From 1f5ddc99fe8b4757ad6b061dcf2f49441279fb57 Mon Sep 17 00:00:00 2001
From: David Walsh <david@aescape.co>
Date: Mon, 25 Feb 2019 16:54:05 -0500
Subject: [PATCH] Initial coordinator commit.

---
 coordinator/coordinator.html  | 72 +++++++++++++++++++++++++++++++++++
 coordinator/js/ros_scripts.js | 38 ++++++++++++++++++
 coordinator/js/update_guis.js |  0
 index.html                    | 54 ++++++++++----------------
 4 files changed, 131 insertions(+), 33 deletions(-)
 create mode 100644 coordinator/coordinator.html
 create mode 100644 coordinator/js/ros_scripts.js
 create mode 100644 coordinator/js/update_guis.js

diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
new file mode 100644
index 0000000..ac90eea
--- /dev/null
+++ b/coordinator/coordinator.html
@@ -0,0 +1,72 @@
+
+
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Select Operation Mode
+        </div>
+        <div class="panel-body text-center">
+            <button id="teachingModeButton" type="button" onclick="triggerService('/teachingMode')" class="btn btn-lg">
+                Teaching Mode
+            </button>
+            <button id="executionModeButton" type="button" onclick="triggerService('/executionMode')" class="btn btn-lg">
+                Execution Mode
+            </button>
+        </div>
+    </div>
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Teaching Mode Operations
+        </div>
+        <div class="panel-body text-center">
+            <button id="recordingStartButton" type="button" onclick="triggerService('/startTeachRecording')" class="btn btn-lg">
+                Start Teach Recording
+            </button>
+            <button id="recordingStopButton" type="button" onclick="triggerService('/stopTeachRecording')" class="btn btn-lg">
+                Stop Teach Recording
+            </button>
+        </div>
+    </div>
+
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Execution Mode Operations
+        </div>
+        <div class="panel-body text-center">
+            <button id="executionStartButton" type="button" onclick="triggerService('/startPlayingLastRecording')" class="btn btn-lg">
+                Play Last Recording
+            </button>
+            <button id="executionStopButton" type="button" onclick="triggerService('/stopPlayingBag')" class="btn btn-lg">
+                Stop Playing Recording
+            </button>
+            <!-- <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">
+                            <button class="btn btn-lg" id="recordButton" type="button" onclick="toggleRecording()">
+                                <span id="recordButtonText">
+                                    Start
+                                </span>
+                            </button>
+                        </span>
+                    </div>
+                </div>
+            </div> -->
+        </div>
+        
+    </div>
+
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Execution Recording Operations
+        </div>
+        <div class="panel-body text-center">
+            <button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-lg">
+                Start Recording Execution
+            </button>
+            <button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-lg">
+                Stop Recording Execution
+            </button>
+        </div>
+    </div>
\ No newline at end of file
diff --git a/coordinator/js/ros_scripts.js b/coordinator/js/ros_scripts.js
new file mode 100644
index 0000000..a09b009
--- /dev/null
+++ b/coordinator/js/ros_scripts.js
@@ -0,0 +1,38 @@
+///////////////////////////////////////////////////////////////////////////////////
+// Publishers
+///////////////////////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////
+// Topics
+////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////
+// Subscribers
+////////////////////////////////////////////////////////////////
+
+
+
+////////////////////////////////////////////////////////////////
+// Services
+////////////////////////////////////////////////////////////////
+
+
+function triggerService(serviceName)
+{
+  var service = new ROSLIB.Service({
+    ros : ros,
+    name : serviceName,
+    serviceType : 'std_srvs/Trigger'
+  });
+  
+  var request = new ROSLIB.ServiceRequest({});
+  
+  service.callService(request, function(result) {
+    console.log('Result for service call on '
+      + serviceName
+      + ': '
+      + result.sum);
+  });
+}
\ No newline at end of file
diff --git a/coordinator/js/update_guis.js b/coordinator/js/update_guis.js
new file mode 100644
index 0000000..e69de29
diff --git a/index.html b/index.html
index 6dfd9a3..2d77342 100644
--- a/index.html
+++ b/index.html
@@ -32,7 +32,7 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
 
         <script>
             $(function(){
-                $("#includedContent").load("data_display/data_display.html");
+                $("#dataDisplayContent").load("data_display/data_display.html");
             });
         </script>
 
@@ -40,6 +40,14 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
         <script type="text/javascript" src="data_display/js/update_guis.js"></script>
 
 
+        <script>
+            $(function(){
+                $("#coordinatorContent").load("coordinator/coordinator.html");
+            });
+        </script>
+        <script type="text/javascript" src="coordinator/js/ros_scripts.js"></script>
+        <script type="text/javascript" src="coordinator/js/update_guis.js"></script>
+
     </head>
     <body>
         <div class="container">
@@ -58,7 +66,11 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                         Data Display
                     </a>
                 </li>
-     
+                <li>
+                    <a href="#Coordinator" data-toggle="tab">
+                        Coordinator
+                    </a>
+                </li>
             </ul>
 
             <div id="my-tab-content" class="tab-content">
@@ -67,46 +79,22 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
 
 
                     <!-- ##################################### ROBOT DISPLAY PANEL ######################################### -->
-                    <div id="includedContent"></div>
+                    <div id="dataDisplayContent"></div>
                     <!-- ##################################### END DISPLAY PANEL ######################################### -->
 
-
-                    <!-- ##################################### ROS BAG PANEL ######################################### -->
-                    <!--  ROS Bag Panel -->
-                    <div class="panel panel-default">
-
-                        <div class="panel-heading">
-                            ROS Bag
-                        </div>
-                        <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">
-                                            <button class="btn btn-primary" id="recordButton" type="button" onclick="toggleRecording()">
-                                                <span id="recordButtonText">
-                                                    Start
-                                                </span>
-                                            </button>
-                                        </span>
-                                    </div>
-                                </div>
-                            </div>
-                        </div>
-
-                    </div>
-                    <!-- ##################################### END ROS BAG PANEL ######################################### -->
+                </div>
+                <div class="tab-pane active" id="Coordinator">
 
 
+                    <!-- ##################################### ROBOT DISPLAY PANEL ######################################### -->
+                    <div id="coordinatorContent"></div>
+                    <!-- ##################################### END DISPLAY PANEL ######################################### -->
 
                 </div>
 
 
 
-
-                <div class="tab-pane active" id="rosbridgeconnection">
+                <div class="tab-pane" id="rosbridgeconnection">
                     <div class="panel panel-default">
                         <div class="panel-heading">
                             Predefined Masters Connections