-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Allow users to customize planning scene from settings
- Loading branch information
1 parent
0fccb97
commit 72c8389
Showing
5 changed files
with
139 additions
and
2 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,125 @@ | ||
| // React imports | ||
| import React, { useCallback, useEffect, useMemo, useRef, useState } from 'react' | ||
| import { useMediaQuery } from 'react-responsive' | ||
| import ButtonGroup from 'react-bootstrap/ButtonGroup' | ||
| import Dropdown from 'react-bootstrap/Dropdown' | ||
| import DropdownButton from 'react-bootstrap/DropdownButton' | ||
| import { View } from 'react-native' | ||
|
|
||
| // Local imports | ||
| import { PLANNING_SCENE_PARAM, PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME, PLANNING_SCENE_GET_PARAMETERS_SERVICE_TYPE } from '../Constants' | ||
| import { useGlobalState, SETTINGS_STATE } from '../GlobalState' | ||
| import { useROS, createROSService, createROSServiceRequest, getValueFromParameter } from '../../ros/ros_helpers' | ||
| import SettingsPageParent from './SettingsPageParent' | ||
|
|
||
| /** | ||
| * The PlanningScene component allows users to change the planning scene that a particular | ||
| * settings namespace is configured with | ||
| */ | ||
| const PlanningScene = () => { | ||
| // Get relevant global state variables | ||
| const setSettingsState = useGlobalState((state) => state.setSettingsState) | ||
|
|
||
| // Flag to check if the current orientation is portrait | ||
| const isPortrait = useMediaQuery({ query: '(orientation: portrait)' }) | ||
| // Indicator of how to arrange screen elements based on orientation | ||
| let dimension = isPortrait ? 'column' : 'row' | ||
| // Rendering variables | ||
| let textFontSize = '3.5vh' | ||
|
|
||
| // Configure the parameters for SettingsPageParent | ||
| const paramNames = useMemo(() => [PLANNING_SCENE_PARAM], []) | ||
| const [currentParams, setCurrentParams] = useState([null]) | ||
|
|
||
| /** | ||
| * Connect to ROS, if not already connected. Put this in useRef to avoid | ||
| * re-connecting upon re-renders. | ||
| */ | ||
| const ros = useRef(useROS().ros) | ||
|
|
||
| // Get the options for the planning scene | ||
| let getParametersService = useRef( | ||
| createROSService(ros.current, PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME, PLANNING_SCENE_GET_PARAMETERS_SERVICE_TYPE) | ||
| ) | ||
| const [planningSceneNamespaces, setPlanningSceneNamespaces] = useState([]) | ||
| useEffect(() => { | ||
| let service = getParametersService.current | ||
| let request = createROSServiceRequest({ | ||
| names: ['namespaces'] | ||
| }) | ||
| service.callService(request, (response) => { | ||
| if (response.values.length > 0 && response.values[0].type === 9) { | ||
| setPlanningSceneNamespaces(getValueFromParameter(response.values[0])) | ||
| } else { | ||
| console.error('PlanningScene: Error getting planning scene namespaces') | ||
| } | ||
| }) | ||
| }, [getParametersService, setPlanningSceneNamespaces]) | ||
|
|
||
| // Render the settings for the planning scene | ||
| const renderPlanningSceneSettings = useCallback(() => { | ||
| if (currentParams.some((param) => param === null)) { | ||
| return ( | ||
| <> | ||
| <View | ||
| style={{ | ||
| flex: 1, | ||
| flexDirection: 'column', | ||
| justifyContent: 'center', | ||
| alignItems: 'center', | ||
| width: '100%' | ||
| }} | ||
| > | ||
| <h5 style={{ textAlign: 'center', fontSize: textFontSize }}>Loading...</h5> | ||
| </View> | ||
| </> | ||
| ) | ||
| } else { | ||
| return ( | ||
| <View | ||
| style={{ | ||
| flex: 1, | ||
| flexDirection: dimension, | ||
| justifyContent: 'center', | ||
| alignItems: 'center', | ||
| width: '100%', | ||
| height: '100%' | ||
| }} | ||
| > | ||
| <DropdownButton | ||
| as={ButtonGroup} | ||
| key='planningSceneOptions' | ||
| id={`dropdown-button-drop-down`} | ||
| drop='down' | ||
| variant='secondary' | ||
| title={currentParams[0]} | ||
| size='lg' | ||
| > | ||
| {planningSceneNamespaces.map((namespace) => ( | ||
| <Dropdown.Item key={namespace} onClick={() => setCurrentParams([namespace])} active={namespace === currentParams[0]}> | ||
| {namespace} | ||
| </Dropdown.Item> | ||
| ))} | ||
| </DropdownButton> | ||
| </View> | ||
| ) | ||
| } | ||
| }, [currentParams, dimension, planningSceneNamespaces, setCurrentParams, textFontSize]) | ||
|
|
||
| return ( | ||
| <SettingsPageParent | ||
| title='Planning Scene ⚙' | ||
| doneCallback={() => setSettingsState(SETTINGS_STATE.MAIN)} | ||
| modalShow={false} | ||
| modalOnHide={null} | ||
| modalChildren={null} | ||
| paramNames={paramNames} | ||
| localParamValues={currentParams} | ||
| setLocalParamValues={setCurrentParams} | ||
| > | ||
| {renderPlanningSceneSettings()} | ||
| </SettingsPageParent> | ||
| ) | ||
| } | ||
|
|
||
| export default PlanningScene |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters