())) return;
if(key.equals(values.networksinrange.name())) return;
if(key.equals(values.batteryinfo.name())) return;
if(key.equals(values.batterylife.name())) return;
if(key.equals(values.batteryvolts.name())) return;
if(key.equals(values.cpu.name())) return;
// trim size
// if(history.size() > MAX_STATE_HISTORY) history.remove(0);
// if(state.exists(key)) history.add(System.currentTimeMillis() + " " +key + " = " + state.get(key));
}
public static Vector<String> getAllWaypoints(){
Vector<String> names = new Vector<String>();
if( ! state.exists(values.rosmapwaypoints)) return names;
String[] points = state.get(values.rosmapwaypoints).split(",");
for(int i = 0 ; i < points.length ; i++ ){
try { Double.parseDouble(points[i]); } catch (NumberFormatException e){
String value = points[i].replaceAll(" ", " ").trim();
// if(value.contains(" ")) Util.log("getAllWaypoints(): ..WARNING.. html chars point: " + value);
// if(names.contains(value)) Util.log("getAllWaypoints(): ..WARNING.. duplicate point: " + value);
if( ! names.contains(value)) names.add(points[i]);
}
}
return names;
}
}