Load graph UI (#193)

* Added setup menu (graph select at startup) functionality

* Changed all online launch files to use setup menu

* Changed waypoint input text field to check validity while typing

launch/offline_honeycomb_grizzly.launch.yaml

@@ -14,12 +14,13 @@ windows:
     layout: main-vertical
     shell_command_before:
       - source ${VTRSRC}/main/install/setup.bash
+#     - ros2 run vtr_gui setup_server  --ros-args -r __ns:=/vtr
     panes:
       - >
         ros2 launch vtr_navigation vtr.launch.py
         base_params:=honeycomb_grizzly_default.yaml
         data_dir:=${VTRTEMP}/lidar
-        start_new_graph:=false
+        start_new_graph:=true
         use_sim_time:=true
         path_planning.type:=stationary
 

launch/offline_velodyne_grizzly.launch.yaml

@@ -14,6 +14,7 @@ windows:
     layout: main-horizontal
     shell_command_before:
       - source ${VTRSRC}/main/install/setup.bash
+#     - ros2 run vtr_gui setup_server  --ros-args -r __ns:=/vtr
     panes:
       - >
         ros2 launch vtr_navigation vtr.launch.py

launch/offline_velodyne_jackal.launch.yaml

@@ -14,12 +14,13 @@ windows:
     layout: main-vertical
     shell_command_before:
       - source ${VTRSRC}/main/install/setup.bash
+#     - ros2 run vtr_gui setup_server  --ros-args -r __ns:=/vtr
     panes:
       - >
         ros2 launch vtr_navigation vtr.launch.py
         base_params:=velodyne_jackal_default.yaml
         data_dir:=${VTRTEMP}/lidar
-        start_new_graph:=false
+        start_new_graph:=true
         use_sim_time:=true
         path_planning.type:=stationary
 

launch/online_honeycomb_grizzly.launch.yaml

@@ -13,11 +13,12 @@ windows:
     layout: main-horizontal
     shell_command_before:
       - source ${VTRSRC}/main/install/setup.bash
+      - ros2 run vtr_gui setup_server  --ros-args -r __ns:=/vtr
     panes:
       - >
         ros2 launch vtr_navigation vtr.launch.py
         base_params:=honeycomb_grizzly_default.yaml
-        data_dir:=${VTRTEMP}/lidar/$(date '+%F')/$(date '+%F')
+#       data_dir:=${VTRTEMP}/lidar/$(date '+%F')/$(date '+%F')
         start_new_graph:=false
         use_sim_time:=false
 

launch/online_velodyne_grizzly.launch.yaml

@@ -16,11 +16,12 @@ windows:
     layout: main-horizontal
     shell_command_before:
       - source ${VTRSRC}/main/install/setup.bash
+      - ros2 run vtr_gui setup_server  --ros-args -r __ns:=/vtr
     panes:
       - >
         ros2 launch vtr_navigation vtr.launch.py
         base_params:=hdl64_grizzly_default.yaml
-        data_dir:=${VTRTEMP}/lidar/$(date '+%F')/$(date '+%F')
+#       data_dir:=${VTRTEMP}/lidar/$(date '+%F')/$(date '+%F')
         start_new_graph:=false
         use_sim_time:=false
 

launch/online_velodyne_jackal.launch.yaml

@@ -15,11 +15,12 @@ windows:
     shell_command_before:
       - source /opt/ros/humble/setup.bash 
         && source ${VTRSRC}/main/install/setup.bash
+      - ros2 run vtr_gui setup_server  --ros-args -r __ns:=/vtr
     panes:
       - >
         ros2 launch vtr_navigation vtr.launch.py
         base_params:=velodyne_jackal_default.yaml
-        data_dir:=${VTRTEMP}/lidar
+#       data_dir:=${VTRTEMP}/lidar/$(date '+%F')/$(date '+%F')
         start_new_graph:=false
         use_sim_time:=false
 

main/src/vtr_gui/setup.py

@@ -19,6 +19,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            'setup_server = vtr_gui.setup_server:main',
             'web_server = vtr_gui.web_server:main',
             'socket_server = vtr_gui.socket_server:main',
             'socket_client = vtr_gui.socket_client:main',

main/src/vtr_gui/vtr_gui/setup_server.py

@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+
+# Copyright 2021, Autonomous Space Robotics Lab (ASRL)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import time
+import os
+import flask
+import flask_socketio
+
+import vtr_navigation.vtr_setup as vtr_setup
+
+
+# socket io server address and port
+SOCKET_ADDRESS = '0.0.0.0'
+SOCKET_PORT = 5202
+
+logger = logging.getLogger('SetupServer')
+logger.setLevel(logging.INFO)
+hd = logging.StreamHandler()
+fm = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+hd.setFormatter(fm)
+logger.addHandler(hd)
+
+app = flask.Flask(__name__)
+app.config['DEBUG'] = False
+app.secret_key = 'asecretekey'
+
+app.logger.setLevel(logging.ERROR)
+logging.getLogger('werkzeug').setLevel(logging.ERROR)
+
+socketio = flask_socketio.SocketIO(app,
+                                   logger=False,
+                                   engineio_logger=False,
+                                   ping_interval=1,
+                                   ping_timeout=2,
+                                   cors_allowed_origins="*")
+
+
+@app.route('/')
+def main():
+  return "This is a socket-only API server."
+
+
+@socketio.on('connect')
+def on_connect():
+  logger.info('Client connected!')
+
+
+@socketio.on('disconnect')
+def on_disconnect():
+  logger.info('Client disconnected!')
+
+
+##### Setup specific calls #####
+
+
+@socketio.on('command/confirm_setup')
+def handle_confirm_setup(data):
+  logger.info('Received setup parameters', data)
+  if vtr_setup.confirm_setup(data):
+    logger.info('Broadcasting setup complete')
+    socketio.emit(u"notification/setup_complete")
+  else:
+    logger.info('Broadcasting setup invalid')
+    socketio.emit(u"notification/setup_invalid")
+
+
+@socketio.on('command/request_default_dir')
+def handle_default_dir():
+  data = vtr_setup.get_default_dir()
+  logger.info('Broadcasting default dir')
+  socketio.emit(u"notification/default_dir", data)
+
+
+@socketio.on('command/request_available_subdirs')
+def handle_available_subdirs():
+  data = vtr_setup.get_available_subdirs()
+  logger.info('Broadcasting available subdirs')
+  socketio.emit(u"notification/available_subdirs", data)
+
+
+@socketio.on('command/kill_setup_server')
+def handle_kill_setup_server():
+  os._exit(0)
+
+
+def main():
+  logger.info("Launching the setup server.")
+  socketio.run(app, host=SOCKET_ADDRESS, port=SOCKET_PORT, use_reloader=False)
+
+
+if __name__ == '__main__':
+  main()

main/src/vtr_gui/vtr_gui/socket_client.py

@@ -29,7 +29,7 @@
 SOCKET_ADDRESS = 'localhost'
 SOCKET_PORT = 5201
 
-vtr_ui_logger = logging.getLogger('vtr_ui')  # setted up in vtr_ui.py
+vtr_ui_logger = logging.getLogger('vtr_ui')  # set up in vtr_ui.py
 
 
 def graph_state_from_ros(ros_graph_state):

main/src/vtr_gui/vtr_gui/socket_server.py

@@ -20,6 +20,7 @@
 
 from vtr_navigation.vtr_ui_builder import build_remote
 
+
 # socket io server address and port
 SOCKET_ADDRESS = '0.0.0.0'
 SOCKET_PORT = 5201

main/src/vtr_gui/vtr_gui/vtr-gui/src/components/goal/GoalForm.js

@@ -118,7 +118,7 @@ class GoalForm extends React.Component {
                     error={goal_waypoints_invalid}
                     onChange={(e) => {
                       this.setState({ goal_waypoints_str: e.target.value });
-                      this.parseGoalWaypoints(e);
+                      this.parseGoalWaypoints(e.target.value);
                     }}
                     value={goal_waypoints_str}
                   />
@@ -222,18 +222,10 @@ class GoalForm extends React.Component {
   }
 
   /** @brief Selects repeat waypoints. */
-  parseGoalWaypoints(e) {
-    let input = e.target.value;
-    let names_lst = input.split(", ");
+  parseGoalWaypoints(input) {
+    let names_str = input.replace(/ /g, "").split(",");
     let ids = [];
-
-    if (input == "") {
-      this.props.setNewGoalWaypoints([]);
-      this.setState({ goal_waypoints_invalid: false });
-      return;
-    }
-
-    for (let name of names_lst) {
+    for (let name of names_str) {
       if (Array.from(this.props.waypointsMap.values()).includes(name)){
         ids.push(
           Array.from(this.props.waypointsMap.keys()).find(
@@ -246,7 +238,6 @@ class GoalForm extends React.Component {
         return;
       }
     }
-
     this.props.setNewGoalWaypoints(ids);
     this.setState({ goal_waypoints_invalid: false });
   }
@@ -260,6 +251,7 @@ class GoalForm extends React.Component {
     s = s.slice(0, s.length - 2);
     this.setState({
       goal_waypoints_str: s,
+      goal_waypoints_invalid: false,
     });
   }
 

main/src/vtr_gui/vtr_gui/vtr-gui/src/components/goal/GoalManager.js

@@ -238,22 +238,22 @@ class GoalManager extends React.Component {
   }
 
   setPause(pause) {
-    console.info("Sending pause signal with pause:", pause);
+    console.debug("Sending pause signal with pause:", pause);
     this.props.socket.emit("command/set_pause", { pause: pause });
   }
 
   cancelGoal(goal) {
-    console.info("Sending cancel goal signal with goal:", goal);
+    console.debug("Sending cancel goal signal with goal:", goal);
     this.props.socket.emit("command/cancel_goal", goal);
   }
 
   beginGoals() {
-    console.info("Sending begin goals signal");
+    console.debug("Sending begin goals signal");
     this.props.socket.emit("command/begin_goals");
   }
 
   handleAnnotateSliderChangeCommitted(type) {
-    console.info("Sending annotate slider change signal with type:", type);
+    console.debug("Sending annotate slider change signal with type:", type);
     this.props.socket.emit("command/change_env_info", { terrain_type: type });
   }
 

main/src/vtr_gui/vtr_gui/vtr-gui/src/components/graph/GraphMap.js

@@ -235,7 +235,6 @@ class GraphMap extends React.Component {
                   label="Name"
                   variant="standard"
                   size="small"
-                  on
                   onChange={(e) => {
                     disp_wps_map.set(key, e.target.value);
                     this.setState({display_waypoints_map: disp_wps_map});