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Allow users to skip acquisition on error #144

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merged 2 commits into from
Aug 28, 2024
Merged

Allow users to skip acquisition on error #144

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5c7bbcd
Allow users to skip acquisition on error
amalnanavati Aug 28, 2024
eef597a
Fixes from testing
amalnanavati Aug 28, 2024
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6 changes: 0 additions & 6 deletions feedingwebapp/src/Pages/Constants.js
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Original file line number Diff line number Diff line change
Expand Up @@ -43,12 +43,6 @@ export const SERVO_CARTESIAN_TOPIC_MSG = 'geometry_msgs/msg/TwistStamped'
export const SERVO_JOINT_TOPIC = '/web_app/servo_node/delta_joint_cmds'
export const SERVO_JOINT_TOPIC_MSG = 'control_msgs/msg/JointJog'

// 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
Expand Down
6 changes: 6 additions & 0 deletions feedingwebapp/src/Pages/Home/Home.jsx
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,9 @@ function Home(props) {
let currentMealState = MEAL_STATE.R_BiteAcquisition
let nextMealState = MEAL_STATE.U_BiteAcquisitionCheck
let backMealState = MEAL_STATE.R_MovingAbovePlate
// TODO: Add an icon for this errorMealState!
let errorMealState = MEAL_STATE.R_MovingToRestingPosition
let errorMealStateDescription = 'Skip Acquisition'
return (
<RobotMotion
debug={props.debug}
Expand All @@ -127,6 +130,9 @@ function Home(props) {
backMealState={backMealState}
actionInput={biteAcquisitionActionInput}
waitingText={getRobotMotionText(currentMealState)}
allowRetry={false} // Don't allow retrying bite acquisition
errorMealState={errorMealState}
errorMealStateDescription={errorMealStateDescription}
/>
)
}
Expand Down
110 changes: 79 additions & 31 deletions feedingwebapp/src/Pages/Home/MealStates/RobotMotion.jsx
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,6 @@ import { useGlobalState } from '../../GlobalState'
import {
CLEAR_OCTOMAP_SERVICE_NAME,
CLEAR_OCTOMAP_SERVICE_TYPE,
NON_RETRYABLE_STATES,
ROS_ACTIONS_NAMES,
MOTION_STATUS_SUCCESS,
ROS_ACTION_STATUS_CANCEL_GOAL,
Expand Down Expand Up @@ -124,15 +123,28 @@ const RobotMotion = (props) => {
[setActionStatus]
)

/**
* Callback function to change the meal state.
*/
const changeMealState = useCallback(
(nextMealState, msg = null) => {
if (msg) {
console.log(msg)
}
setPaused(false)
let setMealState = props.setMealState
setMealState(nextMealState)
},
[setPaused, props.setMealState]
)

/**
* Callback function for when the robot has finished moving to its staging
* location.
*/
const robotMotionDone = useCallback(() => {
console.log('robotMotionDone')
let setMealState = props.setMealState
setMealState(props.nextMealState)
}, [props.nextMealState, props.setMealState])
changeMealState(props.nextMealState, 'robotMotionDone')
}, [changeMealState, props.nextMealState])

/**
* Callback function for when the action sends a response. It updates the
Expand Down Expand Up @@ -264,10 +276,8 @@ const RobotMotion = (props) => {
}, [clearOctomapService, resumeCallback])

const backCallback = useCallback(() => {
setPaused(false)
let setMealState = props.setMealState
setMealState(props.backMealState)
}, [setPaused, props.backMealState, props.setMealState])
changeMealState(props.backMealState, 'backCallback')
}, [changeMealState, props.backMealState])

/**
* Get the action status text and progress bar or blank view to render.
Expand All @@ -279,12 +289,12 @@ const RobotMotion = (props) => {
* @param {showTime} - indicates if elapsed time needs to be shown
* @param {time} - calculated elapsed time, 0 if time not available
* @param {progress} - progress proportion; if null progress bar not shown
* @param {retry} - indicates if retry needed for error
* @param {error} - indicates if there was an error
*
* @returns {JSX.Element} the action status text, progress bar or blank view
*/
const actionStatusTextAndVisual = useCallback(
(flexSizeOuter, flexSizeTextInner, flexSizeVisualInner, text, showTime, time, progress, retry = false) => {
(flexSizeOuter, flexSizeTextInner, flexSizeVisualInner, text, showTime, time, progress, error = false) => {
return (
<>
<View style={{ flex: flexSizeOuter, flexDirection: dimension, alignItems: 'center', justifyContent: 'center', width: '100%' }}>
Expand All @@ -294,19 +304,41 @@ const RobotMotion = (props) => {
</p>
<p style={{ fontSize: motionTextFontSize }}>{text}</p>
{showTime ? <p style={{ fontSize: motionTextFontSize }}>&nbsp;&nbsp;Elapsed: {time} sec</p> : <></>}
{retry ? (
<Button
variant='warning'
className='mx-2 btn-huge'
size='lg'
onClick={retryCallback}
style={{
width: '90%',
height: '20%'
}}
>
<h5 style={{ textAlign: 'center', fontSize: motionTextFontSize }}>Retry</h5>
</Button>
{error ? (
<>
{props.allowRetry ? (
<Button
variant='warning'
className='mx-2 btn-huge'
size='lg'
onClick={retryCallback}
style={{
width: '90%',
height: '20%'
}}
>
<h5 style={{ textAlign: 'center', fontSize: motionTextFontSize }}>Retry</h5>
</Button>
) : (
<></>
)}
{props.errorMealState ? (
<Button
variant='warning'
className='mx-2 btn-huge'
size='lg'
onClick={() => changeMealState(props.errorMealState, 'errorMealState')}
style={{
width: '90%',
height: '20%'
}}
>
<h5 style={{ textAlign: 'center', fontSize: motionTextFontSize }}>{props.errorMealStateDescription}</h5>
</Button>
) : (
<></>
)}
</>
) : (
<></>
)}
Expand All @@ -326,7 +358,17 @@ const RobotMotion = (props) => {
</>
)
},
[dimension, props.waitingText, motionTextFontSize, waitingTextFontSize, retryCallback]
[
dimension,
props.waitingText,
props.allowRetry,
props.errorMealState,
props.errorMealStateDescription,
motionTextFontSize,
waitingTextFontSize,
retryCallback,
changeMealState
]
)

/**
Expand All @@ -342,7 +384,7 @@ const RobotMotion = (props) => {
let showTime = false
let time = 0
let progress = null
let retry = false
let error = false
switch (actionStatus.actionStatus) {
case ROS_ACTION_STATUS_EXECUTE:
if (actionStatus.feedback) {
Expand Down Expand Up @@ -377,9 +419,9 @@ const RobotMotion = (props) => {
* users on how to troubleshoot/fix it.
*/
text = 'Robot encountered an error'
retry = NON_RETRYABLE_STATES.has(props.mealState) ? false : true
error = true
return (
<>{actionStatusTextAndVisual(flexSizeOuter, flexSizeTextInner, flexSizeVisualInner, text, showTime, time, progress, retry)}</>
<>{actionStatusTextAndVisual(flexSizeOuter, flexSizeTextInner, flexSizeVisualInner, text, showTime, time, progress, error)}</>
)
case ROS_ACTION_STATUS_CANCELED:
return <>{actionStatusTextAndVisual(flexSizeOuter, flexSizeTextInner, flexSizeVisualInner, text, showTime, time, progress)}</>
Expand All @@ -397,7 +439,7 @@ const RobotMotion = (props) => {
}
}
},
[paused, dimension, actionStatusTextAndVisual, props.mealState]
[paused, dimension, actionStatusTextAndVisual]
)

// Render the component
Expand All @@ -421,7 +463,7 @@ const RobotMotion = (props) => {
pauseCallback={pauseCallback}
backCallback={props.backMealState ? backCallback : null}
backMealState={props.backMealState}
resumeCallback={NON_RETRYABLE_STATES.has(props.mealState) ? null : resumeCallback}
resumeCallback={props.allowRetry ? resumeCallback : null}
paused={paused}
/>
</>
Expand Down Expand Up @@ -454,10 +496,16 @@ RobotMotion.propTypes = {
// the action client, then calling it again, etc.)
actionInput: PropTypes.object.isRequired,
// The static text to display while the robot is executing the action
waitingText: PropTypes.string.isRequired
waitingText: PropTypes.string.isRequired,
// Whether to show the retry/resume option if the action fails
allowRetry: PropTypes.bool,
// If error, show the user the option to transition to this meal state
errorMealState: PropTypes.string,
errorMealStateDescription: PropTypes.string
}

RobotMotion.defaultProps = {
allowRetry: true,
debug: false
}

Expand Down
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