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base: senaduka:develop
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senaduka:develop senaduka:relocate senaduka:layout senaduka:v2 senaduka:ati senaduka:master senaduka:release/0.0.2 senaduka:feature/vision senaduka:atlas
senaduka:0.0.3
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compare: senaduka:ati
Branches Tags
senaduka:relocate senaduka:develop senaduka:layout senaduka:v2 senaduka:ati senaduka:master senaduka:release/0.0.2 senaduka:feature/vision senaduka:atlas
senaduka:0.0.3

1 Commits
develop ... ati

Author SHA1 Message Date
Rohit
804abcb49f changed calibrate robotiq to ati 2019-07-10 14:06:09 -04:00
6 changed files with 59 additions and 62 deletions
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19
client/app/components/coordinator/coordinator.html
View File

@@ -127,7 +127,7 @@
<div class="status-list"> <div class="status-list">
<div class="commanded"> <div class="commanded">
<div class="progress"> <div class="progress">
<!-- <div class="progress-bar-label">Commanded</div> --> <div class="progress-bar-label">Commanded</div>
<div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div> <div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
</div> </div>
<ul class="list-group list-group-horizontal text-center"> <ul class="list-group list-group-horizontal text-center">
@@ -144,7 +144,7 @@
</div> </div>
<div class="observed"> <div class="observed">
<div class="progress"> <div class="progress">
<!-- <div class="progress-bar-label">Observed</div> --> <div class="progress-bar-label">Observed</div>
<div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200"> <div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
<span>N/A</span> <span>N/A</span>
<div> <div>
@@ -196,7 +196,7 @@
</div> </div>
<div class="action-button panel-footer"> <div class="action-button panel-footer">
<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn"> <button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateATI')" class="btn">
Calibrate Calibrate
</button> </button>
</div> </div>
@@ -351,16 +351,13 @@
</div> </div>
<div class="panel-body text-center"> <div class="panel-body text-center">
<div class="button-area"> <div class="button-area">
<button id="executionLoadButton" type="button" onclick="displayLoadingOptions()" class="btn btn-primary col-md-3"> <button id="executionLoadButton" type="button" onclick="displayLoadingOptions()" class="btn btn-primary col-md-4">
Load Recording Load Recording
</button> </button>
<button id="executionLoadButton" type="button" onclick="triggerService('/aescape/massageReady')" class="btn btn-primary col-md-3"> <button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-4">
Complete Body Scaling
</button>
<button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-3">
Play Loaded Recording Play Loaded Recording
</button> </button>
<button id="executionStopButton" type="button" onclick="stopPlayingRecording()" class="btn btn-primary col-md-3"> <button id="executionStopButton" type="button" onclick="stopPlayingRecording()" class="btn btn-primary col-md-4">
Stop Playing Recording Stop Playing Recording
</button> </button>
</div> </div>
@@ -548,7 +545,7 @@
<div class="status-list"> <div class="status-list">
<div class="commanded"> <div class="commanded">
<div class="progress"> <div class="progress">
<!-- <div class="progress-bar-label">Commanded</div> --> <div class="progress-bar-label">Commanded</div>
<div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div> <div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
</div> </div>
<ul class="list-group list-group-horizontal text-center"> <ul class="list-group list-group-horizontal text-center">
@@ -565,7 +562,7 @@
</div> </div>
<div class="observed"> <div class="observed">
<div class="progress"> <div class="progress">
<!-- <div class="progress-bar-label">Observed</div> --> <div class="progress-bar-label">Observed</div>
<div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200"> <div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
<span>N/A</span> <span>N/A</span>
<div> <div>

9
client/app/components/coordinator/js/ros_scripts.js
View File

@@ -372,16 +372,13 @@ var playbackStatus = new ROSLIB.Topic({
playbackStatus.subscribe(function(message) { playbackStatus.subscribe(function(message) {
message = JSON.parse(message.data); message = JSON.parse(message.data);
console.log("message");
console.log(message);
status = message.status; status = message.status;
bagName = message.bag_file; bagName = message.bag_file;
if (true) { if (status != lastPlaybackStatus) {
if (status === "playing") { if (status === "playing") {
} else if (status === "stopped") { } else if (status === "stopped") {
triggerService('/aescape/bags/stopPlayingBag');
triggerService('/left/aescape/mode/activateReadyController'); triggerService('/left/aescape/mode/activateReadyController');
triggerService('/right/aescape/mode/activateReadyController'); triggerService('/right/aescape/mode/activateReadyController');
displayTaggingOptions('play'); displayTaggingOptions('play');
@@ -391,6 +388,7 @@ playbackStatus.subscribe(function(message) {
triggerService('/right/aescape/mode/activateReadyController'); triggerService('/right/aescape/mode/activateReadyController');
displayMessage(true, "Loaded the selected bag file!") displayMessage(true, "Loaded the selected bag file!")
} }
lastPlaybackStatus = status;
} }
}); });
@@ -579,8 +577,7 @@ function startTeachRecoding() {
async.waterfall([ async.waterfall([
function(callback) { function(callback) {
triggerService('/left/aescape/hardware/calibrateRobotiq', false, function(err, res){ triggerService('/left/aescape/hardware/calibrateRobotiq', false, function(err, res){
//callback(err, res); callback(err, res);
callback(null, null);
}); });
}, },
function(response, callback) { function(response, callback) {

77
client/app/components/coordinator/js/update_guis.js
View File

@@ -89,9 +89,11 @@ function displayTaggingOptions(mode) {
fileNameSelectize.clearOptions() fileNameSelectize.clearOptions()
// /aescape/bags/getBagList // /aescape/bags/getBagList
getBagList(function(results){ getBagList(function(results){
fileNameSelectize.addOption(results) fileNameSelectize.addOption(results.map(function(element){
return {name : element.filename}
}));
if(results[0]) { if(results[0]) {
fileNameSelectize.setValue(results[0]._id); fileNameSelectize.setValue(results[0].filename);
} }
}) })
@@ -139,7 +141,7 @@ function hideTaggingOptions(mode, updateValues=false) {
} }
var modeTag = '#' + mode + 'Tags'; var modeTag = '#' + mode + 'Tags';
var bagLabelSelector = '#' + mode + 'BagFileName'; var fileNameSelector = '#' + mode + 'BagFileName';
var categorySelector = '#' + mode + 'BagCategory'; var categorySelector = '#' + mode + 'BagCategory';
var tagSelector = '#' + mode + 'BagTags'; var tagSelector = '#' + mode + 'BagTags';
var errorSelector = '#' + mode + 'TagError'; var errorSelector = '#' + mode + 'TagError';
@@ -147,23 +149,24 @@ function hideTaggingOptions(mode, updateValues=false) {
if(updateValues) { if(updateValues) {
var bagLabel = $(bagLabelSelector).val(); var filename = $(fileNameSelector).val();
var category = $(categorySelector).val(); var category = $(categorySelector).val();
var tags = $(tagSelector).val() || []; var tags = $(tagSelector).val();
getBagList(function(results){ getBagList(function(results){
if(!(results && results[0] && results[0]._id)) { if(!(results && results[0] && results[0].filename)) {
console.log(results);
displayMessage(false, "Could not retrieve the last recorded bag :("); displayMessage(false, "Could not retrieve the last recorded bag :(");
return; return;
} }
bag_id = results[0]._id; bag_name = results[0].filename;
updateBagMetadata(mode, bag_id, bagLabel, category, tags, function(updateError) { updateBagMetadata(mode, bag_name, filename, category, tags, function(updateError) {
if(updateError) { if(updateError) {
displayMessage(flase, updateError); displayMessage(flase, updateError);
} else { } else {
displayMessage("Bag data saved successfully!"); displayMessage("Bag data saved successfully!");
//clear selectize //clear selectize
$(bagLabelSelector).selectize()[0].selectize.destroy(); $(fileNameSelector).selectize()[0].selectize.destroy();
$(categorySelector).selectize()[0].selectize.destroy(); $(categorySelector).selectize()[0].selectize.destroy();
$(tagSelector).selectize()[0].selectize.destroy(); $(tagSelector).selectize()[0].selectize.destroy();
} }
@@ -175,18 +178,18 @@ function hideTaggingOptions(mode, updateValues=false) {
document.querySelector(modeTag).classList.remove('open'); document.querySelector(modeTag).classList.remove('open');
} }
function updateBagMetadata(mode, bag_id, bag_label, category, tags, callback) { function updateBagMetadata(mode, bag_name, modified_bag_name, category, tags, callback) {
if(!mode) { if(!mode) {
return callback(); return callback();
} }
if(!bag_id) { if(!bag_name) {
return callback(); return callback();
} }
var toSend = { var toSend = {
mode : mode, mode : mode,
bag_id : bag_id, bag_name : bag_name,
bag_label : bag_label, modified_bag_name : modified_bag_name,
category : category, category : category,
tags : tags tags : tags
} }
@@ -211,33 +214,32 @@ function displayLoadingOptions() {
//Putting this in a timeout to wait for the animation to finish completing //Putting this in a timeout to wait for the animation to finish completing
setTimeout(function(){ setTimeout(function(){
document.querySelector(selector).style.overflow = "visible"; document.querySelector(selector).style.overflow = "visible";
}, 420) //This is not a Hitchhiker's reference. This is not a 420 reference. This value has been computed to match the speed of the larger drop down. }, 420)
var $select = $('#loadBagList').selectize({ var $select = $('#loadBagList').selectize({
valueField: '_id', valueField: 'filename',
labelField: 'name', labelField: 'filename',
searchField: ['name', 'category', 'tags'], searchField: ['filename', 'category', 'tags'],
options: [], options: [],
create: false, create: false,
placeholder : "Select bag to play", placeholder : "Select bag to play",
render : { render : {
item: function(item, escape) { item: function(item, escape) {
name = item.name; filename = item.filename;
category = item.category || 'None'; category = item.category || 'None';
return '<div class="bag-select-element">' + return '<div class="bag-select-element">' +
'<div class="bag-select-element">' + '<div class="bag-select-element">' +
'<span class="filename">' + escape(name) + '</span>' + '<span class="filename">' + escape(filename) + '</span>' +
'<span class="category">' + ' (' + escape(category) + ') ' + '</span>' + '<span class="category">' + ' (' + escape(category) + ') ' + '</span>' +
'</div>' + '</div>' +
'</div>'; '</div>';
}, },
option: function(item, escape) { option: function(item, escape) {
filename = item.filename;
name = item.name;
category = item.category || 'None'; category = item.category || 'None';
return '<div class="bag-select-element bag-option">' + return '<div class="bag-select-element bag-option">' +
'<div class="primary">' + '<div class="primary">' +
'<div class="filename">' + escape(name) + '</div>' + '<div class="filename">' + escape(filename) + '</div>' +
'<div class="category">' + escape(category) + '</div>' + '<div class="category">' + escape(category) + '</div>' +
'</div>' + '</div>' +
'<div class="secondary">' + '<div class="secondary">' +
@@ -246,7 +248,7 @@ function displayLoadingOptions() {
return '<span class="tag label label-info">' + escape(tag) + '</span>' return '<span class="tag label label-info">' + escape(tag) + '</span>'
}).join(' ') + }).join(' ') +
'</div>' + '</div>' +
'<div class="timestamp">' + escape(item.created_at) + '</div>' + '<div class="timestamp">' + escape('27 Jun 10:10am') + '</div>' +
'</div>' + '</div>' +
'</div>'; '</div>';
} }
@@ -261,7 +263,6 @@ function displayLoadingOptions() {
var selectize = $select[0].selectize; var selectize = $select[0].selectize;
selectize.clearOptions(); selectize.clearOptions();
//results = [{filename : 'testfile', category: 'testcategory', tags : ['testtag1', 'testtag2', 'testtag3']}, {filename : 'testfile2', category: 'testcategory2', tags : ['testtag21', 'testtag22', 'testtag23']}] //results = [{filename : 'testfile', category: 'testcategory', tags : ['testtag1', 'testtag2', 'testtag3']}, {filename : 'testfile2', category: 'testcategory2', tags : ['testtag21', 'testtag22', 'testtag23']}]
console.log(results);
selectize.addOption(results); selectize.addOption(results);
if(results[0]) { if(results[0]) {
selectize.setValue(results[0].filename); selectize.setValue(results[0].filename);
@@ -292,10 +293,12 @@ function hideLoadingOptions(loadBag) {
singleArmMode = false singleArmMode = false
} }
console.log("singleArmMode");
console.log(singleArmMode)
if(loadBag) { if(loadBag) {
var selectedBagId = $('#loadBagList').val(); var selectedBagName = $('#loadBagList').val();
disableUI(); disableUI();
loadSelectedBagFile(selectedBagId, singleArmMode, function(updateError){ loadSelectedBagFile(selectedBagName, singleArmMode, function(updateError){
// if(updateError) { // if(updateError) {
// displayMessage(false, "Something went wrong in the backend while fetching the bag files :(") // displayMessage(false, "Something went wrong in the backend while fetching the bag files :(")
// } else { // } else {
@@ -311,22 +314,21 @@ function hideLoadingOptions(loadBag) {
function loadSelectedBagFile(selectedBagId, singleArmMode, callback) { function loadSelectedBagFile(selectedBagName, singleArmMode, callback) {
var toSend = { var toSend = {
bag_id : selectedBagId, bag_name : selectedBagName,
single_arm : singleArmMode single_arm : singleArmMode
} }
triggerService('/aescape/bags/startPlayingRecording', toSend, function(error, result) { // triggerService('/aescape/bags/startPlayingRecording', toSend, function(error, result) {
if(!result) { // if(!result) {
return callback("Something went wrong in the backend while updating."); // return callback("Something went wrong in the backend while updating.");
} // }
else { // else {
return callback(); // return callback();
} // }
}) // })
/*
var toSendString = JSON.stringify(toSend); var toSendString = JSON.stringify(toSend);
var topic = new ROSLIB.Topic({ var topic = new ROSLIB.Topic({
@@ -338,7 +340,6 @@ function loadSelectedBagFile(selectedBagId, singleArmMode, callback) {
var msg = new ROSLIB.Message({data:toSendString}); var msg = new ROSLIB.Message({data:toSendString});
topic.publish(msg); topic.publish(msg);
*/
} }

5
client/app/main.css
View File

@@ -480,11 +480,6 @@ html, body {
background : #3671F9; background : #3671F9;
width: 100%; width: 100%;
margin-bottom: 10px; margin-bottom: 10px;
height: 30px;
}
.slider-options .col-md-2 {
padding: 0px;
} }
.progress-bar { .progress-bar {

8
client/app/utilities/ros_scripts.js
View File

@@ -66,7 +66,15 @@ function disableUI() {
} }
document.querySelector('.dropdown').classList.add("disabled"); document.querySelector('.dropdown').classList.add("disabled");
document.querySelectorAll('.force-bar .force-value span').forEach(function(element){
element.innerHTML = 0.0
});
document.querySelectorAll('.force-bar .progress-bar').forEach(function(element){
element.style.width = totalForcePercent + "%";
element.innerHTML = totalForce + " N";
element.setAttribute('aria-valuenow', totalForce);
});
} catch(err) { } catch(err) {
console.log(err); console.log(err);

1
client/index.html
View File

@@ -38,7 +38,6 @@
} }
</script> </script>
<!-- TO DO: Use requirejs to reliably load these all the dependancies in order -->
<script> <script>
$(function(){ $(function(){
$("#coordinatorContent").load("app/components/coordinator/coordinator.html"); $("#coordinatorContent").load("app/components/coordinator/coordinator.html");