89 lines
2.2 KiB
JavaScript
89 lines
2.2 KiB
JavaScript
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///////////////////////////////////////////////////////////////////////////////////
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// Publishers
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///////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////
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// Topics
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////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////
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// Subscribers
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////////////////////////////////////////////////////////////////
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// Operation Mode
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var modeStatus = new ROSLIB.Topic({
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ros : ros,
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name : '/aescape/mode/status',
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messageType : 'std_msgs/String'
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});
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modeStatus.subscribe(function(message) {
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document.getElementById("standbyModeButton").className = "btn btn-primary"
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document.getElementById("teachingModeButton").className = "btn btn-primary"
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document.getElementById("executionModeButton").className = "btn btn-primary"
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if (message.data === "standby") {
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document.getElementById("standbyModeButton").className = "btn btn-success"
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} else if (message.data === "teach")
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{
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document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
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} else if (message.data === "execution")
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{
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document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
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}
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});
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////////////////////////////////////////////////////////////////
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// Services
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////////////////////////////////////////////////////////////////
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function triggerService(serviceName)
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{
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var service = new ROSLIB.Service({
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ros : ros,
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name : serviceName,
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serviceType : 'std_srvs/Trigger'
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});
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var request = new ROSLIB.ServiceRequest({});
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service.callService(request, function(result) {
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console.log('Result for service call on '
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+ serviceName
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+ ': '
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+ result.sum);
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});
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}
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function triggerMessageService(serviceName, textInput)
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{
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var text = document.getElementById(textInput).value
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var service = new ROSLIB.Service({
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ros : ros,
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name : serviceName,
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serviceType : 'demobot.TriggerMessage'
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});
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var request = new ROSLIB.ServiceRequest({
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message : text
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});
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service.callService(request, function(result) {
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console.log('Result for service call on '
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+ serviceName
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+ ': '
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+ result.sum);
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});
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} |