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find.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="UTF-8">
<!-- load these links without specifying http or https -->
<link rel="stylesheet" type="text/css" href="scripts/jquery-ui.css"/>
<link rel="stylesheet" type="text/css" href="scripts/bootstrap.min.css"/>
<link rel="stylesheet" type="text/css" href="scripts/font-awesome.min.css"/>
<style>
*{
font-family: Verdana, Arial, sans-serif;
}
a:link {
color: #000;
text-decoration: none;
}
a:visited {
color: #000;
}
a:hover {
color: #33F;
}
.button {
background: -webkit-linear-gradient(top, #008dfd 0, #0370ea 100%);
border: 1px solid #076bd2;
border-radius: 3px;
color: #fff;
display: none;
font-size: 13px;
font-weight: bold;
line-height: 1.3;
padding: 8px 25px;
text-align: center;
text-shadow: 1px 1px 1px #076bd2;
letter-spacing: normal;
}
.center {
padding: 10px;
text-align: center;
}
.final {
color: black;
padding-right: 3px;
}
.cmd_err {
color: red;
}
.info {
font-size: 14px;
text-align: center;
color: #777;
display: none;
}
.right {
float: right;
}
.vcenter {
display: inline-block;
vertical-align: middle;
float: none;
}
#headline {
font-size: 40px;
font-weight: 300;
}
#info {
font-size: 20px;
text-align: center;
color: #777;
visibility: hidden;
}
#results {
font-size: 14px;
font-weight: bold;
border: 1px solid #ddd;
padding: 15px;
text-align: left;
min-height: 100px;
}
<!--.navbar-custom a {
color: white;
background-color: black;
}-->
#menu001.navbar-default .navbar-brand {
color: rgba(119, 119, 119, 1);
}
#menu001.navbar-default {
font-size: 20px;
background-color: rgba(224, 224, 224, 1);
border-width: 1px;
border-radius: 4px;
}
#menu001.navbar-default .navbar-nav>li>a {
color: rgba(119, 119, 119, 1);
background-color: rgba(248, 248, 248, 0);
padding-right:50px;
}
#menu001.navbar-default .navbar-nav>li>a:hover,
#menu001.navbar-default .navbar-nav>li>a:focus {
color: rgba(51, 51, 51, 1);
background-color: rgba(248, 248, 248, 0);
}
#menu001.navbar-default .navbar-nav>.active>a,
#menu001.navbar-default .navbar-nav>.active>a:hover,
#menu001.navbar-default .navbar-nav>.active>a:focus {
color: rgba(85, 85, 85, 1);
background-color: rgba(231, 231, 231, 1);
}
#menu001.navbar-default .navbar-toggle {
border-color: #ddd;
}
#menu001.navbar-default .navbar-toggle:hover,
#menu001.navbar-default .navbar-toggle:focus {
background-color: #ddd;
}
#menu001.navbar-default .navbar-toggle .icon-bar {
background-color: #888;
}
#menu001.navbar-default .navbar-toggle:hover .icon-bar,
#menu001.navbar-default .navbar-toggle:focus .icon-bar {
background-color: #888;
}
#robot-url {
font-size: 25px;
}
#url {
font-size: 25px;
}
</style>
</div>
</head>
<body onload="init()">
<div class="page-header" style="text-align:center;margin-bottom:0" role="navigation">
<h1><b>Robot Control </b></h1>
<h2>Speak or Click </h2>
</div>
<div id="menu001" class="navbar navbar-default" role="navigation" >
<div class="container-fluid">
<div class="navbar-header">
<button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".navbar-menubuilder">
<span class="sr-only">Toggle navigation</span><span class="icon-bar"></span><span class="icon-bar"></span><span class="icon-bar"></span>
</button>
</div>
<div class="collapse navbar-collapse navbar-menubuilder">
<ul class="nav navbar-nav navbar-left">
<li><a href="/">Home</a>
</li>
<li class="dropdown">
<a href="#" class="dropdown-toggle" data-toggle="dropdown" role="button" onclick="setWakeupButton()" aria-expanded="false">Settings <span class="caret"></span></a>
<ul class="dropdown-menu" role="menu">
<li><a href="#" id="muteButton" role="button" onclick="mute()"> Mute </a></li>
<li><a href="#" id="wakeupButton" role="button" onclick="toggleWakeup()"> nil</a></li>
<li><a href="#" id="showUnrecognizedButton" role="button" onclick="toggleUnrecognized()">Show Unrecognized Speech</a></li>
<li><a href="#" id="simulatorButton" role="button" onclick="toggleSimulator()">Not using topics for simulator</a></li>
<!--
<li><a href="#">Another action</a></li>
<li><a href="#">Something else</a></li>
<li class="divider"></li>
<li><a href="#">Separated link</a></li>
<li class="divider"></li>
<li><a href="#">One more separated link</a></li>
/-->
</ul>
</li>
<li><a href="#" data-toggle="modal" data-target="#helpModal">Help</a>
</li>
<li><a href="#" data-toggle="modal" data-target="#aboutModal">About</a>
</li>
</ul>
</div>
</div>
</div>
<div class="container-fluid">
<form role="form" class="form-horizontal" autocomplete="on" onsubmit="connect()">
<div id="robot-url" class="form-group form-group-lg">
<label for="robotUrlEntry" class="control-label col-xs-3">Robot URL:</label>
<div class="col-xs-6">
<input type="url" name="url" id="robotUrlEntry" class="form-control input-lg"
placeholder="https://" />
</div>
<div class="col-xs-3">
<button type="button" id="connectButton" class="btn btn-primary btn-lg" style="font-size:25" onclick="connect()">
<strong>Connect</strong></button>
</div>
</div>
</form>
</div>
<div id="speed-label"></div>
<div id="speed-slider"></div>
<div class="container-fluid">
<div class="row">
<div class="col-xs-4">
</div>
<div class="col-xs-4" style="text-align:center">
<p><a class="fa fa-arrow-up fa-5x" id="arrowUp" onclick="arrowUp()" data-toggle="tooltip" data-placement="left" title="Forward"></a>
</p>
</div>
</div>
<div class="row">
<div class="col-xs-4" style="text-align:center">
<p><a class="fa fa-rotate-left fa-5x vcenter" onclick="arrowLeft() "data-toggle="tooltip" data-placement="left" title="Rotate Left"></a>
</p>
</div>
<div class="col-xs-4" style="text-align:center">
<span id='start_button' class="fa-stack fa-4x vcenter"
onclick="startButton(event)" alt="Start">
<i id='mic-bg' class="fa fa-circle fa-stack-2x" style="color:#A8A8A8;"></i>
<i id='mic' class="fa fa-microphone fa-stack-1x fa-inverse"></i>
<i id='mic-slash' class="fa fa-microphone-slash fa-stack-1x
fa-inverse" style="display:none;"></i>
</span>
</div>
<div class="col-xs-4 vcenter" style="text-align:center">
<p><a class="fa fa-rotate-right fa-5x" onclick="arrowRight()"data-toggle="tooltip" data-placement="left" title="Rotate Right" ></a>
</p>
</div>
</div>
<div class="row">
<div class="col-xs-4">
</div>
<div class="col-xs-4 vcenter" style="text-align:center">
<p><a class="fa fa-arrow-down fa-5x" onclick="arrowDown()" data-toggle="tooltip" data-placement="left" title="Back"></a>
</p>
</div>
</div>
<div class="row">
<div class="col-xs-2">
</div>
<div class="col-xs-8 vcenter" style="text-align:center">
<button type="button" class="btn btn-danger btn-lg btn-block" style="font-size:25" onclick="stopButton()">
<strong>Stop</strong></button>
</div>
</div>
<div id="info" >
<p id="info_none"><br><br></p>
<p id="info_start">Click on the microphone and begin speaking.</p>
<p id="info_speak_now">Speak now.<br><br></p>
<p id="info_no_speech">No speech was detected. You may need to adjust your
<a href="//support.google.com/chrome/bin/answer.py?hl=en&answer=1407892">
microphone settings</a>.</p>
<p id="info_no_microphone" style="display:none">
No microphone was found. Check that one is installed and that
<a href="//support.google.com/chrome/bin/answer.py?hl=en&answer=1407892">
microphone settings</a> are correct.</p>
<p id="info_allow">Click the "Allow" button to enable your microphone. Using the https version helps avoid this.</p>
<p id="info_denied">Permission to use microphone was denied.</p>
<p id="info_blocked">Permission to use microphone is blocked. To change, go to chrome://settings/contentExceptions#media-stream</p>
<p id="info_upgrade">This browser doesn't support the Web Speech API. Use <a href="//www.google.com/chrome">Chrome</a> version 25 or later.</p>
</div>
<div class="modal" id="helpModal" tabindex="-1" role="dialog" aria-labelledby="basicModal" aria-hidden="true">
<div class="modal-dialog">
<div class="modal-content">
<div class="modal-header">
<button type="button" class="close" data-dismiss="modal" aria-hidden="true">×</button>
<h4 class="modal-title" id="usingSpeech"><strong>Using Speech Commands</strong></h4>
</div>
<div class="modal-body">
<p id="commandHeader"><strong>Commands</strong></p>
<p>forward, keep going, go ahead, go straight, go</p>
<p>reverse, back, backward, go back</p>
<p>forward/reverse etc., ____ meters/centimeters/feet</p>
<p>turn right</p>
<p>turn left</p>
<p>rotate right (may add "n degrees")</p>
<p>rotate left (may add "n degrees")</p>
<p>stop, halt</p>
<p>faster, speed up</p>
<p>slower, slow down</p>
<p>find _____ </p>
<p>waypoint ____ (waypoint name)</p>
<p>go to ____ (waypoint name)</p>
<p>remove waypoint ____ (waypoint name)</p>
<p>list waypoints</p>
<p>help</p>
</div>
<div class="modal-footer">
<button type="button" class="btn btn-default" data-dismiss="modal">Close</button>
</div>
</div>
</div>
</div>
<div class="modal" id="aboutModal" tabindex="-1" role="dialog" aria-labelledby="basicModal" aria-hidden="true">
<div class="modal-dialog">
<div class="modal-content">
<div class="modal-header">
<button type="button" class="close" data-dismiss="modal" aria-hidden="true">×</button>
<h4 class="modal-title" id="aboutSpeech">About Speech Commands</h4>
</div>
<div class="modal-body">
<p>Speech Commands was written for the Ubiquity Robotics robots. It should support any ROS robot.</p>
<p>Author: Joe Landau jrlandau@gmail.com</p>
<p>Repository: https://github.com/UbiquityRobotics/speech_commands</p>
</div>
<div class="modal-footer">
<button type="button" class="btn btn-default" data-dismiss="modal">Close</button>
</div>
</div>
</div>
</div>
<div id="dash">
<div id="speed_span" "Speed factor 1.00" class="final"></div>
</div>
<div id="results">
Command Log:
<div style="height: 100px; overflow: auto;">
<table id="commandLog">
</table>
</div>
<br>
</div>
<!-- Extra button for testing stuff
<div class="col-xs-3">
<button type="button" id="testButton" class="btn btn-primary btn-lg" style="font-size:25" onclick="paramdump ()">
<strong>Test Paramdump</strong></button>
</div>
-->
<!------------
<p>Note: To test using the turtle simulator, change the variable topicName to '/turtle1/cmd_vel'. Run the following commands in the terminal, then refresh this page.</p>
<ol>
<li><tt>roscore
</li>
<li><tt>rosrun turtlesim turtlesim_node
</li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt>
</li>
<li><tt>use "rostopic echo /turtle1/cmd_vel" to see the results</tt>
</li>
</ol>
<p>Check the JavaScript console for additional output.</p>
-->
<script type="text/javascript" src="scripts/jquery.min.js"></script>
<script type="text/javascript" src="scripts/bootstrap.min.js"></script>
<script type="text/javascript" src="scripts/jquery-ui.min.js"></script>
<script type="text/javascript" src="scripts/eventemitter2.min.js"></script>
<script type="text/javascript" src="scripts/roslib.min.js"></script>
<script type="text/javascript" src="scripts/bootbox.min.js"></script>
<script type="text/javascript">
var connected=false;
var recognizing = false;
var recognition;
var total_recognized = 0;
var noRestartReco;
var startTimestamp;
var ros; // this will be the connection to Ros
var topicName = '/cmd_vel'; // topic name for the UR robots
// var topicName = '/cmd_vel_mux/input/navi'; // topic name for the Stage simulator
// var topicName = '/turtle1/cmd_vel'; // this allows testing with turtlesim
var useSimulator = false; // whether simulator is used
var speedFactor = 1.0; // multiplies or divides speed to go faster or slower
var linearSpeed = 0.5, angularSpeed = 1.0; // initial speed
var linearRepeat = 1, angularRepeat = 1; // number of times to repeat command
var repeatInterval = 500; // wait time between repeats, in ms
var stopMotion = true;
var robotUrl;
var muted = false;
var wakeup = ["robot", "loki", "magni"];
var useWakeup = false;
var showUnrecognized = false;
var mic, micSlash, micBg;
function setMicInactive() {
micBg.style.color = "Gray";
micSlash.style.display = "none";
}
function setMicActive() {
micBg.style.color="#00cc00"; // green
micSlash.style.display = "none";
}
function setMicOff() {
micBg.style.color = "Gray";
micSlash.style.display = "inline";
}
function addLog(text, textColor) {
var table = document.getElementById("commandLog");
var row = table.insertRow(0);
var cell1 = row.insertCell(0);
if (textColor) {
cell1.style.color = "red";
}
cell1.innerHTML = text;
}
/**
* Setup GUI elements when the page is loaded.
*/
function init() {
var temp;
micBg = document.getElementById("mic-bg");
mic = document.getElementById("mic");
micSlash = document.getElementById("mic-slash");
if (localStorage.firstResultOK === undefined) {
localStorage.firstResultOK = 0;
}
if (localStorage.otherResultOK === undefined) {
localStorage.otherResultOK = 0;
}
if (localStorage.robotUrl !== undefined) {
temp = localStorage.robotUrl; // use the last robot address
} else {
temp = "wss://" + location.hostname + ":9090"; //guess at it
}
document.getElementById("robotUrlEntry").value = temp;
if (window.SpeechSynthesisUtterance === undefined) {
muted = true;
}
showInfo ("info_none");
}
function say (words) {
var wasRecognizing = false;
var stowabool;
if (muted === false) {
stowabool = noRestartReco;
if (recognizing) {
wasRecognizing = true;
noRestartReco = true; //test
recognition.stop ();
}
var u = new SpeechSynthesisUtterance();
u.text = words;
u.lang = 'en-US';
u.rate = 1.1;
u.pitch = 1.0;
u.default = true;
u.localService = true;
u.onend = function(event) {
if (wasRecognizing) {
recognition.start ();
}
noRestartReco = stowabool;
}
speechSynthesis.speak(u);
}
}
function connect() {
var connectButton;
if (connected) { // disconnect
ros.close();
} else {
robotUrl = document.getElementById("robotUrlEntry").value.trim();
if (robotUrl == '') {
bootbox.alert ("Please supply the robot's URL and port");
return;
}
robotUrl = robotUrl.replace("https:", "wss:");
robotUrl = robotUrl.replace("http:", "ws:");
if ((robotUrl.slice (0,5) != "wss://") && (robotUrl.slice (0,4) != "ws://") &&
(robotUrl.charAt(robotUrl.length - 5) != ":")) {
var r = bootbox.alert
("The robot's URL should begin with http, https, ws, or wss, " +
"and end with a port number, like ':9090'.");
return;
}
ros = new ROSLIB.Ros({ // Connecting to ROS.
url: robotUrl
});
}
ros.on('connection', function() {
var connectButton;
console.log ('Connected to websocket server.');
localStorage.robotUrl = robotUrl;
connectButton = document.getElementById("connectButton");
connectButton.innerHTML = "Disconnect";
connectButton.style.background="#00cc00"; // green
say ('connected');
connected = true;
});
ros.on('error', function(error) {
console.log (error);
say ('Darn. We failed to connect.');
//none of the following work...
//alert (error.stack);
//alert (error.message);
//alert (JSON.stringify(error));
bootbox.alert ('Error connecting to websocket server. ' + error);
});
ros.on('close', function() {
var connectButton;
if (connected) { // throw away a second call
connected = false;
connectButton = document.getElementById("connectButton");
connectButton.style.background = "#006dcc";
connectButton.innerHTML = "Connect";
say ('connection closed');
console.log('Connection to websocket server closed.');
}
});
}
function startRecognition () {
if (!('webkitSpeechRecognition' in window)) {
showInfo ('info_upgrade');
} else {
recognition = new webkitSpeechRecognition();
recognition.continuous = true;
recognition.interimResults = false;
recognition.maxAlternatives = 10;
showInfo('info_start');
recognition.onstart = function() {
recognizing = true;
showInfo('info_speak_now');
console.log('onstart');
setMicActive ();
};
recognition.onerror = function(event) {
console.log('speech recognition error:' + ' ' + event.error);
if (event.error == 'no-speech') {
setMicInactive ();
// showInfo('info_no_speech');
noRestartReco = false;
}
if (event.error == 'audio-capture') {
setMicInactive ();
showInfo('info_no_microphone');
noRestartReco = true;
}
if (event.error == 'not-allowed') {
if (event.timeStamp - startTimestamp < 100) {
showInfo('info_blocked');
} else {
showInfo('info_denied');
}
noRestartReco = true;
}
}
recognition.onend = function() {
console.log('onend; ' + (noRestartReco ? "dont restart" : "do restart"));
recognizing = false;
if (noRestartReco) {
return;
}
showInfo('');
restartReco();
}
recognition.onresult = function(event) {
console.log('recognition.onresult');
function getDistance (quantity, what) {
var howmany;
howmany = Number(quantity);
if (isNaN(howmany)) {
if (quantity == "to" || quantity == "too") {
howmany = 2;
} else if (quantity == "for") {
howmany = 4;
} else {
return 0;
}
}
if (what == "meters" || what == "meter") {
return (howmany);
} else if (what == "centimeters" || what == "centimeter") {
return howmany * 0.01;
} else if (what == "feet" || what == "foot") {
return howmany * 0.3048; // converts feet to meters
} else if (what == "degrees" || what == "degree") {
return howmany * Math.PI / 180;// convert to radians
} else {
return 0;
}
}
var commands = '';
var x = 0, y = 0, z = 0; // linear x and y movement and angular z movement
var commandFound = false;
var result;
var topCandidate = "";
var allResults = "";
var dist = 0;
var altNumber;
if (event.results.length > 0) { // we have an array of recognition candidates
result = event.results[0];
if (recognition.continuous == true) {recognition.stop ()}
testAllCandidates:
for (var i = 0; i < result.length; ++i) {
candidate = result[i].transcript.toLowerCase().trim();
var words = candidate.match(/[-\w]+/g); // parses candidate to array of words
if (useWakeup) {
if (wakeup.indexOf (words[0]) >= 0) { // if the first word is a wakeup word
words.splice (0,1); // remove it
if (i == 0) {
topCandidate = words.join(' ');
}
} else {
continue;
}
}
if (words.length >= 2) {
if (words[0] == 'go' && words[1] != 'to' && words[1] != 'home') {
words.splice (0,1); // remove superfluous "go"
}
}
commandFound = true;
testCandidate: switch (words [0]){
case 'forward':
case 'foreword':
case 'keep going':
case 'ahead':
case 'straight':
case 'go':
if (words.length == 1) {
x = linearSpeed;
sendTwistMessage (x, z);
} else if (words.length == 3) {
dist = getDistance (words[1], words[2]); // accept meters, translate feet --> meters
commandFound = (dist > 0);
if (dist > 0) {
moveRobotFromPose (dist, 0); // move dist meters
}
} else {
commandFound = false;
}
break testCandidate;
case "reverse":
case "backward":
case "back":
if (words.length == 1) {
x = -linearSpeed;
sendTwistMessage (x, z);
} else if (words.length == 3) {
dist = -getDistance (words[1], words[2]); // accept meters, feet --> meter
commandFound = (dist < 0);
if (dist < 0) {
moveRobotFromPose (dist, 0); // move dist meters
}
} else {commandFound = false;
}
break testCandidate;
case "rotate":
if (words.length == 2 ) {
dist = angularSpeed;
} else if (words.length == 4) {
dist = getDistance (words[2], words[3]); // accept number of degrees
} else {
commandFound = false;
break testCandidate;
}
if (dist <= 0) {
commandFound = false;
break testCandidate;
}
rotswitch: switch (words [1]) {
case "right":
//z = -dist;
sendTwistMessage (0, -dist);
break rotswitch;
case "left":
sendTwistMessage (0, dist);
//z = dist;
break rotswitch;
default:
commandFound = false;
break testCandidate;
}
// sendTwistMessage (x, z);
break testCandidate;
case "turn":
turnswitch: switch (words [1]) {
case "right":
z = -angularSpeed;
break turnswitch;
case "left":
z = angularSpeed;
break turnswitch;
default:
commandfound = false;
break testCandidate;
}
x = linearSpeed;
sendTwistMessage (x, z);
break testCandidate;
case "stop":
case "halt":
stopMotion = true;
sendTwistMessage (0, 0);
cancelRobotMove ();
break testCandidate;
case "faster":
speedFactor *= 1.1;
speed_span.innerHTML = "Speed factor " + speedFactor.toFixed(2);
break testCandidate;
case "speed":
if (words [1] == "up") {
speedFactor *= 1.1;
speed_span.innerHTML = "Speed factor " + speedFactor.toFixed(2);
} else {
commandFound = false;
}
break testCandidate;
case "slower":
speedFactor /= 1.1;
speed_span.innerHTML = "Speed factor " + speedFactor.toFixed(2);
break testCandidate;
case "slow":
if (words [1] == "down") {
speedFactor /= 1.1;
speed_span.innerHTML = "Speed factor " + speedFactor.toFixed(2);
} else {
commandFound = false;
}
break testCandidate;
case "help":
$('#helpModal').modal('show');
break testCandidate;
case "find":
if (words [0] == "find"){
commandFound = true; // prevent the error msg
var find = words.slice(1).join(" ");
var chatter = new ROSLIB.Topic({
ros : ros,
name : '/chatter',
messageType : 'std_msgs/String'
});
var object = new ROSLIB.Message({
"data" : JSON.stringify(find)
});
chatter.publish(object);
}
break testAllCandidates;
default:
commandFound = false;
break testCandidate;
}
// it may yet be a waypoint command
if (!commandFound) {
if (words && words.length > 1) {
if (words [0] == "waypoint") { // it is a waypoint command, to set a waypoint
commandFound = true; // prevent the error msg
var waypoint = words.slice(1).join(" ");
bootbox.dialog({
message: waypoint,
className: "bootbox-msg",
title: "Please confirm the waypoint name ",
closeButton: false,
buttons: {
danger: {
label: "No",
className: "btn-danger",
callback: function() {
}
},
success: {
label: "OK",
className: "btn-success",
callback: function() {
setWaypoint (waypoint);
}
}
}
});
} else if (words.length > 2 && words[0] == "go" && words[1] == "to") { // go to waypoint
commandFound = true;
goToWaypoint (words.slice(2).join(" "));
} else if (words.length > 2 && words[0] == "remove" && words[1] == "waypoint") { // remove waypoint
commandFound = true;
SetWaypointZero (words.slice(2).join(" "));
} else if (words.length == 2 && words[0] == "list" && words[1] == "waypoints") { // list the waypoints
commandFound = true;
listWaypoints ();
} else if (words.length == 2 && words[0] == "go" && words[1] == "home") { // go home
commandFound = true;
goToWaypoint ("home");
}
}
}
allResults += "/" + candidate;
if (commandFound === true) {
altNumber = i;
break testAllCandidates;
}
} // end of for loop
console.log (allResults);
if (showUnrecognized) {addLog (allResults);}
if (commandFound) { // publish the command
commands = candidate + " (alt. #" + (altNumber + 1) + " of " + results.length + ") " + commands;
commands = commands.slice(0, 50);
//final_span.innerHTML = "Commands ["+ total_recognized + "]: " + commands;
//cmd_err_span.innerHTML = "";
total_recognized++;
addLog (commands);
// Research: Keep count of how often we used the first result
if (altNumber == 0) {
localStorage.firstResultOK = Number(localStorage.firstResultOK) + 1;
} else {
localStorage.otherResultOK = Number(localStorage.otherResultOK) + 1;
}
console.log ("First answer recognition rate is " + ((100 * Number(localStorage.firstResultOK)) /
(Number(localStorage.firstResultOK) + Number(localStorage.otherResultOK))).toFixed(2) + "%");
} else if (topCandidate != "") {
addLog (topCandidate.toLowerCase() + " is not recognized as a command", "red");
}
}
} // end of onresult
}
} // end of function startRecpgnition
/*
var teleop = new KEYBOARDTELEOP.Teleop({
ros: ros,
topic: '/base_controller/command'
});
// Create a UI slider using JQuery UI.
$('#speed-slider').slider({
range: 'min',
min: 0,
max: 100,
value: 90,
slide: function(event, ui) {
// Change the speed label.
$('#speed-label').html('Speed: ' + ui.value + '%');
// Scale the speed.
teleop.scale = (ui.value / 100.0);
}
});
// Set the initial speed .
$('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + '%');
teleop.scale = ($('#speed-slider').slider('value') / 100.0);
}
*/
function showInfo(s) {
if (s) {
for (var child = info.firstChild; child; child = child.nextSibling) {
if (child.style) {
child.style.display = child.id == s ? 'inline' : 'none';
}
}
info.style.visibility = 'visible';
} else {
info.style.visibility = 'hidden';
}
}
function startButton(event) {
console.log('startButton event');
if (recognizing) {
recognition.stop();
console.log('recognition stopped');
noRestartReco = true;
setMicInactive()
showInfo('info_none');
return;
}
if (!(recognition || 0)) {
startRecognition ();
}
if (recognition || 0) {
recognition.lang = "en-US";
recognition.start();
noRestartReco = false;
//final_span.innerHTML = '';
//cmd_err_span.innerHTML = '';
setMicOff ()
showInfo('info_allow');
// showButtons('none');
startTimestamp = event.timeStamp;
}
}
function restartReco() {
// console.log('restart recognition');
recognition.start();
noRestartReco = false;
recognizing = true;
setMicActive ();
}
// var current_style;
//
// function showButtons(style) {
// if (style == current_style) {
// return;
// }
// current_style = style;
// copy_button.style.display = style;
// email_button.style.display = style;
// copy_info.style.display = 'none';
// email_info.style.display = 'none';
// }
function sendTwistMessage(xMove, zMove) {
console.log ("sending twist x:" + xMove + " z:" + zMove);
// linear x and y movement and angular z movement
var cmdVel = new ROSLIB.Topic({
ros : ros,
name : topicName,
messageType : 'geometry_msgs/Twist'
});
var twist = new ROSLIB.Message({
linear: {
x: xMove*speedFactor,
y: 0.0,
z: 0.0
},
angular: {
x: 0.0,
y: 0.0,
z: zMove*speedFactor
}
});
var reps = Math.max (1, Math.abs (twist.linear.x) > 0 ? linearRepeat : (Math.abs (twist.angular.z) > 0 ? angularRepeat : 1));
if (typeof cmdVel.ros != "undefined") { // this would be if we are not connected
stopMotion = false;
publishCmd ();
}
function publishCmd() {
if (!stopMotion) {
cmdVel.publish (twist);
if (reps > 1) {
setTimeout (publishCmd, repeatInterval);
reps = reps - 1;
}
}
}
}
function arrowUp () {
sendTwistMessage (linearSpeed, 0.0);
addLog ("forward button");
}
function arrowDown () {
sendTwistMessage (-linearSpeed, 0.0);
addLog ("back button");
}
function arrowRight () {
sendTwistMessage (0, -angularSpeed);
addLog ("rotate right button");
}
function arrowLeft () {
sendTwistMessage (0, angularSpeed);
addLog ("rotate left button");
}
function stopButton () {
stopMotion = true;
cancelRobotMove ();
addLog ("stop button");
sendTwistMessage (0.0, 0.0);
}
// ----------------------------------------------------------------------
// Waypoints