Merge pull request #42 from CCGSRobotics/add-dynamixel-parser

Add Dynamixel creation wizard

App/CSS/createServo.css

@@ -0,0 +1,17 @@
+.container {
+  position: absolute;
+  top: 50%;
+  left: 50%;
+  transform: translateX(-50%) translateY(-50%);
+}
+
+#url {
+  text-align: center;
+  border: 1px solid;
+  padding: 5px;
+}
+
+#download #upload {
+  text-align: center;
+  padding: 5px;
+}

App/JS/Resources/Servos/ax18a.csv

@@ -0,0 +1,33 @@
+Address, Size(Byte), Data Name, Description, Access, InitialValue
+0, 2, Model Number, Model Number, R, 18
+2, 1, Firmware Version, Firmware Version, R, -
+3, 1, ID, DYNAMIXEL ID, RW, 1
+4, 1, Baud Rate, Communication Speed, RW, 1
+5, 1, Return Delay Time, Response Delay Time, RW, 250
+6, 2, CW Angle Limit, Clockwise Angle Limit, RW, 0
+8, 2, CCW Angle Limit, Counter-Clockwise Angle Limit, RW, 1023
+11, 1, Temperature Limit, Maximum Internal Temperature Limit, RW, 75
+12, 1, Min Voltage Limit, Minimum Input Voltage Limit, RW, 60
+13, 1, Max Voltage Limit, Maximum Input Voltage Limit, RW, 140
+14, 2, Max Torque, Maximun Torque, RW, 983
+16, 1, Status Return Level, Select Types of Status Return, RW, 2
+17, 1, Alarm LED, LED for Alarm, RW, 36
+18, 1, Shutdown, Shutdown Error Information, RW, 36
+24, 1, Torque Enable, Motor Torque On/Off, RW, 0
+25, 1, LED, Status LED On/Off, RW, 0
+26, 1, CW Compliance Margin, CW Compliance Margin, RW, 1
+27, 1, CCW Compliance Margin, CCW Compliance Margin, RW, 1
+28, 1, CW Compliance Slope, CW Compliance Slope, RW, 32
+29, 1, CCW Compliance Slope, CCW Compliance Slope, RW, 32
+30, 2, Goal Position, Target Position, RW, -
+32, 2, Moving Speed, Moving Speed, RW, -
+34, 2, Torque Limit, Torque Limit(Goal Torque), RW, ADD 14&15
+36, 2, Present Position, Present Position, R, -
+38, 2, Present Speed, Present Speed, R, -
+40, 2, Present Load, Present Load, R, -
+42, 1, Present Voltage, Present Voltage, R, -
+43, 1, Present Temperature, Present Temperature, R, -
+44, 1, Registered, If Instruction is registered, R, 0
+46, 1, Moving, Movement Status, R, 0
+47, 1, Lock, Locking EEPROM, RW, 0
+48, 2, Punch, Minimum Current Threshold, RW, 32

App/JS/Resources/Servos/xl320.csv

@@ -0,0 +1,32 @@
+Address, Size(Byte), Data Name, Description, Access, InitialValue, Min, Max
+0, 2, Model Number, Model Number, R, 350, -, -
+2, 1, Firmware Version, Firmware Version, R, -, -, -
+3, 1, ID, DYNAMIXEL ID, RW, 1, 0, 252
+4, 1, Baud Rate, Communication Speed, RW, 3, 0, 3
+5, 1, Return Delay Time, Response Delay Time, RW, 250, 0, 254
+6, 2, CW Angle Limit, Clockwise Angle Limit, RW, 0, 0, 1023
+8, 2, CCW Angle Limit, Counter-Clockwise Angle Limit, RW, 1023, 0, 1023
+11, 1, Control Mode, Control Mode, RW, 2, 1, 2
+12, 1, Temperature Limit, Maximum Internal Temperature Limit, RW, 65, 0, 150
+13, 1, Min Voltage Limit, Minimum Input Voltage Limit, RW, 60, 50, 250
+14, 1, Max Voltage Limit, Maximum Input Voltage Limit, RW, 90, 50, 250
+15, 2, Max Torque, Maximun Torque, RW, 1023, 0, 1023
+17, 1, Status Return Level, Select Types of Status Return, RW, 2, 0, 2
+18, 1, Shutdown, Shutdown Error Information, RW, 3, 0, 7
+24, 1, Torque Enable, Motor Torque On/Off, RW, 0, 0, 1
+25, 1, LED, Status LED On/Off, RW, 0, 0, 7
+27, 1, D Gain, Derivative Gain, RW, 0, 0, 254
+28, 1, I Gain, Integral Gain, RW, 0, 0, 254
+29, 1, P Gain, Proportional Gain, RW, 32, 0, 254
+30, 2, Goal Position, Desired Position, RW, -, 0, 1023
+32, 2, Moving Speed, Moving Speed(Moving Velocity), RW, -, 0, 2047
+35, 2, Torque Limit, Torque Limit(Goal Torque), RW, -, 0, 1023
+37, 2, Present Position, Present Position, R, -, -, -
+39, 2, Present Speed, Present Speed, R, -, -, -
+41, 2, Present Load, Present Load, R, -, -, -
+45, 1, Present Voltage, Present Voltage, R, -, -, -
+46, 1, Present Temperature, Present Temperature, R, -, -, -
+47, 1, Registered, If Instruction is registered, R, 0, -, -
+49, 1, Moving, Movement Status, R, 0, -, -
+50, 1, Hardware Error Status, Hardware Error Status, R, 0, -, -
+51, 2, Punch, Minimum Current Threshold, RW, 32, 0, 1023

App/JS/createServo.js

@@ -0,0 +1,154 @@
+const fs = require('fs');
+const rp = require('request-promise');
+const cheerio = require('cheerio');
+const cheerioTableparser = require('cheerio-tableparser');
+const net = require('net');
+let link = '';
+let fileData = '';
+let filename = '';
+
+const client = new net.Socket();
+client.on('error', function(err) {
+  console.error('Unable to connect to the fileserver!' + '\n' +
+  ' Ensure that the robot is powered and active.');
+});
+
+/**
+ * Parses the header of a given table
+ * @param {Array} table
+ * @return {String} The header of the specified table
+ */
+function parseDynamixelHeader(table) {
+  let build = '';
+  for (let col = 0; col < table.length; col++) {
+    build += table[col][0];
+    if (col < table.length - 1) {
+      build += ', ';
+    } else {
+      build += '\n';
+    }
+  }
+  return build;
+}
+
+/**
+ * Parses all elements in a given Dynamixel table and converts them to CSV
+ * @param {Object} table The table returned when executing parsetable
+ * @param {Boolean} includeHeader If the CSV should include headings - use
+ * false if this is not the top item in the table
+ * @return {String} A string of CSV data with the control table
+ */
+function parseDynamixelTable(table) {
+  let build = '';
+  for (let i = 1; i < table[0].length; i++) {
+    for (let x = 0; x < table.length; x++) {
+      build += table[x][i];
+      if (x < table.length - 1) {
+        build += ', ';
+      }
+    }
+    if (i < table[0].length) {
+      build += '\n';
+    }
+  }
+  return build;
+}
+
+/**
+ * Computes all HTML tables from indexes and converts to CSV
+ * @param {String} html The downloaded e-Manual document as HTML
+ * @param {Array} indexes The indexes of all tables involving the control table
+ * @return {String} The CSV-formatted table containing all of the control table
+ */
+function generateCSV(html, indexes) {
+  if (indexes == null || indexes == undefined || indexes.length == 0) {
+    console.error('Invalid argument!' +
+    'Ensure that the argument "indexes" is valid!');
+    return '';
+  }
+
+  let fileData = '';
+  const $ = cheerio.load(html);
+  cheerioTableparser($);
+  const cheerioTable = $('table');
+
+  fileData += parseDynamixelHeader(cheerioTable.eq(
+      indexes[0]).parsetable(true, true, true));
+  for (let i = 0; i < indexes.length; i++) {
+    fileData += parseDynamixelTable(cheerioTable.eq(
+        indexes[i]).parsetable(true, true, true));
+  }
+
+  return fileData;
+}
+
+/**
+ * Downloads and converts the link to a CSV, saving it to Resources/Servos and
+ *  storing it in the variable fileData
+ */
+function getFile() {
+  const url = document.getElementById('url').value;
+  const re = /^https?:\/\/emanual\.robotis\.com\/docs\/en\/dxl\/[a-z0-9]+\/[a-z0-9]+-?[a-z0-9]+/;
+  const res = url.match(re);
+  if (res !== null && res !== undefined) {
+    link = res[0];
+    console.log(`Extracted URL as ${link}`);
+    rp(link)
+        .then(function(html) {
+          console.log('Successfully downloaded the site!' +
+        ' Now scraping the data...');
+          fileData = generateCSV(html, [1, 2]);
+          console.log('Downloaded table!');
+
+          const linkPieces = link.split('/');
+          if (linkPieces[linkPieces.length - 1] == '') {
+            linkPieces.pop(linkPieces.length - 1);
+          }
+          filename = linkPieces[linkPieces.length - 1].replace('-', '');
+
+          fs.writeFile(`App/JS/Resources/Servos/${filename}.csv`,
+              fileData, function(err) {
+                if (err) {
+                  console.error('Failed to write file! Do you have access?');
+                }
+                console.log(`Saved the file as ${filename}.csv`);
+              });
+
+          uploadButton = document.getElementById('upload');
+          uploadButton.innerHTML =
+          `Upload <strong>${filename}.csv</strong>`;
+          uploadButton.style.display = null;
+        })
+        .catch(function(err) {
+          console.error('An error has occured!' + '\n' +
+        'Check that you have an active internet connection' + '\n' +
+        'Additionally, check that you are able to access sites' + '\n' +
+        'This may be due to you being connected to the robot' + '\n' +
+        `Recieved error: \n${err}`);
+        });
+  } else {
+    console.error('It seems that your URL is invalid!');
+  }
+}
+
+/**
+ * Uploads the data stored in fileData through TCP to a listening fileserver
+ */
+function uploadFile() {
+  if (fileData == null || fileData == undefined || fileData == '') {
+    console.error('There is no downloaded file!');
+    return;
+  }
+
+  client.connect({
+    port: 5004,
+    address: '127.0.0.1',
+  });
+
+  client.on('connect', function() {
+    client.write(`${filename}\n${fileData}`);
+    console.log('Wrote file to server!');
+  });
+
+  console.log('Uploaded table!');
+}

App/createServo.html

@@ -0,0 +1,19 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <title>Create a new servo type</title>
+</head>
+<script type="text/javascript" src="JS/createServo.js"></script>
+<link rel="stylesheet" href="CSS/createServo.css">
+<body>
+  <p id="invalid_url" style="display: none">Invalid URL!</p>
+  <div class="container">
+    <form>
+      <input type="text" id="url"></input>
+    </form>
+    <button id="download" onclick="getFile()">Download the file!</button>
+    <button id="upload" onclick="uploadFile()" style="display: none"></button>
+  </div>
+</body>
+</html>

Server/fileServer.js

@@ -0,0 +1,21 @@
+const fs = require('fs');
+const net = require('net');
+const server = net.createServer();
+
+server.on('connection', function(socket) {
+  socket.on('data', function(data) {
+    let fileData = data.toString().split('\n');
+    const filename = fileData[0].replace('-', '');
+    fileData.shift();
+    fileData = fileData.join('\n');
+
+    fs.writeFile(`./Driving/Servos/${filename}.csv`, fileData, function(err) {
+      if (err) {
+        console.error('Failed to write file! Do you have access?');
+      }
+      console.log(`Saved the file as ${filename}.csv`);
+    });
+  });
+});
+
+server.listen(5004, '');

Server/index.js

@@ -7,6 +7,10 @@ const commands = {
   'Driving': [
     'python3',
     ['-u', './Driving/server.py']
+  ],
+  'Fileserver': [
+    'node',
+    ['./fileServer.js']
   ]
 }
 

main.js

@@ -9,29 +9,16 @@ function createWindow() {
     width: 1600,
     height: 1200
   });
-  win.loadFile('App/loading.html');
-  setTimeout(function() {
-    win.loadFile('App/index.html');
-  }, 3000)
+  // win.loadFile('App/loading.html');
+  // setTimeout(function() {
+  win.loadFile('App/createServo.html');
+  // }, 3000)
   // win.loadURL('http://localhost:8080')
   win.webContents.openDevTools();
 
   win.on('closed', () => {
     win = null;
   });
-  win2 = new BrowserWindow({
-    width: 1600,
-    height: 1200
-  });
-  win2.loadFile('App/loading.html');
-  setTimeout(function() {
-    win2.loadFile('App/charts.html');
-  }, 3000)
-  // win.loadURL('http://localhost:8080')
-
-  win2.on('closed', () => {
-    win2 = null;
-  });
 }
 
 app.on('ready', createWindow);

package.json

@@ -8,6 +8,10 @@
   "license": "Apache",
   "private": false,
   "dependencies": {
-    "electron": "^6.0.2"
+    "cheerio": "^1.0.0-rc.3",
+    "cheerio-tableparser": "^1.0.1",
+    "electron": "^6.0.2",
+    "eslint-config-google": "^0.13.0",
+    "request-promise": "^4.2.4"
   }
 }