created client folder and moved files there
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Rohit
311
client/coordinator/js/ros_scripts.js
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311
client/coordinator/js/ros_scripts.js
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///////////////////////////////////////////////////////////////////////////////////
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// Publishers
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///////////////////////////////////////////////////////////////////////////////////
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function triggerTopic(topicName)
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{
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var topic = new ROSLIB.Topic({
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ros : ros,
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name : topicName,
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messageType : 'std_msgs/Empty'
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});
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var msg = new ROSLIB.Message({});
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topic.publish(msg);
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}
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////////////////////////////////////////////////////////////////
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// Topics
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////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////
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// Subscribers
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////////////////////////////////////////////////////////////////
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class ArmControls
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{
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constructor(namespace) {
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this.namespace = namespace;
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// Franka Status
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this.frankaStatusTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/'+this.namespace+'/franka_state_controller/franka_states',
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messageType : 'franka_msgs/FrankaState',
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throttle_rate : 500 // 2Hz
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});
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this.frankaStatusTopic.subscribe(this.frankaStatus.bind(this));
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// Mode Status
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this.modeStatusTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/'+this.namespace+'/aescape/mode/status',
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messageType : 'std_msgs/String',
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throttle_rate : 500 // 2Hz
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});
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this.modeStatusTopic.subscribe(this.modeStatus.bind(this));
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// Safety Status
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this.safetyStatusTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/'+this.namespace+'/aescape/mode/safety_status',
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messageType : 'std_msgs/String',
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throttle_rate : 500 // 2Hz
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});
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this.safetyStatusTopic.subscribe(this.safetyStatus.bind(this));
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}
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// FrankaState
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frankaStatus(message) {
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document.getElementById(this.namespace+"_frankaModeOther").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeMove").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-default"
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document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-default"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-primary"
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if (message.robot_mode == 0)
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{
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document.getElementById(this.namespace+"_frankaModeOther").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 1)
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{
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document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 2)
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{
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document.getElementById(this.namespace+"_frankaModeMove").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-success"
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}
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else if (message.robot_mode == 3)
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{
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document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
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}
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else if (message.robot_mode == 4)
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{
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document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
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}
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else if (message.robot_mode == 5)
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{
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document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
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}
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else if (message.robot_mode == 6)
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{
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document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-warning"
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document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
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}
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}
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// Operation Mode
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modeStatus(message) {
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document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-secondary"
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document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary"
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document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary"
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document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary"
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document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary"
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if (this.namespace == "left")
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{
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document.getElementById("recordingStartButton").disabled = true
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document.getElementById("executionStartButton").disabled = true
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}
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if (message.data == "stopped")
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{
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document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-warning"
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}
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else if (message.data == "standby")
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{
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document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "teach")
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{
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document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "execution")
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{
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document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary btn-success"
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}
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else if (message.data == "ready")
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{
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document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary btn-success"
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if (this.namespace == "left")
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{
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document.getElementById("recordingStartButton").disabled = false
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document.getElementById("executionStartButton").disabled = false
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}
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}
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}
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safetyStatus(message) {
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document.getElementById(this.namespace+"_safetyRunning").className = 'label label-default';
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document.getElementById(this.namespace+"_safetyStopped").className = 'label label-default';
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if (message.data == "stopped")
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{
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document.getElementById(this.namespace+"_safetyStopped").className = 'label label-danger';
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}
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else if (message.data == "running")
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{
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document.getElementById(this.namespace+"_safetyRunning").className = 'label label-success';
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}
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};
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}
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var leftArmControls = new ArmControls('left');
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var rightArmControls = new ArmControls('right');
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// Robotiq Data
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var robotiqDataTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/left/robotiq_ft_wrench',
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messageType : 'geometry_msgs/WrenchStamped',
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throttle_rate : 500 // 2Hz
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});
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robotiqDataTopic.subscribe(function(message) {
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var force = message.wrench.force
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document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
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document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
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document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
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var totalForce = math.norm([force.x, force.y, force.z]).toFixed(1)
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var totalForcePercent = totalForce/2
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doc = document.getElementById("robotiqForceBar");
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doc.style.width = totalForcePercent + "%";
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doc.innerHTML = totalForce + " N";
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doc.setAttribute('aria-valuenow', totalForce);
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if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
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{
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document.getElementById("calibrateButton").className = "btn btn-danger"
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} else {
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document.getElementById("calibrateButton").className = "btn btn-default"
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}
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});
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// Recording Bag
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var recordingBagTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/aescape/bags/recording_status',
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messageType : 'std_msgs/String'
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});
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recordingBagTopic.subscribe(function(message) {
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if (message.data == "stopped")
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{
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document.getElementById("RecordingStatusLabel").innerHTML = 'Not Running';
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document.getElementById("RecordingStatusLabel").className = 'label label-warning';
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}
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else if (message.data == "running")
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{
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document.getElementById("RecordingStatusLabel").innerHTML = 'RUNNING!';
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document.getElementById("RecordingStatusLabel").className = 'label label-success';
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}
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});
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// Executing Bag
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var executingBagTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/aescape/bags/execution_status',
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messageType : 'std_msgs/String'
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});
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executingBagTopic.subscribe(function(message) {
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if (message.data == "stopped")
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{
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document.getElementById("ExecutionStatusLabel").innerHTML = 'Not Running';
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document.getElementById("ExecutionStatusLabel").className = 'label label-warning';
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}
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else if (message.data == "running")
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{
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document.getElementById("ExecutionStatusLabel").innerHTML = 'RUNNING!';
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document.getElementById("ExecutionStatusLabel").className = 'label label-success';
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}
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});
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// Last Bag
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var bagPlayingTopic = new ROSLIB.Topic({
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ros : ros,
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name : '/aescape/bags/last_played',
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messageType : 'std_msgs/String'
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});
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bagPlayingTopic.subscribe(function(message) {
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document.getElementById("lastbagText").innerHTML = message.data
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});
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////////////////////////////////////////////////////////////////
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// Services
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////////////////////////////////////////////////////////////////
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function triggerService(serviceName)
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{
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var service = new ROSLIB.Service({
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ros : ros,
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name : serviceName,
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serviceType : 'std_srvs/Trigger'
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});
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var request = new ROSLIB.ServiceRequest({});
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service.callService(request, function(result) {
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console.log('Result for service call on '
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+ serviceName
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+ ': '
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+ result.sum);
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});
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}
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function triggerMessageService(serviceName, textInput)
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{
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var text = document.getElementById(textInput).value
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var service = new ROSLIB.Service({
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ros : ros,
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name : serviceName,
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serviceType : 'demobot.TriggerMessage'
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});
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var request = new ROSLIB.ServiceRequest({
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message : text
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});
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service.callService(request, function(result) {
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console.log('Result for service call on '
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+ serviceName
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+ ': '
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+ result.sum);
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});
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}
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// function executeBagForm()
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function updateSelectedBagFile(newFile)
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{
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// var newFile = document.getElementById(newFileInput).innerHTML
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document.getElementById("bagNameText").value = newFile
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}
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47
client/coordinator/js/update_guis.js
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47
client/coordinator/js/update_guis.js
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var bagList = Array();
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function getBagList()
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{
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var service = new ROSLIB.Service({
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ros : ros,
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name : '/aescape/bags/getBagList',
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serviceType : 'demobot/TriggerList'
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});
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var request = new ROSLIB.ServiceRequest({});
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service.callService(request, function(result) {
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// console.log('Result for service call on '
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// + serviceName
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// + ': '
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// + result.message);
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bagList = result.message;
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});
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}
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function updateRecordingsList()
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{
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getBagList();
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if(bagList != null){
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var innerHTML = "";
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for (var i = 0; i < bagList.length; i++ )
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{
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// innerHTML = innerHTML.concat(bagList[i]);
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// innerHTML = innerHTML.concat("<br>");
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innerHTML += "<button type=\"button\" class=\"list-group-item list-group-item-action\" onclick=\"updateSelectedBagFile('" + bagList[i] + "')\">" + bagList[i] + "</button>";
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// innerHTML += "<button type=\"button\" class=\"list-group-item list-group-item-action\" onclick=\"triggerMessageService('/aescape/bags/startPlayingRecording', '" + bagList[i] + "')\">" + bagList[i] + "</button>";
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}
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document.getElementById("bagList").innerHTML = innerHTML;
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}
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document.getElementById("bagNameText").value = message.data
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};
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window.setInterval(function(){
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updateRecordingsList();
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}, 1000);
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