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robot_actions.html
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
<html lang="pt">
<head>
<title>Navegação por Ações</title>
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1" />
<script type='text/javascript' charset='ISO-8859-1' src='util.js'></script>
<script language="javascript" type="text/javascript">
var robotUrl = "";
function initActions() {
robotUrl = location.href;
var iweb = robotUrl.indexOf("web");
if(iweb >= 0) robotUrl = robotUrl.substr(0, iweb);
}
// para o robo
function stopRobotAction() {
var ajaxRequest = createRequest();
var message = "motion/stop";
ajaxRequest.onreadystatechange = function() {
if(ajaxRequest.readyState == 4 && ajaxRequest.status == 200) {
alert("Sucesso");
return;
}
}
ajaxRequest.open("PUT", robotUrl + message, true);
ajaxRequest.send(null);
}
// remove todas as acoes
function removeAllActions() {
var ajaxRequest = createRequest();
var message = "behaviour/all";
ajaxRequest.onreadystatechange = function() {
if(ajaxRequest.readyState == 4 && ajaxRequest.status == 200) {
// alert("Sucesso");
return;
}
}
ajaxRequest.open("DELETE", robotUrl + message, true);
ajaxRequest.send(null);
}
// envia acao
var acoesEnviadas = 0;
var acoesPendentes = 0;
var falhaComunic = false;
function sendAction(index, npar) {
var ajaxRequest = createRequest();
var act, par, value, payload;
// nome acao
switch(index) {
case 1: act = "avoidFront";
payload = '{"avoidFront": {"obstacleDistance": ' +
document.getElementById("p11").value +
', "avoidVelocity": ' +
document.getElementById("p12").value +
', "turnAmount": ' +
document.getElementById("p13").value +
', "priority": ' +
document.getElementById("prio1").value + '}}';
break;
case 2: act = "avoidSide";
payload = '{"avoidSide": {"obstacleDistance": ' +
document.getElementById("p21").value +
', "turnAmount": ' +
document.getElementById("p22").value +
', "priority": ' +
document.getElementById("prio2").value + '}}';
break;
case 3: act = "bumpers";
payload = '{"bumpers": {"backOffSpeed": ' +
document.getElementById("p31").value +
', "backOffTime": ' +
document.getElementById("p32").value +
', "turnTime": ' +
document.getElementById("p33").value +
', "priority": ' +
document.getElementById("prio3").value + '}}';
break;
case 4: act = "stallRecover";
payload = '{"stallRecover": {"obstacleDistance": ' +
document.getElementById("p41").value +
', "cyclesToMove": ' +
document.getElementById("p42").value +
', "speed": ' +
document.getElementById("p43").value +
', "degreesToTurn": ' +
document.getElementById("p44").value +
', "priority": ' +
document.getElementById("prio4").value + '}}';
break;
case 5: act = "limiterForwards";
payload = '{"limiterForwards": {"stopDistance": ' +
document.getElementById("p51").value +
', "slowDistance": ' +
document.getElementById("p52").value +
', "slowSpeed": ' +
document.getElementById("p53").value +
', "priority": ' +
document.getElementById("prio5").value + '}}';
break;
case 6: act = "limiterBackwards";
payload = '{"limiterBackwards": {"stopDistance": ' +
document.getElementById("p61").value +
', "slowDistance": ' +
document.getElementById("p62").value +
', "maxBackwardsSpeed": ' +
document.getElementById("p63").value +
', "priority": ' +
document.getElementById("prio6").value + '}}';
break;
case 7: act = "constantVelocity";
payload = '{"constantVelocity": ' +
document.getElementById("p71").value +
', "priority": ' +
document.getElementById("prio7").value + '}';
break
case 8: act = "ipthru";
payload = null;
break
case 9: act = "goTo";
payload = '{"goTo": {"pose": {"x": ' +
document.getElementById("p91").value +
', "y": ' +
document.getElementById("p92").value +
', "th": ' +
document.getElementById("p93").value + '}' +
', "closeDist": ' +
document.getElementById("p94").value +
', "speed": ' +
document.getElementById("p95").value +
', "priority": ' +
document.getElementById("prio9").value + '}}';
break;
}
var message = "behaviour/" + act;
// alert(payload);
ajaxRequest.onreadystatechange = function() {
if(ajaxRequest.readyState == 4 && ajaxRequest.status != 200) {
if(falhaComunic == false) {
alert("Falha de comunicação com o robô");
falhaComunic = true;
}
return;
}
if(ajaxRequest.readyState == 4 && ajaxRequest.status == 200) {
acoesEnviadas++;
if(acoesEnviadas == acoesPendentes) alert("Sucesso");
}
}
ajaxRequest.open("PUT", robotUrl + message, true);
ajaxRequest.send(payload);
}
// instala as acoes
function installActions() {
var lastIndex = 0;
var a1 = document.getElementById("a1").checked;
var a2 = document.getElementById("a2").checked;
var a3 = document.getElementById("a3").checked;
var a4 = document.getElementById("a4").checked;
var a5 = document.getElementById("a5").checked;
var a6 = document.getElementById("a6").checked;
var a7 = document.getElementById("a7").checked;
var a8 = document.getElementById("a8").checked;
var a9 = document.getElementById("a9").checked;
var nact = 0;
acoesEnviadas = 0;
acoesPendentes = 999;
falhaComunic = false;
if(a1 == true) {sendAction(1, 3); nact++;}
if(a2 == true) {sendAction(2, 2); nact++;}
if(a3 == true) {sendAction(3, 3); nact++;}
if(a4 == true) {sendAction(4, 4); nact++;}
if(a5 == true) {sendAction(5, 3); nact++;}
if(a6 == true) {sendAction(6, 3); nact++;}
if(a7 == true) {sendAction(7, 1); nact++;}
if(a8 == true) {sendAction(8, 0); nact++;}
if(a9 == true) {sendAction(9, 4); nact++;}
acoesPendentes = nact;
if(nact == 0) alert("Selecione ao menos uma ação");
}
</script>
</head>
<body onload="initActions()">
<form name="actionform">
<div align="left">
<font face="helvetica" size="+1" color="blue">
<b>Navegação por Ações</b></font>
</div>
<br>
<div align="left">
<font face="helvetica" size="-1">
<ol>
<li> Marque a ação para ativá-la </li>
<li> Passe o mouse sobre os parâmetros para ver seus respectivos significados </li>
<li> Selecione os parâmetros (parâmetros recomendados são identificados por *) </li>
<li> Após selecionar ações e parâmetros, clique no botão 'Inicia Ações'
<li> Ao parar o robô, todas as ações são desinstaladas
</ol>
</font>
</div>
<br>
<font face="helvetica" size="-1">
<table border="0" cellpadding="2" cellspacing="2">
<tr><th></th><th>Ação</th>
<th>Prioridade</th>
<th>Parâmetros da Ação</th></tr>
</font>
<tr><td align="left">
<input id="a1" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Evita Colisão Frontal</font></td>
<td align="center"><select id="prio1">
<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>
<option value="5">5</option>
<option value="6">6</option>
<option value="7">7</option>
<option value="8" selected>8</option>
<option value="9">9</option></select></td>
<td align="left"><select id="p11" title="Distância que o robô começa a girar para desviar do obstáculo a frente">
<option value="500" selected="true">Parâmetro 1</option>
<option value="500">500 mm (*)</option>
<option value="1000">1000 mm</option>
<option value="1500">1500 mm</option></select>
<select id="p12" title="Velocidade durante o desvio do obstáculo">
<option value="100" selected="true">Parâmetro 2</option>
<option value="50">50 mm/s</option>
<option value="100">100 mm/s (*)</option>
<option value="150">150 mm/s</option>
<option value="200">200 mm/s</option></select>
<select id="p13" title="Ângulo que o robô gira para desviar do obstáculo">
<option value="15" selected="true"> Parâmetro 3</option>
<option value="15">15 graus (*)</option>
<option value="30">30 graus</option>
<option value="15">45 graus</option></select></td>
</tr>
<tr><td align="left">
<input id="a2" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Evita Colisão Lateral</font></td>
<td align="center"><select id="prio2">
<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>
<option value="5">5</option>
<option value="6">6</option>
<option value="7">7</option>
<option value="8" selected>8</option>
<option value="9">9</option></select></td>
<td align="left"><select id="p21" title="Distância que o robô começa a girar para desviar do obstáculo lateral">
<option value="200" selected="true">Parâmetro 1</option>
<option value="200">200 mm (*)</option>
<option value="300">300 mm</option>
<option value="400">400 mm</option>
<option value="500">500 mm</option></select>
<select id="p22" title="Ângulo que o robô gira para desviar do obstáculo">
<option value="5" selected="true">Parâmetro 2</option>
<option value="5">5 graus (*)</option>
<option value="10">10 graus</option>
<option value="15">45 graus</option></select></td>
</tr>
<tr><td align="left">
<input id="a3" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Recupera de Colisão</font></td>
<td align="center"><select id="prio3">
<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>
<option value="5">5</option>
<option value="6">6</option>
<option value="7">7</option>
<option value="8">8</option>
<option value="9" selected>9</option></select></td>
<td align="left"><select id="p31" title="Velocidade linear com que o robô se move na direção oposta da colisão">
<option value="100" selected="true">Parâmetro 1</option>
<option value="50">50 mm/s</option>
<option value="100">100 mm/s (*)</option>
<option value="150">150 mm/s</option>
<option value="200">200 mm/s</option></select>
<select id="p32" title="Tempo em que o robô mantém o movimento linear na direção oposta da colisão">
<option value="3000" selected="true">Parâmetro 2</option>
<option value="3000">2 seg</option>
<option value="3000">3 seg (*)</option>
<option value="5000">5 seg</option></select>
<select id="p33" title="Tempo permitido para o robô efetuar movimento de rotação">
<option value="3000" selected="true">Parâmetro 3</option>
<option value="3000">2 seg</option>
<option value="3000">3 seg (*)</option>
<option value="5000">5 seg</option></select></td>
</tr>
<tr><td align="left">
<input id="a4" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Recupera de Entalação<font></td>
<td align="center"><select id="prio4">
<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>
<option value="5">5</option>
<option value="6">6</option>
<option value="7" selected>7</option>
<option value="8">8</option>
<option value="9">9</option></select></td>
<td align="left"><select id="p41" title="Distância na qual o robô não se move devido a obstáculo">
<option value="200" selected="true"> Parâmetro 1</option>
<option value="100">100 mm</option>
<option value="200">200 mm (*)</option>
<option value="300">300 mm</option>
<option value="400">400 mm</option></select>
<select id="p42" title="Número de tentativas para recuperar do estado entalado" >
<option value="50" selected="true">Parâmetro 2</option>
<option value="50">50 (*)</option>
<option value="100">100</option>
<option value="150">150</option>
<option value="200">200</option></select>
<select id="p43" title="Velocidade que o robô utiliza no processo de recuperação de entalação">
<option value="100" selected="true">Parâmetro 3</option>
<option value="50">50 mm/s</option>
<option value="100">100 mm/s (*)</option>
<option value="150">150 mm/s</option>
<option value="200">200 mm/s</option></select>
<select id="p44" title="Ângulo que o robô gira no processo de recuperação de entalação">
<option value="45" selected="true">Parâmetro 4</option>
<option value="30">30 graus</option>
<option value="45">45 graus (*)</option>
<option value="60">60 graus</option></select></td>
</tr>
<tr><td align="left">
<input id="a5" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Limita Velocidade a Frente</font></td>
<td align="center"><select id="prio5">
<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>
<option value="5">5</option>
<option value="6" selected>6</option>
<option value="7">7</option>
<option value="8">8</option>
<option value="9">9</option></select></td>
<td align="left"><select id="p51" title="Distância que robô pára devido a obstáculo frontal">
<option value="250" selected="true">Parâmetro 1</option>
<option value="250">250 mm (*)</option>
<option value="500">500 mm</option>
<option value="750">750 mm</option></select>
<select id="p52" title="Distância da qual o robô inicia a redução de velocidade">
<option value="1000" selected="true">Parâmetro 2</option>
<option value="500">500 mm</option>
<option value="1000">1000 mm (*)</option>
<option value="1500">1500 mm</option></select>
<select id="p53" title="Limite de velocidade ao atingir a velocidade estipulada no parâmetro anterior">
<option value="100" selected="true">Parâmetro 3</option>
<option value="100">100 mm/s (*)</option>
<option value="150">150 mm/s</option>
<option value="200">200 mm/s</option></select></td>
</tr>
<tr><td align="left">
<input id="a6" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Limita Velocidade Reversa</font></td>
<td align="center"><select id="prio6">
<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>
<option value="5">5</option>
<option value="6" selected>6</option>
<option value="7">7</option>
<option value="8">8</option>
<option value="9">9</option></select></td>
<td align="left"><select id="p61" title="Distância que robô pára devido a obstáculo trazeiro">
<option value="-250" selected="true">Parâmetro 1</option>
<option value="-250">-250 mm (*)</option>
<option value="-500">-500 mm</option>
<option value="-750">-750 mm</option></select>
<select id="p62" title="Distância da qual o robô inicia a redução de velocidade">
<option value="-500" selected="true">Parâmetro 2</option>
<option value="-500">-500 mm (*)</option>
<option value="-1000">-1000 mm</option>
<option value="-1500">-1500 mm</option></select>
<select id="p63" title="Limite de velocidade ao atingir a velocidade estipulada no parâmetro anterior">
<option value="-100" selected="true">Parâmetro 3</option>
<option value="-100">-100 mm/s (*)</option>
<option value="-150">-150 mm/s</option>
<option value="-200">-200 mm/s</option></select></td>
</tr>
<tr><td align="left">
<input id="a7" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Move com Vel. Constante</font></td>
<td align="center"><select id="prio7">
<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>
<option value="5" selected>5</option>
<option value="6">6</option>
<option value="7">7</option>
<option value="8">8</option>
<option value="9">9</option></select></td>
<td align="left"><select id="p71" title="Velocidade linear imprimida ao robô">
<option value="100" selected="true">Parâmetro 1</option>
<option value="50">50 mm/s</option>
<option value="100">100 mm/s (*)</option>
<option value="150">150 mm/s</option>
<option value="200">200 mm/s</option></select></td>
</tr>
<tr><td align="left">
<input id="a8" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Teleoperação</font></td>
<td align="center"><select id="prio8">
<option value="0">0</option>
<option value="1" selected>1</option>
<option value="2">2</option>
<option value="3">3</option>
<option value="4">4</option>
<option value="5">5</option>
<option value="6">6</option>
<option value="7">7</option>
<option value="8">8</option>
<option value="9">9</option></select></td>
</tr>
<tr><td align="left">
<input id="a9" type="checkbox"></td>
<td align="left"><font face="helvetica" size="-1" color="green">Go To</font></td>
<td align="center"><select id="prio9">
<option value="0">0</option>
<option value="1" selected>1</option>
<option value="2">2</option>
<option value="3">3</option>
<option value="4">4</option>
<option value="5">5</option>
<option value="6">6</option>
<option value="7">7</option>
<option value="8">8</option>
<option value="9">9</option></select></td>
<td align="left">P1: <input id="p91" type="text" title="Posição X" size="5">
P2: <input id="p92" type="text" title="Posição Y" size="5">
P3: <input id="p93" type="text" title="Orientação" size="5">
<select id="p94" title="Precisão">
<option value="200" selected="true">Parâmetro 4</option>
<option value="100">100 mm</option>
<option value="200">200 mm (*)</option>
<option value="300">300 mm</option>
<option value="400">400 mm</option>
<option value="500">500 mm</option></select>
<select id="p95" title="Velocidade">
<option value="200" selected="true">Parâmetro 5</option>
<option value="100">100 mm/s</option>
<option value="200">200 mm/s (*)</option>
<option value="300">300 mm/s</option>
<option value="400">400 mm/s</option>
<option value="500">500 mm/s</option></select></td>
</tr>
</table>
<br>
<input type="button" id="rem" value="Remove Todas as Ações"
onclick="removeAllActions()">
<input type="button" id="install" value="Inicia Ações"
onclick="installActions()">
<input type="button" id="stop" value="Pára o Robô"
onclick="stopRobotAction()">
</form>
</body>
</html>