Add all

.gitignore

@@ -1,5 +1,6 @@
 *.class
 *.jar
+!lib/sotalib.jar
 
 .project
 .classpath

download_libs.sh

@@ -1,5 +1,5 @@
 # ライブラリのjarのダウンロード、存在する場合はスキップ
-jars=(SRClientHelper.jar core-2.2.jar javase-2.2.jar jna-4.1.0.jar opencv-310.jar sotalib.jar)
+jars=(SRClientHelper.jar core-2.2.jar javase-2.2.jar jna-4.1.0.jar opencv-310.jar)
 download_count=0
 for jar in ${jars[@]}; do
   if [ ! -e lib/${jar} ]; then

src/main/java/sample/robot/MotionController.java

@@ -33,10 +33,10 @@ public void run() {
         RobotAPI.motion.LockServoHandle(SV_ALL);
         switch (action) {
         case "manual":
-          manual(data);
+          setServo(data, true);
           break;
         default:
-          index();
+          setServo(data, false);
           break;
         }
         RobotAPI.motion.UnLockServoHandle();
@@ -46,7 +46,7 @@ public void run() {
     thread.run();
   }
 
-  private void manual(Map<String, String> data) {
+  private void setServo(Map<String, String> data, boolean limit) {
     List<Byte> idsList = new ArrayList<Byte>();
     List<Short> posList = new ArrayList<Short>();
 
@@ -73,7 +73,11 @@ private void manual(Map<String, String> data) {
       case SV_HEAD_P:
       case SV_HEAD_R:
         idsList.add(key);
-        posList.add(limitAngle(key, val));
+        if(limit) {
+          posList.add(limitAngle(key, val));
+        } else {
+          posList.add(val);
+        }
         break;
       }
     }
@@ -124,11 +128,4 @@ private Short limitAngle(Byte key, Short val) {
     }
     return val;
   }
-
-  private void index() {
-    pose = new CRobotPose();
-    pose.SetPose(SV_ALL, new Short[] { 0, 0, -1000, 0, 1000, 0, 50, 0 });
-    RobotAPI.motion.play(pose, 1000);
-    CRobotUtil.wait(1000);
-  }
 }

src/main/java/sample/robot/RobotAPI.java

@@ -22,7 +22,6 @@ public static void call(Message json) {
     boolean properlySetUp = setUpRobot();
     if (!properlySetUp) return;
 
-    sparkling = false;
     Controller controller = new MotionController();
     controller.executeAction(json.action, json.data);
   }

src/main/resources/index.html

@@ -12,15 +12,10 @@
       -o-text-size-adjust: 100%;
       text-size-adjust: 100%;
     }
-    #itemList li:nth-child(n - 5) {
-      opacity: 0.5;
-    }
-    #itemList li:nth-child(n + 5) {
-      display: none;
-    }
-    #itemList li:nth-child(1) {
-      font-weight: bold;
-      opacity: 1;
+    #submitMessage {
+      height: 2rem;
+      width: 100%;
+      margin-top: 1rem;
     }
   </style>
 </head>
@@ -31,14 +26,16 @@ <h1>Sota Socket</h1>
     <form id="createMessage">
       <fieldset>
         <legend>Create Message</legend>
-        <br>
         <label for="action">Action: </label>
         <select name="action">
-          <option value="manual">manual</option>
+          <option value="">--</option>
           <option value="index">index</option>
+          <option value="kangFu">kangFu</option>
+          <option value="banzai">banzai</option>
+          <option value="manual">manual</option>
         </select>
         <br>
-        <div id="messageData">
+        <div id="messageData" style="display: none">
         Data:
           <div id="defautlItem" class="keyValueItem">
             <input name="data[key][]" type="hidden" placeholder="input data key" value="1" />
@@ -85,8 +82,8 @@ <h1>Sota Socket</h1>
       </fieldset>
     </form>
     <div id="messageBoard">
-      <ul id="itemList">
-      </ul>
+      <div id="itemList">
+      </div>
     </div>
   </div>
 </body>

src/main/resources/script.js

@@ -43,10 +43,13 @@ MessageBox = {
   'setUpMessageBox': function() {
     var sendMessage = document.getElementById('submitMessage');
     sendMessage.addEventListener('click', MessageBox.submitMessage);
+    var selectBox = document.querySelector('select[name="action"]');
+    selectBox.addEventListener('change', MessageBox.changeAction);
   },
   'submitMessage': function(e) {
     e.preventDefault();
     var action = document.querySelector('select[name="action"]').value;
+    if(!action) return;
     var keys   = document.querySelectorAll('input[name="data[key][]"]');
     var vals   = document.querySelectorAll('input[name="data[val][]"]');
     var data   = {};
@@ -60,12 +63,35 @@ MessageBox = {
     };
     var jsonString = JSON.stringify(message);
     webSocket.send(jsonString);
-    MessageBox.displayMessage(jsonString, null, 2);
+  },
+  'changeAction': function(e) {
+    var action = e.target.value;
+    var vals = document.querySelectorAll('input[name="data[val][]"]');
+    switch(action) {
+      case 'index':
+        [0, 0, -800, 0, 800, 0, 50, 0].map(function(v, i) { vals[i].value = v;});
+        break;
+      case 'kangFu':
+        [500, 300, -300, 500, 500, -300, 0, 300].map(function(v, i) { vals[i].value = v;});
+        break;
+      case 'banzai':
+        [0, 500, -100, -500, 100, 0, -200, 0].map(function(v, i) { vals[i].value = v;});
+        break;
+      default:
+        [0, 0, 0, 0, 0, 0, 0, 0].map(function(v, i) { vals[i].value = v;});
+    }
+    var dataFields = document.getElementById('messageData');
+    if (action != 'manual') {
+     dataFields.style.display = 'none';
+     return;
+    }
+    dataFields.style.display = '';
+
   },
   'displayMessage': function(message) {
     var itemList = document.getElementById('itemList');
-    var item = document.createElement('li');
-    item.innerText = message;
+    var item = document.createElement('div');
+    item.innerText = message.action;
     itemList.insertBefore(item, itemList.childNodes[0]);
   },
 }