Merge branch 'upstream'

hcrlab · Jun 26, 2021 · acd3154 · acd3154
2 parents 21a18e3 + d86a366
commit acd3154
Show file tree

Hide file tree

Showing 6 changed files with 59 additions and 24 deletions.
diff --git a/app.js b/app.js
@@ -63,10 +63,18 @@ if (use_content_security_policy) {
     app.use(helmet.contentSecurityPolicy({
 	directives:{
 	    defaultSrc:["'self'"],
-	    scriptSrc:["'self'", "'unsafe-inline'", 'static.robotwebtools.org', 'robotwebtools.org', 'webrtc.github.io'],
+	    scriptSrc:["'self'", "'unsafe-inline'", 
+            'static.robotwebtools.org', 
+            'robotwebtools.org', 
+            'webrtc.github.io',
+            'www.gstatic.com',
+            'code.jquery.com',
+            'cdnjs.cloudflare.com',
+            'stackpath.bootstrapcdn.com'],
 	    connectSrc:["'self'", 'ws://localhost:9090'],
 	    imgSrc: ["'self'", 'data:'],
-	    styleSrc:["'self'"],
+	    styleSrc:["'self'", 
+            'stackpath.bootstrapcdn.com'],
 	    fontSrc:["'self'"]}}));
 } else {
     // Disable the content security policy. This is helpful during
@@ -90,12 +98,12 @@ console.log('require https');
 app.all('*', ensureSecure); // at top of routing calls
 
 function ensureSecure(req, res, next){
-    if(req.secure){
-        // OK, continue
-        return next();
-    };
-    // handle port numbers if you need non defaults
-    res.redirect('https://' + req.hostname + req.url); 
+    if(!req.secure){
+        // handle port numbers if you need non defaults
+        res.redirect('https://' + req.hostname + req.url); 
+    }
+
+    return next();
 };
 /////////////////////////
 

diff --git a/bash_scripts/web_interface_installation.sh b/bash_scripts/web_interface_installation.sh
@@ -15,6 +15,12 @@ echo "Installing rosbridge"
 sudo apt-get --yes install ros-melodic-rosbridge-server
 echo "Done."
 
+# TF2
+echo ""
+echo "Installing tf2-web-republisher"
+sudo apt-get --yes install ros-melodic-tf2-web-republisher
+echo "Done."
+
 # NODE 14
 echo ""
 echo "Installing Node.js 14"

diff --git a/operator/operator.html b/operator/operator.html
@@ -3,10 +3,18 @@
   <head>
     <!-- META tags go here -->
     <!-- This can improve the appearance of web pages on mobile devices. -->
+
+    <!-- CSP exceptions -->
+	<meta http-equiv="content-type" content="text/html; charset=utf-8 ;">
+	<meta http-equiv="Content-Security-Policy" content="script-src 'self' 'unsafe-inline' 'unsafe-eval' https://www.gstatic.com https://code.jquery.com https://cdnjs.cloudflare.com https://stackpath.bootstrapcdn.com https://webrtc.github.io/adapter/; style-src 'self' https://stackpath.bootstrapcdn.com">
+
     <meta name="viewport" content="width=device-width, initial-scale=1.0">
     <!--<meta name="viewport" content="height=device-height, initial-scale=1.0">-->
-  	<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
-  	<link rel="stylesheet" href="styles/style.processed.css">
+
+ 		<!-- Bootstrap CSS -->
+    <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
+
+<!--   	<link rel="stylesheet" href="styles/style.processed.css"> -->
   </head>
   <body onmouseup="stopAction()">
 
@@ -386,9 +394,17 @@
 </div>
 
 <link rel="stylesheet" type="text/css" href="operator.css" media="screen" />
+
+<!-- <script src="https://www.gstatic.com/firebasejs/8.6.8/firebase-app.js"></script>
+<script src="https://www.gstatic.com/firebasejs/8.6.8/firebase-auth.js"></script>
+<script src="https://www.gstatic.com/firebasejs/8.6.8/firebase-database.js"></script>
+ -->
+<!-- jQuery first, then Popper.js, then Bootstrap JS -->
 <script src="https://code.jquery.com/jquery-3.3.1.slim.min.js" integrity="sha384-q8i/X+965DzO0rT7abK41JStQIAqVgRVzpbzo5smXKp4YfRvH+8abtTE1Pi6jizo" crossorigin="anonymous"></script>
 <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
 <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+
+
 <script src="../shared/video_dimensions.js"></script>
 <script src="operator.js"></script>
 <script type='text/javascript' >
@@ -402,13 +418,8 @@
     import {createUiRegions} from '/operator/operator_ui_regions.js';
     createUiRegions();
     </script>-->
-<script src="/socket.io/socket.io.js"></script>
-<script src="https://webrtc.github.io/adapter/adapter-latest.js"></script>
 <script src="../shared/sensors.js"></script>
 <script src="../shared/commands.js"></script>
-<script src="operator_acquire_av.js"></script>
-<script src="operator_recorder.js"></script>
-<script src="../shared/send_recv_av.js"></script>
 <script src="../shared/database.js"></script>
 <script type='text/javascript' >
   function runOnOpenDataChannel() {
@@ -418,5 +429,10 @@
   }
   var db = new Database(config, runOnOpenDataChannel);
 </script>
+<script src="/socket.io/socket.io.js"></script>
+<script src="https://webrtc.github.io/adapter/adapter-latest.js"></script>
+<script src="operator_acquire_av.js"></script>
+<script src="operator_recorder.js"></script>
+<script src="../shared/send_recv_av.js"></script>
 </body>
 </html>
diff --git a/shared/database.js b/shared/database.js
@@ -56,9 +56,11 @@ function Database(config, readyCallback) {
   * Will need to wait for all libraries to be loaded before
   * initializing the database.
   */
+
   Database.nLibrariesLoaded = 0;
-  Database.libraryLoadCallbak = function(){
+  Database.libraryLoadCallback = function(){
     Database.nLibrariesLoaded++;
+    console.log("Loaded " + Database.nLibrariesLoaded);
     if (Database.nLibrariesLoaded == 3) {
       Database.initialize();
     }
@@ -67,15 +69,18 @@ function Database(config, readyCallback) {
   Database.loadJSLibrary = function(path) {
       var js = document.createElement("script");
       js.type = "text/javascript";
+      //js.onreadystatechange = Database.libraryLoadCallback;
+      js.onload = Database.libraryLoadCallback;
       js.src = path;
-      js.onreadystatechange = Database.libraryLoadCallbak;
-      js.onload = Database.libraryLoadCallbak;
       document.head.appendChild(js);
+      console.log("Will load: " + path);
   }
 
-  Database.loadJSLibrary(src="https://www.gstatic.com/firebasejs/6.3.0/firebase-app.js");
-  Database.loadJSLibrary(src="https://www.gstatic.com/firebasejs/6.3.0/firebase-auth.js");
-  Database.loadJSLibrary(src="https://www.gstatic.com/firebasejs/6.3.0/firebase-database.js");
+  Database.loadJSLibrary(src="https://www.gstatic.com/firebasejs/8.6.8/firebase-app.js");
+  Database.loadJSLibrary(src="https://www.gstatic.com/firebasejs/8.6.8/firebase-auth.js");
+  Database.loadJSLibrary(src="https://www.gstatic.com/firebasejs/8.6.8/firebase-database.js");
+
+  // Database.initialize();
 
   Database.signInAnonymously = function() {
     if (Database.uid == null && Database.userEmail == null) {

diff --git a/shared/sensors.js b/shared/sensors.js
@@ -102,7 +102,7 @@ var wristSensors = {
 	redRegion.setAttribute('fill', 'red');
 	// make the torque positive and multiply it by a factor to
 	// make sure the video will always be visible even with
-	var redOpacity = Math.abs(value) * 0.005;
+	var redOpacity = Math.abs(value) * 0.015;
 	redRegion.setAttribute('fill-opacity', redOpacity);
 	nothingRegion.setAttribute('fill-opacity', 0.0);
     },
@@ -162,7 +162,7 @@ var gripperSensors = {
 	redRegion.setAttribute('fill', 'red');
 	// make the torque positive and multiply it by a factor to
 	// make sure the video will always be visible even with
-	var redOpacity = Math.abs(value) * 0.005;
+	var redOpacity = Math.abs(value) * 0.015;
 	redRegion.setAttribute('fill-opacity', redOpacity);
 	nothingRegion.setAttribute('fill-opacity', 0.0);
     }

diff --git a/signaling_sockets.js b/signaling_sockets.js
@@ -44,7 +44,7 @@ function createSignalingSocket(io) {
 	    // operators that were connected to the robot in a
 	    // previous session.
 
-	    io.of(namespace).in(room).disconnectSockets(true)
+	    io.of(namespace).in(room).disconnectSockets(true);
 
 	    // Add this robot's socket to the following two rooms:
 	    //   1) a new room named after the robot used to pair with an operator