some more commands

main.py

@@ -24,8 +24,8 @@ fixed_svg_filename = "2022-05-04T10-19-30-9155.svg"
 image_directory = '/data/git/jastadd/ros3rag/ros3rag.placeB/images/'
 static_image_route = '/static/'
 
-# MQTT_SERVER = '192.168.0.122'
-MQTT_SERVER = 'localhost'
+MQTT_SERVER = '192.168.0.122'
+# MQTT_SERVER = 'localhost'
 mqttc = mqtt.Client()
 
 # mqtt client connected?
@@ -54,12 +54,12 @@ commands = {
     # '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-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'),
-    'send-place-b-demo-arm2-idle': ('place-b/demo', 'arm2/idle'),
-    'send-place-b-demo-big-blue-cz': ('place-b/demo', 'big-blue/cz'),
-    'send-place-b-demo-big-blue-g1': ('place-b/demo', 'big-blue/g1'),
+    # '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'),
+    # 'send-place-b-demo-arm2-idle': ('place-b/demo', 'arm2/idle'),
+    # 'send-place-b-demo-big-blue-cz': ('place-b/demo', 'big-blue/cz'),
+    # 'send-place-b-demo-big-blue-g1': ('place-b/demo', 'big-blue/g1'),
 
     'send-coordinator-model': ('coordinator/model', '1'),
     'send-coordinator-model-details': ('coordinator/model', 'details'),
@@ -89,6 +89,10 @@ complex_commands = {
     'send-place-b-reachability-2-update':
         ('place-b/reachability/arm2', 'place-b-reachability-2-json', cgv_connector_pb2.Reachability()),
 }
+other_complex_commands = {
+    'send-arm-state': ('send-arm-state-robot', 'send-arm-state-state'),
+    'send-obj-pos': ('send-obj-pos-obj', 'send-obj-pos-pos')
+}
 
 conversion_topics = {
     '/ceti_cell_placeworld/scene/update': (cgv_connector_pb2.Scene(), utils.format_scene),
@@ -110,12 +114,13 @@ topics_enabled_once_seen = [
   "coordinating/rag-b/status",
   "place-b/model/svg/path",
   "place-b/arm1/position",
-  "place-b/arm2/position"
+  "place-b/arm2/position",
+  "place-b/demo"
 ]
 
 svg_image_topic = 'place-b/model/svg/path'
 
-button_style_normal = {"marginRight": "15px"}
+button_style_normal = {"marginRight": "15px", "padding": "2px", "height": "2ßpx", "line-height": "0", "marginTop": "5px"}
 button_style_exit = {**button_style_normal, "backgroundColor": "red", "color": "white"}
 textarea_style_normal = {'width': '100%', 'height': '200px', 'resize': 'vertical'}
 
@@ -208,12 +213,28 @@ app.layout = html.Div([
                     html.Button('Exit', id='send-place-b-exit', style=button_style_exit),
                     # html.Button('obj-Red -> Red', id='send-place-b-demo-objRed-red', style=button_style_normal),
                     html.Button('initial_scene', id='send-place-b-demo-initial_scene', style=button_style_normal),
-                    html.Button('arm1-moving', id='send-place-b-demo-arm1-moving', style=button_style_normal),
-                    html.Button('arm1-idle', id='send-place-b-demo-arm1-idle', style=button_style_normal),
-                    html.Button('arm2-moving', id='send-place-b-demo-arm2-moving', style=button_style_normal),
-                    html.Button('arm2-idle', id='send-place-b-demo-arm2-idle', style=button_style_normal),
-                    html.Button('big-blue-cz', id='send-place-b-demo-big-blue-cz', style=button_style_normal),
-                    html.Button('big-blue-g1', id='send-place-b-demo-big-blue-g1', style=button_style_normal),
+                    # html.Button('arm1-moving', id='send-place-b-demo-arm1-moving', style=button_style_normal),
+                    # html.Button('arm1-idle', id='send-place-b-demo-arm1-idle', style=button_style_normal),
+                    # html.Button('arm2-moving', id='send-place-b-demo-arm2-moving', style=button_style_normal),
+                    # html.Button('arm2-idle', id='send-place-b-demo-arm2-idle', style=button_style_normal),
+                    # html.Button('big-blue-cz', id='send-place-b-demo-big-blue-cz', style=button_style_normal),
+                    # 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"}),
+                        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(['bigBlue', 'bigGreen'], 'bigBlue',
+                            id='send-obj-pos-obj', inline=True, style={"marginRight": "10px", "marginTop": "5px"}),
+                        dcc.RadioItems(['cz1', 'G1', 'G2', 'I1', 'I2'], 'cz1',
+                            id='send-obj-pos-pos', inline=True, style={"marginRight": "10px", "marginTop": "5px"}),
+                        html.Button('Send', id='send-obj-pos', style=button_style_normal)
+                        ], className='row', style={"display":"flex", "border": "1px black solid", "border-radius": "5px", "marginTop": "5px"})
                 ], className="four columns"),
             ], className='row'),
             # dcc.Markdown("---"),
@@ -357,7 +378,9 @@ def send_json_for_object_to_topic(json_content: str, obj, topic: str):
 @app.callback(
     Output('hidden-div-scene-b', 'children'),
     [Input(button_id, 'n_clicks') for button_id in complex_commands],
-    [State(value[1], 'value') for value in complex_commands.values()]
+    [Input(button_id, 'n_clicks') for button_id in other_complex_commands],
+    [State(value[1], 'value') for value in complex_commands.values()],
+    [State(state, 'value') for states in other_complex_commands.values() for state in states]
 )
 def send_complex(*_):
     ctx = dash.callback_context
@@ -367,9 +390,18 @@ def send_complex(*_):
     else:
         button_id = ctx.triggered[0]['prop_id'].split('.')[0]
     if button_id:
-        topic, state_id, protobuf_obj = complex_commands[button_id]
-        json_content = ctx.states[state_id + ".value"]
-        send_json_for_object_to_topic(json_content, protobuf_obj, topic)
+        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())
+        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)
+        else:
+            topic, state_id, protobuf_obj = complex_commands[button_id]
+            json_content = ctx.states[state_id + ".value"]
+            send_json_for_object_to_topic(json_content, protobuf_obj, topic)
     return dash.no_update
 
 
@@ -450,12 +482,13 @@ def append_to_mqtt_log(_n_intervals, clear_n_clicks, filter_options, topics_to_f
                 if topic == svg_image_topic:
                     new_svg_img_src = '/static/' + utils.parse_log_msg(msg)[2]
                     print('found new svg: ' + new_svg_img_src)
-                if topic_match:
-                    filtered_value += msg + "\n"
                 if topic not in (option['label'] for option in filter_options):
                     filter_options.append({'label': topic, 'value': topic})
                     if topic in topics_enabled_once_seen:
                         topics_to_filter.append(topic)
+                        topic_match = True
+                if topic_match:
+                    filtered_value += msg + "\n"
         else:
             return dash.no_update
     log_cmd = '''
@@ -530,7 +563,7 @@ def serve_image(image_path):
 
 def on_mqtt_connect(_client, _userdata, _flags, _rc, _properties=None):
     # Callback for mqtt client when connected
-    print('\nConnected at ' + datetime.datetime.now().isoformat())
+    print(f'\nConnected to {MQTT_SERVER} at {datetime.datetime.now().isoformat()}')
     ready_event.set()
     mqttc.subscribe(topic='#')
     threading.Thread(target=publish_test_message).start()

utils.py

@@ -51,7 +51,8 @@ def format_scene(scene: cgv_connector_pb2.Scene):
     for obj in scene.objects:
         if obj.type != cgv_connector_pb2.Object.Type.DROP_OFF_LOCATION and obj.type != cgv_connector_pb2.Object.Type.UNKNOWN:
             pos = obj.pos
-            result += f"\n<{cgv_connector_pb2.Object.Type.Name(obj.type):20} {obj.id:15} at ({pos.x:6.2} {pos.y:6.2} {pos.z:6.2}) {obj.state}>"
+            owner_str = f"owner: {obj.owner}" if obj.owner else "no owner"
+            result += f"\n<{cgv_connector_pb2.Object.Type.Name(obj.type):20} {obj.id:15} at ({pos.x:6.2} {pos.y:6.2} {pos.z:6.2}) {cgv_connector_pb2.Object.State.Name(obj.state)} ({obj.state}) {owner_str}>"
             # result += str(obj)
     # result = scene
     return result
@@ -63,9 +64,9 @@ def format_command(command: cgv_connector_pb2.Command):
         return f"<PickAndPlace by {pickAndPlace.idRobot} of {pickAndPlace.idPick} to {pickAndPlace.idPlace}>"
     if command.HasField("configChange"):
         configChange = command.configChange
-        return f"<ConfigChange by {configChange.idRobotNewOwner} for {configChange.idCollaborationZone}>"
+        return f"<ConfigChange for {configChange.idRobotNewOwner} owns {configChange.idCollaborationZone}>"
     if command.HasField("evacuate"):
-        return f"<Evacuate by {command.evacuate.idRobot}>"
+        return f"<Evacuate of {command.evacuate.idRobot} from {command.evacuate.idCollaborationZone}>"
     return "<unknown command>"