Initial bodyscaling panel.

Add ros master label.
Merge branch 'feature/vision' into develop
2019-04-04 15:46:26 -04:00 · 2019-04-04 15:46:07 -04:00 · 2019-04-03 14:51:17 -04:00 · 2019-04-03 14:23:56 -04:00 · 2019-03-28 14:58:32 -04:00
6 changed files with 310 additions and 20 deletions
--- a/backend/js/ros_scripts.js
+++ b/backend/js/ros_scripts.js
@@ -155,3 +155,22 @@ function toggleRecording()
    }
  }
 }
+
+
+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;
+  });
+}
--- a/index.html
+++ b/index.html
@@ -47,31 +47,56 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
        <script type="text/javascript" src="vision/js/ros_scripts.js"></script>
        <script type="text/javascript" src="vision/js/update_guis.js"></script>

+
+        <script>
+            $(function(){
+                $("#visionContent").load("vision/vision.html");
+            });
+        </script>
+        <script type="text/javascript" src="vision/js/ros_scripts.js"></script>
+        <script type="text/javascript" src="vision/js/update_guis.js"></script>
+
+        <meta content="text/html; charset=UTF-8; X-Content-Type-Options=nosniff" http-equiv="Content-Type" />
+
+
    </head>
    <body>
        <div class="container">
            <div id="jumbotronTitle" class="jumbotron text-center">
                <h1>Lab UI</h1>
-            </div>

-            <ul id="tabs" class="nav nav-pills" data-tabs="tabs" >
-                <li> <a href="#rosbridgeconnection" data-toggle="tab">
-                    ROS Bridge Connection
-                    <span id="rosbridgeconnection_badge" class="badge">
-                        Not Connected
-                    </span></a>
-                </li>
-                <li class="active">
-                    <a href="#Coordinator" data-toggle="tab">
-                        Coordinator
-                    </a>
-                </li>
-                <li>
-                    <a href="#Vision" data-toggle="tab">
-                        Vision
-                    </a>
-                </li>
-            </ul>
+            </div>
+            <div class="container">
+                <div class="col-md-1">
+                    Master:
+                </div>
+                <div class="col-md-3">
+                    <label id="MasterName"></label>
+                    <script>
+                        getMasterName();
+                    </script>
+                </div>
+            </div>
+            <div class="row-md-3">
+                <ul id="tabs" class="nav nav-pills" data-tabs="tabs" >
+                    <li> <a href="#rosbridgeconnection" data-toggle="tab">
+                        ROS Bridge Connection
+                        <span id="rosbridgeconnection_badge" class="badge">
+                            Not Connected
+                        </span></a>
+                    </li>
+                    <li class="active">
+                        <a href="#Coordinator" data-toggle="tab">
+                            Coordinator
+                        </a>
+                    </li>
+                    <li>
+                        <a href="#Vision" data-toggle="tab">
+                            Vision
+                        </a>
+                    </li>
+                </ul>
+            </div>

            <div id="my-tab-content" class="tab-content">

--- a/launch/lab_ui.launch
+++ b/launch/lab_ui.launch
@@ -1,5 +1,10 @@
 <launch>
 	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />

-    <node name="lab_ui_webserver" pkg="aescape_lab_ui" type="webserver.sh" respawn="true" />
+    <node name="lab_ui_web_server" pkg="aescape_lab_ui" type="webserver.sh" respawn="true" />
+
+    <node name="lab_ui_video_server" pkg="web_video_server" type="web_video_server" respawn="true" >
+        <param name="address" value="titan.aescape.co" />
+    </node>
+
 </launch>
--- 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);
+  });
+}
--- a/vision/js/update_guis.js
+++ b/vision/js/update_guis.js
--- a/vision/vision.html
+++ b/vision/vision.html
@@ -0,0 +1,137 @@
+
+    <!-- <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('/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="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>
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Hardware Commands
+        </div>
+        <div class="panel-body text-center">
+            <button id="fixFrankaButton" type="button" onclick="triggerService('/aescape/hardware/resetFrankaError')" class="btn btn-primary">
+                Fix Franka Errors
+            </button>
+            <button id="calibrateButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
+                Calibrate Robotiq
+            </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('/aescape/bags/startTeachRecording')" class="btn btn-primary">
+                Start Teach Recording
+            </button>
+            <button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording')" class="btn btn-primary">
+                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">
+            Last Bag Playing:
+            <span  id="bagPlayingText">
+                None
+            </span>
+            <div>
+            <button id="executionStartButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
+                Play Last Recording
+            </button>
+            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag')" class="btn btn-primary">
+                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="bagNameText" class="form-control" placeholder="bag_filename">
+                        <span class="input-group-btn">
+                            <button class="btn btn-primary" type="button" onclick="triggerMessageService('/startPlayingRecording', 'bagNameText')">
+                                <span>
+                                    Start Playing Bag
+                                </span>
+                            </button>
+                        </span>
+                    </div>
+                </div>
+            </div>
+        </div>
+        
+    </div> -->
+
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Camera Views
+        </div>
+        <div class="panel-body">
+            Webcam
+            <div class="row-lg-4">
+                <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/webcam/image_raw&type=ros_compressed"></img>
+            </div>
+            Realsense Red
+            <div class="row-lg-4">
+                <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_red/color/image_raw&type=ros_compressed"></img>
+            </div>
+            Realsense Green
+            <div class="row-lg-4">
+                <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_green/color/image_raw&type=ros_compressed"></img>
+            </div>
+        </div>
+    </div>
+
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Bodyscaling
+        </div>
+        <div class="panel-body">
+            <div class="col-lg-4">
+                <button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
+                    Stopped Mode
+                </button>
+            </div>
+            <div class="col-lg-4">
+                Realsense Red - Capture
+                <div class="row-lg-4">
+                    <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_red/color/image_raw&type=ros_compressed"></img>
+                </div>
+                Realsense Green - Capture
+                <div class="row-lg-4">
+                    <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_green/color/image_raw&type=ros_compressed"></img>
+                </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-primary">
+                Start Recording Execution
+            </button>
+            <button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-primary">
+                Stop Recording Execution
+            </button>
+        </div>
+    </div> -->
Author	SHA1	Message	Date
David Walsh	e88b783ce2	Initial bodyscaling panel.	2019-04-04 15:46:26 -04:00
David Walsh	2687f2e4de	Add ros master label.	2019-04-04 15:46:07 -04:00
David Walsh	faed7b42bb	Merge branch 'feature/vision' into develop	2019-04-03 14:51:17 -04:00
David Walsh	27f19ed19c	Changed video streams to use compressed streams.	2019-04-03 14:23:56 -04:00
David Walsh	83cf9ccdb0	Initial vision panel	2019-03-28 14:58:32 -04:00