diff --git a/html/css/style.css b/html/css/style.css
index 5db41f43b54606125098980385df237cd0812427..0a665f07379ea28ce4bf70591a4b106084889e69 100644
--- a/html/css/style.css
+++ b/html/css/style.css
@@ -1,5 +1,5 @@
body {
- background-color: white;
+ background-color: DarkGrey;
padding-top: 30px;
height: 100%;
}
diff --git a/html/jury.html b/html/jury.html
index a45d90ac82554a02d1854f01ceca1530a82939ca..20eac0bd79b64aedab2126f6bc081788811abf42 100644
--- a/html/jury.html
+++ b/html/jury.html
@@ -122,27 +122,67 @@
var set_building1_service_client = new ROSLIB.Service({
ros : ros,
name : '/jury/set_building1',
- serviceType : 'iri_adc_msgs/set_semaphore' //TODO change
+ serviceType : 'std_srvs/SetBool'
});
var set_building2_service_client = new ROSLIB.Service({
ros : ros,
name : '/jury/set_building2',
- serviceType : 'iri_adc_msgs/set_semaphore' //TODO change
+ serviceType : 'std_srvs/SetBool'
});
var set_building3_service_client = new ROSLIB.Service({
ros : ros,
name : '/jury/set_building3',
- serviceType : 'iri_adc_msgs/set_semaphore' //TODO change
+ serviceType : 'std_srvs/SetBool'
});
var building_request = new ROSLIB.ServiceRequest({
- status : 0
+ data : 0
+ });
+
+ var start_rosbag_record_service_client = new ROSLIB.Service({
+ ros : ros,
+ name : '/rosbag_record/start',
+ serviceType : 'std_srvs/Empty'
+ });
+
+ var stop_rosbag_record_service_client = new ROSLIB.Service({
+ ros : ros,
+ name : '/rosbag_record/stop',
+ serviceType : 'std_srvs/Empty'
+ });
+
+ var rosbag_record_request = new ROSLIB.ServiceRequest({});
+
+ var rosbag_record_prefix_param = new ROSLIB.Param({
+ ros : ros,
+ name : '/remote_rosbag_record/prefix'
+ });
+
+ var rosbag_record_is_recording_subscriber = new ROSLIB.Topic({
+ ros : ros,
+ name : '/rosbag_record/is_recording',
+ messageType : 'std_msgs/Bool'
});
+ rosbag_record_is_recording_subscriber.subscribe(function(message) {
+ is_recording = message.data;
+ //console.log('Received message on ' + rosbag_record_is_recording_subscriber.name + ': ' + message.data);
+ //rosbag_record_is_recording_subscriber.unsubscribe();
+ });
+
+ var challenge_xodr_param = new ROSLIB.Param({
+ ros : ros,
+ name : '/iri_adc_gui_image_generator/xodr_file'
+ });
+
+
+
+
+
var adc_jury_service_client = new ROSLIB.Service({
ros : ros,
@@ -180,11 +220,25 @@
var iteration_timeout;
var feedback_param_value;
- var image_topic = "/iri_adc_gui_image_generator/image/image_raw";
+ var date_string="";
+ var time_string="";
+
+ var map_image_topic = "/iri_adc_gui_image_generator/image/image_raw";
+ var front_camera_image_topic = "/adc_car/sensors/basler_camera/image_raw";
+ var rear_camera_image_topic = "/adc_car/sensors/delock_camera/image_raw";
+ var image_topic = map_image_topic;
var image_type="mjpeg"; //mjpeg, ros_compressed
var image_quality=100;
//var image_size=100;
var first=true;
+ var bgcolor;
+ var is_recording=false;
+ var rosbag_record_ready=true;
+ var ch0_xodr="adc/adc.xodr";
+ var ch1_xodr="challenge1/challenge1.xodr";
+ var ch2_xodr="challenge2/challenge2.xodr";
+ var ch3_xodr="challenge3/challenge3.xodr";
+ var ch4_xodr="challenge4/challenge4.xodr";
function update_team()
{
@@ -198,18 +252,39 @@
challenge = document.getElementById("challenge_input").value;
localStorage.setItem('challenge', challenge);
challenge_param.set(challenge);
+ set_challenge_xodr_param(challenge);
load_goals_from_yaml();
}
+
+ function set_challenge_xodr_param(challenge)
+ {
+ if(challenge==0)
+ challenge_xodr_param.set(ch0_xodr);
+ else if(challenge==1)
+ challenge_xodr_param.set(ch1_xodr);
+ else if(challenge==2)
+ challenge_xodr_param.set(ch2_xodr);
+ else if(challenge==3)
+ challenge_xodr_param.set(ch3_xodr);
+ else if(challenge==4)
+ challenge_xodr_param.set(ch4_xodr);
+ }
function send_goal()
{
//load_goals_from_yaml(); //TODO: sync load. Now is async and done on input.onchange and at the beginning
+
+ //save start date/time
+ var now = new Date();
+ date_string = now.toLocaleDateString("es-ES");
+ time_string = now.toLocaleTimeString("es-ES");
init_goal_msg();
action_goal.send();
clear_feedback();
add_feedback_line0("[GUI] START");
+ start_rosbag_record();
document.getElementById("action_info").innerHTML = "Goal sent. Expecting feedback...";
document.getElementById("action_info").style.backgroundColor = 'yellow' ;
@@ -231,8 +306,8 @@
{
received_feedback=true;
action_running=true;
- document.getElementById("action_info").innerHTML = "Feedback received!";
- document.getElementById("action_info").style.backgroundColor = 'SeaGreen' ;
+ //document.getElementById("action_info").innerHTML = "Feedback received!";
+ //document.getElementById("action_info").style.backgroundColor = 'SeaGreen' ;
var feedback_new_line= msg.status;
add_feedback_line(feedback_new_line);
});
@@ -251,10 +326,11 @@
if(timer_running)
startStop();
document.getElementById("action_info").innerHTML = "Action finished";
- document.getElementById("action_info").style.backgroundColor = 'white' ;
+ document.getElementById("action_info").style.backgroundColor = bgcolor;
action_running=false;
clearTimeout(feedback_timer);
add_feedback_line0("[GUI] FINISHED");
+ stop_rosbag_record();
save_feedback_file();
clearTimeout(iteration_timeout);
}
@@ -263,7 +339,7 @@
{
action_goal.cancel();
document.getElementById("action_info").innerHTML = "Goal cancelled";
- document.getElementById("action_info").style.backgroundColor = 'white' ;
+ document.getElementById("action_info").style.backgroundColor = bgcolor;
}
function jury_mode()
@@ -359,6 +435,59 @@
console.error("ERROR: couldn't contact service server!!!");
}
}
+
+ function start_rosbag_record()
+ {
+ if(is_recording)
+ {
+ console.error("rosbag record already recording");
+ document.getElementById("action_info").innerHTML = "Already recording! Something went wrong";
+ document.getElementById("action_info").style.backgroundColor = 'red' ;
+ stop_rosbag_record();
+ }
+
+ var rosbag_name = "bag_team_" + team + "_challenge_" + challenge + "_date_" + date_string.replace(/\//g, '_') + "_time_" + time_string.replace(/:/g, '_'); ;
+ rosbag_record_prefix_param.set(rosbag_name);
+ rosbag_record_ready=false;
+ document.getElementById('startStop').disabled=true;
+ start_rosbag_record_service_client.callService(rosbag_record_request,
+ function(result)
+ {
+ rosbag_record_ready=true;
+ document.getElementById('startStop').disabled=false;
+ },
+ function(result)
+ {
+ rosbag_record_ready=true;
+ document.getElementById('startStop').disabled=false;
+ //console.warn("start rosbag record service server didn't respond, trying again");
+ start_rosbag_record();
+ });
+ }
+
+ function stop_rosbag_record()
+ {
+ if(!is_recording)
+ {
+ console.error("rosbag record not recording!");
+ document.getElementById("action_info").innerHTML = "Was not recording! Something went wrong";
+ document.getElementById("action_info").style.backgroundColor = 'red' ;
+ }
+ rosbag_record_ready=false;
+ document.getElementById('startStop').disabled=true;
+ stop_rosbag_record_service_client.callService(rosbag_record_request,
+ function(result)
+ {
+ rosbag_record_ready=true;
+ document.getElementById('startStop').disabled=false;
+ },
+ function(result)
+ {
+ rosbag_record_ready=true;
+ document.getElementById('startStop').disabled=false;
+ console.error("stop rosbag record service server didn't respond!");
+ });
+ }
function add_feedback_line0(text)
{
@@ -397,8 +526,17 @@
if(received_feedback)
{
received_feedback=false;
- document.getElementById("action_info").innerHTML = "Feedback received!";
- document.getElementById("action_info").style.backgroundColor = 'SeaGreen' ;
+ if(is_recording)
+ {
+ document.getElementById("action_info").innerHTML = "Feedback received!";
+ document.getElementById("action_info").style.backgroundColor = 'SeaGreen';
+ }
+ else
+ {
+ document.getElementById("action_info").innerHTML = "Feedback received!. BUT NOT RECORDING!";
+ document.getElementById("action_info").style.backgroundColor = 'red';
+ }
+ //document.getElementById("action_info").style.backgroundColor = document.getElementById("body").style.backgroundColor;
feedback_watchdog_timer();
}
else
@@ -492,10 +630,10 @@
function save_feedback_file()
{
var textbox = document.getElementById('feedback_text');
- var now = new Date();
- var date_string = now.toLocaleDateString("es-ES");
- var time_string = now.toLocaleTimeString("es-ES");
- var filename = "log_team_" + team + "_challenge_" + challenge + "_date_" + date_string + "_time_" + time_string;
+ // var now = new Date();
+ // var date_string = now.toLocaleDateString("es-ES");
+ // var time_string = now.toLocaleTimeString("es-ES");
+ var filename = "log_team_" + team + "_challenge_" + challenge + "_date_" + date_string.replace(/\//g, '_') + "_time_" + time_string.replace(/:/g, '_');
download(textbox.value, filename, "text/plain" );
}
@@ -512,26 +650,36 @@
document.getElementById('video_image').src ="";
document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
}
+ else
+ {
+ document.getElementById('video_image').src ="";
+ document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
+ }
}
else
image_topic_param.set(image_topic);
});
image_quality_param.get(function(value)
+ {
+ if(value!=null)
{
- if(value!=null)
+ var new_quality = value;
+ if(new_quality!=image_quality)
{
- var new_quality = value;
- if(new_quality!=image_quality)
- {
- image_quality=new_quality;
- document.getElementById('video_image').src ="";
- document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
- }
+ image_quality=new_quality;
+ document.getElementById('video_image').src ="";
+ document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
}
else
- image_quality_param.set(image_quality);
- });
+ {
+ document.getElementById('video_image').src ="";
+ document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
+ }
+ }
+ else
+ image_quality_param.set(image_quality);
+ });
}
function semaphore1_green()
@@ -731,7 +879,7 @@
function building1_on()
{
- building_request.status=1;
+ building_request.data=true;
set_building1_service_client.callService(building_request,
function(result)
{
@@ -745,7 +893,7 @@
function building1_off()
{
- building_request.status=0;
+ building_request.data=false;
set_building1_service_client.callService(building_request,
function(result)
{
@@ -759,7 +907,7 @@
function building2_on()
{
- building_request.status=1;
+ building_request.data=true;
set_building2_service_client.callService(building_request,
function(result)
{
@@ -773,7 +921,7 @@
function building2_off()
{
- building_request.status=0;
+ building_request.data=false;
set_building2_service_client.callService(building_request,
function(result)
{
@@ -787,7 +935,7 @@
function building3_on()
{
- building_request.status=1;
+ building_request.data=true;
set_building3_service_client.callService(building_request,
function(result)
{
@@ -801,7 +949,7 @@
function building3_off()
{
- building_request.status=0;
+ building_request.data=false;
set_building3_service_client.callService(building_request,
function(result)
{
@@ -826,13 +974,46 @@
building2_off();
building3_off();
}
-
-
+
+ function show_map_image()
+ {
+ if(image_topic!=map_image_topic)
+ {
+ image_topic=map_image_topic;
+ document.getElementById('video_image').src ="";
+ document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
+ image_topic_param.set(image_topic);
+ }
+ }
+
+ function show_front_camera_image()
+ {
+ if(image_topic!=front_camera_image_topic)
+ {
+ image_topic=front_camera_image_topic;
+ document.getElementById('video_image').src ="";
+ document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
+ image_topic_param.set(image_topic);
+ }
+ }
+
+ function show_rear_camera_image()
+ {
+ if(image_topic!=rear_camera_image_topic)
+ {
+ image_topic=rear_camera_image_topic;
+ document.getElementById('video_image').src ="";
+ document.getElementById('video_image').src ="http://"+ip+":8080/stream?topic="+ image_topic + "&type="+image_type+"&quality="+image_quality;
+ image_topic_param.set(image_topic);
+ }
+ }
$(document).ready
(
function ()
{
+ bgcolor = window.getComputedStyle(document.body, null).getPropertyValue('background-color');
+
if ("team" in localStorage)
{
team = localStorage.getItem('team');
@@ -851,12 +1032,14 @@
challenge = localStorage.getItem('challenge');
document.getElementById("challenge_input").value = challenge;
challenge_param.set(challenge);
+ set_challenge_xodr_param(challenge);
}
else
{
challenge=1;
localStorage.setItem('challenge', challenge);
challenge_param.set(challenge);
+ set_challenge_xodr_param(challenge);
}
load_goals_from_yaml();
@@ -904,7 +1087,7 @@
<input type="number" id="team_input" min="0" max="4" step="1" style="width: 2em" value="1" onchange="update_team()">
<!--<br>-->
Challenge
- <input type="number" id="challenge_input" min="0" max="5" step="1" style="width: 2em" value="1" onchange="update_challenge()">
+ <input type="number" id="challenge_input" min="0" max="4" step="1" style="width: 2em" value="1" onchange="update_challenge()">
<br>
Goals <span id="goals_info" > </span>
</div>
@@ -977,7 +1160,7 @@
<span id="semaphore4_info" ></span>
</div>
<div style="width: 50%">
- All                    
+ All
<button class="btn btn-success btn-semaphore" id="semaphores_green" onclick="semaphores_green()">green</button>
<button class="btn btn-danger btn-semaphore" id="semaphores_red" onclick="semaphores_red()">red</button>
<button class="btn btn-dark btn-semaphore" id="semaphores_off" onclick="semaphores_off()">off</button>
@@ -1003,13 +1186,17 @@
<button class="btn btn-dark btn-semaphore" id="building3_off" onclick="building3_off()">off</button>
</div>
<div style="width: 50%">
- All              
+ All
<button class="btn btn-light btn-semaphore" id="buildings_on" onclick="buildings_on()">on</button>
<button class="btn btn-dark btn-semaphore" id="buildings_off" onclick="buildings_off()">off</button>
</div>
</div>
<hr>
- Image <button class="btn btn-dark btn-semaphore" id="reload_image" onclick="reload_image()">Reload</button>
+ Image
+ <button class="btn btn-dark btn-semaphore" id="reload_image" onclick="reload_image()">Reload</button>
+ <button class="btn btn-dark btn-semaphore" id="map_image" onclick="show_map_image()">Map</button>
+ <button class="btn btn-dark btn-semaphore" id="front_camera_image" onclick="show_front_camera_image()">Front camera</button>
+ <button class="btn btn-dark btn-semaphore" id="rear_camera_image" onclick="show_rear_camera_image()">Rear camera</button>
</div>
<div style="width: 60%; text-align: center;">
<img class="image" id="video_image" src="" alt="map image"/>
diff --git a/html/penalizations.html b/html/penalizations.html
index 45640ba42f5f0ad50b84f74b9c845810edaef2fd..14213b576237064dc4c2ac1ce7a5fa14a20cb1db 100644
--- a/html/penalizations.html
+++ b/html/penalizations.html
@@ -203,7 +203,7 @@
var textbox = textbox + penalizations_log;
- var filename = "penalizations_team_" + team + "_challenge_" + challenge + "_date_" + date_string + "_time_" + time_string;
+ var filename = "penalizations_team_" + team + "_challenge_" + challenge + "_date_" + date_string.replace(/\//g, '_') + "_time_" + time_string.replace(/:/g, '_');
download(textbox, filename, "text/plain" );
}, false);