Initial vision panel

2019-03-27 19:38:32 -04:00
parent a392db84bb
commit 83cf9ccdb0
5 changed files with 237 additions and 1 deletions
--- a/vision/js/ros_scripts.js
+++ b/vision/js/ros_scripts.js
@@ -0,0 +1,104 @@
+
+
+
+///////////////////////////////////////////////////////////////////////////////////
+// Publishers
+///////////////////////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////
+// Topics
+////////////////////////////////////////////////////////////////
+
+
+
+////////////////////////////////////////////////////////////////
+// Subscribers
+////////////////////////////////////////////////////////////////
+
+// Operation Mode
+var modeStatus = new ROSLIB.Topic({
+  ros : ros,
+  name : '/aescape/mode/status',
+  messageType : 'std_msgs/String'
+});
+
+modeStatus.subscribe(function(message) {
+  document.getElementById("stoppedModeButton").className = "btn btn-secondary"
+  document.getElementById("standbyModeButton").className = "btn btn-primary"
+  document.getElementById("teachingModeButton").className = "btn btn-primary"
+  document.getElementById("executionModeButton").className = "btn btn-primary"
+
+
+  if (message.data === "stopped") {
+    document.getElementById("stoppedModeButton").className = "btn btn-warning"
+  } else if (message.data === "standby")
+  {
+    document.getElementById("standbyModeButton").className = "btn btn-primary 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"
+  }
+});
+
+// Playing Bag
+var bagPlayingTopic = new ROSLIB.Topic({
+  ros : ros,
+  name : '/aescape/bags/playing',
+  messageType : 'std_msgs/String'
+});
+
+bagPlayingTopic.subscribe(function(message) {
+  document.getElementById("bagPlayingText").innerHTML = message.data
+});
+
+
+
+////////////////////////////////////////////////////////////////
+// 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);
+  });
+}
+
+
+function triggerMessageService(serviceName, textInput)
+{
+  var text = document.getElementById(textInput).value
+
+  var service = new ROSLIB.Service({
+    ros : ros,
+    name : serviceName,
+    serviceType : 'demobot.TriggerMessage'
+  });
+  
+  var request = new ROSLIB.ServiceRequest({
+    message : text
+  });
+  
+  service.callService(request, function(result) {
+    console.log('Result for service call on '
+      + serviceName
+      + ': '
+      + result.sum);
+  });
+}