feat: play next action until no next action

ichiro-its · Jun 7, 2024 · 0be9acb · 0be9acb
1 parent 89907df
commit 0be9acb
Showing 1 changed file with 39 additions and 15 deletions.
diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx
@@ -8,7 +8,7 @@ import ActionContext from '../context/ActionContext';
 import LoggerContext from '../context/LoggerContext';
 
 function RunActionButton() {
-  const { currentAction, GRPC_WEB_API_URL } = useContext(ActionContext);
+  const { actionsData, currentAction, GRPC_WEB_API_URL } = useContext(ActionContext);
   const { showLog } = useContext(LoggerContext);
 
   const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null);
@@ -17,28 +17,52 @@ function RunActionButton() {
   const [isLoading, setIsLoading] = useState(false);
 
   const handlePublish = () => {
-    setIsLoading(true);
-    const fixedPoses = [];
-    const rawPoses = currentAction.poses;
-
     if (Object.keys(currentAction).length === 0) {
       showLog('No action selected.', 'warning');
       return client;
     }
 
+    setIsLoading(true);
+    const fixedPoses = [];
+    const rawPoses = [];
+
+    let currentActionTemp = currentAction;
+    while (currentActionTemp.next !== "") {
+      rawPoses.push(currentActionTemp.poses);
+      let i;
+      for (i = 0; i < actionsData.length; i += 1) {
+        if (actionsData[i].name === currentActionTemp.next) {
+          currentActionTemp = actionsData[i];
+          break;
+        }
+      }
+
+      if (i === actionsData.length) {
+        showLog(`Next action [${currentActionTemp.next}] not found!`, 'error');
+        setIsLoading(false);
+        return;
+      }
+    }
+
+    rawPoses.push(currentActionTemp.poses);
+
     for (let i = 0; i < rawPoses.length; i += 1) {
-      const jointsData = {};
-      for (let j = 0; j < rawPoses[i].joints.length; j += 1) {
-        jointsData[rawPoses[i].joints[j].name] = rawPoses[i].joints[j].pose_pos;
+      const rawPose = rawPoses[i];
+      for (let j = 0; j < rawPose.length; j += 1) {
+        const jointsData = {};
+        for (let k = 0; k < rawPose[j].joints.length; k += 1) {
+          jointsData[rawPose[j].joints[k].name] = rawPose[j].joints[k].pose_pos;
+        }
+        fixedPoses.push({
+          name: rawPose[j].name,
+          pause: rawPose[j].pause,
+          speed: rawPose[j].speed,
+          time: rawPose[j].time,
+          joints: jointsData,
+        });
       }
-      fixedPoses.push({
-        name: rawPoses[i].name,
-        pause: rawPoses[i].pause,
-        speed: rawPoses[i].speed,
-        time: rawPoses[i].time,
-        joints: jointsData,
-      });
     }
+
     const rawAction = {
       name: currentAction.name,
       next: currentAction.next,