mirror of
https://github.com/soconnor0919/hristudio.git
synced 2026-03-23 19:27:51 -04:00
fix: migrate wizard from polling to WebSocket and fix duplicate ROS connections
- Removed non-functional trial WebSocket (no server exists) - Kept ROS WebSocket for robot control via useWizardRos - Fixed duplicate ROS connections by passing connection as props - WizardMonitoringPanel now receives ROS connection from parent - Trial status uses reliable tRPC polling (5-15s intervals) - Updated connection badges to show 'ROS Connected/Offline' - Added loading overlay with fade-in to designer - Fixed hash computation to include parameter values - Fixed incremental hash caching for parameter changes Fixes: - WebSocket connection errors eliminated - Connect button now works properly - No more conflicting duplicate connections - Accurate connection status display
This commit is contained in:
@@ -13,6 +13,9 @@ import {
|
||||
Power,
|
||||
PowerOff,
|
||||
Eye,
|
||||
Volume2,
|
||||
Move,
|
||||
Hand,
|
||||
} from "lucide-react";
|
||||
import { Badge } from "~/components/ui/badge";
|
||||
import { Separator } from "~/components/ui/separator";
|
||||
@@ -61,6 +64,25 @@ interface WizardMonitoringPanelProps {
|
||||
wsError?: string;
|
||||
activeTab: "status" | "robot" | "events";
|
||||
onTabChange: (tab: "status" | "robot" | "events") => void;
|
||||
// ROS connection props
|
||||
rosConnected: boolean;
|
||||
rosConnecting: boolean;
|
||||
rosError?: string;
|
||||
robotStatus: {
|
||||
connected: boolean;
|
||||
battery: number;
|
||||
position: { x: number; y: number; theta: number };
|
||||
joints: Record<string, unknown>;
|
||||
sensors: Record<string, unknown>;
|
||||
lastUpdate: Date;
|
||||
};
|
||||
connectRos: () => Promise<void>;
|
||||
disconnectRos: () => void;
|
||||
executeRosAction: (
|
||||
pluginName: string,
|
||||
actionId: string,
|
||||
parameters: Record<string, unknown>,
|
||||
) => Promise<unknown>;
|
||||
}
|
||||
|
||||
const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
@@ -70,331 +92,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
wsError,
|
||||
activeTab,
|
||||
onTabChange,
|
||||
rosConnected,
|
||||
rosConnecting,
|
||||
rosError,
|
||||
robotStatus,
|
||||
connectRos,
|
||||
disconnectRos,
|
||||
executeRosAction,
|
||||
}: WizardMonitoringPanelProps) {
|
||||
// ROS Bridge connection state
|
||||
const [rosConnected, setRosConnected] = useState(false);
|
||||
const [rosConnecting, setRosConnecting] = useState(false);
|
||||
const [rosError, setRosError] = useState<string | null>(null);
|
||||
const [rosSocket, setRosSocket] = useState<WebSocket | null>(null);
|
||||
const [robotStatus, setRobotStatus] = useState({
|
||||
connected: false,
|
||||
battery: 0,
|
||||
position: { x: 0, y: 0, theta: 0 },
|
||||
joints: {},
|
||||
sensors: {},
|
||||
lastUpdate: new Date(),
|
||||
});
|
||||
|
||||
const ROS_BRIDGE_URL = "ws://134.82.159.25:9090";
|
||||
|
||||
// Use refs to persist connection state across re-renders
|
||||
const connectionAttemptRef = useRef(false);
|
||||
const socketRef = useRef<WebSocket | null>(null);
|
||||
|
||||
const connectRos = () => {
|
||||
// Prevent multiple connection attempts
|
||||
if (connectionAttemptRef.current) {
|
||||
console.log("Connection already in progress, skipping");
|
||||
return;
|
||||
}
|
||||
|
||||
if (
|
||||
rosSocket?.readyState === WebSocket.OPEN ||
|
||||
socketRef.current?.readyState === WebSocket.OPEN
|
||||
) {
|
||||
console.log("Already connected, skipping");
|
||||
return;
|
||||
}
|
||||
|
||||
// Prevent rapid reconnection attempts
|
||||
if (rosConnecting) {
|
||||
console.log("Connection in progress, please wait");
|
||||
return;
|
||||
}
|
||||
|
||||
connectionAttemptRef.current = true;
|
||||
setRosConnecting(true);
|
||||
setRosError(null);
|
||||
|
||||
console.log("🔌 Connecting to ROS Bridge:", ROS_BRIDGE_URL);
|
||||
const socket = new WebSocket(ROS_BRIDGE_URL);
|
||||
socketRef.current = socket;
|
||||
|
||||
// Add connection timeout
|
||||
const connectionTimeout = setTimeout(() => {
|
||||
if (socket.readyState === WebSocket.CONNECTING) {
|
||||
socket.close();
|
||||
connectionAttemptRef.current = false;
|
||||
setRosConnecting(false);
|
||||
setRosError("Connection timeout (10s) - ROS Bridge not responding");
|
||||
}
|
||||
}, 10000);
|
||||
|
||||
socket.onopen = () => {
|
||||
clearTimeout(connectionTimeout);
|
||||
connectionAttemptRef.current = false;
|
||||
console.log("Connected to ROS Bridge successfully");
|
||||
setRosConnected(true);
|
||||
setRosConnecting(false);
|
||||
setRosSocket(socket);
|
||||
setRosError(null);
|
||||
|
||||
// Just log connection success - no auto actions
|
||||
console.log("WebSocket connected successfully to ROS Bridge");
|
||||
|
||||
setRobotStatus((prev) => ({
|
||||
...prev,
|
||||
connected: true,
|
||||
lastUpdate: new Date(),
|
||||
}));
|
||||
};
|
||||
|
||||
socket.onmessage = (event) => {
|
||||
try {
|
||||
const data = JSON.parse(event.data as string) as {
|
||||
topic?: string;
|
||||
msg?: Record<string, unknown>;
|
||||
op?: string;
|
||||
level?: string;
|
||||
};
|
||||
|
||||
// Handle status messages
|
||||
if (data.op === "status") {
|
||||
console.log("ROS Bridge status:", data.msg, "Level:", data.level);
|
||||
return;
|
||||
}
|
||||
|
||||
// Handle topic messages
|
||||
if (data.topic === "/joint_states" && data.msg) {
|
||||
setRobotStatus((prev) => ({
|
||||
...prev,
|
||||
joints: data.msg ?? {},
|
||||
lastUpdate: new Date(),
|
||||
}));
|
||||
} else if (data.topic === "/naoqi_driver/battery" && data.msg) {
|
||||
const batteryPercent = (data.msg.percentage as number) || 0;
|
||||
setRobotStatus((prev) => ({
|
||||
...prev,
|
||||
battery: Math.round(batteryPercent),
|
||||
lastUpdate: new Date(),
|
||||
}));
|
||||
} else if (data.topic === "/diagnostics" && data.msg) {
|
||||
// Handle diagnostic messages for battery
|
||||
console.log("Diagnostics received:", data.msg);
|
||||
}
|
||||
} catch (error) {
|
||||
console.error("Error parsing ROS message:", error);
|
||||
}
|
||||
};
|
||||
|
||||
socket.onclose = (event) => {
|
||||
clearTimeout(connectionTimeout);
|
||||
connectionAttemptRef.current = false;
|
||||
setRosConnected(false);
|
||||
setRosConnecting(false);
|
||||
setRosSocket(null);
|
||||
socketRef.current = null;
|
||||
setRobotStatus((prev) => ({
|
||||
...prev,
|
||||
connected: false,
|
||||
battery: 0,
|
||||
joints: {},
|
||||
sensors: {},
|
||||
}));
|
||||
|
||||
// Only show error if it wasn't a normal closure (code 1000)
|
||||
if (event.code !== 1000) {
|
||||
let errorMsg = "Connection lost";
|
||||
if (event.code === 1006) {
|
||||
errorMsg =
|
||||
"ROS Bridge not responding - check if rosbridge_server is running";
|
||||
} else if (event.code === 1011) {
|
||||
errorMsg = "Server error in ROS Bridge";
|
||||
} else if (event.code === 1002) {
|
||||
errorMsg = "Protocol error - check ROS Bridge version";
|
||||
} else if (event.code === 1001) {
|
||||
errorMsg = "Server going away - ROS Bridge may have restarted";
|
||||
}
|
||||
console.log(
|
||||
`🔌 Connection closed - Code: ${event.code}, Reason: ${event.reason}`,
|
||||
);
|
||||
setRosError(`${errorMsg} (${event.code})`);
|
||||
}
|
||||
};
|
||||
|
||||
socket.onerror = (error) => {
|
||||
clearTimeout(connectionTimeout);
|
||||
connectionAttemptRef.current = false;
|
||||
console.error("ROS Bridge WebSocket error:", error);
|
||||
setRosConnected(false);
|
||||
setRosConnecting(false);
|
||||
setRosError(
|
||||
"Failed to connect to ROS bridge - check if rosbridge_server is running",
|
||||
);
|
||||
setRobotStatus((prev) => ({ ...prev, connected: false }));
|
||||
};
|
||||
};
|
||||
|
||||
const disconnectRos = () => {
|
||||
console.log("Manually disconnecting from ROS Bridge");
|
||||
connectionAttemptRef.current = false;
|
||||
if (rosSocket) {
|
||||
// Close with normal closure code to avoid error messages
|
||||
rosSocket.close(1000, "User disconnected");
|
||||
}
|
||||
if (socketRef.current) {
|
||||
socketRef.current.close(1000, "User disconnected");
|
||||
}
|
||||
// Clear all state
|
||||
setRosSocket(null);
|
||||
socketRef.current = null;
|
||||
setRosConnected(false);
|
||||
setRosConnecting(false);
|
||||
setRosError(null);
|
||||
setRobotStatus({
|
||||
connected: false,
|
||||
battery: 0,
|
||||
position: { x: 0, y: 0, theta: 0 },
|
||||
joints: {},
|
||||
sensors: {},
|
||||
lastUpdate: new Date(),
|
||||
});
|
||||
};
|
||||
|
||||
const executeRobotAction = (
|
||||
action: string,
|
||||
parameters?: Record<string, unknown>,
|
||||
) => {
|
||||
if (!rosSocket || !rosConnected) {
|
||||
setRosError("Robot not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
let message: {
|
||||
op: string;
|
||||
topic: string;
|
||||
type: string;
|
||||
msg: Record<string, unknown>;
|
||||
};
|
||||
|
||||
switch (action) {
|
||||
case "say_text":
|
||||
const speechText = parameters?.text ?? "Hello from wizard interface!";
|
||||
console.log("🔊 Preparing speech command:", speechText);
|
||||
message = {
|
||||
op: "publish",
|
||||
topic: "/speech",
|
||||
type: "std_msgs/String",
|
||||
msg: { data: speechText },
|
||||
};
|
||||
console.log(
|
||||
"📤 Speech message constructed:",
|
||||
JSON.stringify(message, null, 2),
|
||||
);
|
||||
break;
|
||||
|
||||
case "move_forward":
|
||||
case "move_backward":
|
||||
case "turn_left":
|
||||
case "turn_right":
|
||||
const speed = (parameters?.speed as number) || 0.1;
|
||||
const linear = action.includes("forward")
|
||||
? speed
|
||||
: action.includes("backward")
|
||||
? -speed
|
||||
: 0;
|
||||
const angular = action.includes("left")
|
||||
? speed
|
||||
: action.includes("right")
|
||||
? -speed
|
||||
: 0;
|
||||
|
||||
message = {
|
||||
op: "publish",
|
||||
topic: "/cmd_vel",
|
||||
type: "geometry_msgs/Twist",
|
||||
msg: {
|
||||
linear: { x: linear, y: 0, z: 0 },
|
||||
angular: { x: 0, y: 0, z: angular },
|
||||
},
|
||||
};
|
||||
break;
|
||||
|
||||
case "stop_movement":
|
||||
message = {
|
||||
op: "publish",
|
||||
topic: "/cmd_vel",
|
||||
type: "geometry_msgs/Twist",
|
||||
msg: {
|
||||
linear: { x: 0, y: 0, z: 0 },
|
||||
angular: { x: 0, y: 0, z: 0 },
|
||||
},
|
||||
};
|
||||
break;
|
||||
|
||||
case "head_movement":
|
||||
case "turn_head":
|
||||
const yaw = (parameters?.yaw as number) || 0;
|
||||
const pitch = (parameters?.pitch as number) || 0;
|
||||
const headSpeed = (parameters?.speed as number) || 0.3;
|
||||
|
||||
message = {
|
||||
op: "publish",
|
||||
topic: "/joint_angles",
|
||||
type: "naoqi_bridge_msgs/JointAnglesWithSpeed",
|
||||
msg: {
|
||||
joint_names: ["HeadYaw", "HeadPitch"],
|
||||
joint_angles: [yaw, pitch],
|
||||
speed: headSpeed,
|
||||
},
|
||||
};
|
||||
break;
|
||||
|
||||
case "play_animation":
|
||||
const animation = (parameters?.animation as string) ?? "Hello";
|
||||
|
||||
message = {
|
||||
op: "publish",
|
||||
topic: "/naoqi_driver/animation",
|
||||
type: "std_msgs/String",
|
||||
msg: { data: animation },
|
||||
};
|
||||
break;
|
||||
|
||||
default:
|
||||
setRosError(`Unknown action: ${String(action)}`);
|
||||
return;
|
||||
}
|
||||
|
||||
try {
|
||||
const messageStr = JSON.stringify(message);
|
||||
console.log("📡 Sending to ROS Bridge:", messageStr);
|
||||
rosSocket.send(messageStr);
|
||||
console.log(`✅ Sent robot action: ${action}`, parameters);
|
||||
} catch (error) {
|
||||
console.error("❌ Failed to send command:", error);
|
||||
setRosError(`Failed to send command: ${String(error)}`);
|
||||
}
|
||||
};
|
||||
|
||||
const subscribeToTopic = (topic: string, messageType: string) => {
|
||||
if (!rosSocket || !rosConnected) {
|
||||
setRosError("Cannot subscribe - not connected");
|
||||
return;
|
||||
}
|
||||
|
||||
try {
|
||||
const subscribeMsg = {
|
||||
op: "subscribe",
|
||||
topic: topic,
|
||||
type: messageType,
|
||||
};
|
||||
rosSocket.send(JSON.stringify(subscribeMsg));
|
||||
console.log(`Manually subscribed to ${topic}`);
|
||||
} catch (error) {
|
||||
setRosError(`Failed to subscribe to ${topic}: ${String(error)}`);
|
||||
}
|
||||
};
|
||||
// ROS connection is now passed as props, no need for separate hook
|
||||
|
||||
// Don't close connection on unmount to prevent disconnection issues
|
||||
// Connection will persist across component re-renders
|
||||
@@ -526,7 +232,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
<div className="space-y-2">
|
||||
<div className="flex items-center justify-between">
|
||||
<span className="text-muted-foreground text-xs">
|
||||
WebSocket
|
||||
ROS Bridge
|
||||
</span>
|
||||
<Badge
|
||||
variant={isConnected ? "default" : "secondary"}
|
||||
@@ -759,7 +465,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="w-full text-xs"
|
||||
onClick={connectRos}
|
||||
onClick={() => connectRos()}
|
||||
disabled={rosConnecting || rosConnected}
|
||||
>
|
||||
<Bot className="mr-1 h-3 w-3" />
|
||||
@@ -774,7 +480,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="w-full text-xs"
|
||||
onClick={disconnectRos}
|
||||
onClick={() => disconnectRos()}
|
||||
>
|
||||
<PowerOff className="mr-1 h-3 w-3" />
|
||||
Disconnect
|
||||
@@ -801,7 +507,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
<div>
|
||||
1. Check ROS Bridge:{" "}
|
||||
<code className="bg-muted rounded px-1 text-xs">
|
||||
telnet 134.82.159.25 9090
|
||||
telnet localhost 9090
|
||||
</code>
|
||||
</div>
|
||||
<div>2. NAO6 must be awake and connected</div>
|
||||
@@ -850,10 +556,10 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
))}
|
||||
{trialEvents.filter((e) => e.type.includes("robot"))
|
||||
.length === 0 && (
|
||||
<div className="text-muted-foreground py-2 text-center text-xs">
|
||||
No robot events yet
|
||||
</div>
|
||||
)}
|
||||
<div className="text-muted-foreground py-2 text-center text-xs">
|
||||
No robot events yet
|
||||
</div>
|
||||
)}
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@@ -905,15 +611,17 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
<Button
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("say_text", {
|
||||
text: "Connection test - can you hear me?",
|
||||
})
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "say_text", {
|
||||
text: "Connection test - can you hear me?",
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
disabled={!rosConnected}
|
||||
>
|
||||
{rosConnected ? "🔊 Test Speech" : "🔊 Not Ready"}
|
||||
<Volume2 className="mr-1 h-3 w-3" />
|
||||
Test Speech
|
||||
</Button>
|
||||
</div>
|
||||
|
||||
@@ -923,45 +631,9 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
Subscribe to Topics:
|
||||
</div>
|
||||
<div className="grid grid-cols-1 gap-1">
|
||||
<Button
|
||||
size="sm"
|
||||
variant="ghost"
|
||||
className="justify-start text-xs"
|
||||
onClick={() =>
|
||||
subscribeToTopic(
|
||||
"/naoqi_driver/battery",
|
||||
"naoqi_bridge_msgs/Battery",
|
||||
)
|
||||
}
|
||||
>
|
||||
🔋 Battery Status
|
||||
</Button>
|
||||
<Button
|
||||
size="sm"
|
||||
variant="ghost"
|
||||
className="justify-start text-xs"
|
||||
onClick={() =>
|
||||
subscribeToTopic(
|
||||
"/naoqi_driver/joint_states",
|
||||
"sensor_msgs/JointState",
|
||||
)
|
||||
}
|
||||
>
|
||||
🤖 Joint States
|
||||
</Button>
|
||||
<Button
|
||||
size="sm"
|
||||
variant="ghost"
|
||||
className="justify-start text-xs"
|
||||
onClick={() =>
|
||||
subscribeToTopic(
|
||||
"/naoqi_driver/bumper",
|
||||
"naoqi_bridge_msgs/Bumper",
|
||||
)
|
||||
}
|
||||
>
|
||||
👟 Bumper Sensors
|
||||
</Button>
|
||||
<div className="text-muted-foreground text-xs">
|
||||
Subscriptions managed automatically
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
@@ -978,9 +650,14 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("move_forward", { speed: 0.05 })
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "walk_forward", {
|
||||
speed: 0.05,
|
||||
duration: 2,
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Forward
|
||||
</Button>
|
||||
@@ -988,9 +665,14 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("turn_left", { speed: 0.3 })
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "turn_left", {
|
||||
speed: 0.3,
|
||||
duration: 2,
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Turn Left
|
||||
</Button>
|
||||
@@ -998,9 +680,14 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("turn_right", { speed: 0.3 })
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "turn_right", {
|
||||
speed: 0.3,
|
||||
duration: 2,
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Turn Right
|
||||
</Button>
|
||||
@@ -1012,13 +699,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("turn_head", {
|
||||
yaw: 0,
|
||||
pitch: 0,
|
||||
speed: 0.3,
|
||||
})
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "turn_head", {
|
||||
yaw: 0,
|
||||
pitch: 0,
|
||||
speed: 0.3,
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Center Head
|
||||
</Button>
|
||||
@@ -1026,13 +715,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("turn_head", {
|
||||
yaw: 0.5,
|
||||
pitch: 0,
|
||||
speed: 0.3,
|
||||
})
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "turn_head", {
|
||||
yaw: 0.5,
|
||||
pitch: 0,
|
||||
speed: 0.3,
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Look Left
|
||||
</Button>
|
||||
@@ -1040,13 +731,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("turn_head", {
|
||||
yaw: -0.5,
|
||||
pitch: 0,
|
||||
speed: 0.3,
|
||||
})
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "turn_head", {
|
||||
yaw: -0.5,
|
||||
pitch: 0,
|
||||
speed: 0.3,
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Look Right
|
||||
</Button>
|
||||
@@ -1058,23 +751,27 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("play_animation", {
|
||||
animation: "Hello",
|
||||
})
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "say_text", {
|
||||
text: "Hello! I am NAO!",
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Wave Hello
|
||||
Say Hello
|
||||
</Button>
|
||||
<Button
|
||||
size="sm"
|
||||
variant="outline"
|
||||
className="text-xs"
|
||||
onClick={() =>
|
||||
executeRobotAction("say_text", {
|
||||
text: "Experiment ready!",
|
||||
})
|
||||
}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction("nao6-ros2", "say_text", {
|
||||
text: "Experiment ready!",
|
||||
}).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
Say Ready
|
||||
</Button>
|
||||
@@ -1086,7 +783,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||
size="sm"
|
||||
variant="destructive"
|
||||
className="text-xs"
|
||||
onClick={() => executeRobotAction("stop_movement", {})}
|
||||
onClick={() => {
|
||||
if (rosConnected) {
|
||||
executeRosAction(
|
||||
"nao6-ros2",
|
||||
"emergency_stop",
|
||||
{},
|
||||
).catch(console.error);
|
||||
}
|
||||
}}
|
||||
>
|
||||
🛑 Emergency Stop
|
||||
</Button>
|
||||
|
||||
Reference in New Issue
Block a user