new demo topics

main.py

@@ -53,7 +53,7 @@ commands = {
     # 'send-place-a-demo-objRed-red': ('place-a/demo/move/objectRed1/red', '1'),
     # 'send-place-b-demo-objRed-red': ('place-b/demo', 'objectRed1/red'),
 
-    'send-place-b-demo-initial_scene': ('place-b/demo', 'initial_scene'),
+    'send-place-b-demo-initial_scene': ('place-b/demo', 'scene:initial'),
     # 'send-place-b-demo-arm1-moving': ('place-b/demo', 'arm1/moving'),
     # 'send-place-b-demo-arm1-idle': ('place-b/demo', 'arm1/idle'),
     # 'send-place-b-demo-arm2-moving': ('place-b/demo', 'arm2/moving'),
@@ -221,15 +221,15 @@ app.layout = html.Div([
                     # html.Button('big-blue-g1', id='send-place-b-demo-big-blue-g1', style=button_style_normal),
                     html.Div([
                         dcc.RadioItems(['arm1', 'arm2'], 'arm1', id='send-arm-state-robot', inline=True, style={"marginRight": "10px", "marginTop": "5px"}),
-                        dcc.RadioItems([{'label': 'Idle', 'value': 'STATE_IDLE'},
-                            {'label': 'Picking', 'value': 'STATE_PICKING'},
-                            {'label': 'Placing', 'value': 'STATE_PLACING'},
-                            {'label': 'Moving', 'value': 'STATE_MOVING'}]
-                            , 'STATE_MOVING', id='send-arm-state-state', inline=True, style={"marginRight": "10px", "marginTop": "5px"}),
+                        dcc.RadioItems([{'label': 'Idle', 'value': 'idle'},
+                            {'label': 'Picking', 'value': 'picking'},
+                            {'label': 'Placing', 'value': 'placing'},
+                            {'label': 'Moving', 'value': 'moving'}]
+                            , 'moving', id='send-arm-state-state', inline=True, style={"marginRight": "10px", "marginTop": "5px"}),
                         html.Button('Send', id='send-arm-state', style=button_style_normal)
                         ], className='row', style={"display":"flex", "border": "1px black solid", "border-radius": "5px", "marginTop": "5px"}),
                     html.Div([
-                        dcc.RadioItems(['blue1', 'green1'], 'blue1',
+                        dcc.RadioItems(['blue1', 'blue2', 'green1', 'green2'], 'blue1',
                             id='send-obj-pos-obj', inline=True, style={"marginRight": "10px", "marginTop": "5px"}),
                         dcc.RadioItems(['cz1', 'G1', 'G2', 'B1', 'B2'], 'cz1',
                             id='send-obj-pos-pos', inline=True, style={"marginRight": "10px", "marginTop": "5px"}),
@@ -393,11 +393,11 @@ def send_complex(*_):
         if button_id == 'send-arm-state':
             robot = ctx.states["send-arm-state-robot.value"]
             state = ctx.states["send-arm-state-state.value"]
-            mqttc.publish(topic='place-b/demo', payload=robot + '/' + state[6:].lower())
+            mqttc.publish(topic='place-b/demo', payload=f'robot:{robot}/{state}')
         elif button_id == 'send-obj-pos':
             obj = ctx.states["send-obj-pos-obj.value"]
             pos = ctx.states["send-obj-pos-pos.value"]
-            mqttc.publish(topic='place-b/demo', payload=obj + '/' + pos)
+            mqttc.publish(topic='place-b/demo', payload=f'object:{obj}/{pos}')
         else:
             topic, state_id, protobuf_obj = complex_commands[button_id]
             json_content = ctx.states[state_id + ".value"]