From 4e14f6ee5f1de7a24a636661c1689c46f2dd024b Mon Sep 17 00:00:00 2001
From: Fernando Herrero <fherrero@iri.upc.edu>
Date: Mon, 25 Oct 2021 16:58:14 +0200
Subject: [PATCH] Devel
---
.gitmodules | 3 +
config/goals.yaml | 18 +++
html/data/goals0.yaml | 18 +++
html/data/goals1.yaml | 18 +++
html/data/goals2.yaml | 18 +++
html/images/carnet.png | Bin 0 -> 16578 bytes
html/index.html | 346 +++++++++++++++++++++++++++++++++++++----
html/js-yaml | 1 +
html/map.html | 4 +-
html/style.css | 2 +-
html/timer.js | 58 ++++---
11 files changed, 427 insertions(+), 59 deletions(-)
create mode 100644 .gitmodules
create mode 100644 config/goals.yaml
create mode 100644 html/data/goals0.yaml
create mode 100644 html/data/goals1.yaml
create mode 100644 html/data/goals2.yaml
create mode 100644 html/images/carnet.png
create mode 160000 html/js-yaml
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..57cdbad
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "html/js-yaml"]
+ path = html/js-yaml
+ url = https://github.com/nodeca/js-yaml.git
diff --git a/config/goals.yaml b/config/goals.yaml
new file mode 100644
index 0000000..30b1c15
--- /dev/null
+++ b/config/goals.yaml
@@ -0,0 +1,18 @@
+goals:
+ - id: goal1
+ x: 8.2
+ y: 6.0
+ yaw: 1.5709
+ type: 0
+
+ - id: goal2
+ x: -1.3
+ y: 6.0
+ yaw: -1.5709
+ type: 1
+
+ - id: goal3
+ x: -0.2
+ y: -0.2
+ yaw: 0.0
+ type: 2
diff --git a/html/data/goals0.yaml b/html/data/goals0.yaml
new file mode 100644
index 0000000..d4a1753
--- /dev/null
+++ b/html/data/goals0.yaml
@@ -0,0 +1,18 @@
+goals:
+ - id: goal1
+ x: 1.0
+ y: 0.22
+ yaw: 0.0
+ type: 0
+
+ - id: goal2
+ x: 2.0
+ y: 0.22
+ yaw: 0.0
+ type: 1
+
+ - id: goal3
+ x: 3.0
+ y: -0.22
+ yaw: 3.14159
+ type: 2
diff --git a/html/data/goals1.yaml b/html/data/goals1.yaml
new file mode 100644
index 0000000..d4a1753
--- /dev/null
+++ b/html/data/goals1.yaml
@@ -0,0 +1,18 @@
+goals:
+ - id: goal1
+ x: 1.0
+ y: 0.22
+ yaw: 0.0
+ type: 0
+
+ - id: goal2
+ x: 2.0
+ y: 0.22
+ yaw: 0.0
+ type: 1
+
+ - id: goal3
+ x: 3.0
+ y: -0.22
+ yaw: 3.14159
+ type: 2
diff --git a/html/data/goals2.yaml b/html/data/goals2.yaml
new file mode 100644
index 0000000..d4a1753
--- /dev/null
+++ b/html/data/goals2.yaml
@@ -0,0 +1,18 @@
+goals:
+ - id: goal1
+ x: 1.0
+ y: 0.22
+ yaw: 0.0
+ type: 0
+
+ - id: goal2
+ x: 2.0
+ y: 0.22
+ yaw: 0.0
+ type: 1
+
+ - id: goal3
+ x: 3.0
+ y: -0.22
+ yaw: 3.14159
+ type: 2
diff --git a/html/images/carnet.png b/html/images/carnet.png
new file mode 100644
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literal 0
HcmV?d00001
diff --git a/html/index.html b/html/index.html
index c300af0..ad61240 100644
--- a/html/index.html
+++ b/html/index.html
@@ -16,30 +16,59 @@
<script src="https://cdn.jsdelivr.net/npm/bootstrap@5.1.1/dist/js/bootstrap.bundle.min.js" integrity="sha384-/bQdsTh/da6pkI1MST/rWKFNjaCP5gBSY4sEBT38Q/9RBh9AH40zEOg7Hlq2THRZ" crossorigin="anonymous"></script>
<script src="timer.js"></script>
+ <script src="./js-yaml/dist/js-yaml.min.js"></script>
<link rel="stylesheet" href="style.css">
<script>
- document.title="index";
+ document.title="ADC GUI";
var ip;
ip = document.domain;
//ip = window.location.hostname
//ip = prompt("Enter server ip address", "192.168.100.219");
+ //////////////////////////////////////
+ ///ROS
var ros = new ROSLIB.Ros();
ros.connect('ws://'+ip+':9090');
+
+ var goals_param = new ROSLIB.Param({
+ ros : ros,
+ name : '/goals'
+ });
+
+ var adc_jury_service_client = new ROSLIB.Service({
+ ros : ros,
+ name : '/jury_mode',
+ serviceType : 'iri_adc_msgs/jury_mode'
+ });
+
+ var srv_request = new ROSLIB.ServiceRequest({
+ enable : false
+ });
+
+ var adc_jury_client = new ROSLIB.ActionClient({
+ ros : ros,
+ serverName : '/adc_jury',
+ actionName : 'iri_adc_msgs/adc_juryAction'
+ });
+
+ var goal_array_msg = new ROSLIB.Message(
+ {
+ });
var team;
var challenge;
var feedback_text="";
+ var last_feedback_line="";
var i=0;
-
-
- //console.log("team=",team);
- //localStorage.setItem('team', team);
-
- //console.log("set team var");
- //console.log("get team: "+localStorage.getItem('team'));
+ var service_answered=false;
+ var service_ok=false;
+ var received_feedback=false;
+ var feedback_timer;
+ var jury_mode_running=false;
+ var action_running=false;
+ var goals_loaded=false;
function update_team()
{
@@ -53,18 +82,240 @@
localStorage.setItem('challenge', challenge);
}
- function add_feedback()
+ function send_goal()
{
- feedback_new_line='This is a feedback text example '+i;
- feedback_text = feedback_new_line + '\ ' + feedback_text ;
- i=i+1;
+ //load_goals_from_yaml(); //TODO: sync load. Now is async and done on input.onchange and at the beginning
+
+ init_goal_msg();
+
+ action_goal.send();
+
+ document.getElementById("action_info").innerHTML = "Goal sent. Expecting feedback...";
+ document.getElementById("action_info").style.backgroundColor = 'white' ;
+
+ feedback_watchdog_timer();
+ //action_running=true; //true when received feedback?
+ }
+
+ function init_goal_msg()
+ {
+ action_goal = new ROSLIB.Goal(
+ {
+ actionClient : adc_jury_client,
+ goalMessage : goal_array_msg
+ }
+ );
+
+ action_goal.on('feedback', function(msg)
+ {
+ received_feedback=true;
+ action_running=true;
+ document.getElementById("action_info").innerHTML = "Feedback received!";
+ document.getElementById("action_info").style.backgroundColor = 'green' ;
+ var feedback_new_line= msg.status;
+ add_feedback_line(feedback_new_line);
+ });
+
+ action_goal.on('result', function(result)
+ {
+ if(action_running)
+ {
+ finish_action();
+ }
+ });
+
+ }
+
+ function finish_action()
+ {
+ if(timer_running)
+ startStop();
+ document.getElementById("action_info").innerHTML = "Action finished";
+ document.getElementById("action_info").style.backgroundColor = 'white' ;
+ action_running=false;
+ clearTimeout(feedback_timer);
+ add_feedback_line("Finished");
+ }
+
+ function cancel_goal()
+ {
+ action_goal.cancel();
+ document.getElementById("action_info").innerHTML = "Goal cancelled";
+ document.getElementById("action_info").style.backgroundColor = 'white' ;
+ }
+
+ function jury_mode()
+ {
+ if(!jury_mode_running)
+ jury_mode_enable();
+ else
+ jury_mode_disable();
+ }
+
+ function jury_mode_enable()
+ {
+ document.getElementById("service_info").innerHTML = "Called service, waiting response...";
+ document.getElementById("service_info").style.backgroundColor = 'yellow' ;
+ document.getElementById('jury_mode_button').disabled=true;
+ srv_request.enable=true;
+ adc_jury_service_client.callService(srv_request,
+ function(result)
+ {
+ service_answered=true;
+ service_ok=true;
+ jury_mode_answered();
+ },
+ function(result)
+ {
+ service_answered=true;
+ service_ok=false;
+ jury_mode_answered();
+ });
+ }
+
+ function jury_mode_disable()
+ {
+ document.getElementById("service_info").innerHTML = "Called service server, waiting response...";
+ document.getElementById("service_info").style.backgroundColor = 'yellow' ;
+ document.getElementById('jury_mode_button').disabled=true;
+ srv_request.enable=false;
+ adc_jury_service_client.callService(srv_request,
+ function(result)
+ {
+ service_answered=true;
+ service_ok=true;
+ jury_mode_answered();
+ },
+ function(result)
+ {
+ service_answered=true;
+ service_ok=false;
+ jury_mode_answered();
+ });
+ }
+
+ function jury_mode_answered()
+ {
+ document.getElementById('jury_mode_button').disabled=false;
+ if(service_ok)
+ {
+ service_ok=false;
+ document.getElementById("service_info").innerHTML = "Service responded";
+ document.getElementById("service_info").style.backgroundColor = 'green' ;
+ if(!jury_mode_running)
+ {
+ add_feedback_line("Jury mode enabled");
+ jury_mode_running = true;
+ document.getElementById("jury_mode_button").innerHTML = "DISABLE";
+ document.getElementById('jury_mode_button').style.backgroundColor="Red";
+ if(document.getElementById("startStop").innerHTML=="START")
+ document.getElementById('startStop').disabled=true;
+ }
+ else
+ {
+ add_feedback_line("Jury mode disabled");
+ jury_mode_running = false;
+ document.getElementById("jury_mode_button").innerHTML = "ENABLE";
+ document.getElementById('jury_mode_button').style.backgroundColor="RoyalBlue";
+ if(document.getElementById("startStop").innerHTML=="START")
+ document.getElementById('startStop').disabled=false;
+ }
+ }
+ else
+ {
+ document.getElementById("service_info").innerHTML = "ERROR: couldn't contact service server!!!";
+ document.getElementById("service_info").style.backgroundColor = 'red' ;
+ console.log("ERROR: couldn't contact service server!!!");
+ }
+ }
+
+ // function add_fake_feedback()
+ // {
+ // feedback_new_line=document.getElementById("fake_feedback_text").value+" "+i;
+ // i=i+1;
+ // add_feedback_line(feedback_new_line);
+ // }
+
+ function add_feedback_line(text)
+ {
+ if(text!=last_feedback_line)
+ {
+// var currentTime = new Date();
+// var secs = Math.floor(currentTime.getTime()/1000);
+// var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs));
+// var time = "["+secs+","+nsecs+"]: ";
+ var time = "[" + time_string + "]: ";
+
+ feedback_text = time + text + '
' + feedback_text ;
+ document.getElementById("feedback_text").innerHTML = feedback_text;
+ }
+ last_feedback_line=text;
+ }
+
+ function clear_feedback()
+ {
+ feedback_text="";
+ last_feedback_line="";
+ i=0;
document.getElementById("feedback_text").innerHTML = feedback_text;
}
+
+ function feedback_watchdog_timer()
+ {
+ feedback_timer = setTimeout(
+ function()
+ {
+ if(action_running)
+ {
+ if(received_feedback)
+ {
+ received_feedback=false;
+ document.getElementById("action_info").innerHTML = "Feedback received!";
+ document.getElementById("action_info").style.backgroundColor = 'green' ;
+ feedback_watchdog_timer();
+ }
+ else
+ {
+ //clearTimeout(feedback_timer);
+ console.log("ERROR: feedback not received!");
+ document.getElementById("action_info").innerHTML = "ERROR: feedback NOT received!";
+ document.getElementById("action_info").style.backgroundColor = 'red' ;
+ //TODO: what to do then?
+ feedback_watchdog_timer();
+ }
+ }
+ },2000);
+ }
+
+ function load_goals_from_yaml()
+ {
+ goals_file = document.getElementById("goals_file").value;
+ var goals_from_yaml;
+
+ $.get(goals_file).done(function (data)
+ //$.get( goals_file, function( data )
+ {
+ goals_from_yaml = jsyaml.load( data );
+
+ //TODO: check if loaded succesfully or not
+ //console.log("Loaded goals");
+
+ goal_array_msg = new ROSLIB.Message(
+ {
+ goals: goals_from_yaml
+ });
+
+ goals_loaded=true;
+
+ });
+ }
$(document).ready
(
function ()
{
+ load_goals_from_yaml();
+
if ("team" in localStorage)
{
team = localStorage.getItem('team');
@@ -73,6 +324,7 @@
else
{
team=1;
+ localStorage.setItem('team', team);
}
if ("challenge" in localStorage)
@@ -83,22 +335,22 @@
else
{
challenge=1;
+ localStorage.setItem('challenge', challenge);
}
-
-
}
);
</script>
</head>
+
<body>
<style>body { padding-top: 60px;}</style>
<nav class="navbar navbar-expand-md navbar-dark bg-dark fixed-top">
- <a class="navbar-brand" href="https://www.iri.upc.edu">
- <img src="images/iri.png" width="30" height="30" class="d-inline-block align-top" alt="">
- IRI
+ <a class="navbar-brand" href="https://autonomous-driving-challenge.com/">
+ <img src="images/carnet.png" width="30" height="30" class="d-inline-block align-top" alt="">
+ ADC
</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarsExampleDefault" aria-controls="navbarsExampleDefault" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
@@ -109,37 +361,65 @@
<li class="nav-item active">
<a class="nav-link" href="index.html"><b>Home</b></a>
</li>
+ <!--
<li class="nav-item">
<a class="nav-link" href="map.html">Map<a/>
</li>
- </li>
+ -->
</ul>
</div>
</nav>
<main role="main" class="container">
+
Team:          <input type="number" id="team_input" min="1" max="6" step="1" style="width: 2em" value="1" onchange="update_team()">
<br>
- Challenge: <input type="number" id="challenge_input" min="1" max="5" step="1" style="width: 2em" value="1" onchange="update_challenge()">
+ Challenge: <input type="number" id="challenge_input" min="0" max="5" step="1" style="width: 2em" value="1" onchange="update_challenge()">
+
+ <hr>
+ <b>Goals file:</b> (will be automatic for each chosen challenge # (goals#.yaml))
<br>
- Timer:
+
+ <input type="text" id="goals_file" value="./data/goals0.yaml" onchange="load_goals_from_yaml()"/>
<br>
- <p id = "output" class = "text-left">00:00:00</p>
+ <!--<button class="btn btn-primary" id = "load_goals_button" onclick = "load_goals_from_yaml()">Load goals</button>-->
+
+ <hr>
+
+ <b>Attempt</b>
+ <br>
+
<div id = "controls" class = "text-left">
- <button class="btn btn-primary" id = "startPause" onclick = "startPause()">START</button>
- <button class="btn btn-danger" onclick = "reset()">RESET</button>
+ <button class="btn btn-success" id = "startStop" style="width:49.25%; height: 50px" onclick = "this.blur();startStop()">START</button>
+ <br>
+ <span id="action_info" > </span>
+ <!--<button class="btn btn-danger" id = "resetButton" style="width:49.25%; height: 50px; background-color: red" onclick = "this.blur();reset()">RESET</button>-->
</div>
- Feedback:
- <div style="overflow-y: auto; height:75px; border-style:solid">
- <!-- Feedback text example1<br>
- Feedback text example2<br>
- Feedback text example3<br>
- Feedback text example4<br>
- Feedback text example5<br>
- Feedback text example6<br>-->
- <span id="feedback_text">Received feedback messages will be shown here</span>
+ <br>
+ <p id = "output" class = "text-left">00:00:00</p>
+
+
+ <hr>
+
+ <b>Jury Mode</b>
+ <div id = "controls2" class = "text-left">
+ <button class="btn btn-primary" id = "jury_mode_button" style="width:49.25%; height: 50px" onclick = "this.blur();jury_mode()">ENABLE</button>
</div>
- <button class="btn btn-primary" id = "add_feedback" onclick = "add_feedback()">Add fake feedback</button>
+ <span id="service_info" > </span>
+
+ <hr>
+ <b>Feedback</b>
+ <br>
+ <textarea readonly id="feedback_text" style="resize: vertical; width:100%; border-style:solid;" wrap='off' rows="3" cols="auto">Received feedback messages will be shown here. Each message starting a new line</textarea>
+ <br>
+ <button class="btn btn-danger" id = "clear_feedback" onclick = "this.blur();clear_feedback()">Clear feedback</button>
+ <br>
+ <!--
+ Debug:
+ <br><button class="btn btn-primary" id = "add_feedback" onclick = "add_fake_feedback()">Add fake feedback</button>
+ <input type="text" id="fake_feedback_text" size="50" value="This is a fake feedback text example"/>
+ <hr>
+ -->
</main>
diff --git a/html/js-yaml b/html/js-yaml
new file mode 160000
index 0000000..49baadd
--- /dev/null
+++ b/html/js-yaml
@@ -0,0 +1 @@
+Subproject commit 49baadd52af887d2991e2c39a6639baa56d6c71b
diff --git a/html/map.html b/html/map.html
index 79bc7a3..5d37899 100644
--- a/html/map.html
+++ b/html/map.html
@@ -77,8 +77,8 @@
<nav class="navbar navbar-expand-md navbar-dark bg-dark fixed-top">
<a class="navbar-brand" href="https://www.iri.upc.edu">
- <img src="images/iri.png" width="30" height="30" class="d-inline-block align-top" alt="">
- IRI
+ <img src="images/carnet.png" width="30" height="30" class="d-inline-block align-top" alt="">
+ ADC
</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarsExampleDefault" aria-controls="navbarsExampleDefault" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
diff --git a/html/style.css b/html/style.css
index e47b2bf..e3c7fd0 100644
--- a/html/style.css
+++ b/html/style.css
@@ -6,7 +6,7 @@
}
#output {
- font-size: 2.0em;
+ font-size: 3.0em;
width: auto;
height: auto;
background-color: white;
diff --git a/html/timer.js b/html/timer.js
index 4939fba..30b78e2 100644
--- a/html/timer.js
+++ b/html/timer.js
@@ -1,27 +1,37 @@
var time = 0;
-var running = 0;
+var timer_running = false;
+var timer_timeout;
+var time_string="";
-function startPause() {
- if (running == 0) {
- running = 1;
- increment();
- document.getElementById("startPause").innerHTML = "PAUSE";
- } else {
- running = 0;
- document.getElementById("startPause").innerHTML = "RESUME";
- }
+function startStop()
+{
+ if (!timer_running)
+ {
+ time=0;
+ timer_running = true;
+ increment();
+ document.getElementById("startStop").innerHTML = "STOP";
+ document.getElementById('startStop').style.backgroundColor="red";
+ send_goal();
+ }
+ else
+ {
+ timer_running = false;
+ document.getElementById("startStop").innerHTML = "START";
+ document.getElementById('startStop').style.backgroundColor="green";
+ cancel_goal();
+ }
}
-function reset(){
- running = 0;
- time = 0;
- document.getElementById("startPause").innerHTML = "START";
- document.getElementById("output").innerHTML = "00:00:00";
-}
-
-function increment() {
- if (running == 1) {
- setTimeout(function() {
+function increment()
+{
+ if (timer_running)
+ {
+ timer_timeout = setTimeout(
+ function()
+ {
+ if(timer_running)
+ {
time++;
var mins = Math.floor(time/10/60);
var secs = Math.floor(time/10 % 60);
@@ -32,8 +42,10 @@ function increment() {
if (secs < 10) {
secs = "0" + secs;
}
- document.getElementById("output").innerHTML = mins + ":" + secs + ":" + "0" + tenths;
+ time_string = mins + ":" + secs + ":" + "0" + tenths;
+ document.getElementById("output").innerHTML = time_string ;
increment();
- },100);
- }
+ }
+ },100);
+ }
}
--
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