From a3a643309980d9a083c504673e0b2a8a35f4affd Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Sun, 7 Apr 2024 10:26:23 -0400
Subject: [PATCH] odom reading state

---
 src/teleoperation/backend/consumers.py        |   5 ++++-
 src/teleoperation/db.sqlite3                  | Bin 139264 -> 139264 bytes
 .../frontend/src/components/AutonTask.vue     |   4 +++-
 .../frontend/src/components/DMESTask.vue      |   6 ++++--
 .../src/components/OdometryReading.vue        |  11 +++++++++++
 5 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index a66111343..a152677b8 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -607,9 +607,12 @@ def cmd_vel_callback(self, msg):
         self.send(text_data=json.dumps({"type": "cmd_vel", "linear_x": msg.linear.x, "angular_z": msg.angular.z}))
 
     def gps_fix_callback(self, msg):
+        fixed = True
+        if msg.status == -1:
+            fixed = False
         self.send(
             text_data=json.dumps(
-                {"type": "nav_sat_fix", "latitude": msg.latitude, "longitude": msg.longitude, "altitude": msg.altitude}
+                {"type": "nav_sat_fix", "latitude": msg.latitude, "longitude": msg.longitude, "altitude": msg.altitude, "status": fixed}
             )
         )
 
diff --git a/src/teleoperation/db.sqlite3 b/src/teleoperation/db.sqlite3
index b8faa90637c5ec8f9ac8e6e70a1b1965e05498d0..0b06bb4f87b0d8e1bd1497bbaa19e0e2245b768e 100644
GIT binary patch
delta 29
lcmZoTz|nAkV}dke+(a2?);I<|`<sm^ttpIKQ<&z+0|1vV3E2Pu

delta 29
lcmZoTz|nAkV}dke)I=F))+h$OqD74<ttpIKQ<&z+0|1t)3C#ci

diff --git a/src/teleoperation/frontend/src/components/AutonTask.vue b/src/teleoperation/frontend/src/components/AutonTask.vue
index 0c36c1a89..4052c3002 100644
--- a/src/teleoperation/frontend/src/components/AutonTask.vue
+++ b/src/teleoperation/frontend/src/components/AutonTask.vue
@@ -94,7 +94,8 @@ export default defineComponent({
         latitude_deg: 42.293195,
         longitude_deg: -83.7096706,
         bearing_deg: 0,
-        altitude: 0
+        altitude: 0,
+        status: false
       },
 
       teleopEnabledCheck: false,
@@ -156,6 +157,7 @@ export default defineComponent({
         this.odom.latitude_deg = msg.latitude
         this.odom.longitude_deg = msg.longitude
         this.odom.altitude = msg.altitude
+        this.odom.status = msg.status
       } else if (msg.type == 'auton_tfclient') {
         this.odom.bearing_deg = quaternionToMapAngle(msg.rotation)
       } else if (msg.type == "center_map") {
diff --git a/src/teleoperation/frontend/src/components/DMESTask.vue b/src/teleoperation/frontend/src/components/DMESTask.vue
index 6dffa10f1..43cd77f31 100644
--- a/src/teleoperation/frontend/src/components/DMESTask.vue
+++ b/src/teleoperation/frontend/src/components/DMESTask.vue
@@ -99,7 +99,8 @@ export default defineComponent({
         latitude_deg: 38.406025,
         longitude_deg: -110.7923723,
         bearing_deg: 0,
-        altitude: 0
+        altitude: 0,
+        status: false
       },
 
       moteusDrive: {
@@ -122,7 +123,7 @@ export default defineComponent({
   },
 
   computed: {
-    ...mapState('websocket', ['message'])
+    ...mapState('websocket', ['message']),
   },
 
   watch: {
@@ -143,6 +144,7 @@ export default defineComponent({
         this.odom.latitude_deg = msg.latitude
         this.odom.longitude_deg = msg.longitude
       }
+
     }
   },
 
diff --git a/src/teleoperation/frontend/src/components/OdometryReading.vue b/src/teleoperation/frontend/src/components/OdometryReading.vue
index 08f90cc2c..b4e68dc09 100644
--- a/src/teleoperation/frontend/src/components/OdometryReading.vue
+++ b/src/teleoperation/frontend/src/components/OdometryReading.vue
@@ -19,6 +19,9 @@
       <div>
         <p>Altitude: {{ odom.altitude.toFixed(2) }}m</p>
       </div>
+      <div>
+        <p>Status: {{get_status}}</p>
+      </div>
     </div>
     <div class="calibration imu">
       <IMUCalibration></IMUCalibration>
@@ -64,6 +67,14 @@ export default {
     },
     alt_available: function () {
       return !isNan(this.odom.altitude)
+    },
+    get_status: function () {
+      if(this.odom.status){
+        return "fixed"
+      }
+      else{
+        return "not fixed"
+      }
     }
   }
 }