From 8f14b59275d190826ef1f0907cb326f128338f64 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Tue, 28 Apr 2020 16:25:41 +0200
Subject: [PATCH] Web interface now working for launching both the master and
agent. VERY IMPORTANT is the command added to the web interface install
script that the www-data user must be added to the plugdev group so that
nodes launched by the web interface have permission to access the CrazyRadio
USB dongle
---
dfall_ws/src/dfall_pkg/launch/pi_agent.launch | 144 ++++++++++++++++
.../src/dfall_pkg/launch/pi_master.launch | 40 +++++
web_interface/html/agent_tab_launch.html | 14 +-
.../html/bashscripts/killRosAgent.sh | 22 +--
.../html/bashscripts/killRosMaster.sh | 27 +++
.../html/bashscripts/launchRosAgent.sh | 33 +++-
.../html/bashscripts/launchRosMaster.sh | 38 +++++
.../rosCrazyRadioCommand_forAgent.sh | 35 ++--
.../bashscripts/rosSetNewSetpoint_forAgent.sh | 47 +++++-
web_interface/html/callBashScript.php | 17 +-
.../html/callBashScript_roslaunch.php | 60 +++++++
.../html/callBashScript_setNewSetpoint.php | 25 ++-
web_interface/html/js/callbashscript.js | 14 +-
web_interface/html/js/roslaunch.js | 110 ++++++++++++
web_interface/html/js/temp.js | 156 ------------------
web_interface/html/page_header.html | 1 +
web_interface/install_dfall_server_WIP.sh | 11 ++
17 files changed, 574 insertions(+), 220 deletions(-)
create mode 100755 dfall_ws/src/dfall_pkg/launch/pi_agent.launch
create mode 100755 dfall_ws/src/dfall_pkg/launch/pi_master.launch
create mode 100755 web_interface/html/bashscripts/killRosMaster.sh
create mode 100755 web_interface/html/bashscripts/launchRosMaster.sh
create mode 100644 web_interface/html/callBashScript_roslaunch.php
create mode 100644 web_interface/html/js/roslaunch.js
delete mode 100644 web_interface/html/js/temp.js
diff --git a/dfall_ws/src/dfall_pkg/launch/pi_agent.launch b/dfall_ws/src/dfall_pkg/launch/pi_agent.launch
new file mode 100755
index 00000000..a4e6f97e
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/launch/pi_agent.launch
@@ -0,0 +1,144 @@
+<launch>
+
+ <!-- INPUT ARGUMENT OF THE AGENT's ID -->
+ <arg name="agentID" default="$(optenv DFALL_DEFAULT_AGENT_ID)" />
+
+ <!-- INPUT ARGUMENT OF THE COORDINATOR's ID -->
+ <arg name="coordID" default="$(optenv DFALL_DEFAULT_COORD_ID)" />
+
+ <!-- INPUT ARGUMENT FOR EMULATING THE CRAZY RADIO -->
+ <arg name="emulateRadio" default="false" />
+
+ <!-- Example of how to use the value in agentID -->
+ <!-- <param name="param" value="$(arg agentID)"/> -->
+
+ <!-- Example of how to specify the agentID from command line -->
+ <!-- roslaunch dfall_pkg agentID:=1 -->
+
+ <!-- Example of how to specify the withGUI from command line -->
+ <!-- roslaunch dfall_pkg withGUI:=false -->
+
+ <group ns="$(eval 'agent' + str(agentID).zfill(3))">
+
+ <!-- CRAZY RADIO -->
+ <group unless="$(arg emulateRadio)">
+ <node
+ pkg = "dfall_pkg"
+ name = "CrazyRadio"
+ output = "screen"
+ type = "CrazyRadio.py"
+ >
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/BatteryMonitor.yaml"
+ ns = "CrazyRadioCopyOfBatteryMonitor"
+ />
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/CrazyRadioConfig.yaml"
+ ns = "CrazyRadioConfig"
+ />
+ </node>
+ </group>
+ <group if="$(arg emulateRadio)">
+ <node
+ pkg = "dfall_pkg"
+ name = "CrazyRadio"
+ output = "screen"
+ type = "CrazyRadioEmulator"
+ >
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/CrazyRadioConfig.yaml"
+ ns = "CrazyRadioConfig"
+ />
+ </node>
+ </group>
+
+
+ <!-- FLYING AGENT CLIENT -->
+ <node
+ pkg = "dfall_pkg"
+ name = "FlyingAgentClient"
+ output = "screen"
+ type = "FlyingAgentClient"
+ >
+ <param name="agentID" value="$(arg agentID)" />
+ <param name="coordID" value="$(arg coordID)" />
+ </node>
+
+ <!-- BATTERY MONITOR -->
+ <node
+ pkg = "dfall_pkg"
+ name = "BatteryMonitor"
+ output = "screen"
+ type = "BatteryMonitor"
+ >
+ </node>
+
+ <!-- DEFAULT CONTROLLER -->
+ <node
+ pkg = "dfall_pkg"
+ name = "DefaultControllerService"
+ output = "screen"
+ type = "DefaultControllerService"
+ >
+ </node>
+
+ <!-- STUDENT CONTROLLER -->
+ <node
+ pkg = "dfall_pkg"
+ name = "StudentControllerService"
+ output = "screen"
+ type = "StudentControllerService"
+ >
+ </node>
+
+ <!-- TEST MOTORS CONTROLLER -->
+ <node
+ pkg = "dfall_pkg"
+ name = "TestMotorsControllerService"
+ output = "screen"
+ type = "TestMotorsControllerService"
+ >
+ </node>
+
+ <!-- PARAMETER SERVICE -->
+ <node
+ pkg = "dfall_pkg"
+ name = "ParameterService"
+ output = "screen"
+ type = "ParameterService"
+ >
+ <param name="type" type="str" value="agent" />
+ <param name="agentID" value="$(arg agentID)" />
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/YamlFileNames.yaml"
+ ns = "YamlFileNames"
+ />
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/FlyingAgentClientConfig.yaml"
+ ns = "FlyingAgentClientConfig"
+ />
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/BatteryMonitor.yaml"
+ ns = "BatteryMonitor"
+ />
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/DefaultController.yaml"
+ ns = "DefaultController"
+ />
+ <rosparam
+ command = "load"
+ file = "$(find dfall_pkg)/param/StudentController.yaml"
+ ns = "StudentController"
+ />
+ </node>
+
+ </group>
+
+</launch>
diff --git a/dfall_ws/src/dfall_pkg/launch/pi_master.launch b/dfall_ws/src/dfall_pkg/launch/pi_master.launch
new file mode 100755
index 00000000..3165b14b
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/launch/pi_master.launch
@@ -0,0 +1,40 @@
+<launch>
+
+ <!-- INPUT ARGUMENT FOR EMULATING THE MOTION CAPTURE -->
+ <arg name="emulateMocap" default="false" />
+
+ <!-- Example of how to specify the emulateMocap from command line -->
+ <!-- roslaunch dfall_pkg emulateMocap:=true -->
+
+ <!-- CENTRAL MANAGER -->
+ <node
+ pkg="dfall_pkg"
+ name="CentralManagerService"
+ output="screen"
+ type="CentralManagerService"
+ >
+ </node>
+
+ <!-- VICON DATA PUBLISHER -->
+ <group unless="$(arg emulateMocap)">
+ <node
+ pkg="dfall_pkg"
+ name="ViconDataPublisher"
+ output="screen"
+ type="ViconDataPublisher"
+ >
+ <rosparam command="load" file="$(find dfall_pkg)/param/ViconConfig.yaml" />
+ </node>
+ </group>
+ <group if="$(arg emulateMocap)">
+ <node
+ pkg="dfall_pkg"
+ name="ViconDataPublisher"
+ output="screen"
+ type="MocapEmulator"
+ >
+ <rosparam command="load" file="$(find dfall_pkg)/param/MocapEmulatorConfig.yaml" />
+ </node>
+ </group>
+
+</launch>
diff --git a/web_interface/html/agent_tab_launch.html b/web_interface/html/agent_tab_launch.html
index c8850726..06c04845 100644
--- a/web_interface/html/agent_tab_launch.html
+++ b/web_interface/html/agent_tab_launch.html
@@ -11,7 +11,7 @@
<button
class="button-push navy fullwidth"
id="buttonRosMasterStatus"
- onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('checkForRosMaster', 'rosMasterStatus', null, null)"
+ onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('checkForRosMaster', 'rosMasterStatus', ['rosLaunchMasterStatus','killMasterStatus'], null)"
>
Check for ROS Master
<div class="div-for-button-highlight-on-touchscreen navy"></div>
@@ -27,7 +27,7 @@
<button
class="button-push navy fullwidth"
id="buttonLaunchRosMaster"
- onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('launchRosMaster', 'rosLaunchMasterStatus', 'killMasterStatus', ['buttonRosMasterStatus','buttonRosAgentStatus','buttonRosNodeList'])"
+ onclick="roslaunch_outputLabelID_clearOtherLabels_clickOtherButtons('master', 'rosLaunchMasterStatus', ['rosMasterStatus','killMasterStatus'], ['buttonRosAgentStatus','buttonRosNodeList'])"
>
Launch ROS Master
<div class="div-for-button-highlight-on-touchscreen navy"></div>
@@ -59,7 +59,7 @@
<button
class="button-push red fullwidth"
id="buttonKillRosMaster"
- onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('killRosMaster', 'killMasterStatus', 'rosLaunchMasterStatus', ['buttonRosMasterStatus','buttonRosAgentStatus','buttonRosNodeList'])"
+ onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('killRosMaster', 'killMasterStatus', ['rosMasterStatus','rosLaunchMasterStatus'], ['buttonRosAgentStatus','buttonRosNodeList'])"
>
Kill ROS Master
<div class="div-for-button-highlight-on-touchscreen red"></div>
@@ -83,7 +83,7 @@
<button
class="button-push navy fullwidth"
id="buttonRosAgentStatus"
- onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('checkForRosAgent', 'rosAgentStatus', null, ['buttonRosMasterStatus','buttonRosNodeList'])"
+ onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('checkForRosAgent', 'rosAgentStatus', ['rosLaunchAgentStatus','killAgentStatus'], 'buttonRosNodeList')"
>
Check for ROS Agent
<div class="div-for-button-highlight-on-touchscreen navy"></div>
@@ -99,7 +99,7 @@
<button
class="button-push navy fullwidth"
id="buttonLaunchRosAgent"
- onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('launchRosAgent', 'rosLaunchAgentStatus', 'killAgentStatus', ['buttonRosMasterStatus','buttonRosAgentStatus','buttonRosNodeList'])"
+ onclick="roslaunch_outputLabelID_clearOtherLabels_clickOtherButtons('agent', 'rosLaunchAgentStatus', ['rosAgentStatus','killAgentStatus'], 'buttonRosNodeList')"
>
Launch ROS Agent
<div class="div-for-button-highlight-on-touchscreen navy"></div>
@@ -131,7 +131,7 @@
<button
class="button-push red fullwidth"
id="buttonKillRosAgent"
- onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('killRosAgent', 'killAgentStatus', 'rosLaunchAgentStatus', ['buttonRosMasterStatus','buttonRosAgentStatus','buttonRosNodeList'])"
+ onclick="callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons('killRosAgent', 'killAgentStatus', ['rosAgentStatus','rosLaunchAgentStatus'], 'buttonRosNodeList')"
>
Kill ROS Agent
<div class="div-for-button-highlight-on-touchscreen red"></div>
@@ -168,7 +168,7 @@
<table class="ros-table">
<tr>
- <td class="ros-info-cell">
+ <td class="ros-info-cell" style="height:100px;vertical-align:text-top;">
<div id="rosnodeList"></div>
</td>
</tr>
diff --git a/web_interface/html/bashscripts/killRosAgent.sh b/web_interface/html/bashscripts/killRosAgent.sh
index 27fa7de6..1b687066 100755
--- a/web_interface/html/bashscripts/killRosAgent.sh
+++ b/web_interface/html/bashscripts/killRosAgent.sh
@@ -10,16 +10,16 @@ source /home/www-share/dfall/dfall-system/dfall_ws/src/dfall_pkg/launch/Config.s
# > Note: the -q options converts the
# grep output to a true/false
if rosnode list | grep -q /rosout; then
- # Check that if the agent is already
- # launched
- if rosnode list | grep -q "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)"; then
- # Kill all nodes starting with
- # /dfall/agentXXX/
- rosnode list | grep "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)" | xargs rosnode kill > /dev/null
- echo "Agent $DFALL_DEFAULT_AGENT_ID killed"
- else
- echo "Agent $DFALL_DEFAULT_AGENT_ID not found"
- fi
+ # Check that if the agent is already
+ # launched
+ if rosnode list | grep -q "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)"; then
+ # Kill all nodes starting with
+ # /dfall/agentXXX/
+ rosnode list | grep "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)" | xargs rosnode kill > /dev/null
+ echo "Agent $DFALL_DEFAULT_AGENT_ID killed"
+ else
+ echo "Agent $DFALL_DEFAULT_AGENT_ID not found"
+ fi
else
- echo "ROS Master not found"
+ echo "ROS Master not found"
fi
diff --git a/web_interface/html/bashscripts/killRosMaster.sh b/web_interface/html/bashscripts/killRosMaster.sh
new file mode 100755
index 00000000..8945b1ca
--- /dev/null
+++ b/web_interface/html/bashscripts/killRosMaster.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+#
+# Make the ROS commands available
+# NOTE: these paths should NOT use ~
+source /opt/ros/melodic/setup.bash
+#source /home/www-share/dfall/dfall-system/dfall_ws/devel/setup.bash
+source /home/www-share/dfall/dfall-system/dfall_ws/src/dfall_pkg/launch/Config.sh
+#
+# Check that the ROS Master exists
+# > Note: the -q options converts the
+# grep output to a true/false
+if rosnode list | grep -q /rosout; then
+ # Kill all nodes
+ rosnode kill --all > /dev/null 2>&1 &
+ # The /rosout will respawn, so all kill any
+ # "roslaunch" process owned by the
+ # "www-data" user
+ pkill -u www-data roslaunch
+ # For debugging it is usefull to running the
+ # following commands on the server machine
+ # >> ps -aux
+ # >> pgrep -u www-data
+ # Inform the user
+ echo "Killed all ros nodes"
+else
+ echo "ROS Master not found"
+fi
diff --git a/web_interface/html/bashscripts/launchRosAgent.sh b/web_interface/html/bashscripts/launchRosAgent.sh
index b8fec36a..a2ba643f 100755
--- a/web_interface/html/bashscripts/launchRosAgent.sh
+++ b/web_interface/html/bashscripts/launchRosAgent.sh
@@ -1,5 +1,20 @@
#!/bin/bash
#
+# Check that exactly one command is supplied
+if [ "$#" -ne 1 ]; then
+ echo "exactly one argument must be supplied"
+ exit 1
+fi
+#
+# Check that the first command supplied is valid
+if [ "$1" != "true" ] && [ "$1" != "false" ]; then
+ echo "emulate crazyradio = $1, is not a valid boolean."
+ exit 1
+fi
+#
+# Put the commands into variables for make things more readable
+emulateradio=$1
+#
# Make the ROS commands available
# NOTE: these paths should NOT use ~
source /opt/ros/melodic/setup.bash
@@ -16,14 +31,14 @@ export ROS_LOG_DIR=/var/www/html/.ros/log
# > Note: the -q options converts the
# grep output to a true/false
if rosnode list | grep -q /rosout; then
- # Check that if the agent is already
- # launched
- if rosnode list | grep -q "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)"; then
- echo "Agent $DFALL_DEFAULT_AGENT_ID is already running"
- else
- nohup roslaunch dfall_pkg agent.launch withGUI:=false emulateRadio:=true > /dev/null 2>&1 &
- echo "Agent $DFALL_DEFAULT_AGENT_ID successfully launched"
- fi
+ # Check that if the agent is already
+ # launched
+ if rosnode list | grep -q "$(printf "/dfall/agent%03d" $DFALL_DEFAULT_AGENT_ID)"; then
+ echo "Agent $DFALL_DEFAULT_AGENT_ID is already running"
+ else
+ nohup roslaunch dfall_pkg pi_agent.launch emulateRadio:=$emulateradio > /dev/null 2>&1 &
+ echo "Agent $DFALL_DEFAULT_AGENT_ID successfully launched"
+ fi
else
- echo "ROS Master not found"
+ echo "ROS Master not found"
fi
diff --git a/web_interface/html/bashscripts/launchRosMaster.sh b/web_interface/html/bashscripts/launchRosMaster.sh
new file mode 100755
index 00000000..a6b95473
--- /dev/null
+++ b/web_interface/html/bashscripts/launchRosMaster.sh
@@ -0,0 +1,38 @@
+#!/bin/bash
+#
+# Check that exactly one command is supplied
+if [ "$#" -ne 1 ]; then
+ echo "exactly one argument must be supplied"
+ exit 1
+fi
+#
+# Check that the first command supplied is valid
+if [ "$1" != "true" ] && [ "$1" != "false" ]; then
+ echo "emulate mocap = $1, is not a valid boolean."
+ exit 1
+fi
+#
+# Put the commands into variables for make things more readable
+emultemocap=$1
+#
+# Make the ROS commands available
+# NOTE: these paths should NOT use ~
+source /opt/ros/melodic/setup.bash
+source /home/www-share/dfall/dfall-system/dfall_ws/devel/setup.bash
+source /home/www-share/dfall/dfall-system/dfall_ws/src/dfall_pkg/launch/Config.sh
+#
+# Set the ROS log location
+export ROS_LOG_DIR=/var/www/html/.ros/log
+#
+# Mount the dfall workspace folder
+#sudo mount --bind /home/pbeuchat/gitrep/dfall/dfall-system/dfall_ws /var/www/html/dfall_ws
+#
+# Check that the ROS Master exists
+# > Note: the -q options converts the
+# grep output to a true/false
+if rosnode list | grep -q /rosout; then
+ echo "ROS Master is already running"
+else
+ nohup roslaunch dfall_pkg pi_master.launch emulateMocap:=$emultemocap > /dev/null 2>&1 &
+ echo "ROS Master successfully launched"
+fi
\ No newline at end of file
diff --git a/web_interface/html/bashscripts/rosCrazyRadioCommand_forAgent.sh b/web_interface/html/bashscripts/rosCrazyRadioCommand_forAgent.sh
index ed6c359c..1d826fd3 100755
--- a/web_interface/html/bashscripts/rosCrazyRadioCommand_forAgent.sh
+++ b/web_interface/html/bashscripts/rosCrazyRadioCommand_forAgent.sh
@@ -2,13 +2,13 @@
#
# Check that exactly one command is supplied
if [ "$#" -ne 1 ]; then
- echo "failed"
+ echo "exactly one argument must be supplied"
exit 1
fi
#
# Check that the command supplied is valid
if [ "$1" != "0" ] && [ "$1" != "1" ]; then
- echo "failed"
+ echo "command = $1, is not a valid option"
exit 1
fi
#
@@ -25,18 +25,25 @@ source /home/www-share/dfall/dfall-system/dfall_ws/src/dfall_pkg/launch/Config.s
# > Note: the -q options converts the
# grep output to a true/false
if rosnode list | grep -q /rosout; then
- # Convert the agent ID to a zero padded string
- agentnamespace=$(printf "agent%03d" $DFALL_DEFAULT_AGENT_ID)
- # Send the message
- if [ "$command" == "0" ]; then
- temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/FlyingAgentClient/crazyRadioCommand dfall_pkg/IntWithHeader '{data: 0, shouldCheckForAgentID: False}')"
+ # Convert the agent ID to a zero padded string
+ agentnamespace=$(printf "agent%03d" $DFALL_DEFAULT_AGENT_ID)
+ # Send the message
+ if [ "$command" == "0" ]; then
+ # Publish the request
+ temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/FlyingAgentClient/CrazyRadioCommand dfall_pkg/IntWithHeader "{data: 0, shouldCheckForAgentID: False}")"
+ # Return that the message was sent
+ echo "sent"
+ #
+ elif [ "$command" == "1" ]; then
+ # Publish the request
+ temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/FlyingAgentClient/CrazyRadioCommand dfall_pkg/IntWithHeader "{data: 1, shouldCheckForAgentID: False}")"
+ # Return that the message was sent
+ echo "sent"
+ else
+ # Return that the command is not recognised
+ echo "command = $command is not a valid option"
fi
- if [ "$command" == "1" ]; then
- temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/FlyingAgentClient/crazyRadioCommand dfall_pkg/IntWithHeader '{data: 1, shouldCheckForAgentID: False}')"
- fi
- #
- # Return that the message was sent
- echo "sent"
+
else
- echo "ROS Master not found"
+ echo "ROS Master not found"
fi
diff --git a/web_interface/html/bashscripts/rosSetNewSetpoint_forAgent.sh b/web_interface/html/bashscripts/rosSetNewSetpoint_forAgent.sh
index e81dffdf..26fd8756 100755
--- a/web_interface/html/bashscripts/rosSetNewSetpoint_forAgent.sh
+++ b/web_interface/html/bashscripts/rosSetNewSetpoint_forAgent.sh
@@ -2,13 +2,13 @@
#
# Check that exactly five commands are supplied
if [ "$#" -ne 5 ]; then
- echo "failed"
+ echo "exaclty five arguments must be supplied"
exit 1
fi
#
# Check that the first command supplied is valid
if [ "$1" != "default" ] && [ "$1" != "student" ]; then
- echo "failed"
+ echo "command = $1, is not a valid option."
exit 1
fi
#
@@ -19,6 +19,28 @@ ynew=$3
znew=$4
yawnew=$5
#
+# Check that the new setpoint values are purely numerical
+# > For x:
+if ! [[ $xnew =~ ^[+-]?[0-9]+\.?[0-9]*$ ]];then
+ echo "x = $xnew, is not a float."
+ exit 1
+fi
+# > For y:
+if ! [[ $ynew =~ ^[+-]?[0-9]+\.?[0-9]*$ ]];then
+ echo "y = $ynew, is not a float."
+ exit 1
+fi
+# > For z:
+if ! [[ $znew =~ ^[+-]?[0-9]+\.?[0-9]*$ ]];then
+ echo "z = $znew, is not a float."
+ exit 1
+fi
+# > For yaw:
+if ! [[ $yawnew =~ ^[+-]?[0-9]+\.?[0-9]*$ ]];then
+ echo "yaw = $yawnew, is not a float."
+ exit 1
+fi
+#
# Make the ROS commands available
# NOTE: these paths should NOT use ~
source /opt/ros/melodic/setup.bash
@@ -33,14 +55,21 @@ if rosnode list | grep -q /rosout; then
agentnamespace=$(printf "agent%03d" $DFALL_DEFAULT_AGENT_ID)
# Send the message
if [ "$command" == "default" ]; then
- "$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/DefaultControllerService/RequestSetpointChange dfall_pkg/SetpointWithHeader "{x: $xnew, y: $ynew, z: $znew, yaw: $yawnew, shouldCheckForAgentID: False}")"
- fi
- if [ "$command" == "student" ]; then
- "$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/StudentControllerService/RequestSetpointChange dfall_pkg/SetpointWithHeader "{x: $xnew, y: $ynew, z: $znew, yaw: $yawnew, shouldCheckForAgentID: False}")"
- fi
+ # Publish the request
+ temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/DefaultControllerService/RequestSetpointChange dfall_pkg/SetpointWithHeader "{x: $xnew, y: $ynew, z: $znew, yaw: $yawnew, shouldCheckForAgentID: False}")"
+ # Return that the message was sent
+ echo "sent"
+ #
+ elif [ "$command" == "student" ]; then
+ # Publish the request
+ temp="$(rostopic pub -1 /$ROS_NAMESPACE/$agentnamespace/StudentControllerService/RequestSetpointChange dfall_pkg/SetpointWithHeader "{x: $xnew, y: $ynew, z: $znew, yaw: $yawnew, shouldCheckForAgentID: False}")"
+ # Return that the message was sent
+ echo "sent"
#
- # Return that the message was sent
- echo "sent"
+ else
+ # Return that the command is not recognised
+ echo "controller = $command is not a valid option"
+ fi
else
echo "ROS Master not found"
diff --git a/web_interface/html/callBashScript.php b/web_interface/html/callBashScript.php
index a89f9031..0e2b4553 100644
--- a/web_interface/html/callBashScript.php
+++ b/web_interface/html/callBashScript.php
@@ -30,19 +30,25 @@
$temp = shell_exec("./bashscripts/catkin_make.sh");
$output = "<pre>$temp</pre>";
}
+ //
// For the LAUNCH tab
elseif ($scriptname == "checkForRosMaster") {
$output = shell_exec("./bashscripts/checkForRosMaster.sh");
}
- elseif ($scriptname == "checkForRosAgent") {
- $output = shell_exec("./bashscripts/checkForRosAgent.sh");
+ //
+ // "launch Ros Master" is handled separately
+ // because it requires an input argument
+ //
+ elseif ($scriptname == "killRosMaster") {
+ $output = shell_exec("./bashscripts/killRosMaster.sh");
}
elseif ($scriptname == "checkForRosAgent") {
$output = shell_exec("./bashscripts/checkForRosAgent.sh");
}
- elseif ($scriptname == "launchRosAgent") {
- $output = shell_exec("./bashscripts/launchRosAgent.sh");
- }
+ //
+ // "launch Ros Agent" is handled separately
+ // because it requires an input argument
+ //
elseif ($scriptname == "killRosAgent") {
$output = shell_exec("./bashscripts/killRosAgent.sh");
}
@@ -50,6 +56,7 @@
$temp = shell_exec("./bashscripts/rosnodeList.sh");
$output = "<pre>$temp</pre>";
}
+ //
// For the CONTROL tab:
// { RADIO CONNECTION, TAKE-OFF, LAND, MOTORS-OFF, LOAD CONTROLLER }
elseif ($scriptname == "rosConnect") {
diff --git a/web_interface/html/callBashScript_roslaunch.php b/web_interface/html/callBashScript_roslaunch.php
new file mode 100644
index 00000000..bca63740
--- /dev/null
+++ b/web_interface/html/callBashScript_roslaunch.php
@@ -0,0 +1,60 @@
+<?php
+ // GET THE BASH SCRIPT NAME
+ $scriptname = $_GET['scriptname'];
+
+ // ONLY EXECUTE "SCRIPT NAMES" WITH AN EXACT MATCH
+ //
+ // > For the MASTER
+ if ($scriptname == "master")
+ {
+ // GET THE VALUES OF THE EMULATE MOCAP FLAG
+ // > This will be a string
+ $emulate_mocap = strtolower( $_GET['emulatemocap'] );
+ // Check that the new setpoint values are numerical
+ if (in_array($emulate_mocap, array("true", "1", "yes"), true))
+ {
+ $emulate_mocap = "true";
+ }
+ elseif (in_array($emulate_mocap, array("false", "0", "no"), true))
+ {
+ $emulate_mocap = "false";
+ }
+ else
+ {
+ echo "emulate mocap flag = $emulate_mocap, is not a boolean value.";
+ exit();
+ }
+ // Call the bash script for launching the master
+ $output = shell_exec("./bashscripts/launchRosMaster.sh $emulate_mocap");
+ }
+ //
+ // > For the AGENT
+ elseif ($scriptname == "agent")
+ {
+ // GET THE VALUES OF THE EMULATE MOCAP FLAG
+ // > This will be a string
+ $emulate_crazyradio = strtolower( $_GET['emulatecrazyradio'] );
+ // Check that the new setpoint values are numerical
+ if (in_array($emulate_crazyradio, array("true", "1", "yes"), true))
+ {
+ $emulate_crazyradio = "true";
+ }
+ elseif (in_array($emulate_crazyradio, array("false", "0", "no"), true))
+ {
+ $emulate_crazyradio = "false";
+ }
+ else
+ {
+ echo "emulate crazyradio flag = $emulate_crazyradio, is not a boolean value.";
+ exit();
+ }
+ // Call the bash script for launching the agent
+ $output = shell_exec("./bashscripts/launchRosAgent.sh $emulate_crazyradio");
+ }
+ else
+ {
+ $output = "launch name = $scriptname is not a valid option";
+ }
+
+ echo "$output";
+?>
diff --git a/web_interface/html/callBashScript_setNewSetpoint.php b/web_interface/html/callBashScript_setNewSetpoint.php
index 4d52c0c1..2e44ae0c 100644
--- a/web_interface/html/callBashScript_setNewSetpoint.php
+++ b/web_interface/html/callBashScript_setNewSetpoint.php
@@ -3,15 +3,36 @@
$scriptname = $_GET['scriptname'];
// GET THE (x,y,z,yaw) VALUES OF THE NEW SETPOINT
+ // > These will be strings
$x_new = $_GET['x'];
$y_new = $_GET['y'];
$z_new = $_GET['z'];
$yaw_new = $_GET['yaw'];
+ // Check that the new setpoint values are numerical
+ if ( ! (is_numeric($x_new)) )
+ {
+ echo "x = $x_new, is not a numeric value.";
+ exit();
+ }
+ if ( ! (is_numeric($y_new)) )
+ {
+ echo "y = $y_new, is not a numeric value.";
+ exit();
+ }
+ if ( ! (is_numeric($z_new)) )
+ {
+ echo "z = $z_new, is not a numeric value.";
+ exit();
+ }
+ if ( ! (is_numeric($yaw_new)) )
+ {
+ echo "yaw = $yaw_new, is not a numeric value.";
+ exit();
+ }
- // ONLY EXECUTE NAMES WITH AN EXACT MATHC
-
+ // ONLY EXECUTE "SCRIPT NAMES" WITH AN EXACT MATCH
// For the CONTROL tab:
// GET SETPOINT
if ($scriptname == "rosSetSetpointDefault") {
diff --git a/web_interface/html/js/callbashscript.js b/web_interface/html/js/callbashscript.js
index d4a563fd..e494f3c1 100644
--- a/web_interface/html/js/callbashscript.js
+++ b/web_interface/html/js/callbashscript.js
@@ -1,4 +1,4 @@
-function callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons(bashscript, labelID, otherLabels, otherbuttons)
+function callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons(bashscript, labelID, otherLabels, otherButtons)
{
// Create a variable for sending an AJAX request
var xmlhttp = new XMLHttpRequest();
@@ -11,15 +11,15 @@ function callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons(bashscr
var base_string = "";
document.getElementById(labelID).innerHTML = base_string + this.responseText;
// Click the "other buttons" as requested
- if (otherbuttons)
+ if (otherButtons)
{
- if ( typeof(otherbuttons) == "string" )
+ if ( typeof(otherButtons) == "string" )
{
- document.getElementById(otherbuttons).click();
+ document.getElementById(otherButtons).click();
}
- else if (otherbuttons.constructor === Array)
+ else if (otherButtons.constructor === Array)
{
- for (otherButtonID of otherbuttons)
+ for (otherButtonID of otherButtons)
{
if (otherButtonID)
{
@@ -51,7 +51,7 @@ function callBashScript_outputLabelID_clearOtherLabels_clickOtherButtons(bashscr
}
else if (otherLabels.constructor === Array)
{
- for (otherLabelID of otherbuttons)
+ for (otherLabelID of otherLabels)
{
if (otherLabelID)
{
diff --git a/web_interface/html/js/roslaunch.js b/web_interface/html/js/roslaunch.js
new file mode 100644
index 00000000..0f537573
--- /dev/null
+++ b/web_interface/html/js/roslaunch.js
@@ -0,0 +1,110 @@
+function roslaunch_outputLabelID_clearOtherLabels_clickOtherButtons(launchName, labelID, otherLabels, otherButtons)
+{
+ // Convert the "controllerName" to a heading string
+ var scriptname_for_php = "";
+ if (launchName == "master")
+ {
+ scriptname_for_php = "master";
+ }
+ else if (launchName == "agent")
+ {
+ scriptname_for_php = "agent";
+ }
+ else
+ {
+ return;
+ }
+
+ // Get the booleans for emulation
+ emulated_mocap = document.getElementById("checkboxEmulateMocap").checked;
+ emulated_crazyradio = document.getElementById("checkboxEmulateCrazyRadio").checked;
+
+ // Set the label to be sending
+ if(labelID){document.getElementById(labelID).innerHTML = "sending...";}
+
+ // Create a variable for sending an AJAX request
+ var xmlhttp = new XMLHttpRequest();
+ // Add the function to be run when the response is recieved
+ xmlhttp.onreadystatechange = function()
+ {
+ if (this.readyState == 4 && this.status == 200)
+ {
+ // Construct and display the appropriate information
+ var base_string = "";
+ if(labelID){document.getElementById(labelID).innerHTML = base_string + this.responseText;}
+ // Click the "other buttons" as requested
+ if (otherButtons)
+ {
+ if ( typeof(otherButtons) == "string" )
+ {
+ document.getElementById(otherButtons).click();
+ }
+ else if (otherButtons.constructor === Array)
+ {
+ for (otherButtonID of otherButtons)
+ {
+ if (otherButtonID)
+ {
+ if ( typeof(otherButtonID) == "string" )
+ {
+ document.getElementById(otherButtonID).click();
+ }
+ }
+ }
+ }
+ }
+
+ }
+ else
+ {
+ // Construct and display the appropriate information
+ var base_string = "";
+ var display_message = getDisplayMessageForXMLHttpRequest(this);
+ if (this.readyState == 4)
+ {
+ if(labelID){document.getElementById(labelID).innerHTML = base_string + display_message;}
+ }
+ else
+ {
+ //if(labelID){document.getElementById(labelID).innerHTML = base_string + display_message;}
+ }
+ }
+ };
+ if (launchName == "master")
+ {
+ xmlhttp.open("GET", "callBashScript_roslaunch.php?scriptname=" + scriptname_for_php + "&emulatemocap=" + emulated_mocap, true);
+ xmlhttp.send();
+ }
+ else if (launchName == "agent")
+ {
+ xmlhttp.open("GET", "callBashScript_roslaunch.php?scriptname=" + scriptname_for_php + "&emulatecrazyradio=" + emulated_crazyradio, true);
+ xmlhttp.send();
+ }
+ else
+ {
+ if(labelID){document.getElementById(labelID).innerHTML = "ERROR: launch name = " + launchName + " is not a valid option";}
+ }
+
+
+ // Clear the other labels as requested
+ if (otherLabels)
+ {
+ if ( typeof(otherLabels) == "string" )
+ {
+ document.getElementById(otherLabels).innerHTML = "";
+ }
+ else if (otherLabels.constructor === Array)
+ {
+ for (otherLabelID of otherLabels)
+ {
+ if (otherLabelID)
+ {
+ if ( typeof(otherLabelID) == "string" )
+ {
+ document.getElementById(otherLabelID).innerHTML = "";
+ }
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/web_interface/html/js/temp.js b/web_interface/html/js/temp.js
deleted file mode 100644
index 3f1a6f4d..00000000
--- a/web_interface/html/js/temp.js
+++ /dev/null
@@ -1,156 +0,0 @@
-function checkForRosMaster()
-{
- // Create a variable for sending an AJAX request
- var xmlhttp = new XMLHttpRequest();
- // Add the function to be run when the response is recieved
- xmlhttp.onreadystatechange = function()
- {
- if (this.readyState == 4 && this.status == 200)
- {
- //var base_string = "Connection success, ";
- var base_string = "";
- document.getElementById("rosMasterStatus").innerHTML = base_string + "ROS Master " + this.responseText;
- }
- else
- {
- var base_string = "Connection error";
- var error_message = getErrorMessageForXMLHttpRequest(this);
- document.getElementById("rosMasterStatus").innerHTML = base_string + ", " + error_message;
- //
- // Alternatively, just put "loading..."
- //document.getElementById("rosMasterStatus").innerHTML = "loading...";
- }
- };
- xmlhttp.open("GET", "checkForRosMaster.php", true);
- xmlhttp.send();
-}
-
-
-
-function checkForRosAgent()
-{
- // Create a variable for sending an AJAX request
- var xmlhttp = new XMLHttpRequest();
- // Add the function to be run when the response is recieved
- xmlhttp.onreadystatechange = function()
- {
- if (this.readyState == 4 && this.status == 200)
- {
- //var base_string = "Connection success, ";
- var base_string = "";
- document.getElementById("rosAgentStatus").innerHTML = base_string + this.responseText;
- }
- else
- {
- //var base_string = "Connection error";
- //var error_message = getErrorMessageForXMLHttpRequest(this);
- //document.getElementById("rosAgentStatus").innerHTML = base_string + ", " + error_message;
- //
- // Alternatively, just put "loading..."
- document.getElementById("rosAgentStatus").innerHTML = "loading...";
- }
- };
- xmlhttp.open("GET", "checkForRosAgent.php", true);
- xmlhttp.send();
-}
-
-
-
-
-function launchRosAgent()
-{
- // Create a variable for sending an AJAX request
- var xmlhttp = new XMLHttpRequest();
- // Add the function to be run when the response is recieved
- xmlhttp.onreadystatechange = function()
- {
- if (this.readyState == 4 && this.status == 200)
- {
- //var base_string = "Connection success, ";
- var base_string = "";
- document.getElementById("rosLaunchAgentStatus").innerHTML = base_string + this.responseText;
- // Call the function to check for and
- // update the "ROS Agent Status" field
- checkForRosAgent();
- }
- else
- {
- //var base_string = "Connection error";
- //var error_message = getErrorMessageForXMLHttpRequest(this);
- //document.getElementById("rosLaunchAgentStatus").innerHTML = base_string + ", " + error_message;
- //
- // Alternatively, just put "loading..."
- document.getElementById("rosLaunchAgentStatus").innerHTML = "loading...";
- }
- };
- xmlhttp.open("GET", "launchRosAgent.php", true);
- xmlhttp.send();
-}
-
-
-
-
-
-
-function killRosAgent()
-{
- // Create a variable for sending an AJAX request
- var xmlhttp = new XMLHttpRequest();
- // Add the function to be run when the response is recieved
- xmlhttp.onreadystatechange = function()
- {
- if (this.readyState == 4 && this.status == 200)
- {
- //var base_string = "Connection success, ";
- var base_string = "";
- document.getElementById("killAgentStatus").innerHTML = base_string + this.responseText;
- // Call the function to check for and
- // update the "ROS Agent Status" field
- checkForRosAgent();
- // Call the function to update the list
- // of ROS nodes
- rosnodeList()
- }
- else
- {
- //var base_string = "Connection error";
- //var error_message = getErrorMessageForXMLHttpRequest(this);
- //document.getElementById("killAgentStatus").innerHTML = base_string + ", " + error_message;
- //
- // Alternatively, just put "loading..."
- document.getElementById("killAgentStatus").innerHTML = "loading...";
- }
- };
- xmlhttp.open("GET", "killRosAgent.php", true);
- xmlhttp.send();
-}
-
-
-
-
-function rosnodeList()
-{
- // Create a variable for sending an AJAX request
- var xmlhttp = new XMLHttpRequest();
- // Add the function to be run when the response is recieved
- xmlhttp.onreadystatechange = function()
- {
- if (this.readyState == 4 && this.status == 200)
- {
- //var base_string = "Connection success, ";
- var base_string = "";
- document.getElementById("rosnodeList").innerHTML = base_string + this.responseText;
- }
- else
- {
- //var base_string = "Connection error";
- //var error_message = getErrorMessageForXMLHttpRequest(this);
- //document.getElementById("rosnodeList").innerHTML = base_string + ", " + error_message;
- //
- // Alternatively, just put "loading..."
- document.getElementById("rosnodeList").innerHTML = "loading...";
- }
- };
- xmlhttp.open("GET", "rosnodeList.php", true);
- xmlhttp.send();
-}
diff --git a/web_interface/html/page_header.html b/web_interface/html/page_header.html
index 9caeb038..a2377b8c 100644
--- a/web_interface/html/page_header.html
+++ b/web_interface/html/page_header.html
@@ -33,6 +33,7 @@
<script src="js/general.js?ver=0.1"></script>
<script src="js/callbashscript.js?ver=0.1"></script>
<script src="js/callgit.js?ver=0.1"></script>
+ <script src="js/roslaunch.js?ver=0.1"></script>
<script src="js/sendRosMessage.js?ver=0.1"></script>
<script src="js/setSetpointViaRosMessage.js?ver=0.1"></script>
<script src="js/getSetpointViaRosServiceCall.js?ver=0.1"></script>
diff --git a/web_interface/install_dfall_server_WIP.sh b/web_interface/install_dfall_server_WIP.sh
index 09e47cfb..6df43f81 100644
--- a/web_interface/install_dfall_server_WIP.sh
+++ b/web_interface/install_dfall_server_WIP.sh
@@ -14,6 +14,17 @@ sudo -u www-data git clone https://...
# "git pull" commands
www-data ALL=(www-data) /usr/bin/git pull
+# Add the "www-data" user to the "plugdev" group
+# NOTE: this is the group nominated in the udev
+# rules for the CrazyRadio (see the "install"
+# folder). This allows a CrazyRadio node
+# that is launched by the web interface to
+# access the USB dongle.
+sudo usermod -a -G plugdev www-data
+
+# To confirm the group allocation, view the file:
+less /etc/group
+
--
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