JdeRobot · fqez · Jul 24, 2018 · Jul 1, 2018
diff --git a/src/interfaces/slice/jderobot/visualization.ice b/src/interfaces/slice/jderobot/visualization.ice
@@ -22,7 +22,7 @@
 
 #include <jderobot/common.ice>
 #include <jderobot/primitives.ice>
-
+#include <jderobot/pose3d.ice>
 
 module jderobot{
 
@@ -31,38 +31,51 @@ module jderobot{
 	    float g;
 	    float b;
 	};
-	
+
 	struct RGBSegment{
 	    Segment seg;
 	    Color c;
 	};
 
 	sequence<RGBSegment> Segments;
 	sequence<RGBPoint> Points;
+  sequence<byte> File;
 
 	struct bufferSegments{
 		Segments buffer;
 		bool refresh;
 	};
-	
+
 	struct bufferPoints{
 		Points buffer;
 		bool refresh;
 	};
+
+  struct object3d {
+    string obj;
+    string id;
+    string format;
+  };
+
+  struct PoseObj3D{
+    string id;
+    Pose3DData pos;
+  };
+
+  sequence<PoseObj3D> bufferPoseObj3D;
+
   /**
    * Interface to the Visualization interaction.
    */
 	interface Visualization
 	{
         void drawSegment(bufferSegments bseg);
-	bufferSegments getSegment ();
-        void drawPoint(bufferPoints bpoints);
-	bufferPoints getPoints();
+	      bufferSegments getSegment ();
+        void drawPoint(bufferPoints bpnts);
+	      bufferPoints getPoints();
+        object3d getObj3D(string id);
+        bufferPoseObj3D getPoseObj3DData();
         void clearAll();
 	};
-
-
-
-
 };
 #endif
diff --git a/src/tools/3DVizWeb/.DS_Store b/src/tools/3DVizWeb/.DS_Store
diff --git a/src/tools/3DVizWeb/main.js b/src/tools/3DVizWeb/main.js
diff --git a/src/tools/3DVizWeb/package-lock.json b/src/tools/3DVizWeb/package-lock.json
diff --git a/src/tools/3DVizWeb/package.json b/src/tools/3DVizWeb/package.json
diff --git a/src/tools/3DVizWeb/public/.DS_Store b/src/tools/3DVizWeb/public/.DS_Store
diff --git a/src/tools/3DVizWeb/public/config.yml b/src/tools/3DVizWeb/public/config.yml
@@ -1,10 +1,10 @@
 Server: "localhost"
 Port: "11000"
-updatePoints: 1000 #miliseconds
+updatePoints: 10000 #miliseconds
 updateSegments: 1000 #miliseconds
 linewidth: 2 #width of the line
 pointsize: 8 #size of the point
 camera: #camera position
-  x: 100
-  y: 50
-  z: 300
+  x: 50
+  y: 20
+  z: 100
diff --git a/src/tools/3DVizWeb/public/img/disc.png b/src/tools/3DVizWeb/public/img/disc.png
diff --git a/src/tools/3DVizWeb/public/index.html b/src/tools/3DVizWeb/public/index.html
@@ -5,8 +5,12 @@
 	<meta charset="utf-8">
 	<script src = "js/three.js"></script>
 	<script src = "js/OrbitControls.js"></script>
+	<script src = "js/OBJLoader.js"></script>
+	<script src = "js/ColladaLoader.js"></script>
 	<script src = "js/GUI.js"></script>
 	<script src = "js/3DViz.js"></script>
+	<script src = "js/pose3d.js"></script>
+
 	<style>
 
 	body {
@@ -20,6 +24,7 @@
 	</style>
 	</head>
 	<body onload = "webGLStart()">
+			<div id="descarga"></div>
 		  <div id="canvas" align = "center">
 		  </div>
 	</body>

diff --git a/src/tools/3DVizWeb/public/js/.DS_Store b/src/tools/3DVizWeb/public/js/.DS_Store
diff --git a/src/tools/3DVizWeb/public/js/3DViz.js b/src/tools/3DVizWeb/public/js/3DViz.js
@@ -1,6 +1,19 @@
 let config = {};
 var w;
-var lineInterval, pointInterval;
+var lineInterval, pointInterval, posInterval, objInterval;
+var cont = 1;
+class obj3DPose {
+	constructor(id,x,y,z,rx,ry,rz){
+		this.id = id;
+		this.x = x;
+		this.y = y;
+		this.z = z;
+		this.rx = rx;
+		this.ry = ry;
+		this.rz = rz;
+	}
+}
+
 try{
 	const yaml = require('js-yaml');
 	const fs = require('fs');
@@ -61,7 +74,8 @@ try{
 			},config.updatePoints);
 			lineInterval = setInterval(function(){
 				setLine();
-			},config.updateSegments);}
+			},config.updateSegments);
+			objInterval = setInterval(function(){setObj();},1000);}
 		}
 
 		function setLine(){
@@ -72,7 +86,18 @@ try{
     function setPoint(){
       w.postMessage({func:"setPoint"});
 			getData();
-}
+		}
+		function setObj(){
+			id = "obj" + cont;
+			w.postMessage({func:"setObj", id: id});
+			getData();
+		}
+
+		function setPose3D(){
+			w.postMessage({func:"setPose3D"});
+			getData();
+		}
+
 		function getData (){
 			w.onmessage = function(event) {
 				if (event.data.func == "drawLine"){
@@ -91,6 +116,22 @@ try{
 				for (var i = 0; i < points.length; i+=1) {
         	addPoint(points[i]);
 				}
-				}
+			} else if (event.data.func == "drawObj") {
+				cont += 1
+				addObj(event.data.obj);
+				posInterval = setInterval(function(){
+					setPose3D();
+				}, 5000);
+
+			} else if (event.data.func == "pose3d") {
+				for (var i = 0; i < event.data.bpose3d.length; i += 1){
+					data = event.data.bpose3d[i];
+					console.log(data);
+					rotateZ=getYaw(data.pos.q0,data.pos.q1,data.pos.q2,data.pos.q3);
+        	rotateY=getPitch(data.pos.q0,data.pos.q1,data.pos.q2,data.pos.q3);
+        	rotateX=getRoll(data.pos.q0,data.pos.q1,data.pos.q2,data.pos.q3);
+					objpose3d = new obj3DPose(data.id,data.pos.x,data.pos.y,data.pos.z,rotateX,rotateY,rotateZ);
+					moveObj(objpose3d);}
+			}
 			}
 		}
diff --git a/src/tools/3DVizWeb/public/js/3DViz_worker.js b/src/tools/3DVizWeb/public/js/3DViz_worker.js
@@ -8,6 +8,7 @@ importScripts('jderobot/datetime.js');
 importScripts('jderobot/exceptions.js');
 importScripts('jderobot/containers.js');
 importScripts('jderobot/common.js');
+importScripts('jderobot/pose3d.js');
 importScripts('jderobot/image.js');
 importScripts('jderobot/primitives.js');
 importScripts('jderobot/visualization.js')
@@ -43,6 +44,19 @@ function setLine(){
   });
 }
 
+function setObj(id){
+  srv.getObj3D(id).then(function(data){
+    console.log(data);
+    self.postMessage({func:"drawObj", obj: data});
+  })
+}
+
+function setPose3D(){
+  srv.getPoseObj3DData().then(function (data){
+    self.postMessage({func:"pose3d", bpose3d: data});
+  })
+}
+
 function clearAll(){
   srv.clearAll().then(function(data){
     console.log("Clear all");
@@ -77,5 +91,12 @@ onmessage = function(e) {
             var point = []
             setPoint(point);
             break;
+      case "setObj":
+            id = e.data.id;
+            setObj(id);
+            break;
+      case "setPose3D":
+            setPose3D();
+            break;
       }
 }