diff --git a/html/data/goals0.yaml b/html/data/goals0.yaml
deleted file mode 100644
index 430e070a9458069a580282070e5debbefd2bc45b..0000000000000000000000000000000000000000
--- a/html/data/goals0.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-goals:
- - id: goal1a
- x: 3.0
- y: -0.22
- yaw: 0.0
- type: 0
diff --git a/html/data/goals1.yaml b/html/data/goals1.yaml
deleted file mode 100644
index bd145f2b69a269e818ab4ec08df28a37b25f97ba..0000000000000000000000000000000000000000
--- a/html/data/goals1.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-goals:
- - id: goal1a
- x: 3.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1b
- x: 4.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1c
- x: 6.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1d
- x: 7.0
- y: -0.22
- yaw: 0.0
- type: 0
diff --git a/html/data/goals2.yaml b/html/data/goals2.yaml
deleted file mode 100644
index bd145f2b69a269e818ab4ec08df28a37b25f97ba..0000000000000000000000000000000000000000
--- a/html/data/goals2.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-goals:
- - id: goal1a
- x: 3.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1b
- x: 4.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1c
- x: 6.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1d
- x: 7.0
- y: -0.22
- yaw: 0.0
- type: 0
diff --git a/html/data/goals3.yaml b/html/data/goals3.yaml
deleted file mode 100644
index bd145f2b69a269e818ab4ec08df28a37b25f97ba..0000000000000000000000000000000000000000
--- a/html/data/goals3.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-goals:
- - id: goal1a
- x: 3.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1b
- x: 4.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1c
- x: 6.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1d
- x: 7.0
- y: -0.22
- yaw: 0.0
- type: 0
diff --git a/html/data/goals4.yaml b/html/data/goals4.yaml
deleted file mode 100644
index bd145f2b69a269e818ab4ec08df28a37b25f97ba..0000000000000000000000000000000000000000
--- a/html/data/goals4.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-goals:
- - id: goal1a
- x: 3.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1b
- x: 4.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1c
- x: 6.0
- y: -0.22
- yaw: 0.0
- type: 0
-
- - id: goal1d
- x: 7.0
- y: -0.22
- yaw: 0.0
- type: 0
diff --git a/html/jury.html b/html/jury.html
index 20eac0bd79b64aedab2126f6bc081788811abf42..d639438138d8f543d9212d3cbb6d985725715fc0 100644
--- a/html/jury.html
+++ b/html/jury.html
@@ -174,16 +174,25 @@
//rosbag_record_is_recording_subscriber.unsubscribe();
});
- var challenge_xodr_param = new ROSLIB.Param({
+ // var challenge_xodr_param = new ROSLIB.Param({
+ // ros : ros,
+ // name : '/iri_adc_gui_image_generator/xodr_file'
+ // });
+
+ var set_xodr_service_client = new ROSLIB.Service({
ros : ros,
- name : '/iri_adc_gui_image_generator/xodr_file'
+ name : '/iri_adc_gui_image_generator/set_xodr',
+ serviceType : 'iri_adc_msgs/set_string'
});
+ var set_xodr_request = new ROSLIB.ServiceRequest({
+ data: ""});
-
+ var goal_param = new ROSLIB.Param({
+ ros : ros,
+ name : '/goals'
+ });
-
-
var adc_jury_service_client = new ROSLIB.Service({
ros : ros,
name : '/jury/set_mode',
@@ -252,22 +261,46 @@
challenge = document.getElementById("challenge_input").value;
localStorage.setItem('challenge', challenge);
challenge_param.set(challenge);
- set_challenge_xodr_param(challenge);
load_goals_from_yaml();
+ set_challenge_xodr_param(challenge);
}
function set_challenge_xodr_param(challenge)
{
if(challenge==0)
- challenge_xodr_param.set(ch0_xodr);
+ {
+ //challenge_xodr_param.set(ch0_xodr);
+ set_xodr_request.data=ch0_xodr;
+ }
else if(challenge==1)
- challenge_xodr_param.set(ch1_xodr);
+ {
+ //challenge_xodr_param.set(ch1_xodr);
+ set_xodr_request.data=ch1_xodr;
+ }
else if(challenge==2)
- challenge_xodr_param.set(ch2_xodr);
+ {
+ //challenge_xodr_param.set(ch2_xodr);
+ set_xodr_request.data=ch2_xodr;
+ }
else if(challenge==3)
- challenge_xodr_param.set(ch3_xodr);
+ {
+ //challenge_xodr_param.set(ch3_xodr);
+ set_xodr_request.data=ch3_xodr;
+ }
else if(challenge==4)
- challenge_xodr_param.set(ch4_xodr);
+ {
+ //challenge_xodr_param.set(ch4_xodr);
+ set_xodr_request.data=ch4_xodr;
+ }
+
+ set_xodr_service_client.callService(set_xodr_request,
+ function(result)
+ {
+ },
+ function(result)
+ {
+ console.error("ERROR: set_xodr service server returned error!!!");
+ });
}
function send_goal()
@@ -288,6 +321,9 @@
document.getElementById("action_info").innerHTML = "Goal sent. Expecting feedback...";
document.getElementById("action_info").style.backgroundColor = 'yellow' ;
+
+ document.getElementById('team_input').disabled=true;
+ document.getElementById('challenge_input').disabled=true;
feedback_watchdog_timer();
//action_running=true; //set to true when received feedback
@@ -330,6 +366,8 @@
action_running=false;
clearTimeout(feedback_timer);
add_feedback_line0("[GUI] FINISHED");
+ document.getElementById('team_input').disabled=false;
+ document.getElementById('challenge_input').disabled=false;
stop_rosbag_record();
save_feedback_file();
clearTimeout(iteration_timeout);
@@ -430,9 +468,9 @@
}
else
{
- document.getElementById("service_info").innerHTML = "ERROR: couldn't contact service server!!!";
+ document.getElementById("service_info").innerHTML = "ERROR: couldn't contact jury_mode service server!!!";
document.getElementById("service_info").style.backgroundColor = 'red' ;
- console.error("ERROR: couldn't contact service server!!!");
+ console.error("ERROR: couldn't contact jury_mode service server!!!");
}
}
@@ -575,6 +613,7 @@
});
goals_loaded=true;
+ goal_param.set(goals_from_yaml.goals);
document.getElementById("goals_info").innerHTML = "Loaded file: " + goals_file;
document.getElementById("goals_info").style.backgroundColor = 'SeaGreen' ;
document.getElementById('startStop').disabled=false;
@@ -1088,6 +1127,15 @@
<!--<br>-->
Challenge
<input type="number" id="challenge_input" min="0" max="4" step="1" style="width: 2em" value="1" onchange="update_challenge()">
+ <!--
+ <select id="challenge_input2" name="challenge_input2">
+ <option value="0">0</option>
+ <option value="1">1</option>
+ <option value="2">2</option>
+ <option value="3">3</option>
+ <option value="4">4</option>
+ </select>
+ -->
<br>
Goals <span id="goals_info" > </span>
</div>
diff --git a/launch/link_goal_files.launch b/launch/link_goal_files.launch
new file mode 100644
index 0000000000000000000000000000000000000000..67f7d3752e078e7809de8f181f23ab64499240f5
--- /dev/null
+++ b/launch/link_goal_files.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <node name="iri_adc_gui_link_goal_file0" pkg="iri_adc_gui" type="link_goal_files.sh" output="screen"
+ args="$(find iri_adc_launch)/data/adc/goals0.yaml $(find iri_adc_gui)/html/data/goals0.yaml"/>
+
+ <node name="iri_adc_gui_link_goal_file1" pkg="iri_adc_gui" type="link_goal_files.sh" output="screen"
+ args="$(find iri_adc_launch)/data/challenge1/challenge1_goals.yaml $(find iri_adc_gui)/html/data/goals1.yaml"/>
+
+ <node name="iri_adc_gui_link_goal_file2" pkg="iri_adc_gui" type="link_goal_files.sh" output="screen"
+ args="$(find iri_adc_launch)/data/challenge2/challenge2_goals.yaml $(find iri_adc_gui)/html/data/goals2.yaml"/>
+
+ <node name="iri_adc_gui_link_goal_file3" pkg="iri_adc_gui" type="link_goal_files.sh" output="screen"
+ args="$(find iri_adc_launch)/data/challenge3/challenge3_goals.yaml $(find iri_adc_gui)/html/data/goals3.yaml"/>
+
+ <node name="iri_adc_gui_link_goal_file4" pkg="iri_adc_gui" type="link_goal_files.sh" output="screen"
+ args="$(find iri_adc_launch)/data/challenge4/challenge4_goals.yaml $(find iri_adc_gui)/html/data/goals4.yaml"/>
+
+</launch>
diff --git a/launch/test.launch b/launch/test.launch
index 594f1926f05b04fcf9c4a1650e81c1a9395aa091..edd21bf2aec03e6db37c6ef9adad7cb26ab955cd 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -14,6 +14,8 @@
<!--<arg name="address" default="localhost"/>-->
<arg name="address" default="$(optenv MASTER_IP localhost)"/>
+
+
<node pkg="roswww"
type="webserver.py"
name="$(arg name)"
@@ -23,7 +25,7 @@
--cached $(arg cached)">
</node>
- <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+ <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
<arg name="port" value="$(arg rosbridge_port)" />
<arg name="address" value="$(arg address)" />
<arg name="ssl" value="false" />
@@ -34,10 +36,10 @@
<arg name="delay_between_messages" value="0" />
<arg name="max_message_size" value="None" />
<arg name="authenticate" value="false" />
- </include>
+ </include>
- <node if="$(arg video_server)"
+ <node if="$(arg video_server)"
name="web_video_server"
pkg ="web_video_server"
type="web_video_server">
@@ -45,7 +47,9 @@
<param name="port" value="$(arg videoserver_port)"/>
<param name="server_threads" value="1"/>
<param name="ros_threads" value="2"/>
- </node>
+ </node>
+
+ <include file="$(find iri_adc_gui)/launch/link_goal_files.launch"/>
</launch>
diff --git a/scripts/link_goal_files.sh b/scripts/link_goal_files.sh
new file mode 100755
index 0000000000000000000000000000000000000000..f9532aba8526d24dff504fcb151e778cd1aea29b
--- /dev/null
+++ b/scripts/link_goal_files.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+if [ -L "$2" ]; then
+ unlink "$2"
+fi
+
+if [ -f "$1" ]; then
+ ln -s $1 $2
+else
+ echo -e "ERROR: the desired goal file does not exist"
+fi
+
+# while true; do sleep 2; done
+