From 01b0e433a55483bfc31af5fe576f23abb6166f71 Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Tue, 19 Mar 2024 16:40:22 -0400
Subject: [PATCH 1/9] drone waypoint on fmap

---
 src/teleoperation/backend/consumers.py        |   7 +
 src/teleoperation/frontend/package.json       |   1 +
 .../frontend/src/components/BasicRoverMap.vue | 466 ++++++++++--------
 3 files changed, 257 insertions(+), 217 deletions(-)

diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index d18a61674..540fd79da 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -30,6 +30,7 @@
     Position,
     IK,
     SpectralGroup,
+    DroneWaypoint,
 )
 from mrover.srv import EnableAuton, AdjustMotor, ChangeCameras, CapturePanorama  # , CapturePhoto
 from sensor_msgs.msg import NavSatFix, Temperature, RelativeHumidity, Image
@@ -99,6 +100,7 @@ def connect(self):
                 "/science_thermistors", Temperature, self.sa_thermistor_data_callback
             )
             self.science_spectral = rospy.Subscriber("/science_spectral", SpectralGroup, self.science_spectral_callback)
+            self.drone_waypoint_sub = rospy.Subscriber("/drone_waypoint", DroneWaypoint, self.drone_waypoint_callback)
 
             # Services
             self.laser_service = rospy.ServiceProxy("enable_arm_laser", SetBool)
@@ -805,6 +807,11 @@ def science_spectral_callback(self, msg):
 
         self.send(text_data=json.dumps({"type": "spectral_data", "data": data, "error": error}))
 
+    def drone_waypoint_callback(self, msg):
+        latitude = msg.latitude_degrees
+        longitude = msg.longitude_degrees
+        self.send(text_data=json.dumps({"type": "drone_waypoint", "latitude": latitude, "longitude": longitude}))
+
     def download_csv(self, msg):
         username = os.getenv("USERNAME", "-1")
 
diff --git a/src/teleoperation/frontend/package.json b/src/teleoperation/frontend/package.json
index 98ef2ed57..71bcaffc9 100644
--- a/src/teleoperation/frontend/package.json
+++ b/src/teleoperation/frontend/package.json
@@ -17,6 +17,7 @@
     "@vue-leaflet/vue-leaflet": "^0.10.1",
     "bootstrap": "^5.3.2",
     "bootstrap-vue": "^2.23.1",
+    "html2canvas": "^1.4.1",
     "leaflet": "^1.9.4",
     "quaternion-to-euler": "^0.5.0",
     "vue": "^3.3.4",
diff --git a/src/teleoperation/frontend/src/components/BasicRoverMap.vue b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
index c59f54152..5dcb08b19 100644
--- a/src/teleoperation/frontend/src/components/BasicRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
@@ -1,225 +1,257 @@
 <template>
   <div class="wrap">
-    <l-map
-      @ready="onMapReady"
-      ref="map"
-      class="map"
-      :zoom="22"
-      :center="center"
-      @click="getClickedLatLon($event)"
-    >
-      <l-control-scale :imperial="false" />
-      <l-tile-layer
-        ref="tileLayer"
-        :url="online ? onlineUrl : offlineUrl"
-        :attribution="attribution"
-        :options="online ? onlineTileOptions : offlineTileOptions"
-      />
-
-      <l-marker ref="rover" :lat-lng="odomLatLng" :icon="locationIcon" />
-
-      <div v-for="(waypoint, index) in waypointList" :key="index">
-        <l-marker :lat-lng="waypoint.latLng" :icon="getWaypointIcon(waypoint.drone)">
-          <l-tooltip :options="{ permanent: 'true', direction: 'top' }">
-            {{ waypoint.name }}, {{ index }}
-          </l-tooltip>
-        </l-marker>
-      </div>
-
-      <l-polyline :lat-lngs="odomPath" :color="'blue'" />
-    </l-map>
-    <label><input v-model="online" type="checkbox" />Online</label>
+      <l-map @ready="onMapReady" ref="map" class="map" :zoom="22" :center="center" @click="getClickedLatLon($event)">
+          <l-control-scale :imperial="false" />
+          <l-tile-layer ref="tileLayer" :url="online ? onlineUrl : offlineUrl" :attribution="attribution" :options="online ? onlineTileOptions : offlineTileOptions" />
+  
+          <l-marker ref="rover" :lat-lng="odomLatLng" :icon="locationIcon" />
+          <l-marker ref="drone" :lat-lng="droneLatLng" :icon="droneIcon" />
+  
+          <div v-for="(waypoint, index) in waypointList" :key="index">
+              <l-marker :lat-lng="waypoint.latLng" :icon="getWaypointIcon(waypoint.drone)">
+                  <l-tooltip :options="{ permanent: 'true', direction: 'top' }">
+                      {{ waypoint.name }}, {{ index }}
+                  </l-tooltip>
+              </l-marker>
+          </div>
+  
+          <l-polyline :lat-lngs="odomPath" :color="'blue'" />
+          <l-polyline :lat-lngs="dronePath" :color="'blue'" />
+      </l-map>
+      <label><input v-model="online" type="checkbox" />Online</label>
   </div>
-</template>
-
-<script lang="ts">
-import {
-  LMap,
-  LTileLayer,
-  LMarker,
-  LPolyline,
-  LTooltip,
-  LControlScale
-} from '@vue-leaflet/vue-leaflet'
-import { mapGetters, mapMutations } from 'vuex'
-import 'leaflet/dist/leaflet.css'
-import L from '../leaflet-rotatedmarker.js'
-
-const MAX_ODOM_COUNT = 1000
-const DRAW_FREQUENCY = 10
-const onlineUrl = 'http://{s}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}'
-const offlineUrl = 'map/{z}/{x}/{y}.png'
-const onlineTileOptions = {
-  maxNativeZoom: 22,
-  maxZoom: 100,
-  subdomains: ['mt0', 'mt1', 'mt2', 'mt3']
-}
-const offlineTileOptions = {
-  maxNativeZoom: 16,
-  maxZoom: 100
-}
-
-export default {
-  name: 'RoverMap',
-
-  components: {
-    LMap,
-    LTileLayer,
-    LMarker,
-    LPolyline,
-    LTooltip,
-    LControlScale
-  },
-
-  data() {
-    return {
-      // Default Center at MDRS
-      center: L.latLng(38.406025, -110.7923723),
-      attribution: '&copy; <a href="http://osm.org/copyright">OpenStreetMap</a> contributors',
-      online: true,
-      onlineUrl: onlineUrl,
-      offlineUrl: offlineUrl,
-      onlineTileOptions: onlineTileOptions,
-      offlineTileOptions: offlineTileOptions,
-      roverMarker: null,
-      waypointIcon: null,
-      highlightedWaypointIcon: null,
-      map: null,
-      odomCount: 0,
-      locationIcon: null,
-      odomPath: [],
-      findRover: false
-    }
-  },
-
-  created: function () {
-    this.locationIcon = L.icon({
-      iconUrl: '/location_marker_icon.png',
-      iconSize: [64, 64],
-      iconAnchor: [32, 32]
-    })
-    this.waypointIcon = L.icon({
-      iconUrl: '/map_marker.png',
-      iconSize: [64, 64],
-      iconAnchor: [32, 64],
-      popupAnchor: [0, -32]
-    })
-    this.droneWaypointIcon = L.icon({
-      iconUrl: '/map_marker_drone.png',
-      iconSize: [64, 64],
-      iconAnchor: [32, 64],
-      popupAnchor: [0, -32]
-    })
-    this.highlightedWaypointIcon = L.icon({
-      iconUrl: '/map_marker_highlighted.png',
-      iconSize: [64, 64],
-      iconAnchor: [32, 64],
-      popupAnchor: [0, -32]
-    })
-  },
-
-  methods: {
-    onMapReady: function () {
-      // Pull objects from refs to be able to access data and change w functions
-      this.$nextTick(() => {
-        this.map = this.$refs.map.leafletObject
-        this.roverMarker = this.$refs.rover.leafletObject
-      })
-    },
-    // Event listener for setting store values to get data to waypoint Editor
-    getClickedLatLon: function (e: any) {
-      this.setClickPoint({
-        lat: e.latlng.lat,
-        lon: e.latlng.lng
-      })
-    },
-    getWaypointIcon: function (isDrone: boolean) {
-      if (this.index === this.highlightedWaypoint) {
-        return this.highlightedWaypointIcon
-      } else if (isDrone) {
-        return this.droneWaypointIcon
-      } else {
-        return this.waypointIcon
-      }
-    },
-    ...mapMutations('erd', {
-      setClickPoint: 'setClickPoint',
-      setWaypointList: 'setWaypointList',
-      setOdomFormat: 'setOdomFormat'
-    })
-  },
-
-  computed: {
-    ...mapGetters('erd', {
-      waypointList: 'waypointList',
-      highlightedWaypoint: 'highlightedWaypoint'
-    }),
-
-    // Convert to latLng object for Leaflet to use
-    odomLatLng: function () {
-      return L.latLng(this.odom.latitude_deg, this.odom.longitude_deg)
-    },
-
-    polylinePath: function () {
-      return [this.odomLatLng].concat(this.route.map((waypoint: any) => waypoint.latLng))
-    }
-  },
-
-  props: {
-    odom: {
-      type: Object,
-      required: true
-    }
-  },
-
-  watch: {
-    odom: {
-      handler: function (val) {
-        // Trigger every time rover odom is changed
-
-        const lat = val.latitude_deg
-        const lng = val.longitude_deg
-        const angle = val.bearing_deg
-
-        const latLng = L.latLng(lat, lng)
-
-        // Move to rover on first odom message
-        if (!this.findRover) {
-          this.findRover = true
-          this.center = latLng
-        }
-
-        // Update the rover marker using bearing angle
-        this.roverMarker.setRotationAngle(angle)
+  </template>
+  
+  <script lang="ts">
+  import {
+      LMap,
+      LTileLayer,
+      LMarker,
+      LPolyline,
+      LTooltip,
+      LControlScale
+  } from '@vue-leaflet/vue-leaflet'
+  import {
+      mapGetters,
+      mapMutations
+  } from 'vuex'
+  import 'leaflet/dist/leaflet.css'
+  import L from '../leaflet-rotatedmarker.js'
+  
+  const MAX_ODOM_COUNT = 1000
+  const DRAW_FREQUENCY = 10
+  const onlineUrl = 'http://{s}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}'
+  const offlineUrl = 'map/{z}/{x}/{y}.png'
+  const onlineTileOptions = {
+      maxNativeZoom: 22,
+      maxZoom: 100,
+      subdomains: ['mt0', 'mt1', 'mt2', 'mt3']
+  }
+  const offlineTileOptions = {
+      maxNativeZoom: 16,
+      maxZoom: 100
+  }
+  
+  export default {
+      name: 'RoverMap',
+  
+      components: {
+          LMap,
+          LTileLayer,
+          LMarker,
+          LPolyline,
+          LTooltip,
+          LControlScale
+      },
+  
+      data() {
+          return {
+              // Default Center at MDRS
+              center: L.latLng(38.406025, -110.7923723),
+              attribution: '&copy; <a href="http://osm.org/copyright">OpenStreetMap</a> contributors',
+              online: true,
+              onlineUrl: onlineUrl,
+              offlineUrl: offlineUrl,
+              onlineTileOptions: onlineTileOptions,
+              offlineTileOptions: offlineTileOptions,
+              roverMarker: null,
+              waypointIcon: null,
+              highlightedWaypointIcon: null,
+              map: null,
+              odomCount: 0,
+              droneCount: 0,
+              locationIcon: null,
+              droneIcon: null,
+              odomPath: [],
+              dronePath: [],
+              findRover: false,
+              drone_latitude_deg:0,
+              drone_longitude_deg:0,
+          }
+      },
+  
+      created: function () {
+          this.locationIcon = L.icon({
+              iconUrl: '/location_marker_icon.png',
+              iconSize: [64, 64],
+              iconAnchor: [32, 32]
+          })
+          this.droneIcon = L.icon({
+              iconUrl: '/drone_icon.png',
+              iconSize: [64, 64],
+              iconAnchor: [32, 32]
+          })
+          this.waypointIcon = L.icon({
+              iconUrl: '/map_marker.png',
+              iconSize: [64, 64],
+              iconAnchor: [32, 64],
+              popupAnchor: [0, -32]
+          })
+          this.droneWaypointIcon = L.icon({
+              iconUrl: '/map_marker_drone.png',
+              iconSize: [64, 64],
+              iconAnchor: [32, 64],
+              popupAnchor: [0, -32]
+          })
+          this.highlightedWaypointIcon = L.icon({
+              iconUrl: '/map_marker_highlighted.png',
+              iconSize: [64, 64],
+              iconAnchor: [32, 64],
+              popupAnchor: [0, -32]
+          })
+      },
+  
+      methods: {
+          onMapReady: function () {
+              // Pull objects from refs to be able to access data and change w functions
+              this.$nextTick(() => {
+                  this.map = this.$refs.map.leafletObject
+                  this.roverMarker = this.$refs.rover.leafletObject
+              })
+          },
+          // Event listener for setting store values to get data to waypoint Editor
+          getClickedLatLon: function (e: any) {
+              this.setClickPoint({
+                  lat: e.latlng.lat,
+                  lon: e.latlng.lng
+              })
+          },
+          getWaypointIcon: function (isDrone: boolean) {
+              if (this.index === this.highlightedWaypoint) {
+                  return this.highlightedWaypointIcon
+              } else if (isDrone) {
+                  return this.droneWaypointIcon
+              } else {
+                  return this.waypointIcon
+              }
+          },
+          ...mapMutations('erd', {
+              setClickPoint: 'setClickPoint',
+              setWaypointList: 'setWaypointList',
+              setOdomFormat: 'setOdomFormat'
+          })
+      },
+  
+      computed: {
+          ...mapGetters('erd', {
+              waypointList: 'waypointList',
+              highlightedWaypoint: 'highlightedWaypoint'
+          }),
+  
+          // Convert to latLng object for Leaflet to use
+          odomLatLng: function () {
+              return L.latLng(this.odom.latitude_deg, this.odom.longitude_deg)
+          },
 
-        this.roverMarker.setLatLng(latLng)
+          droneLatLng: function () {
+              return L.latLng(this.drone_latitude_deg, this.drone_longitude_deg)
+          },
+  
+          polylinePath: function () {
+              return [this.odomLatLng].concat(this.route.map((waypoint: any) => waypoint.latLng))
+          },
 
-        // Update the rover path
-        this.odomCount++
-        if (this.odomCount % DRAW_FREQUENCY === 0) {
-          if (this.odomPath.length > MAX_ODOM_COUNT) {
-            this.odomPath = [...this.odomPath.slice(1), latLng] //remove oldest element
+          // dronepolylinePath: function () {
+          //     return [this.odomLatLng].concat(this.route.map((waypoint: any) => waypoint.latLng))
+          // },
+      },
+  
+      props: {
+          odom: {
+              type: Object,
+              required: true
           }
-
-          this.odomPath = [...this.odomPath, latLng]
-          this.odomCount = 0
-        }
       },
-      // Deep will watch for changes in children of an object
-      deep: true
-    }
-  }
-}
-</script>
+  
+      watch: {
+          message(msg) {
+            if (msg.type == 'drone_waypoint') {
+                this.drone_latitude_deg = msg.latitude
+                this.drone_longitude_deg = msg.longitude
+                const latLng = L.latLng(this.drone_latitude_deg, this.drone_longitude_deg)
+                this.roverMarker.setLatLng(latLng)
+                  // Update the rover path
+                  this.droneCount++
+                  if (this.droneCount % DRAW_FREQUENCY === 0) {
+                      if (this.dronePath.length > MAX_ODOM_COUNT) {
+                          this.dronePath = [...this.dronePath.slice(1), latLng] //remove oldest element
+                      }
+  
+                      this.dronePath = [...this.dronePath, latLng]
+                      this.droneCount = 0
+                  }
+            }
+          },
 
-<style scoped>
-.map {
-  height: 100%;
-  width: 100%;
-}
-.wrap {
-  display: flex;
-  align-items: center;
-  height: 100%;
-}
-</style>
+          odom: {
+              handler: function (val) {
+                  // Trigger every time rover odom is changed
+  
+                  const lat = val.latitude_deg
+                  const lng = val.longitude_deg
+                  const angle = val.bearing_deg
+  
+                  const latLng = L.latLng(lat, lng)
+  
+                  // Move to rover on first odom message
+                  if (!this.findRover) {
+                      this.findRover = true
+                      this.center = latLng
+                  }
+  
+                  // Update the rover marker using bearing angle
+                  this.roverMarker.setRotationAngle(angle)
+  
+                  this.roverMarker.setLatLng(latLng)
+  
+                  // Update the rover path
+                  this.odomCount++
+                  if (this.odomCount % DRAW_FREQUENCY === 0) {
+                      if (this.odomPath.length > MAX_ODOM_COUNT) {
+                          this.odomPath = [...this.odomPath.slice(1), latLng] //remove oldest element
+                      }
+  
+                      this.odomPath = [...this.odomPath, latLng]
+                      this.odomCount = 0
+                  }
+              },
+              // Deep will watch for changes in children of an object
+              deep: true
+          },
+      }
+  }
+  </script>
+  
+  <style scoped>
+  .map {
+      height: 100%;
+      width: 100%;
+  }
+  
+  .wrap {
+      display: flex;
+      align-items: center;
+      height: 100%;
+  }
+  </style>
+  
\ No newline at end of file

From 1786967980e08fddd495dd05e5e73492bb663eb9 Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Tue, 19 Mar 2024 16:41:02 -0400
Subject: [PATCH 2/9] new msg

---
 msg/DroneWaypoint.msg                            | 2 ++
 src/teleoperation/frontend/public/drone_icon.png | 3 +++
 2 files changed, 5 insertions(+)
 create mode 100644 msg/DroneWaypoint.msg
 create mode 100644 src/teleoperation/frontend/public/drone_icon.png

diff --git a/msg/DroneWaypoint.msg b/msg/DroneWaypoint.msg
new file mode 100644
index 000000000..8f4434e70
--- /dev/null
+++ b/msg/DroneWaypoint.msg
@@ -0,0 +1,2 @@
+float64 latitude_degrees
+float64 longitude_degrees
\ No newline at end of file
diff --git a/src/teleoperation/frontend/public/drone_icon.png b/src/teleoperation/frontend/public/drone_icon.png
new file mode 100644
index 000000000..7576d57c8
--- /dev/null
+++ b/src/teleoperation/frontend/public/drone_icon.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95daca31df110b725d2b51775c00f712f74b61aab5efe0b864fd370a95070f6f
+size 27142

From fee0218830cde4847eeefc6d5dda1e08636caed6 Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Sun, 24 Mar 2024 10:21:38 -0400
Subject: [PATCH 3/9] testing

---
 msg/DroneWaypoint.msg                         |   4 +--
 pkg/libmanif-dev.deb                          |   0
 src/teleoperation/backend/consumers.py        |   4 +--
 src/teleoperation/db.sqlite3                  | Bin 139264 -> 139264 bytes
 .../frontend/public/drone_icon.png            |   4 +--
 .../frontend/src/components/BasicRoverMap.vue |  23 ++++++++++++------
 6 files changed, 22 insertions(+), 13 deletions(-)
 mode change 100644 => 100755 pkg/libmanif-dev.deb

diff --git a/msg/DroneWaypoint.msg b/msg/DroneWaypoint.msg
index 8f4434e70..76b9e4ee4 100644
--- a/msg/DroneWaypoint.msg
+++ b/msg/DroneWaypoint.msg
@@ -1,2 +1,2 @@
-float64 latitude_degrees
-float64 longitude_degrees
\ No newline at end of file
+float64 latitude
+float64 longitude
\ No newline at end of file
diff --git a/pkg/libmanif-dev.deb b/pkg/libmanif-dev.deb
old mode 100644
new mode 100755
diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index 540fd79da..ef14d716e 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -808,8 +808,8 @@ def science_spectral_callback(self, msg):
         self.send(text_data=json.dumps({"type": "spectral_data", "data": data, "error": error}))
 
     def drone_waypoint_callback(self, msg):
-        latitude = msg.latitude_degrees
-        longitude = msg.longitude_degrees
+        latitude = msg.latitude
+        longitude = msg.longitude
         self.send(text_data=json.dumps({"type": "drone_waypoint", "latitude": latitude, "longitude": longitude}))
 
     def download_csv(self, msg):
diff --git a/src/teleoperation/db.sqlite3 b/src/teleoperation/db.sqlite3
index b8faa90637c5ec8f9ac8e6e70a1b1965e05498d0..8c8d2dbdafecdc8e9ded94838a35090d26d8ea1a 100644
GIT binary patch
delta 29
lcmZoTz|nAkV}dke&qNt#)*c2u`<sm^ttpIKQ<&z+0|1?Q3N-)#

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

diff --git a/src/teleoperation/frontend/public/drone_icon.png b/src/teleoperation/frontend/public/drone_icon.png
index 7576d57c8..a1635e5f2 100644
--- a/src/teleoperation/frontend/public/drone_icon.png
+++ b/src/teleoperation/frontend/public/drone_icon.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:95daca31df110b725d2b51775c00f712f74b61aab5efe0b864fd370a95070f6f
-size 27142
+oid sha256:ee964e0d54db9dd2d31c4dae3371b8b6c678781e95e4fc02a09b55fc250b5f58
+size 13602
diff --git a/src/teleoperation/frontend/src/components/BasicRoverMap.vue b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
index 5dcb08b19..cbc2c1f0b 100644
--- a/src/teleoperation/frontend/src/components/BasicRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
@@ -33,7 +33,9 @@
   } from '@vue-leaflet/vue-leaflet'
   import {
       mapGetters,
-      mapMutations
+      mapMutations,
+      mapActions,
+      mapState
   } from 'vuex'
   import 'leaflet/dist/leaflet.css'
   import L from '../leaflet-rotatedmarker.js'
@@ -75,6 +77,7 @@
               onlineTileOptions: onlineTileOptions,
               offlineTileOptions: offlineTileOptions,
               roverMarker: null,
+              droneMarker: null,
               waypointIcon: null,
               highlightedWaypointIcon: null,
               map: null,
@@ -85,8 +88,8 @@
               odomPath: [],
               dronePath: [],
               findRover: false,
-              drone_latitude_deg:0,
-              drone_longitude_deg:0,
+              drone_latitude_deg:42.293195,
+              drone_longitude_deg:-83.7096706
           }
       },
   
@@ -122,11 +125,13 @@
       },
   
       methods: {
+        ...mapActions('websocket', ['sendMessage']),
           onMapReady: function () {
               // Pull objects from refs to be able to access data and change w functions
               this.$nextTick(() => {
                   this.map = this.$refs.map.leafletObject
                   this.roverMarker = this.$refs.rover.leafletObject
+                  this.droneMarker = this.$refs.drone.leafletObject
               })
           },
           // Event listener for setting store values to get data to waypoint Editor
@@ -153,6 +158,8 @@
       },
   
       computed: {
+         ...mapState('websocket', ['message']),
+
           ...mapGetters('erd', {
               waypointList: 'waypointList',
               highlightedWaypoint: 'highlightedWaypoint'
@@ -160,6 +167,7 @@
   
           // Convert to latLng object for Leaflet to use
           odomLatLng: function () {
+              console.log(this.odom.latitude_deg, this.odom.longitude_deg)
               return L.latLng(this.odom.latitude_deg, this.odom.longitude_deg)
           },
 
@@ -171,9 +179,9 @@
               return [this.odomLatLng].concat(this.route.map((waypoint: any) => waypoint.latLng))
           },
 
-          // dronepolylinePath: function () {
-          //     return [this.odomLatLng].concat(this.route.map((waypoint: any) => waypoint.latLng))
-          // },
+          dronepolylinePath: function () {
+              return [this.droneLatLng].concat(this.route.map((waypoint: any) => waypoint.latLng))
+          },
       },
   
       props: {
@@ -189,7 +197,7 @@
                 this.drone_latitude_deg = msg.latitude
                 this.drone_longitude_deg = msg.longitude
                 const latLng = L.latLng(this.drone_latitude_deg, this.drone_longitude_deg)
-                this.roverMarker.setLatLng(latLng)
+                this.droneMarker.setLatLng(latLng)
                   // Update the rover path
                   this.droneCount++
                   if (this.droneCount % DRAW_FREQUENCY === 0) {
@@ -200,6 +208,7 @@
                       this.dronePath = [...this.dronePath, latLng]
                       this.droneCount = 0
                   }
+                  console.log(this.dronePath)
             }
           },
 

From eef2d17385f1a0c027da702a4b56887c68d92dca Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Tue, 26 Mar 2024 15:37:20 -0400
Subject: [PATCH 4/9] drone icon

---
 src/teleoperation/db.sqlite3                  | Bin 139264 -> 139264 bytes
 .../frontend/src/components/BasicRoverMap.vue |   6 +++---
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/teleoperation/db.sqlite3 b/src/teleoperation/db.sqlite3
index 8c8d2dbdafecdc8e9ded94838a35090d26d8ea1a..28335543068f3797e4243ba084abede243dcce0e 100644
GIT binary patch
delta 25
hcmZoTz|nAkV}dl})QK|Aj8hvES`!$zCNM3K2LO662=xE}

delta 25
gcmZoTz|nAkV}dke&qNt##-7H6)&$0_2}}#*0eL(K;{X5v

diff --git a/src/teleoperation/frontend/src/components/BasicRoverMap.vue b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
index cbc2c1f0b..de53c4ed8 100644
--- a/src/teleoperation/frontend/src/components/BasicRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
@@ -16,7 +16,7 @@
           </div>
   
           <l-polyline :lat-lngs="odomPath" :color="'blue'" />
-          <l-polyline :lat-lngs="dronePath" :color="'blue'" />
+          <l-polyline :lat-lngs="dronePath" :color="'green'" />
       </l-map>
       <label><input v-model="online" type="checkbox" />Online</label>
   </div>
@@ -41,7 +41,7 @@
   import L from '../leaflet-rotatedmarker.js'
   
   const MAX_ODOM_COUNT = 1000
-  const DRAW_FREQUENCY = 10
+  const DRAW_FREQUENCY = 1
   const onlineUrl = 'http://{s}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}'
   const offlineUrl = 'map/{z}/{x}/{y}.png'
   const onlineTileOptions = {
@@ -100,7 +100,7 @@
               iconAnchor: [32, 32]
           })
           this.droneIcon = L.icon({
-              iconUrl: '/drone_icon.png',
+              iconUrl: '/drone_icon_1.png',
               iconSize: [64, 64],
               iconAnchor: [32, 32]
           })

From 5ba699be821d412806818ff8b0333ccf8deb6a76 Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Tue, 26 Mar 2024 15:50:19 -0400
Subject: [PATCH 5/9] drone icon

---
 src/teleoperation/frontend/public/drone_icon_1.png | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 src/teleoperation/frontend/public/drone_icon_1.png

diff --git a/src/teleoperation/frontend/public/drone_icon_1.png b/src/teleoperation/frontend/public/drone_icon_1.png
new file mode 100644
index 000000000..50409457e
--- /dev/null
+++ b/src/teleoperation/frontend/public/drone_icon_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94c6536539aac8ae22e2ef0ecfe9b01264348dc0afb57ed4b7e417d9b93d6cf
+size 18672

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 6/9] 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"
+      }
     }
   }
 }

From af7e95023ddcb379d45fb6afc7b7d35a6af79289 Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Tue, 9 Apr 2024 20:04:24 -0400
Subject: [PATCH 7/9] drone status

---
 msg/DroneWaypoint.msg                         |   2 -
 src/teleoperation/backend/consumers.py        |  15 ++++---
 src/teleoperation/db.sqlite3                  | Bin 139264 -> 139264 bytes
 .../frontend/src/components/AutonTask.vue     |   3 +-
 .../frontend/src/components/BasicRoverMap.vue |   1 -
 .../frontend/src/components/DMESTask.vue      |   3 +-
 .../src/components/OdometryReading.vue        |  42 ++++++++++++++++++
 7 files changed, 56 insertions(+), 10 deletions(-)
 delete mode 100644 msg/DroneWaypoint.msg

diff --git a/msg/DroneWaypoint.msg b/msg/DroneWaypoint.msg
deleted file mode 100644
index 76b9e4ee4..000000000
--- a/msg/DroneWaypoint.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-float64 latitude
-float64 longitude
\ No newline at end of file
diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index 94e2b5972..58e913fca 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -28,7 +28,6 @@
     Velocity,
     Position,
     IK,
-    DroneWaypoint,
     Spectral,
     ScienceThermistors,
     HeaterData,
@@ -100,7 +99,7 @@ def connect(self):
             self.ish_thermistor_data = rospy.Subscriber(
                 "/science_thermistors", ScienceThermistors, self.ish_thermistor_data_callback
             )
-            self.drone_waypoint_sub = rospy.Subscriber("/drone_waypoint", DroneWaypoint, self.drone_waypoint_callback)
+            self.drone_waypoint_sub = rospy.Subscriber("/drone_waypoint", NavSatFix, self.drone_waypoint_callback)
             self.ish_heater_state = rospy.Subscriber(
                 "/science_heater_state", HeaterData, self.ish_heater_state_callback
             )
@@ -609,9 +608,12 @@ 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}
+            text_data=json.dumps(    
+                {"type": "nav_sat_fix", "latitude": msg.latitude, "longitude": msg.longitude, "altitude": msg.altitude, "status": fixed}
             )
         )
 
@@ -822,7 +824,10 @@ def science_spectral_callback(self, msg):
     def drone_waypoint_callback(self, msg):
         latitude = msg.latitude
         longitude = msg.longitude
-        self.send(text_data=json.dumps({"type": "drone_waypoint", "latitude": latitude, "longitude": longitude}))
+        fixed = True
+        if msg.status == -1:
+            fixed = False
+        self.send(text_data=json.dumps({"type": "drone_waypoint", "latitude": latitude, "longitude": longitude, "status": fixed}))
 
     def download_csv(self, msg):
         username = os.getenv("USERNAME", "-1")
diff --git a/src/teleoperation/db.sqlite3 b/src/teleoperation/db.sqlite3
index 136f4cbb55682acf80e3f69c97c269f6aa088868..7973d6e055994a1852a6827c767c401726147855 100644
GIT binary patch
delta 25
hcmZoTz|nAkV}dl}!ih4@j0+nRS`!$zCNM3K2LO9>2@L=M

delta 25
hcmZoTz|nAkV}dl}yooZ-jPn{3S`!$zCNM3K2LO8_2?qcG

diff --git a/src/teleoperation/frontend/src/components/AutonTask.vue b/src/teleoperation/frontend/src/components/AutonTask.vue
index 0c36c1a89..0b6a97a9a 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,
diff --git a/src/teleoperation/frontend/src/components/BasicRoverMap.vue b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
index de53c4ed8..2eefb37cb 100644
--- a/src/teleoperation/frontend/src/components/BasicRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
@@ -208,7 +208,6 @@
                       this.dronePath = [...this.dronePath, latLng]
                       this.droneCount = 0
                   }
-                  console.log(this.dronePath)
             }
           },
 
diff --git a/src/teleoperation/frontend/src/components/DMESTask.vue b/src/teleoperation/frontend/src/components/DMESTask.vue
index 6dffa10f1..b348c14b0 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: {
diff --git a/src/teleoperation/frontend/src/components/OdometryReading.vue b/src/teleoperation/frontend/src/components/OdometryReading.vue
index 08f90cc2c..c274fdda9 100644
--- a/src/teleoperation/frontend/src/components/OdometryReading.vue
+++ b/src/teleoperation/frontend/src/components/OdometryReading.vue
@@ -19,6 +19,12 @@
       <div>
         <p>Altitude: {{ odom.altitude.toFixed(2) }}m</p>
       </div>
+      <div>
+        <p>Odom Status: {{ get_odom_status }}</p>
+      </div>
+      <div>
+        <p>Drone Status: {{ get_drone_status }}</p>
+      </div>
     </div>
     <div class="calibration imu">
       <IMUCalibration></IMUCalibration>
@@ -46,6 +52,13 @@ export default {
     }
   },
 
+  data() {
+    return {
+      drone_latitude_deg:42.293195,
+      drone_longitude_deg:-83.7096706,
+      drone_status: false
+    }
+  },
   computed: {
     ...mapGetters('map', {
       odom_format: 'odomFormat'
@@ -64,9 +77,38 @@ export default {
     },
     alt_available: function () {
       return !isNan(this.odom.altitude)
+    },
+    get_odom_status: function () {
+      if(this.odom.status){
+        return "fixed"
+      }
+      else{
+        return "not fixed"
+      }
+    },
+    get_drone_status: function () {
+      if(this.drone_status){
+        return "fixed"
+      }
+      else{
+        return "not fixed"
+      }
     }
+  },
+  
+
+  watch:{
+      message(msg){
+        if (msg.type == 'drone_waypoint') {
+            this.drone_latitude_deg = msg.latitude
+            this.drone_longitude_deg = msg.longitude
+            this.drone_status = msg.status
+          }
+      }
   }
 }
+
+ 
 </script>
 
 <style scoped>

From 93dbc79406e92ee67eaac9f9793ab9b4cddc623a Mon Sep 17 00:00:00 2001
From: eric <emzhang@umich.edu>
Date: Sun, 14 Apr 2024 08:31:47 -0400
Subject: [PATCH 8/9] drone status

---
 msg/AutonCommand.msg                          |   2 --
 src/teleoperation/backend/consumers.py        |   5 +++--
 src/teleoperation/db.sqlite3                  | Bin 139264 -> 139264 bytes
 .../frontend/src/components/AutonTask.vue     |   2 ++
 .../frontend/src/components/BasicRoverMap.vue |   1 +
 .../frontend/src/components/DMESTask.vue      |   5 +++++
 .../src/components/OdometryReading.vue        |   4 +++-
 7 files changed, 14 insertions(+), 5 deletions(-)
 delete mode 100644 msg/AutonCommand.msg

diff --git a/msg/AutonCommand.msg b/msg/AutonCommand.msg
deleted file mode 100644
index 7b2628c7d..000000000
--- a/msg/AutonCommand.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-bool is_enabled
-GPSWaypoint[] waypoints
\ No newline at end of file
diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index 58e913fca..4d29bd53d 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -609,7 +609,7 @@ def cmd_vel_callback(self, msg):
 
     def gps_fix_callback(self, msg):
         fixed = True
-        if msg.status == -1:
+        if msg.status.status == -1:
             fixed = False
         self.send(
             text_data=json.dumps(    
@@ -825,7 +825,8 @@ def drone_waypoint_callback(self, msg):
         latitude = msg.latitude
         longitude = msg.longitude
         fixed = True
-        if msg.status == -1:
+        rospy.logerr(msg.status.status)
+        if msg.status.status == -1:
             fixed = False
         self.send(text_data=json.dumps({"type": "drone_waypoint", "latitude": latitude, "longitude": longitude, "status": fixed}))
 
diff --git a/src/teleoperation/db.sqlite3 b/src/teleoperation/db.sqlite3
index 7973d6e055994a1852a6827c767c401726147855..0950bda1921715f428e2fe06966c8c45fa234b0e 100644
GIT binary patch
delta 25
hcmZoTz|nAkV}dl}+KDpGjB6VcS`!$zCNM3K2LODx2_*mk

delta 25
hcmZoTz|nAkV}dl}!ih4@j0+nRS`!$zCNM3K2LO9>2@L=M

diff --git a/src/teleoperation/frontend/src/components/AutonTask.vue b/src/teleoperation/frontend/src/components/AutonTask.vue
index 0b6a97a9a..275ceb5b0 100644
--- a/src/teleoperation/frontend/src/components/AutonTask.vue
+++ b/src/teleoperation/frontend/src/components/AutonTask.vue
@@ -157,6 +157,8 @@ 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
+        console.log(this.odom.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/BasicRoverMap.vue b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
index 2eefb37cb..955d0593b 100644
--- a/src/teleoperation/frontend/src/components/BasicRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
@@ -260,6 +260,7 @@
       display: flex;
       align-items: center;
       height: 100%;
+      width: 100%;
   }
   </style>
   
\ No newline at end of file
diff --git a/src/teleoperation/frontend/src/components/DMESTask.vue b/src/teleoperation/frontend/src/components/DMESTask.vue
index b348c14b0..73a0e47df 100644
--- a/src/teleoperation/frontend/src/components/DMESTask.vue
+++ b/src/teleoperation/frontend/src/components/DMESTask.vue
@@ -140,6 +140,11 @@ export default defineComponent({
         this.moteusDrive.state = msg.state
         this.moteusDrive.error = msg.error
         this.moteusDrive.limit_hit = msg.limit_hit
+      } else if (msg.type == 'nav_sat_fix') {
+        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 == 'center_map') {
         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 c274fdda9..2e2f42c63 100644
--- a/src/teleoperation/frontend/src/components/OdometryReading.vue
+++ b/src/teleoperation/frontend/src/components/OdometryReading.vue
@@ -37,7 +37,7 @@
 
 <script lang="ts">
 import { convertDMS } from '../utils.js'
-import { mapGetters } from 'vuex'
+import { mapGetters, mapState } from 'vuex'
 import IMUCalibration from './IMUCalibration.vue'
 import FlightAttitudeIndicator from './FlightAttitudeIndicator.vue'
 export default {
@@ -60,6 +60,8 @@ export default {
     }
   },
   computed: {
+    ...mapState('websocket', ['message']),
+
     ...mapGetters('map', {
       odom_format: 'odomFormat'
     }),

From ee0cf29c5032f9ca8a0d6589a6d7cf3a7d37f668 Mon Sep 17 00:00:00 2001
From: neuenfeldttj <tjneuenfeldt@gmail.com>
Date: Thu, 18 Apr 2024 20:35:27 -0400
Subject: [PATCH 9/9] format

---
 src/teleoperation/backend/consumers.py | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index 4d29bd53d..05e9a5c86 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -612,8 +612,14 @@ def gps_fix_callback(self, msg):
         if msg.status.status == -1:
             fixed = False
         self.send(
-            text_data=json.dumps(    
-                {"type": "nav_sat_fix", "latitude": msg.latitude, "longitude": msg.longitude, "altitude": msg.altitude, "status": fixed}
+            text_data=json.dumps(
+                {
+                    "type": "nav_sat_fix",
+                    "latitude": msg.latitude,
+                    "longitude": msg.longitude,
+                    "altitude": msg.altitude,
+                    "status": fixed,
+                }
             )
         )
 
@@ -828,7 +834,11 @@ def drone_waypoint_callback(self, msg):
         rospy.logerr(msg.status.status)
         if msg.status.status == -1:
             fixed = False
-        self.send(text_data=json.dumps({"type": "drone_waypoint", "latitude": latitude, "longitude": longitude, "status": fixed}))
+        self.send(
+            text_data=json.dumps(
+                {"type": "drone_waypoint", "latitude": latitude, "longitude": longitude, "status": fixed}
+            )
+        )
 
     def download_csv(self, msg):
         username = os.getenv("USERNAME", "-1")