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Add safety controller status

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This commit is contained in:
David Walsh
2019-04-19 18:29:16 -04:00
parent 365a4bb790
commit a6a0343154
2 changed files with 55 additions and 15 deletions
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48
coordinator/coordinator.html
View File

@@ -4,22 +4,40 @@
Select Operation Mode
</div>
<div class="panel-body text-center">
<button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
Teaching Mode
</button>
<button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
Massage Mode
</button>
<button id="readyModeButton" type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
Ready Mode
</button>
<button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
Standby Mode
</button>
<button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
Stopped Mode
</button>
<div class="col-md-6">
<button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
Teaching Mode
</button>
<button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
Massage Mode
</button>
<button id="readyModeButton" type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
Ready Mode
</button>
<button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
Standby Mode
</button>
<button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
Stopped Mode
</button>
</div>
<div class="col-md-6">
Safety Monitor Status:
<div class="row-md-3">
<h4><span id="safetyRunning" class="label label-default">Running</span></h4>
</div>
<div class="row-md-3">
<h4><span id="safetyStopped" class="label label-default">Stopped</span></h4>
</div>
<div class="row-md-3">
<button type="button" onclick="triggerService('/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
Activate Safety Monitor
</button>
</div>
</div>
</div>
</div>
<div class="panel panel-default">
<div class="panel-heading">

22
coordinator/js/ros_scripts.js
View File

@@ -60,6 +60,28 @@ modeStatus.subscribe(function(message) {
}
});
// Safety Status
var safetyStatusTopic = new ROSLIB.Topic({
ros : ros,
name : '/aescape/mode/safety_status',
messageType : 'std_msgs/String',
throttle_rate : 500 // 2Hz
});
safetyStatusTopic.subscribe(function(message) {
document.getElementById("safetyRunning").className = 'label-default';
document.getElementById("safetyStopped").className = 'label-default';
if (message.data == "stopped")
{
document.getElementById("safetyStopped").className = 'label-danger';
}
else if (message.data == "running")
{
document.getElementById("safetyRunning").className = 'label-success';
}
});
// Recording Bag
var recordingBagTopic = new ROSLIB.Topic({