370 lines
14 KiB
HTML
370 lines
14 KiB
HTML
<!DOCTYPE html>
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<html lang="en" id="container" onmousedown="startDrag(event)" onmouseup="stopDrag(event)" onmousemove="dragging(event)" style="overflow-x: hidden;
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overflow-y: hidden; ">
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<head>
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<meta charset="UTF-8">
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<!--<script type="text/javascript" src="../roslib.min.js"></script>-->
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<script src="../jquery-2.1.0.min.js"></script>
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<script src="../jquery.cookie.js"></script>
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<script type="text/javascript" src="../Lu_Math_Driver.js"></script>
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<script type="text/javascript" type="text/javascript">
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var LearnLineAB_Sch=0;
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var PointA_rx=0;
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var PointA_ry=0;
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var PointA_rt=0;
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var PointA_Ref_NodeID=0;
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var PointB_rx=0;
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var PointB_ry=0;
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var PointB_rt=0;
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var PointB_Ref_NodeID=0;
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var StartNode=0;
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var EndNode=0;
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var Direction="Front";
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var LayerType="Normal";
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var CreatePairDirectionEnable="true";
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var ReverseSafeSensorEnable="true";
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var S300_1_Enable="false";
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var S300_1_Case=0;
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var S300_2_Enable="false";
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var S300_2_Case=0;
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var TIM_1_Enable="true";
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var TIM_1_Case=0;
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var TIM_2_Enable="false";
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var TIM_2_Case=0;
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var SpeedType=0;
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var Auto_Charge_Enable="false";
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var Plate_Check_Enable="false";
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var Plate_Check_Enable_To_End_Dist_m=0.0;
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var last_rx_tmp=0;
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var last_ry_tmp=0;
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var last_rt_tmp=0;
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var Tmp_Speed_Direction=0;
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var Speed_Direction_Sum=0;
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var Car_Global_rx=0;
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var Car_Global_ry=0;
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var Car_Global_Theta=0;
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//clearCookie("LearnLineAB_Sch");
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//var IP=window.location.host;
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/*
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var ros = new ROSLIB.Ros({
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//url : 'ws://'+IP+':9290'
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url : 'ws://localhost:9190'
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});*/
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function SketchLeftLearnLineABMainPostMessage(str){
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parent.window.postMessage(
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str,
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"*" //or "www.parentpage.com"
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);
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}
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function LearnLineAB_Main_Init(){
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LearnLineAB_Sch=0;
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PointA_rx=0;
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PointA_ry=0;
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PointA_rt=0;
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PointA_Ref_NodeID=0;
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PointB_rx=0;
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PointB_ry=0;
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PointB_rt=0;
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PointB_Ref_NodeID=0;
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StartNode=0;
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EndNode=0;
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Direction="Front";
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LayerType="Normal";
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CreatePairDirectionEnable="true";
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ReverseSafeSensorEnable="true";
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S300_1_Enable="false";
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S300_1_Case=0;
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S300_2_Enable="false";
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S300_2_Case=0;
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TIM_1_Enable="false";
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TIM_1_Case=0;
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TIM_2_Enable="false";
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TIM_2_Case=0;
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SpeedType=0;
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Auto_Charge_Enable="false";
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Plate_Check_Enable="false";
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Plate_Check_Enable_To_End_Dist_m=0.0;
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last_rx_tmp=0;
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last_ry_tmp=0;
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last_rt_tmp=0;
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Tmp_Speed_Direction=0;
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Speed_Direction_Sum=0;
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}
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function client_request_left_learnlineab_main(str){
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window.parent.parent.postMessage(
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{
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event_id: 'client_request_left_learnlineab_main',
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data: {
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v1: str
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}
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},
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"*" //or "www.parentpage.com"
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);
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}
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/*
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function client(str){
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var client_LearnString=new ROSLIB.Service({
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ros:ros,
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name:'/Service_LearnString',
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serviceType:'lu_ps20l_msgs/Srv_LearnString'
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});
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var request = new ROSLIB.ServiceRequest({
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Learn_String_Input:str
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});
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client_LearnString.callService(request,function(result) {
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document.getElementById('LeftLearnLineABIframe').contentWindow.postMessage(
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{
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event_id: 'client_response',
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data: {
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v1: result.result,
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v2: result.ROS_String_Output,
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v3: result.Rec_Learn_String_Input
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}
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},
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"*" //or "www.parentpage.com"
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);
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//console.log("AAA");
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//console.log(result.result);
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//console.log(result.ROS_String_Output);
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//console.log("BBB");
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});
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}*/
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function receiveMessage(event) {
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console.log(event);
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if(event.data.event_id=="client_response_left_learnlineab_main"){
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/*
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var v2=event.data.data.v2;
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console.log(v2);
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var v2_frame=v2.split(' ');
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var head=v2_frame[0];
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console.log(head);
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if(head=="CheckNode"){
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document.getElementById('LeftLearnLineABIframe').contentWindow.postMessage(
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event.data
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);
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}*/
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document.getElementById('LeftLearnLineABIframe').contentWindow.postMessage(
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event.data
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);
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return;
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}
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var frame=event.data.split('#');
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var head=frame[0].split(':');
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switch(head[0]){
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case 'LearnLineABSch0':
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{
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//var info=head[1].split('#');
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var data=head[1].split(',');
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PointA_rx=parseFloat(data[0]);
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PointA_ry=parseFloat(data[1]);
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PointA_rt=parseFloat(data[2]);
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PointA_Ref_NodeID=parseInt(data[3]);
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LearnLineAB_Sch=1;
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window.open('HMI_Sketch_Left_LearnLineAB_Sch1.html', 'LeftLearnLineABIframe');
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}break;
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case 'LearnLineABSch1':{
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//var info=head[1].split('#');
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//var data=info[0].split(',');
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var data=head[1].split(',');
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PointB_rx=parseFloat(data[0]);
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PointB_ry=parseFloat(data[1]);
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PointB_rt=parseFloat(data[2]);
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PointB_Ref_NodeID=parseInt(data[3]);
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LearnLineAB_Sch=2;
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window.open('HMI_Sketch_Left_LearnLineAB_Sch2.html', 'LeftLearnLineABIframe');
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}break;
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case 'LearnLineABSch2':{
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var data=head[1].split(',');
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StartNode=parseInt(data[0]);
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EndNode=parseInt(data[1]);
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Direction=data[2];
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S300_1_Enable=data[3];
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S300_1_Case=parseInt(data[4]);
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S300_2_Enable=data[5];
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S300_2_Case=parseInt(data[6]);
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TIM_1_Enable=data[7];
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TIM_1_Case=parseInt(data[8]);
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TIM_2_Enable=data[9];
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TIM_2_Case=parseInt(data[10]);
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SpeedType=parseInt(data[11]);
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CreatePairDirectionEnable=data[12];
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Auto_Charge_Enable=data[13];
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Plate_Check_Enable=data[14];
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Plate_Check_Enable_To_End_Dist_m=parseFloat(data[15]);
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ReverseSafeSensorEnable=data[16];
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//console.log(data+" "+"LearnLineABSch2S300_1_Case:"+S300_1_Case+ "S300_1_Enable"+S300_1_Enable);
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var str="CheckNode:"+
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StartNode+";"+
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+PointA_rx+";"
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+PointA_ry+";"
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+PointA_rt+";"
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+EndNode+";"
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+PointB_rx+";"
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+PointB_ry+";"
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+PointB_rt+";"
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//client(str);
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client_request_left_learnlineab_main(str);
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//LearnLineAB_Sch=3;
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//window.open('HMI_Sketch_Left_LearnLineAB_Sch3.html', 'LeftLearnLineABIframe');
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}break;
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case 'LearnLineABSch2_CheckNodeOK':{
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LearnLineAB_Sch=3;
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window.open('HMI_Sketch_Left_LearnLineAB_Sch3.html', 'LeftLearnLineABIframe');
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}break;
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case 'LearnLineABSch3':{
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var data=head[1];
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if(data=="OK"){
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var str="LearnLineAB:"
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+PointA_rx+";"
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+PointA_ry+";"
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+PointA_rt+";"
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+PointB_rx+";"
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+PointB_ry+";"
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+PointB_rt+";"
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+StartNode+";"
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+EndNode+";"
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+Direction+";"
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+LayerType+";"
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+CreatePairDirectionEnable+";"
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+S300_1_Enable+";"
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+S300_1_Case+";"
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+S300_2_Enable+";"
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+S300_2_Case+";"
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+TIM_1_Enable+";"
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+TIM_1_Case+";"
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+TIM_2_Enable+";"
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+TIM_2_Case+";"
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+SpeedType+";"
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+Auto_Charge_Enable+";"
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+Plate_Check_Enable+";"
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+Plate_Check_Enable_To_End_Dist_m+";"
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+ReverseSafeSensorEnable+";"
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+"#";
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//client(str);
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client_request_left_learnlineab_main(str);
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}
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LearnLineAB_Sch=4;
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window.open('HMI_Sketch_Left_LearnLineAB_Sch4.html', 'LeftLearnLineABIframe');
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//LearnLineAB_Main_Init();
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//window.open('HMI_Sketch_Left_LearnLineAB_Sch0.html', 'LeftLearnLineABIframe');
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}break;
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case 'LearnLineABSch4':{
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var data=head[1];
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if(data=="Continue") {
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LearnLineAB_Main_Init();
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window.open('HMI_Sketch_Left_LearnLineAB_Sch0.html', 'LeftLearnLineABIframe');
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}
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else{
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LearnLineAB_Main_Init();
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SketchLeftLearnLineABMainPostMessage("Main");
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}
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}break;
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}
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}
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window.addEventListener("message", receiveMessage, false);
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function Lu_Judge_Last_Speed_Direction(rx,ry,rt){
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var run_dist = Lu_Get_Dist(rx,ry,last_rx_tmp,last_ry_tmp);
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if(run_dist>0.2){
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var a = Lu_Judge_StartToEnd_SpeedDirection(last_rx_tmp,last_ry_tmp,rx,ry,rt);
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last_rx_tmp=rx;
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last_ry_tmp=ry;
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last_rt_tmp=rt;
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return a;
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}
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else{
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return 0;
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}
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}
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function Refresh(){
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Car_Global_rx=parseFloat($.cookie('Car_Global_rx'));
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Car_Global_ry=parseFloat($.cookie('Car_Global_ry'));
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Car_Global_Theta=parseFloat($.cookie('Car_Global_Theta'));
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if(LearnLineAB_Sch==1){
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Tmp_Speed_Direction=Lu_Judge_Last_Speed_Direction(Car_Global_rx,Car_Global_ry,Car_Global_Theta);
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Speed_Direction_Sum=Speed_Direction_Sum+Tmp_Speed_Direction;
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if(Speed_Direction_Sum>=0)Direction="Front";
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else Direction="Reverse";
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}
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//console.log("Speed_Direction_Sum="+Speed_Direction_Sum);
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document.getElementById('LearnLineAB_Sch').innerText='LearnLineAB_Sch='+LearnLineAB_Sch;
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document.getElementById('PointA_rx').innerText = 'PointA_rx=' + PointA_rx;
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document.getElementById('PointA_ry').innerText = 'PointA_ry=' + PointA_ry;
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document.getElementById('PointA_rt').innerText = 'PointA_rt=' + PointA_rt;
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document.getElementById('PointB_rx').innerText = 'PointB_rx=' + PointB_rx;
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document.getElementById('PointB_ry').innerText = 'PointB_ry=' + PointB_ry;
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document.getElementById('PointB_rt').innerText = 'PointB_rt=' + PointB_rt;
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document.getElementById('StartNode').innerText = 'StartNode=' + StartNode;
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document.getElementById('EndNode').innerText = 'EndNode=' + EndNode;
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document.getElementById('Direction').innerText = 'Direction=' + Direction;
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var str="LearnLineAB_Sch:"+LearnLineAB_Sch+";"+"PointA:"+PointA_rx+","+PointA_ry+","+PointA_rt+";"+"PointB:"+PointB_rx+","+PointB_ry+","+PointB_rt+";"+"Direction:"+Direction+"#";
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$.cookie("LearnLineAB_Sch",encodeURIComponent(str),{secure: true});//setCookie("LearnLineAB_Sch",encodeURIComponent(str),1000);
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//console.log(str);
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}
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function Timer(){
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Refresh();
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}
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window.setInterval("Timer()",100);
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</script>
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<title>Title</title>
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</head>
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<body>
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<div id='LearnLineAB_Sch'> </div>
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<div>
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<iframe id="LeftLearnLineABIframe" name="LeftLearnLineABIframe" width=100% height=560 src="HMI_Sketch_Left_LearnLineAB_Sch0.html" frameborder="2" scrolling="auto"></iframe>
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</div>
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<div id='PointA_rx'></div>
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<div id='PointA_ry'></div>
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<div id='PointA_rt'></div>
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<div id='PointB_rx'></div>
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<div id='PointB_ry'></div>
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<div id='PointB_rt'></div>
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<div id='StartNode'></div>
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<div id='EndNode'></div>
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<div id='Direction'></div>
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</body>
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<script src="../js/drag.js"></script>
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</html> |