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Haaaaaaaalt stop #1353

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Haaaaaaaalt stop #1353

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04368b8
Only execute injected motion command in `Playing`
rmburg Jul 19, 2024
d74f983
Send `MotionCommand::Stand` when not moving with remote panel
rmburg Jul 19, 2024
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13 changes: 8 additions & 5 deletions crates/control/src/behavior/node.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -103,11 +103,14 @@ impl Behavior {

pub fn cycle(&mut self, mut context: CycleContext) -> Result<MainOutputs> {
let world_state = context.world_state;
if let Some(command) = &context.parameters.injected_motion_command {
return Ok(MainOutputs {
motion_command: command.clone().into(),
dribble_path: None.into(),
});

if world_state.robot.primary_state == PrimaryState::Playing {
if let Some(command) = &context.parameters.injected_motion_command {
return Ok(MainOutputs {
motion_command: command.clone().into(),
dribble_path: None.into(),
});
}
}

if let Some(ball_state) = &world_state.ball {
Expand Down
25 changes: 23 additions & 2 deletions tools/twix/src/panels/remote.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ use communication::messages::TextOrBinary;
use eframe::egui::Widget;
use gilrs::{Axis, Button, Gamepad, GamepadId, Gilrs};
use serde_json::{json, Value};
use types::{joints::head::HeadJoints, step_plan::Step};
use types::{joints::head::HeadJoints, motion_command::MotionCommand, step_plan::Step};

use crate::{nao::Nao, panel::Panel};

Expand Down Expand Up @@ -58,6 +58,13 @@ impl RemotePanel {
)
}

fn update_motion_command(&self, motion_command: Value) {
self.nao.write(
"parameters.behavior.injected_motion_command",
TextOrBinary::Text(motion_command),
)
}

fn update_look_at_angle(&self, joints: Value) {
self.nao.write(
"parameters.head_motion.injected_head_joints",
Expand All @@ -71,6 +78,7 @@ impl Widget for &mut RemotePanel {
const UPDATE_DELAY: Duration = Duration::from_millis(100);
const HEAD_PITCH_SCALE: f32 = 1.0;
const HEAD_YAW_SCALE: f32 = 1.0;
const DEADZONE: f32 = 0.1;

self.gilrs.inc();

Expand Down Expand Up @@ -118,6 +126,15 @@ impl Widget for &mut RemotePanel {
turn,
};

let injected_motion_command =
if step.forward.abs() < DEADZONE && step.left.abs() < DEADZONE {
Some(MotionCommand::Stand {
head: types::motion_command::HeadMotion::ZeroAngles,
})
} else {
None
};

if self.enabled {
let now = SystemTime::now();
if now
Expand All @@ -128,14 +145,18 @@ impl Widget for &mut RemotePanel {
self.last_update = now;
self.update_step(serde_json::to_value(step).unwrap());
self.update_look_at_angle(serde_json::to_value(injected_head_joints).unwrap());
self.update_motion_command(
serde_json::to_value(&injected_motion_command).unwrap(),
);
}
}

ui.vertical(|ui| {
let label_1 = ui.label(&format!("{:#?}", step));
let label_2 = ui.label(&format!("{:#?}", injected_head_joints));
let label_3 = ui.label(&format!("{:#?}", injected_motion_command));

label_1.union(label_2)
label_1.union(label_2).union(label_3)
})
.inner
} else {
Expand Down