Constants.js

import { MEAL_STATE } from './GlobalState'

// How often to check if ROS is connected
export const ROS_CHECK_INTERVAL_MS = 1000

// The RealSense's default video stream is 640x480
export const REALSENSE_WIDTH = 640
export const REALSENSE_HEIGHT = 480

/**
 * If the app has not transitioned states in this amount of time, it will reset
 * to PreMeal on the next rendering.
 */
export const TIME_TO_RESET_MS = 3600000 // 1 hour in milliseconds

/**
 * A dictionary containing the icon associated with each "robot moving" state
 * except the Bite Acquisition state which has only a back button in footer.
 * This dictionary is used to populate buttons with the icon images for states
 * that those buttons will transition to.
 * The keys are the meal states where the robot moves.
 * Each key is paired with a value of an svg icon image of that meal state.
 */
let MOVING_STATE_ICON_DICT = {}
MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingAbovePlate] = '/robot_state_imgs/move_above_plate_position.svg'
MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToRestingPosition] = '/robot_state_imgs/move_to_resting_position.svg'
MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToStagingConfiguration] = '/robot_state_imgs/move_to_staging_configuration.svg'
MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingFromMouth] = '/robot_state_imgs/move_to_staging_configuration.svg'
MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToMouth] = '/robot_state_imgs/move_to_mouth_position.svg'
MOVING_STATE_ICON_DICT[MEAL_STATE.R_StowingArm] = '/robot_state_imgs/stowing_arm_position.svg'
export { MOVING_STATE_ICON_DICT }

/**
 * A set containing the states where the robot does not move.
 *
 * NOTE: Although in R_DetectingFace the robot does not technically move,
 * the app might transition out of that state into a robot motion state without
 * user intervention, so it is not included in this set.
 */
let NON_MOVING_STATES = new Set()
NON_MOVING_STATES.add(MEAL_STATE.U_PreMeal)
NON_MOVING_STATES.add(MEAL_STATE.U_BiteSelection)
NON_MOVING_STATES.add(MEAL_STATE.U_BiteAcquisitionCheck)
NON_MOVING_STATES.add(MEAL_STATE.U_BiteDone)
NON_MOVING_STATES.add(MEAL_STATE.U_PostMeal)
export { NON_MOVING_STATES }

// The names of the ROS topic(s)
export const CAMERA_FEED_TOPIC = '/local/camera/color/image_raw/compressed'
export const FACE_DETECTION_TOPIC = '/face_detection'
export const FACE_DETECTION_TOPIC_MSG = 'ada_feeding_msgs/FaceDetection'
export const FACE_DETECTION_IMG_TOPIC = '/face_detection_img/compressed'
export const ROBOT_COMPRESSED_IMG_TOPICS = [CAMERA_FEED_TOPIC, FACE_DETECTION_IMG_TOPIC]

// States from which, if they fail, it is NOT okay for the user to retry the
// same action.
let NON_RETRYABLE_STATES = new Set()
NON_RETRYABLE_STATES.add(MEAL_STATE.R_BiteAcquisition)
export { NON_RETRYABLE_STATES }

/**
 * For states that call ROS actions, this dictionary contains
 * the action name and the message type
 */
let ROS_ACTIONS_NAMES = {}
ROS_ACTIONS_NAMES[MEAL_STATE.R_MovingAbovePlate] = {
  actionName: 'MoveAbovePlate',
  messageType: 'ada_feeding_msgs/action/MoveTo'
}
ROS_ACTIONS_NAMES[MEAL_STATE.U_BiteSelection] = {
  actionName: 'SegmentFromPoint',
  messageType: 'ada_feeding_msgs/action/SegmentFromPoint'
}
ROS_ACTIONS_NAMES[MEAL_STATE.R_BiteAcquisition] = {
  actionName: 'AcquireFood',
  messageType: 'ada_feeding_msgs/action/AcquireFood'
}
ROS_ACTIONS_NAMES[MEAL_STATE.R_MovingToRestingPosition] = {
  actionName: 'MoveToRestingPosition',
  messageType: 'ada_feeding_msgs/action/MoveTo'
}
ROS_ACTIONS_NAMES[MEAL_STATE.R_MovingToStagingConfiguration] = {
  actionName: 'MoveToStagingConfiguration',
  messageType: 'ada_feeding_msgs/action/MoveTo'
}
ROS_ACTIONS_NAMES[MEAL_STATE.R_MovingFromMouth] = {
  actionName: 'MoveFromMouth',
  messageType: 'ada_feeding_msgs/action/MoveTo'
}
ROS_ACTIONS_NAMES[MEAL_STATE.R_MovingToMouth] = {
  actionName: 'MoveToMouth',
  messageType: 'ada_feeding_msgs/action/MoveToMouth'
}
ROS_ACTIONS_NAMES[MEAL_STATE.R_StowingArm] = {
  actionName: 'MoveToStowLocation',
  messageType: 'ada_feeding_msgs/action/MoveTo'
}
export { ROS_ACTIONS_NAMES }

/**
 * For states that call ROS services, this dictionary contains
 * the service name and the message type
 */
let ROS_SERVICE_NAMES = {}
ROS_SERVICE_NAMES[MEAL_STATE.R_DetectingFace] = {
  serviceName: 'toggle_face_detection',
  messageType: 'std_srvs/srv/SetBool'
}
export { ROS_SERVICE_NAMES }
export const CLEAR_OCTOMAP_SERVICE_NAME = 'clear_octomap'
export const CLEAR_OCTOMAP_SERVICE_TYPE = 'std_srvs/srv/Empty'
export const ACQUISITION_REPORT_SERVICE_NAME = 'ada_feeding_action_select/action_report'
export const ACQUISITION_REPORT_SERVICE_TYPE = 'ada_feeding_msgs/srv/AcquisitionReport'
export const GET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/get_parameters'
export const GET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/GetParameters'
export const SET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/set_parameters'
export const SET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/SetParameters'

/**
 * The meaning of the status that motion actions return in their results.
 * These should match the action definition(s).
 */
export const MOTION_STATUS_SUCCESS = 0
export const MOTION_STATUS_PLANNING_FAILED = 1
export const MOTION_STATUS_MOTION_FAILED = 2
export const MOTION_STATUS_CANCELED = 3
export const MOTION_STATUS_UNKNOWN = 99

/**
 * The meaning of the status that segmentation actions return in their results.
 * These should match the action definition(s).
 */
export const SEGMENTATION_STATUS_SUCCESS = 0
export const SEGMENTATION_STATUS_FAILED = 1
export const SEGMENTATION_STATUS_CANCELED = 3
export const SEGMENTATION_STATUS_UNKNOWN = 99

/**
 * The meaning of ROS Action statuses.
 * https://github.com/ros2/rcl_interfaces/blob/humble/action_msgs/msg/GoalStatus.msg
 */
export const ROS_ACTION_STATUS_UNKNOWN = 0
export const ROS_ACTION_STATUS_ACCEPTED = 1
export const ROS_ACTION_STATUS_EXECUTING = 2
export const ROS_ACTION_STATUS_CANCELING = 3
export const ROS_ACTION_STATUS_SUCCEED = 4
export const ROS_ACTION_STATUS_CANCELED = 5
export const ROS_ACTION_STATUS_ABORT = 6