diff --git a/feedingwebapp/public/robot_state_imgs/forward.svg b/feedingwebapp/public/robot_state_imgs/forward.svg
new file mode 100644
index 0000000..a028f7b
--- /dev/null
+++ b/feedingwebapp/public/robot_state_imgs/forward.svg
@@ -0,0 +1,9 @@
+
+
\ No newline at end of file
diff --git a/feedingwebapp/src/Pages/Constants.js b/feedingwebapp/src/Pages/Constants.js
index 88cc6ba..5a22897 100644
--- a/feedingwebapp/src/Pages/Constants.js
+++ b/feedingwebapp/src/Pages/Constants.js
@@ -30,6 +30,7 @@ MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToMouth] = '/robot_state_imgs/move_to_
MOVING_STATE_ICON_DICT[MEAL_STATE.R_StowingArm] = '/robot_state_imgs/stowing_arm_position.svg'
export { MOVING_STATE_ICON_DICT }
export const TABLE_ICON = '/robot_state_imgs/table.svg'
+export const FORWARD_ICON = '/robot_state_imgs/forward.svg'
// The names of the ROS topic(s)
export const CAMERA_FEED_TOPIC = '/local/camera/color/image_raw/compressed'
diff --git a/feedingwebapp/src/Pages/GlobalState.jsx b/feedingwebapp/src/Pages/GlobalState.jsx
index c530b38..0a3e03e 100644
--- a/feedingwebapp/src/Pages/GlobalState.jsx
+++ b/feedingwebapp/src/Pages/GlobalState.jsx
@@ -94,7 +94,8 @@ export const SETTINGS_STATE = {
RESTING_CONFIGURATION: 'RESTING_CONFIGURATION',
STAGING_CONFIGURATION: 'STAGING_CONFIGURATION',
STOW_CONFIGURATION: 'STOW_CONFIGURATION',
- PLANNING_SCENE: 'PLANNING_SCENE'
+ PLANNING_SCENE: 'PLANNING_SCENE',
+ AUTO_CONTINUE: 'AUTO_CONTINUE'
}
// The name of the default parameter namespace
@@ -140,7 +141,7 @@ export const useGlobalState = create(
teleopAngularSpeed: 0.15, // rad/s
teleopJointSpeed: 0.2, // rad/s
// Flag to indicate whether to auto-continue after face detection
- faceDetectionAutoContinue: true,
+ faceDetectionAutoContinue: false,
// Flag to indicate whether to auto-continue in bite done after food-on-fork detection
biteDoneAutoContinue: false,
biteDoneAutoContinueSecs: 3.0,
diff --git a/feedingwebapp/src/Pages/Settings/AutoContinue.jsx b/feedingwebapp/src/Pages/Settings/AutoContinue.jsx
new file mode 100644
index 0000000..6e58258
--- /dev/null
+++ b/feedingwebapp/src/Pages/Settings/AutoContinue.jsx
@@ -0,0 +1,137 @@
+// React imports
+import React, { useCallback, useMemo, useState } from 'react'
+import { View } from 'react-native'
+
+// Local imports
+import { useGlobalState, SETTINGS_STATE } from '../GlobalState'
+import SettingsPageParent from './SettingsPageParent'
+
+/**
+ * The AutoContinue component allows users to change the auto-continue settings
+ * from the Settings menu.
+ */
+const AutoContinue = () => {
+ // Get relevant global state variables
+ const setSettingsState = useGlobalState((state) => state.setSettingsState)
+ const biteAcquisitionCheckAutoContinue = useGlobalState((state) => state.biteAcquisitionCheckAutoContinue)
+ const setBiteAcquisitionCheckAutoContinue = useGlobalState((state) => state.setBiteAcquisitionCheckAutoContinue)
+ const faceDetectionAutoContinue = useGlobalState((state) => state.faceDetectionAutoContinue)
+ const setFaceDetectionAutoContinue = useGlobalState((state) => state.setFaceDetectionAutoContinue)
+ const biteDoneAutoContinue = useGlobalState((state) => state.biteDoneAutoContinue)
+ const setBiteDoneAutoContinue = useGlobalState((state) => state.setBiteDoneAutoContinue)
+
+ // Rendering variables
+ let textFontSize = '3.5vh'
+
+ // Configure the parameters for SettingsPageParent
+ const paramNames = useMemo(() => [], [])
+ const [currentParams, setCurrentParams] = useState([])
+
+ // Render the settings for the planning scene
+ const renderAutoContinueSettings = useCallback(() => {
+ return (
+
+
+
+ {
+ setBiteAcquisitionCheckAutoContinue(e.target.checked)
+ }}
+ style={{ transform: 'scale(2.0)', verticalAlign: 'middle', marginRight: '15px' }}
+ />
+ Auto-continue after acquisition
+
+
+
+
+ {
+ setFaceDetectionAutoContinue(e.target.checked)
+ }}
+ style={{ transform: 'scale(2.0)', verticalAlign: 'middle', marginRight: '15px' }}
+ />
+ Auto-continue after face detection
+
+
+
+
+ {
+ setBiteDoneAutoContinue(e.target.checked)
+ }}
+ style={{ transform: 'scale(2.0)', verticalAlign: 'middle', marginRight: '15px' }}
+ />
+ Auto-continue after transfer
+
+
+
+ )
+ }, [
+ textFontSize,
+ biteAcquisitionCheckAutoContinue,
+ setBiteAcquisitionCheckAutoContinue,
+ faceDetectionAutoContinue,
+ setFaceDetectionAutoContinue,
+ biteDoneAutoContinue,
+ setBiteDoneAutoContinue
+ ])
+
+ return (
+ setSettingsState(SETTINGS_STATE.MAIN)}
+ modalShow={false}
+ modalOnHide={null}
+ modalChildren={null}
+ paramNames={paramNames}
+ localParamValues={currentParams}
+ setLocalParamValues={setCurrentParams}
+ >
+ {renderAutoContinueSettings()}
+
+ )
+}
+
+export default AutoContinue
diff --git a/feedingwebapp/src/Pages/Settings/Main.jsx b/feedingwebapp/src/Pages/Settings/Main.jsx
index a524163..1a515ae 100644
--- a/feedingwebapp/src/Pages/Settings/Main.jsx
+++ b/feedingwebapp/src/Pages/Settings/Main.jsx
@@ -21,7 +21,8 @@ import {
REGULAR_CONTAINER_ID,
SET_PARAMETERS_SERVICE_NAME,
SET_PARAMETERS_SERVICE_TYPE,
- TABLE_ICON
+ TABLE_ICON,
+ FORWARD_ICON
} from '../Constants'
/**
@@ -192,6 +193,11 @@ const Main = () => {
title: 'Planning Scene',
icon: TABLE_ICON,
onClick: () => onClickSettingsPage(SETTINGS_STATE.PLANNING_SCENE)
+ },
+ {
+ title: 'Auto-Continue',
+ icon: FORWARD_ICON,
+ onClick: () => onClickSettingsPage(SETTINGS_STATE.AUTO_CONTINUE)
}
]
@@ -271,7 +277,7 @@ const Main = () => {
display: 'flex'
}}
alt={config.title}
- className='center'
+ className='settingsImage'
/>
{
)
case SETTINGS_STATE.PLANNING_SCENE:
return
+ case SETTINGS_STATE.AUTO_CONTINUE:
+ return
default:
console.log('Invalid settings state', settingsState)
return
diff --git a/feedingwebapp/src/Pages/Settings/SettingsPageParent.jsx b/feedingwebapp/src/Pages/Settings/SettingsPageParent.jsx
index e062c5d..7a217d1 100644
--- a/feedingwebapp/src/Pages/Settings/SettingsPageParent.jsx
+++ b/feedingwebapp/src/Pages/Settings/SettingsPageParent.jsx
@@ -76,6 +76,11 @@ const SettingsPageParent = (props) => {
*/
const setLocalParametersToGlobalValues = useCallback(
(preset) => {
+ if (props.paramNames.length === 0) {
+ console.log('Skipping setLocalParametersToGlobalValues because there are no parameters to get.')
+ return
+ }
+
let service = getParametersService.current
let setLocalParamValues = props.setLocalParamValues
@@ -134,6 +139,10 @@ const SettingsPageParent = (props) => {
* Save the current parameter values to the current namespace.
*/
const setGlobalParameter = useCallback(() => {
+ if (props.paramNames.length === 0) {
+ console.log('Skipping setGlobalParameter because there are no parameters to set.')
+ return
+ }
if (props.localParamValues.every((element) => element === null)) {
console.log('Skipping setGlobalParameter because all values are null.')
return
@@ -240,42 +249,46 @@ const SettingsPageParent = (props) => {
height: '100%'
}}
>
-
-
- {props.title}
-
-
+ ) : (
+
- resetToPreset(DEFAULT_NAMESPACE)}>
- Reset parameter to {DEFAULT_NAMESPACE}
-
- {settingsPresets.customNames
- .filter((preset) => preset !== settingsPresets.current)
- .map((preset) => (
- resetToPreset(preset)}>
- Reset parameter to {preset}
-
- ))}
-
-
+
+ {props.title}
+
+
+ resetToPreset(DEFAULT_NAMESPACE)}>
+ Reset parameter to {DEFAULT_NAMESPACE}
+
+ {settingsPresets.customNames
+ .filter((preset) => preset !== settingsPresets.current)
+ .map((preset) => (
+ resetToPreset(preset)}>
+ Reset parameter to {preset}
+
+ ))}
+
+
+ )}