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Allow users to change auto-continue from Settings Menu (#147)
* Allow users to change auto-continue from Settings Menu * Don't send unnecessary get/set parameter calls when there are no ROS parameters * Fixes from testing
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-37
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+207
-37
lines changed

‎feedingwebapp/public/robot_state_imgs/forward.svg

+9
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‎feedingwebapp/src/Pages/Constants.js

+1
Original file line numberDiff line numberDiff line change
@@ -30,6 +30,7 @@ MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToMouth] = '/robot_state_imgs/move_to_
3030
MOVING_STATE_ICON_DICT[MEAL_STATE.R_StowingArm] = '/robot_state_imgs/stowing_arm_position.svg'
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export { MOVING_STATE_ICON_DICT }
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export const TABLE_ICON = '/robot_state_imgs/table.svg'
33+
export const FORWARD_ICON = '/robot_state_imgs/forward.svg'
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// The names of the ROS topic(s)
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export const CAMERA_FEED_TOPIC = '/local/camera/color/image_raw/compressed'

‎feedingwebapp/src/Pages/GlobalState.jsx

+3-2
Original file line numberDiff line numberDiff line change
@@ -94,7 +94,8 @@ export const SETTINGS_STATE = {
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RESTING_CONFIGURATION: 'RESTING_CONFIGURATION',
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STAGING_CONFIGURATION: 'STAGING_CONFIGURATION',
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STOW_CONFIGURATION: 'STOW_CONFIGURATION',
97-
PLANNING_SCENE: 'PLANNING_SCENE'
97+
PLANNING_SCENE: 'PLANNING_SCENE',
98+
AUTO_CONTINUE: 'AUTO_CONTINUE'
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}
99100

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// The name of the default parameter namespace
@@ -140,7 +141,7 @@ export const useGlobalState = create(
140141
teleopAngularSpeed: 0.15, // rad/s
141142
teleopJointSpeed: 0.2, // rad/s
142143
// Flag to indicate whether to auto-continue after face detection
143-
faceDetectionAutoContinue: true,
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faceDetectionAutoContinue: false,
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// Flag to indicate whether to auto-continue in bite done after food-on-fork detection
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biteDoneAutoContinue: false,
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biteDoneAutoContinueSecs: 3.0,

‎feedingwebapp/src/Pages/Settings/AutoContinue.jsx

+137
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,137 @@
1+
// React imports
2+
import React, { useCallback, useMemo, useState } from 'react'
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import { View } from 'react-native'
4+
5+
// Local imports
6+
import { useGlobalState, SETTINGS_STATE } from '../GlobalState'
7+
import SettingsPageParent from './SettingsPageParent'
8+
9+
/**
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* The AutoContinue component allows users to change the auto-continue settings
11+
* from the Settings menu.
12+
*/
13+
const AutoContinue = () => {
14+
// Get relevant global state variables
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const setSettingsState = useGlobalState((state) => state.setSettingsState)
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const biteAcquisitionCheckAutoContinue = useGlobalState((state) => state.biteAcquisitionCheckAutoContinue)
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const setBiteAcquisitionCheckAutoContinue = useGlobalState((state) => state.setBiteAcquisitionCheckAutoContinue)
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const faceDetectionAutoContinue = useGlobalState((state) => state.faceDetectionAutoContinue)
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const setFaceDetectionAutoContinue = useGlobalState((state) => state.setFaceDetectionAutoContinue)
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const biteDoneAutoContinue = useGlobalState((state) => state.biteDoneAutoContinue)
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const setBiteDoneAutoContinue = useGlobalState((state) => state.setBiteDoneAutoContinue)
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// Rendering variables
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let textFontSize = '3.5vh'
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// Configure the parameters for SettingsPageParent
27+
const paramNames = useMemo(() => [], [])
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const [currentParams, setCurrentParams] = useState([])
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// Render the settings for the planning scene
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const renderAutoContinueSettings = useCallback(() => {
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return (
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<View
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style={{
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flex: 1,
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flexDirection: 'column',
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justifyContent: 'center',
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alignItems: 'center',
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width: '100%',
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height: '100%'
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}}
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>
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<View
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style={{
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flex: 1,
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flexDirection: 'row',
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justifyContent: 'center',
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alignItems: 'center',
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width: '100%'
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}}
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>
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<p className='transitionMessage' style={{ marginBottom: '0px', fontSize: textFontSize }}>
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<input
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name='biteAcquisitionCheckAutoContinue'
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type='checkbox'
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checked={biteAcquisitionCheckAutoContinue}
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onChange={(e) => {
58+
setBiteAcquisitionCheckAutoContinue(e.target.checked)
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}}
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style={{ transform: 'scale(2.0)', verticalAlign: 'middle', marginRight: '15px' }}
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/>
62+
Auto-continue after acquisition
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</p>
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</View>
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<View
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style={{
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flex: 1,
68+
flexDirection: 'row',
69+
justifyContent: 'center',
70+
alignItems: 'center',
71+
width: '100%'
72+
}}
73+
>
74+
<p className='transitionMessage' style={{ marginBottom: '0px', fontSize: textFontSize }}>
75+
<input
76+
name='faceDetectionAutoContinue'
77+
type='checkbox'
78+
checked={faceDetectionAutoContinue}
79+
onChange={(e) => {
80+
setFaceDetectionAutoContinue(e.target.checked)
81+
}}
82+
style={{ transform: 'scale(2.0)', verticalAlign: 'middle', marginRight: '15px' }}
83+
/>
84+
Auto-continue after face detection
85+
</p>
86+
</View>
87+
<View
88+
style={{
89+
flex: 1,
90+
flexDirection: 'row',
91+
justifyContent: 'center',
92+
alignItems: 'center',
93+
width: '100%'
94+
}}
95+
>
96+
<p className='transitionMessage' style={{ marginBottom: '0px', fontSize: textFontSize }}>
97+
<input
98+
name='biteDoneAutoContinue'
99+
type='checkbox'
100+
checked={biteDoneAutoContinue}
101+
onChange={(e) => {
102+
setBiteDoneAutoContinue(e.target.checked)
103+
}}
104+
style={{ transform: 'scale(2.0)', verticalAlign: 'middle', marginRight: '15px' }}
105+
/>
106+
Auto-continue after transfer
107+
</p>
108+
</View>
109+
</View>
110+
)
111+
}, [
112+
textFontSize,
113+
biteAcquisitionCheckAutoContinue,
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setBiteAcquisitionCheckAutoContinue,
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faceDetectionAutoContinue,
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setFaceDetectionAutoContinue,
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biteDoneAutoContinue,
118+
setBiteDoneAutoContinue
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])
120+
121+
return (
122+
<SettingsPageParent
123+
title='Auto-Continue &#9881;'
124+
doneCallback={() => setSettingsState(SETTINGS_STATE.MAIN)}
125+
modalShow={false}
126+
modalOnHide={null}
127+
modalChildren={null}
128+
paramNames={paramNames}
129+
localParamValues={currentParams}
130+
setLocalParamValues={setCurrentParams}
131+
>
132+
{renderAutoContinueSettings()}
133+
</SettingsPageParent>
134+
)
135+
}
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137+
export default AutoContinue

‎feedingwebapp/src/Pages/Settings/Main.jsx

+8-2
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,8 @@ import {
2121
REGULAR_CONTAINER_ID,
2222
SET_PARAMETERS_SERVICE_NAME,
2323
SET_PARAMETERS_SERVICE_TYPE,
24-
TABLE_ICON
24+
TABLE_ICON,
25+
FORWARD_ICON
2526
} from '../Constants'
2627

2728
/**
@@ -192,6 +193,11 @@ const Main = () => {
192193
title: 'Planning Scene',
193194
icon: TABLE_ICON,
194195
onClick: () => onClickSettingsPage(SETTINGS_STATE.PLANNING_SCENE)
196+
},
197+
{
198+
title: 'Auto-Continue',
199+
icon: FORWARD_ICON,
200+
onClick: () => onClickSettingsPage(SETTINGS_STATE.AUTO_CONTINUE)
195201
}
196202
]
197203

@@ -271,7 +277,7 @@ const Main = () => {
271277
display: 'flex'
272278
}}
273279
alt={config.title}
274-
className='center'
280+
className='settingsImage'
275281
/>
276282
<p
277283
style={{

‎feedingwebapp/src/Pages/Settings/Settings.jsx

+3
Original file line numberDiff line numberDiff line change
@@ -23,6 +23,7 @@ import {
2323
STOW_PARAM_JOINTS
2424
} from '../Constants'
2525
import PlanningScene from './PlanningScene'
26+
import AutoContinue from './AutoContinue'
2627

2728
/**
2829
* The Settings components displays the appropriate settings page based on the
@@ -141,6 +142,8 @@ const Settings = (props) => {
141142
)
142143
case SETTINGS_STATE.PLANNING_SCENE:
143144
return <PlanningScene />
145+
case SETTINGS_STATE.AUTO_CONTINUE:
146+
return <AutoContinue />
144147
default:
145148
console.log('Invalid settings state', settingsState)
146149
return <Main />

‎feedingwebapp/src/Pages/Settings/SettingsPageParent.jsx

+46-33
Original file line numberDiff line numberDiff line change
@@ -76,6 +76,11 @@ const SettingsPageParent = (props) => {
7676
*/
7777
const setLocalParametersToGlobalValues = useCallback(
7878
(preset) => {
79+
if (props.paramNames.length === 0) {
80+
console.log('Skipping setLocalParametersToGlobalValues because there are no parameters to get.')
81+
return
82+
}
83+
7984
let service = getParametersService.current
8085
let setLocalParamValues = props.setLocalParamValues
8186

@@ -134,6 +139,10 @@ const SettingsPageParent = (props) => {
134139
* Save the current parameter values to the current namespace.
135140
*/
136141
const setGlobalParameter = useCallback(() => {
142+
if (props.paramNames.length === 0) {
143+
console.log('Skipping setGlobalParameter because there are no parameters to set.')
144+
return
145+
}
137146
if (props.localParamValues.every((element) => element === null)) {
138147
console.log('Skipping setGlobalParameter because all values are null.')
139148
return
@@ -240,42 +249,46 @@ const SettingsPageParent = (props) => {
240249
height: '100%'
241250
}}
242251
>
243-
<View
244-
style={{
245-
flex: 4,
246-
flexDirection: 'row',
247-
alignItems: 'center',
248-
justifyContent: 'center',
249-
width: '100%',
250-
height: '100%',
251-
zIndex: 1
252-
}}
253-
>
254-
<p style={{ textAlign: 'center', fontSize: textFontSize.toString() + sizeSuffix, margin: 0 }} className='txt-huge'>
255-
{props.title}
256-
</p>
257-
<SplitButton
258-
variant='secondary'
259-
className='mx-2 mb-2 btn-huge'
260-
size='lg'
252+
{props.paramNames.length === 0 ? (
253+
<></>
254+
) : (
255+
<View
261256
style={{
262-
fontSize: textFontSize.toString() + sizeSuffix,
263-
marginLeft: '1rem'
257+
flex: 4,
258+
flexDirection: 'row',
259+
alignItems: 'center',
260+
justifyContent: 'center',
261+
width: '100%',
262+
height: '100%',
263+
zIndex: 1
264264
}}
265-
title={settingsPresets.current}
266265
>
267-
<Dropdown.Item key={DEFAULT_NAMESPACE} onClick={() => resetToPreset(DEFAULT_NAMESPACE)}>
268-
Reset parameter to {DEFAULT_NAMESPACE}
269-
</Dropdown.Item>
270-
{settingsPresets.customNames
271-
.filter((preset) => preset !== settingsPresets.current)
272-
.map((preset) => (
273-
<Dropdown.Item key={preset} onClick={() => resetToPreset(preset)}>
274-
Reset parameter to {preset}
275-
</Dropdown.Item>
276-
))}
277-
</SplitButton>
278-
</View>
266+
<p style={{ textAlign: 'center', fontSize: textFontSize.toString() + sizeSuffix, margin: 0 }} className='txt-huge'>
267+
{props.title}
268+
</p>
269+
<SplitButton
270+
variant='secondary'
271+
className='mx-2 mb-2 btn-huge'
272+
size='lg'
273+
style={{
274+
fontSize: textFontSize.toString() + sizeSuffix,
275+
marginLeft: '1rem'
276+
}}
277+
title={settingsPresets.current}
278+
>
279+
<Dropdown.Item key={DEFAULT_NAMESPACE} onClick={() => resetToPreset(DEFAULT_NAMESPACE)}>
280+
Reset parameter to {DEFAULT_NAMESPACE}
281+
</Dropdown.Item>
282+
{settingsPresets.customNames
283+
.filter((preset) => preset !== settingsPresets.current)
284+
.map((preset) => (
285+
<Dropdown.Item key={preset} onClick={() => resetToPreset(preset)}>
286+
Reset parameter to {preset}
287+
</Dropdown.Item>
288+
))}
289+
</SplitButton>
290+
</View>
291+
)}
279292
<View
280293
style={{
281294
flex: 32,

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