static

2024-12-04 10:21:04 +08:00
parent 9d776c65e9
commit c1ac42072f
4042 changed files with 2293732 additions and 1185 deletions
--- a/static/Magic4/Sketch/HMI_Sketch_Left_LearnWayPointAB_Main.html
+++ b/static/Magic4/Sketch/HMI_Sketch_Left_LearnWayPointAB_Main.html
@@ -0,0 +1,406 @@
+<!DOCTYPE html>
+<html lang="en" id="container" onmousedown="startDrag(event)" onmouseup="stopDrag(event)" onmousemove="dragging(event)" style="overflow-x: hidden;     
+    overflow-y: hidden; ">
+<head>
+    <meta charset="UTF-8">
+    <!--<script type="text/javascript" src="../roslib.min.js"></script>-->
+    <script src="../jquery-2.1.0.min.js"></script>
+    <script src="../jquery.cookie.js"></script>
+    <script type="text/javascript" src="../Lu_Math_Driver.js"></script>
+    <script type="text/javascript">
+      var WayPointRecArr=new Array();
+      var WayPointRecSch=0;
+
+      var LearnWayPointAB_Sch=0;
+      var PointA_rx=0;
+      var PointA_ry=0;
+      var PointA_rt=0;
+      var PointA_Ref_NodeID=0;
+
+      var PointB_rx=0;
+      var PointB_ry=0;
+      var PointB_rt=0;
+      var PointB_Ref_NodeID=0;
+
+      var StartNode=0;
+      var EndNode=0;
+      var Direction="Front";
+
+      var LayerType="Normal";
+      var CreatePairDirectionEnable="true";
+      var ReverseSafeSensorEnable="true";
+      var S300_1_Enable="false";
+      var S300_1_Case=0;
+      var S300_2_Enable="false";
+      var S300_2_Case=0;
+      var TIM_1_Enable="true";
+      var TIM_1_Case=0;
+      var TIM_2_Enable="false";
+      var TIM_2_Case=0;
+      var SpeedType=0;
+
+      var last_rx_tmp=0;
+      var last_ry_tmp=0;
+      var last_rt_tmp=0;
+
+      var Tmp_Speed_Direction=0;
+      var Speed_Direction_Sum=0;
+
+      var Car_Global_rx=0;
+      var Car_Global_ry=0;
+      var Car_Global_Theta=0;
+
+      var Last_Rec_Car_Global_rx=0;
+      var Last_Rec_Car_Global_ry=0;
+      var Last_Rec_Car_Global_Theta=0;
+
+      var LastRecWayPoint=false;
+
+      //clearCookie("LearnWayPointAB_Sch");
+
+      //var IP=window.location.host;
+      /*
+      var ros = new ROSLIB.Ros({
+        //url : 'ws://'+IP+':9290'
+        url : 'ws://localhost:9190'
+      });
+
+      ros.on('connection', function() {
+          console.log('Connected to websocket server.');
+      });
+
+      ros.on('error', function(error) {
+          console.log('Error connecting to websocket server: ', error);
+      });
+
+      ros.on('close', function() {
+          console.log('Connection to websocket server closed.');
+      });
+      */
+
+      function SketchLeftLearnWayPointABMainPostMessage(str){
+        parent.window.postMessage(
+                str,
+                "*" //or "www.parentpage.com"
+        );
+      }
+
+      function LearnWayPointAB_Main_Init(){
+        LearnWayPointAB_Sch=0;
+        PointA_rx=0;
+        PointA_ry=0;
+        PointA_rt=0;
+        PointA_Ref_NodeID=0;
+
+        PointB_rx=0;
+        PointB_ry=0;
+        PointB_rt=0;
+        PointB_Ref_NodeID=0;
+
+        StartNode=0;
+        EndNode=0;
+        Direction="Front";
+
+        LayerType="Normal";
+        CreatePairDirectionEnable="true";
+        ReverseSafeSensorEnable="true";
+        S300_1_Enable="false";
+        S300_1_Case=0;
+        S300_2_Enable="false";
+        S300_2_Case=0;
+        TIM_1_Enable="false";
+        TIM_1_Case=0;
+        TIM_2_Enable="false";
+        TIM_2_Case=0;
+        SpeedType=0;
+
+        last_rx_tmp=0;
+        last_ry_tmp=0;
+        last_rt_tmp=0;
+
+        Tmp_Speed_Direction=0;
+        Speed_Direction_Sum=0;
+
+        LastRecWayPoint=false;
+      }
+
+      function client_request_left_learnwaypointab_main(str){
+          window.parent.parent.postMessage(
+              {
+                  event_id: 'client_request_left_learnwaypointab_main',
+                  data: {
+                      v1: str
+                  }
+              },
+              "*" //or "www.parentpage.com"
+          );
+      }
+      /*
+      function client(str){
+        var client_LearnString=new ROSLIB.Service({
+          ros:ros,
+          name:'/Service_LearnString',
+          serviceType:'lu_ps20l_msgs/Srv_LearnString'
+        });
+
+        var request = new ROSLIB.ServiceRequest({
+          Learn_String_Input:str
+        });
+
+        client_LearnString.callService(request,function(result) {
+          //console.log(result);
+          document.getElementById('LeftLearnWayPointABIframe').contentWindow.postMessage(
+                  {
+                    event_id: 'client_response',
+                    data: {
+                      v1: result.result,
+                      v2: result.ROS_String_Output,
+                      v3: result.Rec_Learn_String_Input
+                    }
+                  },
+                  "*" //or "www.parentpage.com"
+          );
+        });
+      }*/
+
+      function receiveMessage(event){
+        //console.log(event);
+        if(event.data.event_id=="client_response_left_learnwaypointab_main"){
+            document.getElementById('LeftLearnWayPointABIframe').contentWindow.postMessage(
+                event.data
+            );
+            return;
+        }
+        var frame=event.data.split('#');
+        var head=frame[0].split(':');
+
+        switch(head[0]){
+          case 'LearnWayPointABSch0':
+          {
+            //var info=head[1].split('#');
+            var data=head[1].split(',');
+            PointA_rx=parseFloat(data[0]);
+            PointA_ry=parseFloat(data[1]);
+            PointA_rt=parseFloat(data[2]);
+            PointA_Ref_NodeID=parseInt(data[3]);
+            LearnWayPointAB_Sch=1;
+            window.open('HMI_Sketch_Left_LearnWayPointAB_Sch1.html', 'LeftLearnWayPointABIframe');
+          }break;
+          case 'LearnWayPointABSch1':{
+            var data=head[1].split(',');
+            PointB_rx=parseFloat(data[0]);
+            PointB_ry=parseFloat(data[1]);
+            PointB_rt=parseFloat(data[2]);
+            PointB_Ref_NodeID=parseInt(data[3]);
+            LearnWayPointAB_Sch=2;
+            window.open('HMI_Sketch_Left_LearnWayPointAB_Sch2.html', 'LeftLearnWayPointABIframe');
+          }break;
+          case 'LearnWayPointABSch2':{
+            console.log("AAALearnWayPointABSch2");
+            var data=head[1].split(',');
+            StartNode=parseInt(data[0]);
+            EndNode=parseInt(data[1]);
+            Direction=data[2];
+            S300_1_Enable=data[3];
+            S300_1_Case=parseInt(data[4]);
+            S300_2_Enable=data[5];
+            S300_2_Case=parseInt(data[6]);
+            TIM_1_Enable=data[7];
+            TIM_1_Case=parseInt(data[8]);
+            TIM_2_Enable=data[9];
+            TIM_2_Case=parseInt(data[10]);
+            SpeedType=parseInt(data[11]);
+            CreatePairDirectionEnable=data[12];
+            ReverseSafeSensorEnable=data[13];
+
+            var str="CheckNode:"+
+                    StartNode+";"+
+                    +PointA_rx+";"
+                    +PointA_ry+";"
+                    +PointA_rt+";"
+                    +EndNode+";"
+                    +PointB_rx+";"
+                    +PointB_ry+";"
+                    +PointB_rt+";"
+            //client(str);
+            client_request_left_learnwaypointab_main(str);
+          }break;
+          case 'LearnWayPointABSch2_CheckNodeOK':{
+            LearnWayPointAB_Sch=3;
+            window.open('HMI_Sketch_Left_LearnWayPointAB_Sch3.html', 'LeftLearnWayPointABIframe');
+          }break;
+          case 'LearnWayPointABSch3':{
+            var data=head[1];
+            if(data=="OK"){
+                var str="LearnWayPointAB_V2:"//var str="LearnWayPointAB_V3:"//var str="LearnWayPointAB_V4:"
+                      +StartNode+";"
+                      +EndNode+";"
+                      +Direction+";"
+                      +LayerType+";"
+                      +CreatePairDirectionEnable+";"
+                      +S300_1_Enable+";"
+                      +S300_1_Case+";"
+                      +S300_2_Enable+";"
+                      +S300_2_Case+";"
+                      +TIM_1_Enable+";"
+                      +TIM_1_Case+";"
+                      +TIM_2_Enable+";"
+                      +TIM_2_Case+";"
+                      +SpeedType+";";
+              for(let i=0;i<WayPointRecArr.length;i++){
+                  if(i==0){
+                      var dist=Lu_Get_Dist(WayPointRecArr[i].Car_Global_rx,WayPointRecArr[i].Car_Global_ry,PointA_rx,PointA_ry);
+                      if(dist<1.0) {
+                          WayPointRecArr[i].Car_Global_rx = PointA_rx;
+                          WayPointRecArr[i].Car_Global_ry = PointA_ry;
+                          WayPointRecArr[i].Car_Global_Theta = PointA_rt;
+                      }
+                  }
+                  else if(i==WayPointRecArr.length-1){
+                      var dist=Lu_Get_Dist(WayPointRecArr[i].Car_Global_rx,WayPointRecArr[i].Car_Global_ry,PointB_rx,PointB_ry);
+                      if(dist<1.0) {
+                          WayPointRecArr[i].Car_Global_rx = PointB_rx;
+                          WayPointRecArr[i].Car_Global_ry = PointB_ry;
+                          WayPointRecArr[i].Car_Global_Theta = PointB_rt;
+                      }
+                  }
+                  str=str+"Point"+"@"+WayPointRecArr[i].Car_Global_rx+","+WayPointRecArr[i].Car_Global_ry+","+WayPointRecArr[i].Car_Global_Theta+";";
+              }
+              str=str+"|"+ReverseSafeSensorEnable+";"
+              str=str+"#";
+              //client(str);
+              client_request_left_learnwaypointab_main(str);
+            }
+            LearnWayPointAB_Sch=4;
+            window.open('HMI_Sketch_Left_LearnWayPointAB_Sch4.html', 'LeftLearnWayPointABIframe');
+          }break;
+          case 'LearnWayPointABSch4':{
+            var data=head[1];
+            if(data=="Continue") {
+              LearnWayPointAB_Main_Init();
+              window.open('HMI_Sketch_Left_LearnWayPointAB_Sch0.html', 'LeftLearnWayPointABIframe');
+            }
+            else{
+              LearnWayPointAB_Main_Init();
+              SketchLeftLearnWayPointABMainPostMessage("Main");
+            }
+          }break;
+        }
+      }
+      window.addEventListener("message", receiveMessage, false);
+
+      function Lu_Judge_Last_Speed_Direction(rx,ry,rt){
+        var run_dist = Lu_Get_Dist(rx,ry,last_rx_tmp,last_ry_tmp);
+        if(run_dist>0.2){
+          var a = Lu_Judge_StartToEnd_SpeedDirection(last_rx_tmp,last_ry_tmp,rx,ry,rt);
+          last_rx_tmp=rx;
+          last_ry_tmp=ry;
+          last_rt_tmp=rt;
+          return a;
+        }
+        else{
+          return 0;
+        }
+      }
+
+      function Refresh(){
+        //var Car_Global_rx2=parseFloat(getCookie('Car_Global_rx')).toFixed(3);
+        //var Car_Global_ry2=parseFloat(getCookie('Car_Global_ry')).toFixed(3);
+        //var Car_Global_Theta2=parseFloat(getCookie('Car_Global_Theta')).toFixed(3);
+
+        Car_Global_rx=parseFloat($.cookie('Car_Global_rx'));//Car_Global_rx=parseFloat(getCookie('Car_Global_rx'));
+        Car_Global_ry=parseFloat($.cookie('Car_Global_ry'));//Car_Global_ry=parseFloat(getCookie('Car_Global_ry'));
+        Car_Global_Theta=parseFloat($.cookie('Car_Global_Theta'));//Car_Global_Theta=parseFloat(getCookie('Car_Global_Theta'));
+
+        //console.log("x:"+Car_Global_rx+" "+Car_Global_rx2);
+        //console.log("y:"+Car_Global_ry+" "+Car_Global_ry2);
+        //console.log("t:"+Car_Global_Theta+" "+Car_Global_Theta2);
+
+
+        if(LearnWayPointAB_Sch==1){
+          Tmp_Speed_Direction=Lu_Judge_Last_Speed_Direction(Car_Global_rx,Car_Global_ry,Car_Global_Theta);
+          Speed_Direction_Sum=Speed_Direction_Sum+Tmp_Speed_Direction;
+          if(Speed_Direction_Sum>=0)Direction="Front";
+          else Direction="Reverse";
+          //console.log(Tmp_Speed_Direction);
+        }
+
+
+        //console.log(Speed_Direction_Sum);
+
+        //console.log(Direction);
+
+        document.getElementById('StartNode').innerText = 'StartNode=' + StartNode;
+        document.getElementById('EndNode').innerText = 'EndNode=' + EndNode;
+        document.getElementById('Direction').innerText = 'Direction=' + Direction;
+
+        if(LearnWayPointAB_Sch>0){
+          WayPointRecSch=1;
+        }
+        else{
+          WayPointRecSch=0;
+        }
+
+        if(WayPointRecSch==0){
+          WayPointRecArr=[];
+          LastRecWayPoint=false;
+        }
+        else if(WayPointRecSch==1){
+          var dist=Lu_Get_Dist(Car_Global_rx,Car_Global_ry,Last_Rec_Car_Global_rx,Last_Rec_Car_Global_ry);
+          if(LearnWayPointAB_Sch==1&&(dist>1.0||WayPointRecArr.length==0)){
+            var Rec_WP=new Object();
+            Rec_WP.Car_Global_rx=Car_Global_rx.toFixed(3);
+            Rec_WP.Car_Global_ry=Car_Global_ry.toFixed(3);
+            Rec_WP.Car_Global_Theta=Car_Global_Theta.toFixed(3);
+            WayPointRecArr.push(Rec_WP);
+            Last_Rec_Car_Global_rx=Car_Global_rx;
+            Last_Rec_Car_Global_ry=Car_Global_ry;
+            Last_Rec_Car_Global_Theta=Car_Global_Theta;
+          }
+          else if(LearnWayPointAB_Sch==2&& LastRecWayPoint==false){
+            var Rec_WP=new Object();
+            Rec_WP.Car_Global_rx=Car_Global_rx.toFixed(3);
+            Rec_WP.Car_Global_ry=Car_Global_ry.toFixed(3);
+            Rec_WP.Car_Global_Theta=Car_Global_Theta.toFixed(3);
+            WayPointRecArr.push(Rec_WP);
+            LastRecWayPoint=true;
+          }
+        }
+
+        var str="LearnWayPointAB_Sch:"+LearnWayPointAB_Sch+";";
+        for(let i=0;i<WayPointRecArr.length;i++){
+          str=str+"Point"+":"+WayPointRecArr[i].Car_Global_rx+","+WayPointRecArr[i].Car_Global_ry+","+WayPointRecArr[i].Car_Global_Theta+";";
+        }
+        str=str+"Direction:"+Direction+"#";
+        $.cookie("LearnWayPointAB_Sch",encodeURIComponent(str),{secure: true});//setCookie("LearnWayPointAB_Sch",encodeURIComponent(str),1000);
+      }
+
+      function Timer(){
+        Refresh();
+
+        //console.log(LearnWayPointAB_Sch);
+        //console.log(WayPointRecArr);
+      }
+
+      window.setInterval("Timer()",100);
+    </script>
+    <title>Title</title>
+</head>
+<body>
+<div id='LearnWayPointAB_Sch'> </div>
+
+<div>
+    <iframe id="LeftLearnWayPointABIframe" name="LeftLearnWayPointABIframe" width=100% height=560 src="HMI_Sketch_Left_LearnWayPointAB_Sch0.html" frameborder="2" scrolling="auto"></iframe>
+</div>
+<div id='PointA_rx'></div>
+<div id='PointA_ry'></div>
+<div id='PointA_rt'></div>
+<div id='PointB_rx'></div>
+<div id='PointB_ry'></div>
+<div id='PointB_rt'></div>
+<div id='StartNode'></div>
+<div id='EndNode'></div>
+<div id='Direction'></div>
+</body>
+<script src="../js/drag.js"></script>
+</html>