changed calibrate robotiq to ati

client/app/components/coordinator/coordinator.html

@@ -127,7 +127,7 @@
                                         <div class="status-list">
                                             <div class="commanded">
                                                 <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>
                                                 <ul class="list-group list-group-horizontal text-center">
@@ -144,7 +144,7 @@
                                             </div>
                                             <div class="observed">
                                               <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">
                                                       <span>N/A</span>
                                                       <div>
@@ -196,7 +196,7 @@
                                 </div>
 
                                 <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 
                                     </button>
                                 </div>
@@ -351,16 +351,13 @@
                                 </div>
                                 <div class="panel-body text-center">
                                     <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
                                         </button>
-                                        <button id="executionLoadButton" type="button" onclick="triggerService('/aescape/massageReady')" class="btn btn-primary col-md-3">
-                                            Complete Body Scaling
-                                        </button>
-                                        <button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-3">
+                                        <button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-4">
                                             Play Loaded Recording
                                         </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
                                         </button>
                                     </div>
@@ -548,7 +545,7 @@
                                                 <div class="status-list">
                                                     <div class="commanded">
                                                         <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>
                                                         <ul class="list-group list-group-horizontal text-center">
@@ -565,7 +562,7 @@
                                                     </div>
                                                     <div class="observed">
                                                       <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">
                                                               <span>N/A</span>
                                                               <div>

client/app/components/coordinator/js/ros_scripts.js

@@ -372,11 +372,9 @@ var playbackStatus = new ROSLIB.Topic({
 
 playbackStatus.subscribe(function(message) {
   message = JSON.parse(message.data);
-  console.log("message");
-  console.log(message);
   status = message.status;
   bagName = message.bag_file;
-  if (true) {
+  if (status != lastPlaybackStatus) {
     
     if (status === "playing") {
 
@@ -390,6 +388,7 @@ playbackStatus.subscribe(function(message) {
       triggerService('/right/aescape/mode/activateReadyController');
       displayMessage(true, "Loaded the selected bag file!")
     }
+    lastPlaybackStatus = status;
   }
 });
 
@@ -578,8 +577,7 @@ function startTeachRecoding() {
   async.waterfall([
       function(callback) {
           triggerService('/left/aescape/hardware/calibrateRobotiq', false, function(err, res){
-            //callback(err, res);
-            callback(null, null);
+            callback(err, res);
           });
       },
       function(response, callback) {

client/app/components/coordinator/js/update_guis.js

@@ -89,9 +89,11 @@ function displayTaggingOptions(mode) {
   fileNameSelectize.clearOptions()
   // /aescape/bags/getBagList
   getBagList(function(results){
-    fileNameSelectize.addOption(results)
+    fileNameSelectize.addOption(results.map(function(element){
+      return {name : element.filename}
+    }));
     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 bagLabelSelector = '#' + mode + 'BagFileName';
+  var fileNameSelector = '#' + mode + 'BagFileName';
   var categorySelector = '#' + mode + 'BagCategory';
   var tagSelector = '#' + mode + 'BagTags';
   var errorSelector = '#' + mode + 'TagError';
@@ -147,23 +149,24 @@ function hideTaggingOptions(mode, updateValues=false) {
 
 
   if(updateValues) {
-    var bagLabel = $(bagLabelSelector).val();
+    var filename = $(fileNameSelector).val();
     var category = $(categorySelector).val();
-    var tags = $(tagSelector).val() || [];
+    var tags = $(tagSelector).val();
 
     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 :(");
         return;
       }
-      bag_id = results[0]._id;
-      updateBagMetadata(mode, bag_id, bagLabel, category, tags, function(updateError) {
+      bag_name = results[0].filename;
+      updateBagMetadata(mode, bag_name, filename, category, tags, function(updateError) {
         if(updateError) {
           displayMessage(flase, updateError);
         } else {
           displayMessage("Bag data saved successfully!");
           //clear selectize
-            $(bagLabelSelector).selectize()[0].selectize.destroy();
+            $(fileNameSelector).selectize()[0].selectize.destroy();
             $(categorySelector).selectize()[0].selectize.destroy();
             $(tagSelector).selectize()[0].selectize.destroy();
         }
@@ -175,18 +178,18 @@ function hideTaggingOptions(mode, updateValues=false) {
   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) {
     return callback();
   }
-  if(!bag_id) {
+  if(!bag_name) {
     return callback();
   }
 
   var toSend = {
     mode : mode, 
-    bag_id : bag_id, 
-    bag_label : bag_label, 
+    bag_name : bag_name, 
+    modified_bag_name : modified_bag_name, 
     category : category, 
     tags : tags
   }
@@ -211,33 +214,32 @@ function displayLoadingOptions() {
   //Putting this in a timeout to wait for the animation to finish completing
   setTimeout(function(){
     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({
-      valueField: '_id',
-      labelField: 'name',
-      searchField: ['name', 'category', 'tags'],
+      valueField: 'filename',
+      labelField: 'filename',
+      searchField: ['filename', 'category', 'tags'],
       options: [], 
       create: false,
       placeholder : "Select bag to play", 
       render : {
         item: function(item, escape) {
-          name = item.name;
+          filename = item.filename;
           category = item.category || 'None';
             return '<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>' + 
               '</div>' + 
             '</div>';
         },
         option: function(item, escape) {
-
-            name = item.name;
+            filename = item.filename;
             category = item.category || 'None';
             return '<div class="bag-select-element bag-option">' +
               '<div class="primary">' + 
-                '<div class="filename">' + escape(name) + '</div>' +
+                '<div class="filename">' + escape(filename) + '</div>' +
                 '<div class="category">' + escape(category) + '</div>' + 
               '</div>' + 
               '<div class="secondary">' + 
@@ -261,7 +263,6 @@ function displayLoadingOptions() {
       var selectize = $select[0].selectize;
       selectize.clearOptions();
       //results = [{filename : 'testfile', category: 'testcategory', tags : ['testtag1', 'testtag2', 'testtag3']}, {filename : 'testfile2', category: 'testcategory2', tags : ['testtag21', 'testtag22', 'testtag23']}]
-      console.log(results);
       selectize.addOption(results);
       if(results[0]) {
         selectize.setValue(results[0].filename);
@@ -292,10 +293,12 @@ function hideLoadingOptions(loadBag) {
     singleArmMode = false
   }
 
+  console.log("singleArmMode");
+  console.log(singleArmMode)
   if(loadBag) {
-    var selectedBagId = $('#loadBagList').val();
+    var selectedBagName = $('#loadBagList').val();
     disableUI();
-    loadSelectedBagFile(selectedBagId, singleArmMode, function(updateError){
+    loadSelectedBagFile(selectedBagName, singleArmMode, function(updateError){
       // if(updateError) {
       //   displayMessage(false, "Something went wrong in the backend while fetching the bag files :(")
       // } else {
@@ -311,9 +314,9 @@ function hideLoadingOptions(loadBag) {
 
 
 
-function loadSelectedBagFile(selectedBagId, singleArmMode, callback) {
+function loadSelectedBagFile(selectedBagName, singleArmMode, callback) {
   var toSend = {
-    bag_id : selectedBagId, 
+    bag_name : selectedBagName, 
     single_arm : singleArmMode
   }
 

client/app/main.css

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

client/app/utilities/ros_scripts.js

@@ -66,7 +66,15 @@ function disableUI() {
     }
     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) {
     console.log(err);

client/index.html

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