now can choose which topics to bag in the control pannel

backend/js/Node.js

@@ -0,0 +1,3 @@
+function Node (name) {
+    this.name = name;
+}

backend/js/Topic.js

@@ -0,0 +1,12 @@
+function Topic (name) {
+    this.name = name;
+    this.bag = true;
+    this.type = "";
+}
+
+Array.prototype.indexOfTopic = function(name) {
+    for (var i = 0; i < this.length; i++)
+        if (this[i].name == name)
+            return i;
+    return -1;
+}

backend/js/custom_nodes.js

@@ -1 +0,0 @@
-

backend/js/custom_topics.js

@@ -1,55 +0,0 @@
-function Topic(name, type)
-{
-  this.name = name;
-  this.type = type;
-
-  this.includeInBag = false;
-
-  this.equals = function (otherTopic)
-  {
-    if( this.name == otherTopic.name && this.type == otherTopic.type)
-    {
-      return true;
-    }
-    return false;
-  };
-
-};
-
-function containsTopic(obj, list) {
-    var x;
-    for (x in list) {
-        if (obj.equals(list[x])) {
-            return true;
-        }
-    }
-
-    return false;
-}
-
-function testToics()
-{
-  var topics = [new Topic("a","a_t"), new Topic("b","b_t"), new Topic("c","c_t")];
-
-  console.log("Testing Topic");
-
-  if (containsTopic(new Topic("a","a_t"),topics) == true)
-  {
-    console.log("pass")
-  }
-  else
-  {
-    console.log(" contains true fail")
-  }
-
-  if (containsTopic(new Topic("d","d_t"),topics) == false)
-  {
-    console.log("pass")
-  }
-  else
-  {
-    console.log(" contains d fail")
-  }
-}
-
-testToics();

backend/js/ros_scripts.js

@@ -1,6 +1,10 @@
 var ros = new ROSLIB.Ros();
 
+
+ros.topics = Array();
+ros.nodes = Array();
 ros.recording = false;
+ros.connected = false;
 
 // ros.connectionName = 'ws://192.168.1.105:9090';
 ros.connectionName = 'ws://localhost:9090';
@@ -19,6 +23,7 @@ ros.on('error', function(error) {
 });
 // Find out exactly when we made a connection.
 ros.on('connection', function() {
+  ros.connected = true;
   console.log('Connection made!');
   document.getElementById("ConnectionIPForm").className = "form-group has-success has-feedback";
   document.getElementById("ConnectionIPInput").value = ros.connectionName;
@@ -33,7 +38,7 @@ ros.on('connection', function() {
 
 ros.on('close', function() {
   console.log('Connection closed.');
-
+  ros.connected = false;
   document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
   document.getElementById("ConnectionIPLabel").innerHTML = 'Connection closed';
   document.getElementById("ConnectionButton").className = "btn btn-warning"
@@ -51,6 +56,18 @@ ros.connect(ros.connectionName);
 
 function publishBagMessage(bagFilename)
 {
+  var bag_file_message = ""
+  bag_file_message += bagFilename;
+  if (bagFilename != "STOP")
+  {
+    for (topic in ros.topics)
+    {
+      if(ros.topics[topic].bag)
+      {
+        bag_file_message += " " + ros.topics[topic].name
+      }
+    }
+  }
   var bagMessage = new ROSLIB.Message({
     data : bagFilename
   })
@@ -82,18 +99,77 @@ bagNotifier.subscribe(function(message) {
   if (message.data === "STARTED") {
     document.getElementById("recordButtonText").innerHTML = "Stop"
     document.getElementById("recordButton").className = "btn btn-danger"
-  } else {
+  } else if (message.data === "STOPPED")
+  {
     document.getElementById("recordButtonText").innerHTML = "Start"
     document.getElementById("recordButton").className = "btn btn-primary"
   }
+
+  console.log("bagNotifier: " +message.data)
 });
 
 
+
 ///////////////////////////////////////////////////////////////////////////////////
 // Functions
 ///////////////////////////////////////////////////////////////////////////////////
 
 
+ros.buildTopicList = function(fresh_topics)
+{
+
+  //   console.log(topics)
+//   fresh_topics = fresh_topics.sort();
+  //   First check that all our current topics are in the list of fresh_topics
+  for( var topic = 0; topic < ros.topics.length; topic ++)
+  {
+
+    if (fresh_topics.indexOf(ros.topics[topic].name) > -1)
+    {
+      //       We know that we have already found that topic so we don't need to remove it
+    }
+    else
+    {
+      //       That topic is no longer being published so we need ro remove it
+      ros.topics.splice(topic,1);
+    }
+  }
+
+  for (var topic =0; topic < fresh_topics.length; topic ++ )
+  {
+    if (ros.topics.indexOfTopic(fresh_topics[topic]) > -1)
+    {
+      //       We know that we have already found that topic so we don't need to re-add it
+    }
+    else
+    {
+      //       We do not have that topic so we need to add it
+      //       create the new topic
+      var new_topic = new Topic(fresh_topics[topic]);
+      //       make sure to put in in the list in the order
+      ros.topics.push(new_topic);
+
+    }
+  }
+
+  ros.topics.sort(function(a, b) {
+    if ( a.name < b.name )
+      return -1;
+    if ( a.name > b.name )
+      return 1;
+    return 0;
+  })
+
+};
+
+
+ros.getTopicsList = function()
+{
+  //   var topicList = [];
+  return ros.topics;
+
+}
+
 
 // attept to connect to the ros master from the IP given orgrab it from the form
 ros.attemptConnection = function(ipAddress)
@@ -112,13 +188,25 @@ ros.attemptConnection = function(ipAddress)
 
 function toggleRecording()
 {
-  document.getElementById("recordButtonText").innerHTML = "Wait"
-  document.getElementById("recordButton").className = "btn btn-warning"
-  if (!ros.recording) {
-    ros.recording = true
-    publishBagMessage(document.getElementById("recordText").value)
-  } else {
-    ros.recording = false
-    publishBagMessage("STOP")
+  if(ros.connected)
+  {
+    document.getElementById("recordButtonText").innerHTML = "Wait"
+    document.getElementById("recordButton").className = "btn btn-warning"
+
+    if (!ros.recording) {
+      ros.recording = true
+      topicstobag = " "
+      for (i = 0; i < ros.topics.length; i ++)
+      {
+        if (ros.topics[i].bag == true)
+        {
+          topicstobag  = topicstobag.concat(ros.topics[i].name + " ")
+        }
+      }
+      publishBagMessage(document.getElementById("recordText").value + topicstobag)
+    } else {
+      ros.recording = false
+      publishBagMessage("STOP")
+    }
   }
 }

backend/js/update_guis.js

@@ -1,6 +1,4 @@
 
-ros.topics = [];
-ros.nodes = [];
 
 $("#myImage").click ( function (evt) {
 
@@ -62,34 +60,41 @@ function updateVoltage(voltage)
 function updateTopicsGUI()
 {
 
-  ros.getTopics(function(result)
-                {
-                  ros.topics = result;
-                }
-               );
+  ros.getTopics(ros.buildTopicList);
 
-  var topics = ros.topics;
+  var topics = ros.getTopicsList();
 
-  topics.sort();
   if(topics != null){
     var innerHTML = "";
     for (var i = 0; i < topics.length; i++ )
     {
-      innerHTML = innerHTML.concat(generateCheckbox(topics[i]));
+      innerHTML = innerHTML.concat(generateTopicCheckbox(topics[i]));
     }
     document.getElementById("ROSTopics").innerHTML = innerHTML;
   }
 
 };
 
-function generateCheckbox(name)
+function generateTopicCheckbox(topic)
 {
-  var str = "<div class=\"checkbox\"> <label><input type=\"checkbox\" value=\"\">";
-  str = str.concat(name);
+  var str = "<div class=\"checkbox\">";
+  var checked_str = "unchecked";
+  if (topic.bag == true)
+  {
+    checked_str = "checked"
+  }
+  str =str.concat("<label><input type=\"checkbox\" onclick=\"toggleToBag(\'"+ topic.name + "\')\" id=\"" + topic.name + "_checkbox\" "+ checked_str +">");
+  str = str.concat(topic.name);
   str = str.concat("</label></div>");
   return str;
 };
 
+function toggleToBag(topic_name)
+{
+  //   if($.inArray(topic_name, ros.topics))
+  ros.topics[ros.topics.indexOfTopic(topic_name)].bag = !ros.topics[ros.topics.indexOfTopic(topic_name)].bag ;
+}
+
 function updateNodesGUI()
 {
 
@@ -99,6 +104,7 @@ function updateNodesGUI()
                });
 
   var nodes = ros.nodes;
+
   nodes.sort()
 
   if(nodes != null){
@@ -115,8 +121,10 @@ function updateNodesGUI()
 };
 
 window.setInterval(function(){
-  updateTopicsGUI()
-  updateNodesGUI()
+
+  updateTopicsGUI();
+  updateNodesGUI();
+
 }, 500);
 
 function validateForm()
@@ -155,6 +163,11 @@ function addInputsForConnection()
 
 }
 
+function mylog(input)
+{
+  console.log(input)
+}
+
 
 
 

index.html

@@ -21,11 +21,10 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
         <script src="include/js/roslib.js"></script>
         <script type="text/javascript" src="include/js/roslib.js"></script>
 
-        <script type="text/javascript" src="backend/js/custom_topics.js"></script>
-
         <script type="text/javascript" src="backend/js/ros_scripts.js"></script>
         <script type="text/javascript" src="backend/js/update_guis.js"></script>
 
+        <script type="text/javascript" src="backend/js/Topic.js"></script>
 
         <audio id="audio" src="audio/beep-04.mp3" autostart="false" ></audio>
 
@@ -45,7 +44,7 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                 <h1>Example GUI</h1>
             </div>
 
-            <ul id="tabs" class="nav nav-pills" data-tabs="tabs">
+            <ul id="tabs" class="nav nav-pills" data-tabs="tabs" >
                 <li class="active">
                     <a href="#RobotInfo" data-toggle="tab">
                         Robot Display
@@ -73,6 +72,7 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                         <div class="panel-body">
                             <div class="row">
                                 <div class="col-md-3">
+                                    Bagfile name must not start with "/"
                                     <div class="input-group">
                                         <input type="text" id="recordText" class="form-control" placeholder="bag_filename">
                                         <span class="input-group-btn">

launch.bash~

@@ -0,0 +1,27 @@
+#!/bin/bash
+
+
+kill_child_processes() {
+    isTopmost=$1
+    curPid=$2
+    childPids=`ps -o pid --no-headers --ppid ${curPid}`
+    for childPid in $childPids
+    do
+        kill_child_processes 0 $childPid
+    done
+    if [ $isTopmost -eq 0 ]; then
+        kill -9 $curPid 2> /dev/null
+    fi
+}
+
+# Ctrl-C trap. Catches INT signal
+trap "kill_child_processes 1 $$; exit 0" INT
+
+chmod a+x src/bagger.py
+
+x-terminal-emulator -e "roslaunch rosbridge_gui_example all.launch" &
+x-terminal-emulator -e "python -m SimpleHTTPServer 8000" &
+x-terminal-emulator -e "rostopic echo /bag_notifier" &
+x-terminal-emulator -e "rosrun web_video_server web_video_server"
+
+

launch/all.launch

@@ -2,4 +2,4 @@
 	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
     <include file="$(find rosbridge_gui_example)/launch/bagger.launch" />
     <include file="$(find rosbridge_gui_example)/launch/talker.launch" />
-</launch>
+</launch>

launch/all.launch~

@@ -0,0 +1,5 @@
+<launch>
+	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
+    <include file="$(find rosbridge_gui_example)/launch/bagger.launch" />
+    <include file="$(find rosbridge_gui_example)/launch/talker.launch" />
+</launch>

robot_display.html

@@ -1,10 +1,11 @@
 <!-- ##################################### D-PAD ######################################### -->
-
+<!--
 
 <p>Click in the actual image.  Relative coordinates will be displayed.</p>
 <p id="rez"></p>
 <div>
-<img id="myImage" src="http://animalia-life.com/data_images/dog/dog4.jpg">
+<img id="myImage" src="/backend/images/D-pad.png">
+-->
 
 <!-- ##################################### END D-PAD ######################################### -->
 

src/bagger.py

@@ -21,11 +21,28 @@ class Bagger(object):
             os.killpg(self.proc.pid, signal.SIGINT)
             self.pub.publish("STOPPED")
         else:
-            bag_file = os.path.join(self.data_path, msg.data)
-            self.proc = subprocess.Popen(["rosbag", "record",
-                "--all", "-o", bag_file], preexec_fn=os.setsid)
-            self.pub.publish("STARTED")
-        
+            msg_data = msg.data.split()
+            self.pub.publish(str(len(msg_data)))
+            self.pub.publish(str(msg_data))
+            if len(msg_data) == 0: # We only got the name of the bag file and not any topics
+                bag_file_name = os.path.join(self.data_path, "bag_file")
+                self.proc = subprocess.Popen(["rosbag", "record",
+                    "--all", "-o", bag_file_name], preexec_fn=os.setsid)
+                self.pub.publish("STARTED")
+            elif len(msg_data) == 1: # We only got the name of the bag file and not any topics
+                bag_file_name = os.path.join(self.data_path, msg_data)
+                self.proc = subprocess.Popen(["rosbag", "record",
+                    "--all", "-o", bag_file_name], preexec_fn=os.setsid)
+                self.pub.publish("STARTED")
+            else: #we posibly have a bag file name and a list of topics
+                if msg_data[0].startswith("/"): #then we know there is no bag file name
+                    msg_data = ["bagfile"] + msg_data
+                msg_data[0] = os.path.join(self.data_path, msg_data[0])
+                processList = ["rosbag", "record", "-o"] + msg_data
+                self.pub.publish(" ".join(processList))
+                self.proc = subprocess.Popen( processList, preexec_fn=os.setsid)
+                self.pub.publish("STARTED")
+
 
 if __name__ == '__main__':
     Bagger()

src/bagger.py~

@@ -14,7 +14,7 @@ class Bagger(object):
         self.pub = rospy.Publisher("bag_notifier", String, queue_size=10)
         self.proc = None
         rospack = rospkg.RosPack()
-        self.data_path = os.path.join(rospack.get_path("rosbridge_GUI_example"), "data")
+        self.data_path = os.path.join(rospack.get_path("rosbridge_gui_example"), "data")
 
     def callback(self, msg):
         if msg.data == "STOP" and self.proc is not None:
@@ -22,9 +22,8 @@ class Bagger(object):
             self.pub.publish("STOPPED")
         else:
             bag_file = os.path.join(self.data_path, msg.data)
-            self.proc = subprocess.Popen(["rosbag", "record",
-                "kinect2/depth_lowres/points", "kinect2/rgb_lowres/image",
-                "tf", "imu/data", "-o", bag_file], preexec_fn=os.setsid)
+            self.proc = subprocess.Popen(["rosbag", "record", "-o", bag_file], preexec_fn=os.setsid)
+	    self.pub.publish(["rosbag", "record", "-o", bag_file])
             self.pub.publish("STARTED")