Skip to content

rename outdated file & upload updated file #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
dsmorrie wants to merge 2 commits into
base: master
Choose a base branch
from
Open

rename outdated file & upload updated file #1

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1334183
rename outdated file
dsmorrie Nov 10, 2021
e540dea
add updated file
dsmorrie Nov 10, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
234 changes: 225 additions & 9 deletions NiryoConnection.html
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,22 @@
<meta charset="utf-8" />
<script src="http://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
<script>
//url 설정
var niryo_url = 'ws://192.168.0.15:9090'

//android에 현재 url값 반환
function get_url(){
return niryo_url;
}

//android에서 url입력 받아 업데이트
function set_url(url){
niryo_url = 'ws://' + url;
}

// ROS 정의
var ros = new ROSLIB.Ros({
url: 'ws://192.168.0.33:9090'
url: niryo_url
});

var connected = 0;
Expand Down Expand Up @@ -550,6 +563,182 @@
});
}

//android에서 hsv값 담아 호출
function grabCapsule_w_param(capsule_data) {
if (connected == 0) {
document.getElementById("color").textContent = "Not connected"
return;
}
//android에서 전달받은 인자 tokenize
hsv = capsule_data.split(' ');
h = parseInt(hsv[0]);
s = parseInt(hsv[1]);
v = parseInt(hsv[2]);
hdif = parseInt(hsv[3]);
sdif = parseInt(hsv[4]);
vdif = parseInt(hsv[5]);
console.log(h + ', ' + s + ', ' + v + ', ' + hdif + ', ' + sdif + ', ' + vdif);

toolnum = 0;
current_tool_id.subscribe(function(message) {
toolnum = message.data;
console.log('tool id: ' + message.data);
current_tool_id.unsubscribe();
});
// 기본적으로 Gripper3을 사용하고 있다고 가정함
var toolrequest = new ROSLIB.ServiceRequest({
value: 13
});
select_tool_service.callService(toolrequest, function(result) {
console.log(result.message);
});
var MoveActionClient = new ROSLIB.ActionClient({
ros: ros,
serverName: '/niryo_one/commander/robot_action',
actionName: 'niryo_one_msgs/RobotMoveAction'
});

// color_detection 서비스를 이용해 원하는 색 범위 내에 있는 이미지 추출, x, y, yaw 반환
// x, y, yaw 값을 get_target_pose에 전달해 workspace 내에서 상대적인 위치 반환
// 이 위치로 이동
// grippper 조절, move joint 등 이용
var color_detection = new ROSLIB.Service({
ros: ros,
name: '/niryo_one_vision/color_detection',
serviceType: 'niryo_one_msgs/CapsuleColor'
});

console.log(h + ', ' + s + ', ' + v);
x = 0;
y = 0;
z = 0;
roll = 0;
pitch = 0;
yaw = 0;
var HSV = new ROSLIB.ServiceRequest({
h: h,
s: s,
v: v,
hdif: hdif,
sdif: sdif,
vdif: vdif
});

var get_target_pose = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/pose_converter/get_target_pose',
serviceType: 'niryo_one_msgs/GetTargetPose'
});
color_detection.callService(HSV, function(result) {
img = document.getElementById("contour");
img.src = "data:image/jpg;base64," + result.img.data;
x = result.obj_pose.x;
y = result.obj_pose.y;
yaw = result.obj_pose.yaw;
console.log(x + ', ' + y + ', ' + yaw);
var target_request = new ROSLIB.ServiceRequest({
workspace: "workspace",
grip: "auto",
tool_id: 13,
height_offset: 0.05,
x_rel: x,
y_rel: y,
yaw_rel: yaw,
});
get_target_pose.callService(target_request, function(result) {
var canvas = document.getElementById("canvas");
var ctx = canvas.getContext("2d");
ctx.drawImage(img, 0, 0);
x = result.target_pose.position.x + 0.02;
y = result.target_pose.position.y;
z = result.target_pose.position.z;
roll = result.target_pose.rpy.roll;
pitch = result.target_pose.rpy.pitch;
yaw = result.target_pose.rpy.yaw;
console.log(x + ', ' + y + ', ' + z + ', ' + roll + ', ' + pitch + ', ' + yaw);
if (Math.round(x * 1000) == 387 && Math.round(y * 1000) == 75) {
console.log('Capsule not found or too dark.');
return;
}
var goal1 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: x,
y: y,
z: z
},
rpy: {
roll: roll,
pitch: pitch,
yaw: yaw
}
}
}
});
var goal2 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: x,
y: y,
z: z - 0.03
},
rpy: {
roll: roll,
pitch: pitch,
yaw: yaw
}
}
}
});
var open = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 1,
gripper_open_speed: 100
}
}
}
});
var close = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 2,
gripper_close_speed: 100
}
}
}
});
goal1.on('result', function(result) {
// console.log('Final result: ' + result.status);
open.send();
open.on('result', function() {
goal2.send();
goal2.on('result', function() {
close.send();
close.on('result', function() {
MoveZero();
});
});
});
});
goal1.send();
});
});
}

// 색 범위 추출용 전역 변수
var firstx;
Expand All @@ -562,24 +751,48 @@
img = document.getElementById("image");
ctx.clearRect(0, 0, 640, 480);
ctx.drawImage(img, 0, 0);
var x = event.layerX;
var y = event.layerY;
//console.log(x + ', ' + y);

//touchevent 추가
if(event.type == "touchstart"){
var rect = event.target.getBoundingClientRect();
var x = Math.round(event.targetTouches[0].pageX - rect.left);
var y = Math.round(event.targetTouches[0].pageY - rect.top);
}
else{
var x = event.offsetX;
var y = event.offsetY;
}
console.log(x + ', ' + y);

firstx = x;
firsty = y;
}
// canvas mouseup 시 x, y 좌표와 firstx, firsty를 바탕으로 색 범위 계산, zoom 캔버스에 출력
function secondpoint(event) {
var canvas = document.getElementById("canvas");
var ctx = canvas.getContext("2d");

//touchevent 추가
if(event.type == "touchend"){
var rect = event.target.getBoundingClientRect();
var x = Math.round(event.changedTouches[0].pageX - rect.left);
var y = Math.round(event.changedTouches[0].pageY - rect.top);
}
else{
var x = event.offsetX;
var y = event.offsetY;
}
console.log(x + ', ' + y);

// 캔버스에 아무 이미지도 없으면 아무 동작도 하지 않음
if (!ctx.getImageData(0, 0, canvas.width, canvas.height).data.some(channel => channel !== 0)) {
document.getElementById("color").textContent = "Take Picture First"
ctx.strokeRect(firstx, firsty, x - firstx, y - firsty);
//android의 capsule 색 저장 함수 호출
window.android.addCapsule("255 255 255 0 0 0" + '\0');
return;
}
var x = event.layerX;
var y = event.layerY;
// console.log(x + ', ' + y);

secondx = x;
secondy = y;
positiongrab = 0;
Expand Down Expand Up @@ -721,6 +934,9 @@
}

ctx.strokeRect(smallx, smally, largex - smallx, largey - smally);

//android의 capsule 색 저장 함수 호출
window.android.addCapsule(midH + ' ' + midS + ' ' + midV + ' ' + Hdif + ' ' + Sdif + ' ' + Vdif + '\0');
}

// RGB에서 HSV로 변환하는 함수
Expand Down Expand Up @@ -1430,7 +1646,7 @@ <h2>ROS Webserver connection to Niryo</h2>
</fieldset>
</fieldset>
<fieldset style="border: 1px solid #FFFFFF">
<canvas id="canvas" style="float:left; border: 1px solid black;" crossorigin="anonymous" width="640" height="480" onmousedown="firstpoint(event)" onmouseup="secondpoint(event)"></canvas>
<canvas id="canvas" style="float:left; border: 1px solid black;" crossorigin="anonymous" width="640" height="480" onmousedown="firstpoint(event)" onmouseup="secondpoint(event)" ontouchstart="firstpoint(event)" ontouchend="secondpoint(event)"></canvas>
<FORM id="wrapper" style="width:200px; float:left; text-align:center; border: 1 solid black">
<div id="color">Drag to set HSV range</div>
<div id="h" style='display:inline;'></div>
Expand All @@ -1448,7 +1664,7 @@ <h2>ROS Webserver connection to Niryo</h2>
<INPUT type='BUTTON' style="WIDTH:100pt" value='Put Down Capsule' , onclick='PutDownCapsule()'>
<INPUT type='BUTTON' style="WIDTH:100pt" value='Put In Capsule' , onclick='PutInCapsule()'>
<INPUT type='BUTTON' style="WIDTH:100pt" value='Coffee Machine' , onclick='CoffeeMachine()'>
<INPUT type='BUTTON' style="WIDTH:100pt" value='Rest' , onclick='Rest()'
<INPUT type='BUTTON' style="WIDTH:100pt" value='Rest' , onclick='Rest()'>

</FORM>
</fieldset>
Expand Down
Loading