Merge branch 'v2'

README.md

@@ -7,12 +7,12 @@ A communication tool between HTTP and Serial for PLEN series robots.
 
 1. Download latest version of the application from [here](https://github.com/plenprojectcompany/plen-ControlServer/releases).
 2. Unzip the downloaded file.
-3. Run the `ControLServer.exe` or `ControlServer.app`.
+3. Run the `ControlServer.exe` or `ControlServer.app`.
     - If you are an OSX user, you need to run the application by following steps.
     - Click on the application's icon with `ctrl` key.
     - Choose `open` from menu items. (Using this method, you can turn off security alert temporary.)
 4. Connect your PLEN and a laptop using USB type micro B cable.
-5. Open the `PLEN_Utils.url`.
+5. Start up any application to communicate with PLEN series robots. (s.a. [Motion Editor](http://plen.jp/playground/motion-editor/))
 
 If you would like to use the application as a tuning up tool, Please [see also...](http://plen.jp/playground/wiki/tutorials/plen2/tune)
 

control_server/config.json

@@ -1,11 +1,12 @@
 {
-    "port"   : 17264,
-    "driver" : {
-        "name"    : "usb",
-        "options" : {
-            "compiler" : {
-                "path" : "C:/workdir/app/Arduino/arduino.exe"
-            }
+    "port": 17264,
+    "driver": {
+        "name": "usb",
+        "options": {
+            "compiler": {
+                "path": "C:/workdir/app/Arduino/arduino.exe"
+            },
+            "verify": true
         }
     }
 }

control_server/drivers/abstract.py

@@ -40,6 +40,10 @@ def stop(self):
     def install(self, motion):
         pass
 
+    @abstractmethod
+    def resetJointSettings(self):
+        pass
+
     @abstractmethod
     def getMotion(self, slot):
         pass

control_server/drivers/null/core.py

@@ -41,6 +41,9 @@ def stop(self):
     def install(self, motion):
         return True
 
+    def resetJointSettings(self):
+        return True
+
     def getMotion(self, slot):
         return {}
 

control_server/drivers/usb/core.py

@@ -202,6 +202,31 @@ def install(self, motion):
         return True
 
 
+    def resetJointSettings(self):
+        if self._serial is None:
+            _LOGGER.error('Serial connection is disabled!')
+
+            return False
+
+        try:
+            self._serial.write(
+                  self._PROTOCOL.setJointSettings()
+                + self._PROTOCOL.homePosition()
+            )
+
+        except (
+            serial.serialutil.SerialException,
+            serial.serialutil.SerialTimeoutException
+        ):
+            _LOGGER.error('USB cable is disconnected!')
+
+            self.disconnect()
+
+            return False
+
+        return True
+
+
     def getMotion(self, slot):
         if self._serial is None:
             _LOGGER.error('Serial connection is disabled!')

control_server/router/empty_motion.py → control_server/models/empty_motion.py

@@ -5,7 +5,7 @@
 @brief Provide empty motion's definition.
 '''
 
-MOTION = {
+EMPTY_MOTION = {
     'codes': [],
     'frames': [
         {

control_server/router/router.py

@@ -12,14 +12,14 @@
 
 import logging
 from bottle import (Bottle, request, response, abort, template, static_file)
-from empty_motion import MOTION
+from models.empty_motion import EMPTY_MOTION
 
 
 # Create module level instances.
 # ==============================================================================
 _LOGGER = logging.getLogger('plen-ControlServer').getChild(__name__)
 
-_empty_motion = MOTION
+_empty_motion = EMPTY_MOTION
 _driver       = None
 
 router = Bottle()
@@ -106,7 +106,7 @@ def cmdstream():
         while True:
             try:
                 messages = wsock.receive().split('/')
-                result   = getattr(_driver, messages[0])(*messages[1:])
+                result   = getattr(_driver, messages[0])(*messages[1:]) if (len(messages) == 1) else getattr(_driver, messages[0])()
 
                 wsock.send(str(result))
 
@@ -257,7 +257,7 @@ def metadata_get():
         'resource': 'metadata',
         'data': {
             'api-version': 2,
-            'require-firmware': '1.1.0~'
+            'required-firmware': '1.4.1~'
         }
     }
 

control_server_gui/control_server_gui/angularjs/components/ConnectButton/controller.ts

@@ -6,19 +6,19 @@ class ConnectButtonController
         "PLENControlServerService"
     ];
 
-    constructor(public server: PLENControlServerService)
+    constructor(private _server: PLENControlServerService)
     {
         // noop.
     }
 
     getServerStatus(): string
     {
-        if (this.server.getStatus() === SERVER_STATE.CONNECTED)
+        if (this._server.getStatus() === SERVER_STATE.CONNECTED)
         {
             return "Connected!";
         }
 
-        if (this.server.getStatus() === SERVER_STATE.DISCONNECTED)
+        if (this._server.getStatus() === SERVER_STATE.DISCONNECTED)
         {
             return "Disconnected!";
         }
@@ -28,6 +28,6 @@ class ConnectButtonController
 
     onClick(): void
     {
-        this.server.connect();
+        this._server.connect(() => { this._server.checkVersionOfPLEN() });
     }
 } 

control_server_gui/control_server_gui/angularjs/components/ConnectButton/view.html

@@ -1,6 +1,6 @@
 <div class="form-group">
     <div class="btn-group btn-group-justified" role="group">
         <a class="btn btn-default disabled" role="presentation">{{ $ctrl.getServerStatus(); }}</a> 
-        <a class="btn btn-success" role="button" ng-click="$ctrl.onClick()">Connect</a>
+        <a class="btn btn-primary" role="button" ng-click="$ctrl.onClick()">Connect</a>
     </div>
 </div>

control_server_gui/control_server_gui/angularjs/components/SetterButtons/controller.ts

@@ -4,45 +4,49 @@
 class SetterButtonsController
 {
     static $inject = [
+        "$window",
         "PLENControlServerService",
         "SharedJointSettingsService"
     ];
 
     constructor(
-        public ctrl_server_service: PLENControlServerService,
-        public joint_settings: JointSettingsModel
+        private _$window: ng.IWindowService,
+        private _ctrl_server_service: PLENControlServerService,
+        private _joint_settings: JointSettingsModel
     )
     {
         // noop.
     }
 
     onClickMax(): void
     {
-        this.ctrl_server_service.setMax(
-            this.joint_settings.joint_handle,
-            this.joint_settings.getValue()
+        this._ctrl_server_service.setMax(
+            this._joint_settings.joint_handle,
+            this._joint_settings.getValue()
         );
     }
 
     onClickHome(): void
     {
-        this.ctrl_server_service.setHome(
-            this.joint_settings.joint_handle,
-            this.joint_settings.getValue()
+        this._ctrl_server_service.setHome(
+            this._joint_settings.joint_handle,
+            this._joint_settings.getValue()
         );
     }
 
     onClickMin(): void
     {
-        this.ctrl_server_service.setMin(
-            this.joint_settings.joint_handle,
-            this.joint_settings.getValue()
+        this._ctrl_server_service.setMin(
+            this._joint_settings.joint_handle,
+            this._joint_settings.getValue()
         );
     }
 
     onClickReset(): void
     {
-        this.joint_settings.setValue(0);
-        this.ctrl_server_service.applyNative(this.joint_settings.joint_handle, 0);
+        if (this._$window.confirm('Are you sure you want to reset the all joint settings?'))
+        {
+            this._ctrl_server_service.resetJointSettings();
+        }
     }
 } 

control_server_gui/control_server_gui/angularjs/components/SetterButtons/view.html

@@ -1,6 +1,6 @@
 <div class="form-group">
     <div class="btn-group btn-group-justified" role="group">
         <a class="btn btn-default" role="button" ng-click="$ctrl.onClickHome()">Home</a>
-        <a class="btn btn-primary" role="button" ng-click="$ctrl.onClickReset()">Reset</a>
+        <a class="btn btn-warning" role="button" ng-click="$ctrl.onClickReset()">Reset All</a>
     </div>
 </div>