changement Launch files rove/markhor

src/renderer/components/Dropdown/dropdown.tsx

@@ -1,29 +1,47 @@
 import React from 'react';
+import { toast } from 'react-toastify';
+import { Robot, robotSlice,selectRobot } from '@/renderer/store/modules/robot';
+import { launchFilesSlice,selectAllLaunchFiles } from '@/renderer/store/modules/launchFiles';
+import { useDispatch, useSelector } from 'react-redux';
+import styled from 'styled-components';
+import { GlobalState } from '@/renderer/store/store';
 
 
-interface robot {
-    name: string
-}
-
-function BasicExample() {
+const StyledSelect = styled.select`
+font-family: system-ui, -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen, Ubuntu, Cantarell, 'Open Sans', 'Helvetica Neue', sans-serif;
+font-size: 16px;
+color: white;
+border: none;
+background-color: #404040;
+`;
+
 
-    const robot: robot[] = [
+function DropdownRobot(){
+    const dispatch = useDispatch();
+
+    const robot: Robot[] = [
         {
             name:"rove",
         },
         {
             name:"markhor",
         },
-    ]
+    ];
+    const handleRobotChange =(event: React.ChangeEvent<HTMLSelectElement>)=>{
+        const selectedRobot = event.target.value;
+        dispatch(robotSlice.actions.toggleRobot(selectedRobot));
+        dispatch(launchFilesSlice.actions.changeRobot(selectedRobot));
+        toast.info("robot changed to "+ selectedRobot)
+    };
   return (
-    <div>
-    <select>
+
+    <StyledSelect onChange={handleRobotChange}>
         {robot.map((robot) => (
             <option value={robot.name}>{robot.name}</option>
           ))}
-    </select>
-  </div>
+    </StyledSelect>
+
   );
 }
 
-export default BasicExample;
+export default DropdownRobot;

src/renderer/components/Header.tsx

@@ -7,7 +7,8 @@ import BatteryStatus from './BatteryStatus/BatteryStatus';
 import GpioPinsStatus from './GpioPinsStatus/GpioPinsStatus';
 import { ExplorationStatus } from './ExplorationStatus/ExplorationStatus';
 import { CountdownStatus } from './CountdownStatus/CountdownStatus';
-import BasicExample from './Dropdown/dropdown';
+import { selectRobot } from '../store/modules/robot';
+import DropdownRobot from './Dropdown/dropdown';
 
 interface NavLinkDefinition {
   to: string;
@@ -51,7 +52,7 @@ export const Header: FC = () => {
           ))}
       </LeftHeader>
       <RightHeader>
-        <BasicExample/>
+        <DropdownRobot/>
         <CountdownStatus />
         <ExplorationStatus />
         <GpioPinsStatus />

src/renderer/components/Router.tsx

@@ -4,22 +4,15 @@ import { Teleop } from '@/renderer/components/pages/Teleop';
 import { Victim } from '@/renderer/components/pages/Victim';
 import { Debug } from '@/renderer/components/pages/Debug';
 import { ConfigPage } from '@/renderer/components/pages/Config/ConfigPage';
-
 export const Router: FC = () => {
   return (
     <>
       <Routes>
-        <Route path="/markhor" element={<Navigate to="/markhor/teleop" />} />
-        <Route path="/markhor/teleop" element={<Teleop />} />
-        <Route path="/markhor/victim" element={<Victim />} />
-        <Route path="/markhor/config/*" element={<ConfigPage />} />
-        <Route path="/markhor/debug" element={<Debug />} />
-        <Route path="/" element={<Navigate to="/markhor/teleop" />} />
-        <Route path="/rove" element={<Navigate to="/rove/teleop" />} />
-        <Route path="/rove/teleop" element={<Teleop />} />
-        <Route path="/rove/victim" element={<Victim />} />
-        <Route path="/rove/config/*" element={<ConfigPage />} />
-        <Route path="/rove/debug" element={<Debug />} />
+        <Route path="/" element={<Navigate to="/teleop" />} />
+        <Route path="/teleop" element={<Teleop />} />
+        <Route path="/victim" element={<Victim />} />
+        <Route path="/config/*" element={<ConfigPage />} />
+        <Route path="/debug" element={<Debug />} />
       </Routes>
     </>
   );

src/renderer/components/pages/Config/pages/LaunchConfig/LaunchConfig.tsx

@@ -13,6 +13,7 @@ import { FaSync } from 'react-icons/fa';
 import { LoadingOverlay } from '@/renderer/components/common/LoadingOverlay';
 import { useActor } from '@xstate/react';
 import { rosService } from '@/renderer/state/ros';
+import { selectRobot } from '@/renderer/store/modules/robot';
 
 interface LaunchMsg {
   fileName: string;
@@ -28,16 +29,26 @@ interface LaunchedFiles {
 export const LaunchConfig: FC = () => {
   const dispatch = useDispatch();
   const allLaunchFiles = useSelector(selectAllLaunchFiles);
+  const robot= useSelector(selectRobot);
+  let launchCommand="";
   const [isLoading, setIsLoading] = useState(false);
   const [connectionState] = useActor(rosService);
+  if(robot=="markhor")
+  {
+    launchCommand='launchHandler/launchFile';
+  }
+  if(robot=="rove")
+  {
+    launchCommand='launchHandler/launchFileRos2';
+  }
 
   const onClick = useCallback(
     async (fileName: string, packageName: string) => {
       setIsLoading(true);
       try {
         const result = (await rosClient.callService(
           {
-            name: '/launchHandler/launchFile',
+            name: launchCommand,
           },
           { package: packageName, fileName }
         )) as LaunchMsg;

src/renderer/store/localStorage.ts

@@ -7,6 +7,7 @@ import { initialState as debugTabState } from '@/renderer/store/modules/debugTab
 import { initialState as launchFilesState } from '@/renderer/store/modules/launchFiles';
 import { initialState as armPresetsState } from '@/renderer/store/modules/armPresets';
 import { initialState as gpioPinsState } from '@/renderer/store/modules/gpioPins';
+import { initialState as robotState } from './modules/robot';
 import { log } from '@/renderer/logger';
 
 export const defaultState: GlobalState = {
@@ -17,6 +18,7 @@ export const defaultState: GlobalState = {
   launchFiles: launchFilesState,
   armPresets: armPresetsState,
   gpioPins: gpioPinsState,
+  robot: robotState,
 };
 
 // WARN

src/renderer/store/modules/launchFiles.ts

@@ -64,11 +64,67 @@ export const initialState: LaunchFilesState[] = [
     isLaunched: false,
   },
 ];
+export const launchFilesRove: LaunchFilesState[]=
+[
+  {
+    name: 'Common',
+    packageName:'rove_bringup',
+    fileName: 'real.launch.py',
+    isLaunched:false,   
+  },
+  {
+    name:'Navigation',
+    packageName:'rove_navigation',
+    fileName:'navigation.launch.py',
+    isLaunched:false,
+  },
+  {
+    name:'Slam 3D',
+    packageName:'rove_slam',
+    fileName:'3d_slam.launch.py',
+    isLaunched:false,
+  },
+  {
+    name:'Slam 2D',
+    packageName:'rove_slam',
+    fileName:'2d_slam.launch.py',
+    isLaunched:false,
+  },
+  {
+    name:'Arm',
+    packageName:'ovis2',
+    fileName:'arm.launch.py',
+    isLaunched:false,
+  },
+  {
+    name:'Behavior',
+    packageName:'rove_bringup',
+    fileName:'behavior.launch.py',
+    isLaunched:false,
+  },
+  {
+    name:'Ros Simulation',
+    packageName:'rove_description',
+    fileName:'sim.launch.py',
+    isLaunched:false,
+  }
+]
 
 export const launchFilesSlice = createSlice({
   name: 'launchFiles',
   initialState,
   reducers: {
+    changeRobot:(state, {payload}:PayloadAction<string>)=>{
+      if(payload=="rove")
+      {
+        return launchFilesRove;
+      }
+      if(payload=="markhor")
+      {
+        return initialState;
+      }
+      console.log(state);
+    },
     launchFile: (state, action: PayloadAction<string>) => {
       const element = state.find(
         (element) => element.fileName === action.payload
@@ -88,5 +144,4 @@ export const launchFilesSlice = createSlice({
   },
 });
 
-export const selectAllLaunchFiles = (state: GlobalState): LaunchFilesState[] =>
-  state.launchFiles;
+export const selectAllLaunchFiles = (state: GlobalState): LaunchFilesState[] =>  state.launchFiles;

src/renderer/store/modules/robot.ts

@@ -0,0 +1,22 @@
+import { GlobalState } from '@/renderer/store/store';
+import { createSlice, PayloadAction } from '@reduxjs/toolkit';
+
+export interface Robot{
+    name: string;
+}
+
+export const initialState: Robot ={
+    name:'rove',
+};
+
+export const robotSlice = createSlice({
+    name:'robotChoice',
+    initialState,
+    reducers:{
+        toggleRobot: (state, { payload }: PayloadAction<string>)=>{
+            state.name = payload;
+        }
+    }
+});
+export const selectRobot =(state: GlobalState) => state.robot.name;
+

src/renderer/store/store.ts

@@ -12,6 +12,7 @@ import { throttle } from 'lodash';
 import { launchFilesSlice } from './modules/launchFiles';
 import { armPresetsSlice } from './modules/armPresets';
 import { gpioPinsSlice } from './modules/gpioPins';
+import { robotSlice } from './modules/robot';
 
 const appReducer = combineReducers({
   feed: feedSlice.reducer,
@@ -21,6 +22,7 @@ const appReducer = combineReducers({
   launchFiles: launchFilesSlice.reducer,
   armPresets: armPresetsSlice.reducer,
   gpioPins: gpioPinsSlice.reducer,
+  robot: robotSlice.reducer,
 });
 
 export type GlobalState = ReturnType<typeof appReducer>;