robotrack.php3 5.94 KB
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<?php
#
# EMULAB-COPYRIGHT
# Copyright (c) 2000-2005 University of Utah and the Flux Group.
# All rights reserved.
#
chdir("..");
include("defs.php3");

$uid = GETLOGIN();
LOGGEDINORDIE($uid);

PAGEHEADER("Real Time Robot Tracking Applet");

#
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# Verify page arguments. Allow user to optionally specify building/floor.
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#
if (isset($building) && $building != "") {
    # Sanitize for the shell.
    if (!preg_match("/^[-\w]+$/", $building)) {
	PAGEARGERROR("Invalid building argument.");
    }
    # Optional floor argument. Sanitize for the shell.
    if (isset($floor) && !preg_match("/^[-\w]+$/", $floor)) {
	PAGEARGERROR("Invalid floor argument.");
    }
}
else {
    $building = "MEB-ROBOTS";
    $floor    = 4;
}
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$ppm      = 1;

#
# Grab pixel_per_meters for above map.
#
$query_result =
    DBQueryFatal("select pixels_per_meter from floorimages ".
		 "where building='$building' and floor='$floor'");
if (mysql_num_rows($query_result)) {
    $row = mysql_fetch_array($query_result);
    $ppm = $row["pixels_per_meter"];
}
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else {
    USERERROR("No such building/floor $building/$floor", 1);
}
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#
# If adding in the webcams, get that stuff too.
#
$webcams = array();

if ($withwebcams) {
  $query_result = DBQueryFatal("select * from webcams");

  while ($row = mysql_fetch_array($query_result)) {
      $id      = $row["id"];
      $camurl  = "../webcamimg.php3?webcamid=${id}&applet=1&fromtracker=1";
      $webcams[] = $camurl;
  }
}

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#
# Draw the legend and some explanatory text.
#
echo "<table cellspacing=5 cellpadding=5 border=0 class=\"stealth\">
      <tr>
       <td align=\"left\" valign=\"top\" class=\"stealth\">
         <table>
           <tr><th colspan=2>Legend</th></tr>
           <tr>
             <td><img src=\"../floormap/map_legend_node.gif\"></td>
             <td nowrap=1>Robot Actual Position</td>
           </tr>
           <tr>
             <td><img src=\"../floormap/map_legend_node_dst.gif\"></td>
             <td nowrap=1>Robot Destination Position</td>
           </tr>
         </table>
       </td>
       <td class=stealth>This applet allows you to view the robots
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                         as they move around, as well as move the robots
                         with drag and drop. The table at the bottom
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                         shows the current position (x, y, orientation),
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                         the destination position,
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                         and the battery level (percentage and voltage).
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                         The shaded areas are <em>exclusion</em>
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                         zones where robots are not allowed to go. You can
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                         <b>right click</b> on a robot to bring up its
                         info page. See below for instructions on how to
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                         use the <b>drag and drop</b> features. If you are on
                         a <b>high speed</b> connection, you can try the
                         <a href=${REQUEST_URI}&withwebcams=1>WithWebCams</a>
                         option.
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        </td>
      </tr>
      </table><hr>\n";

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#
# Create a tempfile to use as a unique prefix; it is not actually used but
# serves the same purpose (The script uses ${prefix}.jpg and ${prefix}.map .)
# 
$prefix = tempnam("/tmp", "floormap");

#
# Get the unique part to send back.
#
if (!preg_match("/^\/tmp\/([-\w]+)$/", $prefix, $matches)) {
    TBERROR("Bad tempnam: $prefix", 1);
}
$uniqueid = $matches[1];

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$perl_args = "-o $prefix -t -z -n -x -v -y -f $floor $building";
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$retval = SUEXEC($uid, "nobody", "webfloormap $perl_args",
		 SUEXEC_ACTION_IGNORE);

if ($retval) {
    SUEXECERROR(SUEXEC_ACTION_USERERROR);
    # Never returns.
    die("");
}

$auth    = $HTTP_COOKIE_VARS[$TBAUTHCOOKIE];
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$pipeurl = "robopipe.php3?building=$building&floor=$floor";
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$baseurl = "../floormap_aux.php3?prefix=$uniqueid";

# Temp for debugging.
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if (isset($fake))
     $pipeurl .= "&fake=yes";
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echo "<applet name='tracker' code='RoboTrack.class'
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              archive='tracker.jar'
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              width='1025' height='1150'
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              alt='You need java to run this applet'>
            <param name='pipeurl' value='$pipeurl'>
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            <param name='floorurl' value='$baseurl'>
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            <param name='uid' value='$uid'>
            <param name='auth' value='$auth'>
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            <param name='ppm' value='$ppm'>
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            <param name='building' value='$building'>
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            <param name='floor' value='$floor'>";
if (count($webcams)) {
    $camcount = count($webcams);
    $x = 400;
    $y = 460;
    
    echo "<param name='WebCamCount' value='$camcount'>";

    for ($i = 0; $i < $camcount; $i++) {
	$camurl = $webcams[$i];

	echo "<param name='WebCam${i}' value='$camurl'>
              <param name='WebCam${i}XY' value='$x,$y'>";

	$x += 260;

	if ($x > 700) {
	    $x = 400;
	    $y = $y + 200;
	}
    }
}
echo "</applet>\n";
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echo "<br>
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     <blockquote><blockquote>
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     <center>
     <h3>Using the Robot Tracker Applet</h3>
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     </center>
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     <ul>
     <li> Right Click over a robot or mote will pop up a browser window 
          showing information about the robot/mote.
     <li> Left click and drag over a (stationary) robot allows you to setup a
          move to a new position. Remember to edit the orientation in the
          table, if needed. Cancel by moving back to its original position. 
     <li> Left click over the background image brings up a menu to submit your 
          moves (start the robots on their way), or cancel the moves.
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     <li> Only one move per robot at a time.
     <li> To change just the orientation (no drag), edit the destination
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          orientation column in the table.
     <li> A robot destination must not overlap an obstacle (shaded area,
          blue border), and it must be fully within the field of view of at
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          least one camera (orange boxes).
     <li> A robot destination must not overlap with another robot (its final
          destination). Because of the sensors on the robots, the closest a
          robot can come to anything else is 23cm.
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     </ul>
     <blockquote><blockquote>\n";
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PAGEFOOTER();
?>