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Add controller mode status.

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This commit is contained in:
David Walsh
2019-02-28 20:18:22 -05:00
parent a7e23c1231
commit 172afae8dd
2 changed files with 42 additions and 14 deletions
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28
coordinator/coordinator.html
View File

@@ -4,13 +4,13 @@
Select Operation Mode Select Operation Mode
</div> </div>
<div class="panel-body text-center"> <div class="panel-body text-center">
<button id="teachingModeButton" type="button" onclick="triggerService('/activateTeachingController')" class="btn btn-lg"> <button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
Teaching Mode Teaching Mode
</button> </button>
<button id="executionModeButton" type="button" onclick="triggerService('/activateExecutionController')" class="btn btn-lg"> <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
Execution Mode Execution Mode
</button> </button>
<button id="standbyModeButton" type="button" onclick="triggerService('/stopControllers')" class="btn btn-lg"> <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
Standby Mode Standby Mode
</button> </button>
</div> </div>
@@ -20,10 +20,10 @@
Hardware Commands Hardware Commands
</div> </div>
<div class="panel-body text-center"> <div class="panel-body text-center">
<button id="teachingModeButton" type="button" onclick="triggerService('/resetFrankaError')" class="btn btn-lg"> <button id="fixFrankaButton" type="button" onclick="triggerService('/resetFrankaError')" class="btn btn-primary">
Fix Franka Errors Fix Franka Errors
</button> </button>
<button id="executionModeButton" type="button" onclick="triggerService('/calibrateRobotiq')" class="btn btn-lg"> <button id="calibrateButton" type="button" onclick="triggerService('/calibrateRobotiq')" class="btn btn-primary">
Calibrate Robotiq Calibrate Robotiq
</button> </button>
</div> </div>
@@ -33,10 +33,10 @@
Teaching Mode Operations Teaching Mode Operations
</div> </div>
<div class="panel-body text-center"> <div class="panel-body text-center">
<button id="recordingStartButton" type="button" onclick="triggerService('/startTeachRecording')" class="btn btn-lg"> <button id="recordingStartButton" type="button" onclick="triggerService('/startTeachRecording')" class="btn btn-primary">
Start Teach Recording Start Teach Recording
</button> </button>
<button id="recordingStopButton" type="button" onclick="triggerService('/stopTeachRecording')" class="btn btn-lg"> <button id="recordingStopButton" type="button" onclick="triggerService('/stopTeachRecording')" class="btn btn-primary">
Stop Teach Recording Stop Teach Recording
</button> </button>
</div> </div>
@@ -47,19 +47,19 @@
Execution Mode Operations Execution Mode Operations
</div> </div>
<div class="panel-body text-center"> <div class="panel-body text-center">
<button id="executionStartButton" type="button" onclick="triggerService('/startPlayingLastRecording')" class="btn btn-lg"> <button id="executionStartButton" type="button" onclick="triggerService('/startPlayingLastRecording')" class="btn btn-primary">
Play Last Recording Play Last Recording
</button> </button>
<button id="executionStopButton" type="button" onclick="triggerService('/stopPlayingBag')" class="btn btn-lg"> <button id="executionStopButton" type="button" onclick="triggerService('/stopPlayingBag')" class="btn btn-primary">
Stop Playing Recording Stop Playing Recording
</button> </button>
<!-- <div class="row"> <div class="row">
<div class="col-md-3"> <div class="col-md-3">
Bagfile name must not start with "/" Bagfile name must not start with "/"
<div class="input-group"> <div class="input-group">
<input type="text" id="recordText" class="form-control" placeholder="bag_filename"> <input type="text" id="recordText" class="form-control" placeholder="bag_filename">
<span class="input-group-btn"> <span class="input-group-btn">
<button class="btn btn-lg" id="recordButton" type="button" onclick="toggleRecording()"> <button class="btn btn-primary" id="recordButton" type="button" onclick="toggleRecording()">
<span id="recordButtonText"> <span id="recordButtonText">
Start Start
</span> </span>
@@ -67,7 +67,7 @@
</span> </span>
</div> </div>
</div> </div>
</div> --> </div>
</div> </div>
</div> </div>
@@ -77,10 +77,10 @@
Execution Recording Operations Execution Recording Operations
</div> </div>
<div class="panel-body text-center"> <div class="panel-body text-center">
<button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-lg"> <button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-primary">
Start Recording Execution Start Recording Execution
</button> </button>
<button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-lg"> <button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-primary">
Stop Recording Execution Stop Recording Execution
</button> </button>
</div> </div>

28
coordinator/js/ros_scripts.js
View File

@@ -1,3 +1,6 @@
/////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////
// Publishers // Publishers
/////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////
@@ -8,10 +11,35 @@
//////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////
// Subscribers // Subscribers
//////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////
// Operation Mode
var modeStatus = new ROSLIB.Topic({
ros : ros,
name : '/aescape/mode/status',
messageType : 'std_msgs/String'
});
modeStatus.subscribe(function(message) {
document.getElementById("standbyModeButton").className = "btn btn-primary"
document.getElementById("teachingModeButton").className = "btn btn-primary"
document.getElementById("executionModeButton").className = "btn btn-primary"
if (message.data === "standby") {
document.getElementById("standbyModeButton").className = "btn btn-success"
} else if (message.data === "teach")
{
document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
} else if (message.data === "execution")
{
document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
}
});
//////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////