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run_instruction.js
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run_instruction.js
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function run_instruction_move_all_joints_args_string(vals, relative=false){
let result = ""
for(let j = 1; j <= 7; j++){
let id_str = "J" + j + "_id"
let val = vals[id_str]
if (val == null) { val = (relative? "0": "[0]") }
else { val = "" + val }
result += val
if (j < 7) { result += ", " }
}
return "[" + result + "]"
}
function run_instruction_move_to_args_string(vals){
const xyz = "[" +
((vals.X_id || (vals.X_id == 0)) ? vals.X_id : "[0]") + ", " +
((vals.Y_id || (vals.Y_id == 0)) ? vals.Y_id : "[0]") + ", " +
((vals.Z_id || (vals.Z_id == 0)) ? vals.Z_id : "[0]") +
"]"
const J5_dir = "[" + ((vals.angles_xyz == "angles") ?
vals.J5_direction_x_angle_id + ", " + vals.J5_direction_y_angle_id :
vals.J5_direction_xyz_x_id + ", " + vals.J5_direction_xyz_y_id + ", " + vals.J5_direction_xyz_z_id) +
"]"
const config = "Dexter." + vals.left_right + "_" + vals.up_down + "_" + vals.in_out
return xyz + ", " + J5_dir + ", " + config
}
function handle_run_instruction(vals){
const dex_name = vals.dex_name_id
const dex = Robot[dex_name]
var instr_src = ""
if (vals.clicked_button_value == "Insert Dexter Def") {
insert_dexter_def(vals.dex_name_id)
return
}
else if (vals.clicked_button_value == "mode_name") {
instr_src = vals[vals.clicked_button_value]
}
else if (vals.clicked_button_value == "Empty Instr Queue"){
instr_src = "Dexter.empty_instruction_queue_immediately()"
}
else if (vals.clicked_button_value == "move_to"){
instr_src = "Dexter.move_to(" + run_instruction_move_to_args_string(vals) + ")"
}
else if (vals.clicked_button_value == "move_to_relative"){
const arg = "[" +
(vals.X_id ? vals.X_id : 0) + ", " +
(vals.Y_id ? vals.Y_id : 0) + ", " +
(vals.Z_id ? vals.Z_id : 0) +
"]"
instr_src = "Dexter.move_to_relative(" + arg + ")"
}
else if (vals.clicked_button_value == "move_all_joints"){
const arg = run_instruction_move_all_joints_args_string(vals) //[vals.J1_id, vals.J2_id, vals.J3_id, vals.J4_id, vals.J5_id]
instr_src = "Dexter.move_all_joints(" + arg + ")"
}
else if (vals.clicked_button_value == "move_all_joints_relative"){
const arg = run_instruction_move_all_joints_args_string(vals, true)
instr_src = "Dexter.move_all_joints_relative(" + arg + ")"
}
else if (vals.clicked_button_value == "set_parameter"){
instr_src = 'Dexter.set_parameter("' + vals.set_param_name_id + '", ' + vals.set_param_value + ")"
}
else if (vals.clicked_button_value == "dexter_instructions_id"){
const sel_instr_name = vals.dexter_instructions_id
if(sel_instr_name == "Dexter.move_to_straight"){
instr_src = "Dexter.move_to_straight(" + run_instruction_move_to_args_string(vals) + ")"
}
else if(sel_instr_name == "Dexter.move_to"){
instr_src = "Dexter.move_to(" + run_instruction_move_to_args_string(vals) + ")"
}
else if(sel_instr_name == "Dexter.move_to_relative"){
const arg = [vals.X_id, vals.Y_id, vals.Z_id]
instr_src = "Dexter.move_to_relative([" + arg + "])"
}
else if(sel_instr_name == "Dexter.move_all_joints"){
const arg = run_instruction_move_all_joints_args_string(vals)
instr_src = "Dexter.move_all_joints(" + arg + ")"
}
else if(sel_instr_name == "Dexter.move_all_joints_relative"){
const arg = run_instruction_move_all_joints_args_string(vals, true)
instr_src = "Dexter.move_all_joints_relative(" + arg + ")"
}
else if(sel_instr_name == "Dexter.set_parameter"){
instr_src = 'Dexter.set_parameter("' + vals.set_param_name_id + '", ' + vals.set_param_value + ")"
}
else {
instr_src = vals.dexter_instructions_id + "(" + ")"
}
}
else if (vals.clicked_button_value == "run"){
instr_src = src_of_run_instruction()
}
else if (vals.clicked_button_value == "insert"){
Editor.insert(src_of_run_instruction() + "\n")
return
}
else if (vals.clicked_button_value == "job"){
let src = vals.mode_name
let src_of_run_ins = src_of_run_instruction()
if (src_of_run_ins != src) {
src += ",\n " + src_of_run_ins
}
src = '\nnew Job({name: "my_job",\n' +
' robot: Robot.' + vals.dex_name_id + ',\n' +
' do_list: [' + src +
'\n ]})\n'
Editor.insert(src)
return
}
var args_source = instr_src.substring(instr_src.indexOf("(") + 1, instr_src.length - 1)
run_src_id.value = args_source
var instr_name = instr_src.substring(0, instr_src.indexOf("("))
var instr_select_index = null
for(var i = 0; i < dexter_instructions_id.options.length; i++){
var opt_elt = dexter_instructions_id.options[i]
if (opt_elt.value == instr_name) {
instr_select_index = i
break
}
}
dexter_instructions_id.selectedIndex = instr_select_index
onchange_run_instruction_src_aux(instr_name)
if (vals.clicked_button_value != "dexter_instructions_id"){
var instr = eval(instr_src)
dex.run_instruction_fn(instr)
}
}
function onchange_run_instruction_src(){
const instr_name = dexter_instructions_id.value
onchange_run_instruction_src_aux(instr_name)
run_src_id.value = ""
}
function onchange_run_instruction_src_aux(instr_name){
const instr_fn = value_of_path(instr_name)
const instr_params = trim_all(function_params(instr_fn))
var font_size = "14px"
if (instr_params.length > 80) {
font_size = "10px"
}
run_instruction_params_id.style.fontSize = font_size
run_instruction_params_id.innerHTML = instr_params
const details_elt_name = instr_name + "_doc_id"
const details_elt = window[details_elt_name]
if (details_elt) { open_doc(details_elt) }
}
function src_of_run_instruction(){
return dexter_instructions_id.value + "(" + run_src_id.value + ")"
}
function make_robots_select_html(){
var result = "<select name='dex_name_id' style='font-size:14px;width:130px;'>"
for(let name of Dexter.all_names){
result += "<option>" + name + "</option>"
}
result += "</select>"
return result
}
function make_modes_select_html(){
var result = "<select name='mode_name' title='Changing this will send a mode change instruction to Dexter.' " +
"style='font-size:14px;width:200px;margin:8px;' data-onchange='true'>"
for(let name of ["set_open_loop", "set_follow_me", "set_force_protect", "set_keep_position"]){
result += "<option>Dexter." + name + "()</option>"
}
result += "</select>"
return result
}
function make_set_parameter_name_html(){
let result = '<div id="set_param_name_id" class="combo_box" style="display:inline-block;vertical-align:middle;width:130px;">'
for(let param_name of Series.id_to_series("series_set_parameter_name_id").array){
result += "<option>" + param_name + "</option>"
}
result += "</div>"
return result
}
function make_dexter_instructions_html(){
let result = '<select id="dexter_instructions_id" style="width:170px;" data-onchange="true">' // onchange="onchange_run_instruction_src()"
for(let instr_name of Series.id_to_series("series_robot_instruction_id").array){
if(!instr_name.startsWith("Serial")) {
result += "<option>" + instr_name + "</option>"
}
}
result += "</select>"
return result
}
function J5_direction_to_xyz_html(){
const new_xyz = Kin.angles_to_dir_xyz(J5_direction_x_angle_id.value, J5_direction_y_angle_id.value)
const html = 'x: <input id="J5_direction_xyz_x_id" type="number" value="' + new_xyz[0] + '" step="0.1" style="width:75px;"/><br/>' +
'y: <input id="J5_direction_xyz_y_id" type="number" value="' + new_xyz[1] + '" step="0.1" style="width:75px;"/><br/>' +
'z: <input id="J5_direction_xyz_z_id" type="number" value="' + new_xyz[2] + '" step="0.1" style="width:75px;"/>'
J5_direction_args_id.innerHTML = html
return html
}
function J5_direction_to_angles_html(){
var new_angles = [0, 0]
if (window.J5_direction_xyz_x_id) {
const xyz_array = [J5_direction_xyz_x_id.value, J5_direction_xyz_y_id.value, J5_direction_xyz_z_id.value]
if ((xyz_array[0] == 0) && (xyz_array[1] == 0) && (xyz_array[2] == -1)){
new_angles = [0, 0]
}
else {
try { new_angles = Kin.dir_xyz_to_angles(xyz_array)
}
catch(err){
warning("Cannot convert J5_direction from xyz: " + xyz_array + " to angles<br/>" +
"because they contain singularities at 90 degrees.")
angles_xyz_xyz_id.checked = "checked" //set radio button back to where it should be, ie "unchanged"
return
}
}
}
const html = 'x: <input id="J5_direction_x_angle_id" type="number" value="' + new_angles[0] + '" step="5" style="width:75px;" checked /><br/>' +
'y: <input id="J5_direction_y_angle_id" type="number" value="' + new_angles[1] + '" step="5" style="width:75px;"/>'
J5_direction_args_id.innerHTML = html
}
function insert_dexter_def(dex_name){
let ip_addr = Robot[dex_name].ip_address
Editor.insert('new Dexter({' +
'name: "' + dex_name +
'",\n ip_address: "' + ip_addr + '"})')
}
function run_instruction(){
show_window({content:
"Send instruction to: " +
make_robots_select_html() +
" <input type='button' value='Insert Dexter Def' " +
"title='Insert the definition of the selected Dexter into the editor.' " +
"/>" +
`<br/>
Change mode to:` + make_modes_select_html() +
'<input type="button" value="Empty Instr Queue" title="Dexter.empty_instruction_queue_immediately()"/>' +
`<table>
<tr><td><input type="button" value="move_to" title="Dexter.move_to(xyz, ...)"/>
<input type="button" value="rel" name="move_to_relative" title="Dexter.move_to_relative(delta_xyz)"/>
</td>
<td><input type="button" value="move_all_joints" title="Dexter.move_all_joints(array_of_angles)"/>
<input type="button" value="rel" name="move_all_joints_relative" title="Dexter.move_all_joints_relative(delta_angles)"/>
</td>
<td><input type="button" value="set_parameter" title="Dexter.set_parameter(name, value)"/></td>
</tr>
<tr><td>X:<input name="X_id" type="number" value=0 title="Blank means no change." step="0.01" style="width:90px;"/><br/>
<span style="margin-left:20px;font-size:10px;">meters</span>
</td>
<td>J1: <input id="J1_id" type="number" value=0 title="Blank means no change." min="Dexter.J1_ANGLE_MIN" max="Dexter.J1_ANGLE_MAX" step="5" style="width:90px;"></input>
<br style="height:10px;"/><span id="J1_range_id" style="font-size:10px;margin:0;padding-left:30px; padding-top:0px; padding-bottom:0px;"></span></td>
<td>Name: ` + make_set_parameter_name_html() + `</td>
</tr>
<tr><td>Y:<input name="Y_id" type="number" value=0.5 title="Blank means no change." step="0.01" style="width:90px;"/><br/>
<span style="margin-left:20px;font-size:10px;">meters</span></td>
<td>J2: <input id="J2_id" type="number" value=0 title="Blank means no change." min="Dexter.J2_ANGLE_MIN" max="Dexter.J2_ANGLE_MAX" step="5" style="width:90px;"/>
<br/><span id="J2_range_id" style="font-size:10px;margin:0;padding-left:30px"></span></td>
<td>Value: <input name="set_param_value" type="number" value=0 style="width:90px;"/></td>
</tr>
<tr><td>Z:<input name="Z_id" type="number" value=0.075 title="Blank means no change." step="0.01" style="width:90px;"/><br/>
<span style="margin-left:20px;font-size:10px;">meters</span></td>
<td>J3: <input id="J3_id" type="number" value=0 title="Blank means no change." min="Dexter.J3_ANGLE_MIN" max="Dexter.J3_ANGLE_MAX" step="5" style="width:90px;"/>
<br/><span id="J3_range_id" style="font-size:10px;margin:0;padding-left:30px"></span></td>
</tr>
<tr><td style="font-size:11px;"><b>J5_direction</b><br/>
<input type="radio" name="angles_xyz" value="angles" onclick="J5_direction_to_angles_html()" checked/>angles
<input type="radio" name="angles_xyz" value="xyz" onclick="J5_direction_to_xyz_html()" id="angles_xyz_xyz_id"/>xyz
<div id="J5_direction_args_id">
</div>
</td>
<td>J4: <input id="J4_id" type="number" value=0 title="Blank means no change." step="5" style="width:90px;"/>
<br/><span id="J4_range_id" style="font-size:10px;margin:0;padding-left:30px"></span></td>
</tr>
<tr style="border:0;">
<td style="font-size:11px;"><b>config:</b><br/>
<input type="radio" name="left_right" value="LEFT"/>left <input type="radio" name="left_right" value="RIGHT" checked/>right<br/>
<input type="radio" name="up_down" value="UP" checked/>up <input type="radio" name="up_down" value="DOWN"/>down<br/>
<input type="radio" name="in_out" value="IN"/>in <input type="radio" name="in_out" value="OUT" checked/>out
</td>
<td>J5: <input id="J5_id" type="number" value=0 title="Blank means no change." min="Dexter.J5_ANGLE_MIN" max="Dexter.J5_ANGLE_MAX" step="5" style="width:90px;"/>
<br/><span id="J5_range_id" style="font-size:10px;margin:0;padding-left:30px"></span></td>
</tr>
<tr style="border:0;">
<td></td>
<td>J6: <input id="J6_id" type="number" value="" title="Blank means no change." min="Dexter.J6_ANGLE_MIN" max="Dexter.J6_ANGLE_MAX" step="5" style="width:90px;"/>
<br/><span id="J6_range_id" style="font-size:10px;margin:0;padding-left:30px"></span></td>
</tr>
<tr style="border:0;">
<td></td>
<td>J7: <input id="J7_id" type="number" value="" title="Blank means no change." min="Dexter.J7_ANGLE_MIN" max="Dexter.J7_ANGLE_MAX" step="5" style="width:90px;"/>
<br/><span id="J7_range_id" style="font-size:10px;margin:0;padding-left:30px"></span></td>
<td style="vertical-align:bottom; border:0;">
<div style="margin-left:100px;">
<input type="button" value="insert" title="Insert the below instruction source into the editor."/>
<input type="button" value="job" title="Insert the source for a Job
that wraps the below instruction,
into the editor."/>
</div>
</td>
</tr>
</table>
<div id="run_instruction_params_id" style="margin-left:218px;"></div>
<input type="button" value="run" title="Eval this source to make an instruction,
then run it." style="margin:5px;"/>` +
make_dexter_instructions_html() +
`(<input id="run_src_id" type="text" onclick="onclick_for_click_help(event)" style="width:255px;font-size:14px;"/>)
`,
title: "Run an Instruction on a Dexter",
x: 250,
y: 50,
width: 550,
height: 610,
callback: handle_run_instruction})
J1_range_id.innerHTML = Dexter.J1_ANGLE_MIN + " to " + Dexter.J1_ANGLE_MAX
J2_id.min = Dexter.J2_ANGLE_MIN
J2_id.max = Dexter.J2_ANGLE_MAX
J2_range_id.innerHTML = Dexter.J2_ANGLE_MIN + " to " + Dexter.J2_ANGLE_MAX + " degrees"
J3_id.min = Dexter.J3_ANGLE_MIN
J3_id.max = Dexter.J3_ANGLE_MAX
J3_range_id.innerHTML = Dexter.J3_ANGLE_MIN + " to " + Dexter.J3_ANGLE_MAX + " degrees"
J4_id.min = Dexter.J4_ANGLE_MIN
J4_id.max = Dexter.J4_ANGLE_MAX
J4_range_id.innerHTML = Dexter.J4_ANGLE_MIN + " to " + Dexter.J4_ANGLE_MAX + " degrees"
J5_id.min = Dexter.J5_ANGLE_MIN
J5_id.max = Dexter.J5_ANGLE_MAX
J5_range_id.innerHTML = Dexter.J5_ANGLE_MIN + " to " + Dexter.J5_ANGLE_MAX + " degrees"
J5_direction_to_angles_html()
J6_id.min = Dexter.J6_ANGLE_MIN
J6_id.max = Dexter.J6_ANGLE_MAX
J6_range_id.innerHTML = Dexter.J6_ANGLE_MIN + " to " + Dexter.J6_ANGLE_MAX + " degrees"
J7_id.min = Dexter.J7_ANGLE_MIN
J7_id.max = Dexter.J7_ANGLE_MAX
J7_range_id.innerHTML = Dexter.J7_ANGLE_MIN + " to " + Dexter.J7_ANGLE_MAX + " degrees"
const sel_text = Editor.get_any_selection()
if (sel_text.length > 0) { run_src_id.value = sel_text }
}
var {function_params, trim_all, value_of_path} = require("./core/utils.js")