added client folders and cleaned index.html

2019-05-31 18:29:32 -04:00
parent 7ebacae080
commit cd7f6c8648
18 changed files with 191 additions and 192 deletions
--- a/client/app/utilities/ros_scripts.js
+++ b/client/app/utilities/ros_scripts.js
@@ -0,0 +1,205 @@
+var ros = new ROSLIB.Ros();
+
+
+ros.topics = Array();
+ros.nodes = Array();
+ros.recording = false;
+ros.connected = false;
+
+// ros.connectionName = 'ws://192.168.1.105:9090';
+
+function getQueryVariable(variable)
+{
+   var query = window.location.search.substring(1);
+   var vars = query.split("&");
+   for (var i=0;i<vars.length;i++) {
+           var pair = vars[i].split("=");
+           if(pair[0] == variable){
+            return pair[1];
+          }
+   }
+}
+
+var master = "localhost"
+master = getQueryVariable("master")
+if(master == null)
+{
+  master =  window.location.hostname
+  //"localhost"
+}
+console.log('Master = ' + master);
+
+ros.connectionName = 'ws://' + master + ':9090';
+// ros.connectionName = 'ws://localhost:9090';
+// ros.connectionName = 'ws://titan.aescape.co:9090';
+console.log('ros.connectionName = ' + ros.connectionName);
+
+// If there is an error on the backend, an 'error' emit will be emitted.
+ros.on('error', function(error) {
+  document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
+  document.getElementById("ConnectionIPInput").value = ros.connectionName;
+  document.getElementById("ConnectionIPLabel").innerHTML = 'No connection';
+  document.getElementById("ConnectionButton").className = "btn btn-warning"
+  document.getElementById("rosbridgeconnection_badge").innerHTML = 'No connection';
+  document.getElementById("ROSNodes").innerHTML = "No Nodes Detected";
+
+  rosbridgeconnection_badge
+  console.log(error);
+});
+// Find out exactly when we made a connection.
+ros.on('connection', function() {
+  ros.connected = true;
+  console.log('Connection made!');
+  document.getElementById("ConnectionIPForm").className = "form-group has-success has-feedback";
+  document.getElementById("ConnectionIPInput").value = ros.connectionName;
+  document.getElementById("ConnectionIPLabel").innerHTML = 'Connection made at:';
+  document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connected';
+  document.getElementById("ConnectionButton").className = "btn btn-success";
+
+  ros.nodes = Array();
+  ros.topics = Array();
+
+});
+
+ros.on('close', function() {
+  console.log('Connection closed.');
+  ros.connected = false;
+  document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
+  document.getElementById("ConnectionIPLabel").innerHTML = 'Connection closed';
+  document.getElementById("ConnectionButton").className = "btn btn-warning"
+  document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connection closed';
+  ros.nodes = Array();
+  ros.topics = Array();
+});
+// Create a connection to the rosbridge WebSocket server.
+//ros.connect(ros.connectionName);
+
+
+///////////////////////////////////////////////////////////////////////////////////
+// Publishers
+///////////////////////////////////////////////////////////////////////////////////
+
+function publishBagMessage(bagFilename)
+{
+  var bag_file_message = ""
+  bag_file_message += bagFilename;
+  if (bagFilename != "STOP")
+  {
+    for (topic in ros.topics)
+    {
+      if(ros.topics[topic].bag)
+      {
+        bag_file_message += " " + ros.topics[topic].name
+      }
+    }
+  }
+  var bagMessage = new ROSLIB.Message({
+    data : bagFilename
+  })
+  bagPublisher.publish(bagMessage)
+}
+
+////////////////////////////////////////////////////////////////
+// Topics
+////////////////////////////////////////////////////////////////
+
+var bagPublisher = new ROSLIB.Topic({
+  ros : ros,
+  name : 'bag_publisher',
+  messageType : 'std_msgs/String'
+});
+
+var bagNotifier = new ROSLIB.Topic({
+  ros : ros,
+  name : 'bag_notifier',
+  messageType : 'std_msgs/String'
+});
+
+////////////////////////////////////////////////////////////////
+// Subscribers
+////////////////////////////////////////////////////////////////
+
+
+bagNotifier.subscribe(function(message) {
+  if (message.data === "STARTED") {
+    document.getElementById("recordButtonText").innerHTML = "Stop"
+    document.getElementById("recordButton").className = "btn btn-danger"
+  } else if (message.data === "STOPPED")
+  {
+    document.getElementById("recordButtonText").innerHTML = "Start"
+    document.getElementById("recordButton").className = "btn btn-primary"
+  }
+
+  console.log("bagNotifier: " +message.data)
+});
+
+
+
+///////////////////////////////////////////////////////////////////////////////////
+// Functions
+///////////////////////////////////////////////////////////////////////////////////
+
+
+// attept to connect to the ros master from the IP given orgrab it from the form
+ros.attemptConnection = function(ipAddress)
+{
+  ros.close();
+  if( typeof ipAddress !== "undefined")
+  {
+    ros.connectionName = ipAddress;
+  }
+  else
+  {
+    ros.connectionName = document.getElementById("ConnectionIPInput").value
+  }
+  console.log('Connection = ' + ros.connectionName);
+  ros.connect(ros.connectionName);
+  getMasterName();
+}
+
+function toggleRecording()
+{
+  if(ros.connected)
+  {
+    document.getElementById("recordButtonText").innerHTML = "Wait"
+    document.getElementById("recordButton").className = "btn btn-warning"
+
+    if (!ros.recording) {
+      ros.recording = true
+      topicstobag = " "
+      for (i = 0; i < ros.topics.length; i ++)
+      {
+        if (ros.topics[i].bag == true)
+        {
+          topicstobag  = topicstobag.concat(ros.topics[i].name + " ")
+        }
+      }
+      publishBagMessage(document.getElementById("recordText").value + topicstobag)
+    } else {
+      ros.recording = false
+      publishBagMessage("STOP")
+    }
+  }
+}
+
+
+function getMasterName()
+{
+  var service = new ROSLIB.Service({
+    ros : ros,
+    name : '/rosapi/service_host',
+    serviceType : 'rosapi/ServiceHost'
+  });
+  
+  var request = new ROSLIB.ServiceRequest({
+    service: '/rosout/get_loggers'  // Only the master hosts this service.
+  });
+  
+  service.callService(request, function(result) {
+    console.log('Master Name = ' + result.host);
+    document.getElementById("MasterName").innerHTML = result.host;
+    var title = result.host + " Lab UI"
+    document.title = title;
+    document.getElementById("Title").innerHTML = title;
+  });
+}