vulcano_web: add io table

RobotnikAutomation · Nov 15, 2016 · fde7e1d · fde7e1d
1 parent 56a877b
commit fde7e1d
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Showing 2 changed files with 84 additions and 20 deletions.
diff --git a/vulcano_web/index.html b/vulcano_web/index.html
@@ -254,23 +254,28 @@ <h3>Torso Motor Status</h3>
 
 		  <h3>I/O Status</h3>
 
-		  <table border="0px">
-				  <tr>
-					<td>	  
-						Digital Output 1 (Fan) &nbsp;&nbsp;&nbsp;&nbsp;    
-					</td>
-					<td style="text-align:center">
-						<div id="digital_output_1"> <span></span></div>
-					</td>
-				  </tr>
-					<tr>
-					<td>
-						Digital Output 2 (Compressor) &nbsp;&nbsp;&nbsp;&nbsp;
-					</td>
-					<td style="text-align:center">
-						<div id="digital_output_2"> <span></span></div>
-					</td>
-				  </tr>
+
+		  <style type="text/css">
+			  td
+			  {
+				  padding:0 15px 0 15px;
+			  }
+		  </style>
+		  <table border="0px" id="digital_io_table">
+			  <tr><td>INPUTS</td><td>OUTPUTS</td></tr>
+			<tr>
+				<td>
+					<table border="1px" id="digital_inputs_table">
+						<tr><td>NUMBER</td><td>NAME</td><td>STATUS</td></tr>
+					</table>
+				</td>
+
+				<td>
+					<table border="1px" id="digital_outputs_table">
+						<tr><td>NUMBER</td><td>NAME</td><td>STATUS</td></tr>
+					</table>
+				</td>
+			</tr>		   		
 		  </table>		   		  
 
 

diff --git a/vulcano_web/index.js b/vulcano_web/index.js
@@ -172,6 +172,7 @@ var ros = new ROSLIB.Ros({
     url: 'ws://localhost:9090'
 });
 
+
 // Publishers
 // -----------
 var aux = new ROSLIB.Topic({
@@ -180,7 +181,6 @@ var aux = new ROSLIB.Topic({
     messageType: 'robotnik_msgs/ptz'
 });
 
-
 // Subscribing to Topics
 // ----------------------
 
@@ -251,7 +251,11 @@ var gps_listener = new ROSLIB.Topic({
     messageType: 'gps_common/GPSFix'
 });
 
-
+var io_listener = new ROSLIB.Topic({
+	ros: ros,
+	name: '/io_topic', //TODO: check topic name
+	messageType: 'robotnik_msgs/inputs_outputs'
+});
 
 // Message Handlers
 // ----------------------
@@ -459,6 +463,21 @@ gps_listener.subscribe(function(message) {
 
 });
 
+io_listener.subscribe(function(message) {
+	for (var i = 0; i < message.digital_inputs.length; i++) {
+		var text = "1";
+		if (message.digital_inputs[i] == false)
+			text = "0";
+		document.getElementById("digital_input_status_" + (i+1)).innerHTML = text;
+	}
+	for (var i = 0; i < message.digital_outputs.length; i++) {
+		var text = "1";
+		if (message.digital_outputs[i] == false)
+			text = "0";
+		document.getElementById("digital_output_status_" + (i+1)).innerHTML = text;
+	}
+
+});
 
 
 /*function startTime()
@@ -1161,13 +1180,13 @@ function resetDriverHistory() {
 
 function mainLoop() {
 
-
     //min valuye = 23, max value = 27.2
     battery_level_corrected = battery_level - minimum_battery_level;
     $("#progressbar_battery").progressbar({
         value: battery_level_corrected
     });
 
+
 
 
     // update battery
@@ -1893,6 +1912,46 @@ $(document).ready(function() {
     document.querySelector('#torso_rotation_status_flash span').innerHTML = "<img width=30 height=30 src=images/light-red-flash.gif>";
 
 
+	// init io table
+	var number_of_digital_inputs = 16;
+	for(var i=1; i<= number_of_digital_inputs; i++) { // check! is <= not, <!!
+		$('#digital_inputs_table').append("<tr> <td> " + i + "</td> <td> <div id=\"digital_input_name_"+i+"\"> INPUT_" + i + " </div> </td> <td> <div id=\"digital_input_status_"+i+"\"> 0 </div> </td> </tr>");
+	}
+
+	var number_of_digital_outputs = 16;
+	for(var i=1; i <= number_of_digital_outputs; i++) {
+		$('#digital_outputs_table').append("<tr> <td> " + i + "</td> <td> <div id=\"digital_output_name_"+i+"\"> OUTPUT_" + i + " </div> </td> <td> <div id=\"digital_output_status_"+i+"\"> 0 </div> </td> </tr>");
+	}
+
+	// it would be nicer to read the io names from the param server, but 
+	// roslibjs reads params with a callback that receives the value of the
+	// param, without the name of the param, so we hardcode it hear
+	document.getElementById("digital_input_name_1").innerHTML = "E_STOP";
+	document.getElementById("digital_input_name_2").innerHTML = "LASER_STOP";
+	document.getElementById("digital_input_name_3").innerHTML = "BACK_SWITCH_LEFT";
+	document.getElementById("digital_input_name_4").innerHTML = "BACK_SWITCH_RIGHT";
+	document.getElementById("digital_input_name_5").innerHTML = "TORSO_INPUT_1";
+	document.getElementById("digital_input_name_6").innerHTML = "TORSO_INPUT_2";
+	document.getElementById("digital_input_name_7").innerHTML = "FRONT_CONNECTOR_1";
+	document.getElementById("digital_input_name_8").innerHTML = "FRONT_CONNECTOR_2";
+	document.getElementById("digital_input_name_9").innerHTML = "PRESSURE_OK";
+
+	document.getElementById("digital_output_name_1").innerHTML = "ELECTROVALVE_1";
+	document.getElementById("digital_output_name_2").innerHTML = "ELECTROVALVE_2";
+	document.getElementById("digital_output_name_3").innerHTML = "ELECTROVALVE_3";
+	document.getElementById("digital_output_name_4").innerHTML = "ELECTROVALVE_4";
+	document.getElementById("digital_output_name_5").innerHTML = "ELECTROVALVE_5";
+	document.getElementById("digital_output_name_6").innerHTML = "ELECTROVALVE_6";
+	document.getElementById("digital_output_name_7").innerHTML = "FLASHING_LIGHT_1";
+	document.getElementById("digital_output_name_8").innerHTML = "FLASHING_LIGHT_2";
+	document.getElementById("digital_output_name_9").innerHTML = "FRONT_CONNECTOR_1";
+	document.getElementById("digital_output_name_11").innerHTML = "PILOT_LIGHT";
+	document.getElementById("digital_output_name_12").innerHTML = "BUZZER";
+	document.getElementById("digital_output_name_13").innerHTML = "AIR_PUMP";
+	document.getElementById("digital_output_name_14").innerHTML = "LOWER_FAN";
+	document.getElementById("digital_output_name_15").innerHTML = "UPPER_FAN";
+	document.getElementById("digital_output_name_16").innerHTML = "SAFETY_RELAY";
+
     //init messages
     max_angle_message = new ROSLIB.Message({
         data: max_angle