Add title in name

README.md

@@ -1,5 +1,12 @@
 # Aescape Lab UI
 
+## To install
+```
+sudo apt install npm -y
+sudo npm install http-server -g
+sudo ln -s /usr/bin/nodejs /usr/bin/node
+```
+
 ## To run
 Set your master to be what you want - default is `phoebe`.
 Then run

backend/js/ros_scripts.js

@@ -7,8 +7,32 @@ 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';
+// 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) {
@@ -20,7 +44,7 @@ ros.on('error', function(error) {
   document.getElementById("ROSNodes").innerHTML = "No Nodes Detected";
 
   rosbridgeconnection_badge
-  console.log(error);192
+  console.log(error);
 });
 // Find out exactly when we made a connection.
 ros.on('connection', function() {
@@ -119,6 +143,7 @@ bagNotifier.subscribe(function(message) {
 // 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;
@@ -129,6 +154,7 @@ ros.attemptConnection = function(ipAddress)
   }
   console.log('Connection = ' + ros.connectionName);
   ros.connect(ros.connectionName);
+  getMasterName();
 }
 
 function toggleRecording()
@@ -172,5 +198,8 @@ function getMasterName()
   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;
   });
 }

backend/js/update_guis.js

@@ -47,12 +47,12 @@ function updateNodesGUI()
 
 };
 
-window.setInterval(function(){
+// window.setInterval(function(){
 
-  updateTopicsGUI();
-  updateNodesGUI();
+//   updateTopicsGUI();
+//   updateNodesGUI();
 
-}, 5000);
+// }, 5000);
 
 function validateForm()
 {

coordinator/coordinator.html

@@ -4,19 +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="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">
@@ -84,10 +105,18 @@
             Teaching Mode Operations
         </div>
         <div class="panel-body text-center">
-            <button id="recordingStartButton" type="button" onclick="triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
+            <span class="row">
+                <label id="RecordingStatusLabel" class="label-warning">
+                    Bag manager not connected!
+                </label>
+            </span>
+            <button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
+                Activate Ready Mode
+            </button>
+            <button id="recordingStartButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq'); triggerService('/aescape/mode/activateTeachingController'); 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">
+            <button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording'); triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
                 Stop Teach Recording
             </button>
         </div>
@@ -97,16 +126,28 @@
         <div class="panel-heading">
             Execution Mode Operations
         </div>
+
+
         <div class="panel-body text-center">
+
+            <span class="row">
+                <label id="ExecutionStatusLabel" class="label-warning">
+                    Bag manager not connected!
+                </label>
+            </span>
+
             Last Bag Playing:
-            <span  id="bagPlayingText">
+            <span  id="lastbagText">
                 None
             </span>
             <div>
-            <button id="executionStartButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
+            <button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
+                Activate Ready Mode
+            </button>
+            <button id="executionStartButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController'); 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">
+            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
                 Stop Playing Recording
             </button>
             <div class="row">
@@ -124,6 +165,8 @@
                     </div>
                 </div>
             </div>
+                    <!-- </div> -->
+           
         </div>
         
     </div>

coordinator/js/ros_scripts.js

@@ -27,33 +27,112 @@ var modeStatus = new ROSLIB.Topic({
 modeStatus.subscribe(function(message) {
   document.getElementById("stoppedModeButton").className = "btn btn-secondary"
   document.getElementById("standbyModeButton").className = "btn btn-primary"
+  document.getElementById("readyModeButton").className = "btn btn-primary"
   document.getElementById("teachingModeButton").className = "btn btn-primary"
   document.getElementById("executionModeButton").className = "btn btn-primary"
+  
+  document.getElementById("recordingStartButton").disabled = true
+  document.getElementById("executionStartButton").disabled = true
 
 
-  if (message.data == "stopped") {
+
+  if (message.data == "stopped") 
+  {
     document.getElementById("stoppedModeButton").className = "btn btn-warning"
-  } else if (message.data == "standby")
+  } 
+  else if (message.data == "standby")
   {
     document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
-  } else if (message.data == "teach")
+  } 
+  else if (message.data == "teach")
   {
     document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
-  } else if (message.data == "execution")
+  } 
+  else if (message.data == "execution")
   {
     document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
   }
+  else if (message.data == "ready")
+  {
+    document.getElementById("readyModeButton").className = "btn btn-primary btn-success"
+    document.getElementById("recordingStartButton").disabled = false
+    document.getElementById("executionStartButton").disabled = false
+  }
 });
 
-// Playing Bag
+// 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 label-default';
+  document.getElementById("safetyStopped").className = 'label label-default';
+  
+  if (message.data == "stopped") 
+  {
+    document.getElementById("safetyStopped").className = 'label label-danger';
+  } 
+  else if (message.data == "running")
+  {
+    document.getElementById("safetyRunning").className = 'label label-success';
+  }
+});
+
+
+// Recording Bag
+var recordingBagTopic = new ROSLIB.Topic({
+  ros : ros,
+  name : '/aescape/bags/recording_status',
+  messageType : 'std_msgs/String'
+});
+
+recordingBagTopic.subscribe(function(message) {
+  if (message.data == "stopped") 
+  {
+    document.getElementById("RecordingStatusLabel").innerHTML = 'Not Running';
+    document.getElementById("RecordingStatusLabel").className = 'label label-warning';
+  } 
+  else if (message.data == "running")
+  {
+    document.getElementById("RecordingStatusLabel").innerHTML = 'RUNNING!';
+    document.getElementById("RecordingStatusLabel").className = 'label label-success';
+  }
+});
+
+// Executing Bag
+var executingBagTopic = new ROSLIB.Topic({
+  ros : ros,
+  name : '/aescape/bags/execution_status',
+  messageType : 'std_msgs/String'
+});
+
+executingBagTopic.subscribe(function(message) {
+  if (message.data == "stopped") 
+  {
+    document.getElementById("ExecutionStatusLabel").innerHTML = 'Not Running';
+    document.getElementById("ExecutionStatusLabel").className = 'label label-warning';
+  } 
+  else if (message.data == "running")
+  {
+    document.getElementById("ExecutionStatusLabel").innerHTML = 'RUNNING!';
+    document.getElementById("ExecutionStatusLabel").className = 'label label-success';
+  }
+});
+
+
+// Last Bag
 var bagPlayingTopic = new ROSLIB.Topic({
   ros : ros,
-  name : '/aescape/bags/playing',
+  name : '/aescape/bags/last_played',
   messageType : 'std_msgs/String'
 });
 
 bagPlayingTopic.subscribe(function(message) {
-  document.getElementById("bagPlayingText").innerHTML = message.data
+  document.getElementById("lastbagText").innerHTML = message.data
 });
 
 // FrankaState

index.html

@@ -39,31 +39,21 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
         <script type="text/javascript" src="coordinator/js/update_guis.js"></script>
 
 
-        <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>
-
-
-        <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>
+        <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>
+                <h1 id="Title">Lab UI</h1>
 
             </div>
             <div class="container">
@@ -91,7 +81,7 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                         </a>
                     </li>
                     <li>
-                        <a href="#Vision" data-toggle="tab">
+                        <a href="vision/vision.html">
                             Vision
                         </a>
                     </li>
@@ -103,9 +93,9 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                 <div class="tab-pane active" id="Coordinator">
                     <div id="coordinatorContent"></div>
                 </div>
-                <div class="tab-pane" id="Vision">
+                <!-- <div class="tab-pane" id="Vision">
                     <div id="visionContent"></div>
-                </div>
+                </div> -->
 
 
                 <div class="tab-pane" id="rosbridgeconnection">
@@ -143,26 +133,26 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                                 Predefined ROSBridge Connections
                             </div>
                             <div class="panel-body">
-                                <!-- <button id="localhostButton" type="button" onclick="ros.attemptConnection('ws://localhost:9090')" class="btn btn-primary">
+                                <button id="localhostButton" type="button" onclick="ros.attemptConnection('ws://localhost:9090')" class="btn btn-primary">
                                     localhost
                                     <script type="text/javascript">
                                         document.getElementById("ConnectionIPInput").value = ros.connectionName;
                                     </script>
                                 </button>
+                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.local:9090')" class="btn btn-primary">
+                                    Titan
+                                    <script type="text/javascript">
+                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
+                                    </script>
+                                </button>
                                 <button id="PhoebeButton" type="button" onclick="ros.attemptConnection('ws://phoebe.local:9090')" class="btn btn-primary">
                                     Phoebe
                                     <script type="text/javascript">
                                         document.getElementById("ConnectionIPInput").value = ros.connectionName;
                                     </script>
                                 </button>
-                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.local:9090')" class="btn btn-primary">
-                                    Titan
-                                    <script type="text/javascript">
-                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
-                                    </script>
-                                </button> -->
-                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.aescape.co:9090')" class="btn btn-primary">
-                                    titan.aescape.co
+                                <button id="RheaButton" type="button" onclick="ros.attemptConnection('ws://rhea.local:9090')" class="btn btn-primary">
+                                    Rhea
                                     <script type="text/javascript">
                                         document.getElementById("ConnectionIPInput").value = ros.connectionName;
                                     </script>

launch/lab_ui.launch

@@ -1,10 +1,8 @@
 <launch>
 	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
 
-    <node name="lab_ui_web_server" pkg="aescape_lab_ui" type="webserver.sh" respawn="true" />
+    <node name="lab_ui_web_server" pkg="aescape_lab_ui" type="webserver.sh" respawn="false" />
 
-    <node name="lab_ui_video_server" pkg="web_video_server" type="web_video_server" respawn="true" >
-        <param name="address" value="titan.aescape.co" />
-    </node>
+    <node name="lab_ui_video_server" pkg="web_video_server" type="web_video_server" respawn="false" />
 
 </launch>

package.xml

@@ -41,6 +41,8 @@
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
 
+  <run_depend>web_video_server</run_depend>
+  <run_depend>rosbridge_server</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

scripts/webserver.sh

@@ -1,4 +1,7 @@
 #!/usr/bin/env bash
 
 cd $(rospack find aescape_lab_ui)
-python3 -m http.server 8000 --bind titan.aescape.co
+# python3 -m http.server 8000
+
+# Node webserver: https://www.npmjs.com/package/http-server
+http-server -p 8000 

vision/vision.html

@@ -80,6 +80,9 @@
         
     </div> -->
 
+    <script type="text/javascript" src="vision/js/ros_scripts.js"></script>
+    <script type="text/javascript" src="vision/js/update_guis.js"></script>
+
     <div class="panel panel-default">
         <div class="panel-heading">
             Camera Views
@@ -97,31 +100,13 @@
             <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>
+            Thermal
+            <div class="row-lg-4">
+                <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/thermal/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