FRC-1721 · KenwoodFox · Dec 9, 2019 · Dec 9, 2019 · Dec 9, 2019 · Dec 25, 2019
diff --git a/README.md b/README.md
@@ -21,6 +21,38 @@ get a version of pynetworktables that works with Python 2.7:
 
     sudo pip install pynetworktables==2018.2.1
 
+## Ports and other important information
+| Type | Description | Number | Our Use |
+| :--- | :----: | :----: | ---: |
+| Camera Data | For cameras and video | UDP/TCP 1180 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1181 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1182 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1183 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1184 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1185 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1186 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1187 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1188 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1189 | Available |
+| Camera Data | For cameras and video | UDP/TCP 1190 | Available |
+| SmartDashboard | Unsure if this also includes other networktables tables | TCP 1735 | Can't use |
+| DS-Robot Comms | Contains the data from the DS to the robot | UDP 1130 | Can't use |
+| Robot to DS | Unsure what this contans | UDP 1140 | Can't use |
+| Camera/Web interface | Unsecure web interface connection | HTTP 80 | Available |
+| Camera/Web interface | Secure web interface connection | HTTP 443 | Available |
+| h.264 Streaming | Real time streaming | UDP/TCP 554 | Available |
+| Team Use | Team Use | UDP/TCP 5800 | Available |
+| Team Use | Team Use | UDP/TCP 5801 | Available |
+| Team Use | Team Use | UDP/TCP 5802 | Available |
+| Team Use | Team Use | UDP/TCP 5803 | Available |
+| Team Use | Team Use | UDP/TCP 5804 | Available |
+| Team Use | Team Use | UDP/TCP 5805 | Available |
+| Team Use | Team Use | UDP/TCP 5806 | Available |
+| Team Use | Team Use | UDP/TCP 5807 | Available |
+| Team Use | Team Use | UDP/TCP 5808 | Available |
+| Team Use | Team Use | UDP/TCP 5809 | Available |
+| Team Use | Team Use | UDP/TCP 5810 | Available |
+
 ## Communicating with the Robot
 
 We do not want to rely on DNS for communications. Therefore, we need to tell

diff --git a/hungry_toaster_gui/CMakeLists.txt b/hungry_toaster_gui/CMakeLists.txt
@@ -0,0 +1,204 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hungry_toaster_gui)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rosbridge_server
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hungry_toaster_gui
+#  CATKIN_DEPENDS rosbridge_server
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/hungry_toaster_gui.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/hungry_toaster_gui_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hungry_toaster_gui.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/hungry_toaster_gui/gui/InputSim.js b/hungry_toaster_gui/gui/InputSim.js
@@ -0,0 +1,6 @@
+var robotX = Math.round((Math.random()*821-(821/2))*0.316);
+var robotY = Math.round((Math.random()*1598-(1598/2))*0.316);
+robotX = String("calc(63vw + "+robotX+"px)");
+robotY = String("calc(52vh + "+robotY+"px)");
+
+var roboRotate = Math.round(Math.random()*360);
diff --git a/hungry_toaster_gui/gui/Map.PNG b/hungry_toaster_gui/gui/Map.PNG
diff --git a/hungry_toaster_gui/gui/gui-the_good_one.html b/hungry_toaster_gui/gui/gui-the_good_one.html
@@ -0,0 +1,51 @@
+<!DOCTYPE html>
+<html>
+	<head>
+		<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"/>
+		<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"/>
+		<script type="text/javascript" src="InputSim.js"/>
+		<script type="text/javascript">var ros = new ROSLIB.Ros({url : 'ws://10.17.21.102:9090'});ros.on('connection', function() {document.getElementById("status").d = "Connected";});	ros.on('error', function(error) {document.getElementById("status").innerHTML = "Error";	});	ros.on('close', function() {document.getElementById("status").innerHTML = "Closed";	});	var robotColur = 1;	var butNum = 1;	var mapStyle = 1;document.addEventListener('keypress', logKey);	function logKey (e){if (e.keyCode == 119){butNum--;	}if (e.keyCode == 115){	butNum++;}if(butNum == 4){butNum = 1;}if(butNum == 0){butNum = 3;}if(butNum == 1){if(robotColur==1){document.getElementById("robotImg").style.color="#55FFFF";	}if(robotColur==2){document.getElementById("robotImg").style.color="#FF5555";}document.getElementById("mapButton").style.backgroundColor='#cccc55';	if(mapStyle==2){document.getElementById("desk").innerHTML="Map of the field:<br/>      ___________________<br/>  _-'' <span class='blue'>'-_-'  </span>
+			<span class='red'> '-_-'</span> ''-_<br/> |                          |<br/> |                          |<br/> |                          |<br/> |--------------------------|<br/> |                          |<br/> |                          |<br/> |<span class='blue'>____</span>
+			<span class='grey'>  _</span>
+			<span class='red'>     ___</span>|<br/> |    <span class='blue'>|</span>
+			<span class='grey'> __--'' |  </span>
+			<span class='red'>|</span>   |<br/> |'<span class='green'>/</span>
+			<span class='blue'>\\</span>'<span class='blue'>|</span>
+			<span class='grey'>_--'' |      |  </span>
+			<span class='red'>|</span>   |<br/> |_<span class='red'>\\</span>
+			<span class='yellow'>/</span>_<span class='blue'>|</span>
+			<span class='grey'>|      |      |</span>
+			<span class='red'>|</span>   |<br/> |    <span class='blue'>|</span>
+			<span class='grey'>|      |      | </span>
+			<span class='red'>|</span>   |<br/> |    <span class='blue'>|</span>
+			<span class='grey'> |      |      |</span>
+			<span class='red'>|</span>---|<br/> |<span class='blue'>    | </span>
+			<span class='grey'>|      |  __-%</span>
+			<span class='red'>|</span>
+			<span class='green'>(</span>
+			<span class='red'> )</span>|<br/> |  <span class='blue'>  | </span>
+			<span class='grey'> |  __--'' </span>
+			<span class='red'>|</span>'''|<br/> |<span class='blue'>____|  </span>
+			<span class='grey'>  %'' </span>
+			<span class='red'>|___</span>|<br/> |                          |<br/> |                          |<br/> |__________________________|<br/> |                          |<br/> |                          |<br/> |                          |<br/>  --_  <span class='blue'> /^\\ </span>
+			<span class='red'>       /^\\ </span>  _--<br/>     ''<span class='blue'>'</span>---<span class='blue'>'</span>------<span class='red'>'</span>---<span class='red'>'</span>'' <br/>";document.getElementById("desk").style.whiteSpace = "pre";	document.getElementById("desk").style.lineHeight = "10px";document.getElementById("robotImg").style.left = "100vw";document.getElementById("robotFrame").style.top=robotY;document.getElementById("robotFrame").style.left=robotX;document.getElementById("robotFrame").style.transform="rotate("+roboRotate+"deg)"} else if(mapStyle==1){document.getElementById("desk").innerHTML="Map of the field:<br/>      ___________________<br/>  _-'' '-_-'      '-_-' ''-_<br/> |                          |<br/> |                          |<br/> |                          |<br/> |--------------------------|<br/> |                          |<br/> |                          |<br/> |____            _      ___|<br/> |    |     __--'' |    |   |<br/> |'/\\'|_--'' |      |   |   |<br/> |_\\/_||      |      |  |   |<br/> |    | |      |      | |   |<br/> |    |  |      |      ||---|<br/> |    |   |      |  __-%|( )|<br/> |    |    |  __--''    |'''|<br/> |____|    %''          |___|<br/> |                          |<br/> |                          |<br/> |__________________________|<br/> |                          |<br/> |                          |<br/> |                          |<br/>  --_   /^\\        /^\\   _--<br/>     '''---'------'---''' <br/>";document.getElementById("desk").style.whiteSpace = "pre";document.getElementById("desk").style.lineHeight = "10px";document.getElementById("robotImg").style.color="#FFFFFF";document.getElementById("robotFrame").style.left=robotX;document.getElementById("robotFrame").style.top=robotY;document.getElementById("robotFrame").style.transform="rotate("+roboRotate+"deg)"}else if(mapStyle==3){document.getElementById("desk").innerHTML="map style 3, PNG"}} else {document.getElementById("mapButton").style.backgroundColor='#0000aa';}if(butNum == 2){document.getElementById("robotImg").style.color="#0000aa";document.getElementById("desk").style.lineHeight='20px';document.getElementById("desk").style.whiteSpace='normal';document.getElementById("mapStyleButton").style.backgroundColor='#cccc55';document.getElementById("desk").innerHTML = "This modifies the style of the map, with the following outputs:<br/>Authentic ASCII - Gives an authentic ASCII style field map, for the true 1980's feel<br/>Colorized ASCII - For those who think there too cool for authentic ASCII, this is a colorized map of the field, but still retains that ASCII feel<br/>Genaric PNG - For those who like the idea of navigating a website using a mouse, this map is a cheap PNG of the field. It may look better, but what is more important, a website that works or a website that functions like the BIOS on a 20 year old computer?<br/>Current Style: <span id='cStyle'/>";if(e.keyCode == 13){mapStyle++;if(mapStyle>=4){mapStyle = 1;}}if(mapStyle == 1){document.getElementById("cStyle").innerHTML = "Authentic ASCII";}if(mapStyle == 2){document.getElementById("cStyle").innerHTML = "Colorized ASCII";}if(mapStyle == 3){document.getElementById("cStyle").innerHTML = "Generic PNG";}		} else {document.getElementById("mapStyleButton").style.backgroundColor='#0000aa';}if(butNum == 3){document.getElementById("robotImg").style.color="#0000aa";document.getElementById("robotColor").style.backgroundColor='#cccc55';document.getElementById("desk").style.lineHeight='20px';document.getElementById("desk").style.whiteSpace='normal';} else {document.getElementById("robotColor").style.backgroundColor='#0000aa';}if(butNum==3){document.getElementById("desk").innerHTML = "This modifies the color of the robot, and has two modes. Blue, for the blue alliance and red. You dont need me to tell you what red is for.<br/>Current robot color:<span id='robotC'/>";if(e.keyCode == 13){robotColur++;if(robotColur>=3){robotColur = 1;}}}if(robotColur==1){document.getElementById("robotC").innerHTML = "<span class='blue'>Blue</span>";}if(robotColur==2){document.getElementById("robotC").innerHTML = "<span class='red'>red</span>";}}		</script>
+<style>@font-face {font-family: 'perfect_dos_vga_437regular';src: url('perfect_dos_vga_437-webfont.woff2') format('woff2'),url('perfect_dos_vga_437-webfont.woff') format('woff');font-weight: normal;font-style: normal;}	body {background-color: #0000AA;}h1 {color: #FFFFFF;text-align: center;font-family:'Perfect DOS VGA 437';}leftBox {white-space: pre;color: #FFFFFF;text-align: left;font-family:'Perfect DOS VGA 437';font-size: 20px;		padding: 10px;border-width: 4px;border-style:solid;border-color:#FFFFFF;position:absolute;height:83vh;top:10vh;width:calc(50vw - 33px);} rightBox {width: calc(50vw - 53px);left:calc(50vw);height:83vh;position:absolute;top:10vh;color: #FFFFFF;text-align: left;font-family:'Perfect DOS VGA 437';font-size: 20px;overflow-wrap: break-word;line-height: 10px;padding: 10px;border-width: 4px;border-style:solid;border-color:#FFFFFF;}robotFrame {position:absolute;color: #0000aa;text-align: left;font-family:'Perfect DOS VGA 437';font-size: 20px;line-height: 10px;font-weight:900;}.blue {color:#55FFFF;}.red{color:#FF5555;}.yellow{color:#FFFF55;}.green{color:#55FF55;}.grey{color:#AAAAAA;}</style>
+</head>
+<body>
+	<h1>ROS Interface Board</h1>
+	<leftBox>Connection status: <span id="status">Connecting...</span>
+		<br/>
+		<span id="mapButton"/>Field Map</span>
+	<br/>
+	<span id="mapStyleButton">Map Style</span>
+	<br/>
+	<span id="robotColor">Robot Color</span>
+</leftBox>
+<rightBox>
+	<span id="desk">Descriptor Area</span>
+</rightBox>
+<robotFrame id="robotFrame">
+	<span id="robotImg">|^^|<br/>|__|</span>
+</robotFrame>
+</body>
+</html>