Circle E-stop button

husarion · Dec 27, 2024 · 1ab133c · 1ab133c
1 parent 0a3c64f
commit 1ab133c
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Showing 3 changed files with 45 additions and 19 deletions.
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
@@ -7,7 +7,6 @@
   "recommendations": [
     "dbaeumer.vscode-eslint",
     "esbenp.prettier-vscode",
-    "orta.vscode-jest",
     "bierner.comment-tagged-templates"
   ],
   // List of extensions recommended by VS Code that should not be recommended for users of this workspace.

diff --git a/demo/panther-layout.json b/demo/panther-layout.json
@@ -4,27 +4,27 @@
       "minLevel": 0,
       "pinnedIds": [],
       "hardwareIdFilter": "",
-      "topicToRender": "{{env "ROBOT_NAMESPACE"}}/diagnostics",
+      "topicToRender": "/panther/diagnostics",
       "sortByLevel": true
     },
     "Plot!dg5ynj": {
       "paths": [
         {
           "timestampMethod": "receiveTime",
-          "value": "{{env "ROBOT_NAMESPACE"}}/imu/data.linear_acceleration.x",
+          "value": "/panther/imu/data.linear_acceleration.x",
           "enabled": true,
           "label": "x",
           "showLine": true
         },
         {
           "timestampMethod": "receiveTime",
-          "value": "{{env "ROBOT_NAMESPACE"}}/imu/data.linear_acceleration.y",
+          "value": "/panther/imu/data.linear_acceleration.y",
           "enabled": true,
           "label": "y"
         },
         {
           "timestampMethod": "receiveTime",
-          "value": "{{env "ROBOT_NAMESPACE"}}/imu/data.linear_acceleration.z",
+          "value": "/panther/imu/data.linear_acceleration.z",
           "enabled": true,
           "label": "z"
         }
@@ -41,39 +41,57 @@
       "followingViewWidth": 60
     },
     "Bar!3t52ye7": {
-      "path": "{{env "ROBOT_NAMESPACE"}}/joint_states.effort[0]",
+      "path": "/panther/joint_states.effort[0]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
       "reverse": false,
       "foxglovePanelTitle": "FL"
     },
     "Bar!461hl59": {
-      "path": "{{env "ROBOT_NAMESPACE"}}/joint_states.effort[1]",
+      "path": "/panther/joint_states.effort[1]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
       "reverse": true,
       "foxglovePanelTitle": "FR"
     },
     "Bar!1fzrnqw": {
-      "path": "{{env "ROBOT_NAMESPACE"}}/joint_states.effort[2]",
+      "path": "/panther/joint_states.effort[2]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
       "reverse": false,
       "foxglovePanelTitle": "RL"
     },
     "Bar!1q5qffy": {
-      "path": "{{env "ROBOT_NAMESPACE"}}/joint_states.effort[3]",
+      "path": "/panther/joint_states.effort[3]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
       "reverse": true,
       "foxglovePanelTitle": "RR"
     },
+    "ToggleSrvButton!2dzr02u": {
+      "serviceName": "/panther/hardware/motor_power_enable",
+      "statusTopicName": "/panther/hardware/io_state.motor_on",
+      "activationText": "Activate Motors",
+      "activationColor": "#ae5312",
+      "deactivationText": "Deactivate Motors ",
+      "deactivationColor": "#826b0e",
+      "foxglovePanelTitle": "Motor Enable"
+    },
+    "ToggleSrvButton!449y0td": {
+      "serviceName": "/panther/hardware/aux_power_enable",
+      "statusTopicName": "/panther/hardware/io_state.aux_power",
+      "activationText": "⚡Enable AUX⚡",
+      "activationColor": "#0069a6",
+      "deactivationText": "Disable AUX",
+      "deactivationColor": "#429900",
+      "foxglovePanelTitle": "AUX power"
+    },
     "Battery!wppv5y": {
-      "path": "{{env "ROBOT_NAMESPACE"}}/battery/battery_status.percentage",
+      "path": "/panther/battery/battery_status.percentage",
       "minValue": 0,
       "maxValue": 1,
       "colorMap": "red-yellow-green",
@@ -87,13 +105,13 @@
       "layout": "vertical",
       "advancedView": false,
       "serviceName": "",
-      "goServiceName": "{{env "ROBOT_NAMESPACE"}}/hardware/e_stop_reset",
-      "stopServiceName": "{{env "ROBOT_NAMESPACE"}}/hardware/e_stop_trigger",
-      "statusTopicName": "{{env "ROBOT_NAMESPACE"}}/hardware/e_stop.data",
+      "goServiceName": "/panther/hardware/e_stop_reset",
+      "stopServiceName": "/panther/hardware/e_stop_trigger",
+      "statusTopicName": "/panther/hardware/e_stop.data",
       "foxglovePanelTitle": "E-stop"
     },
     "Joy!3fmstz6": {
-      "topic": "{{env "ROBOT_NAMESPACE"}}/cmd_vel",
+      "topic": "/panther/cmd_vel",
       "publishRate": 5,
       "upButton": {
         "field": "linear-x",
@@ -127,7 +145,8 @@
         "field": "angular-z",
         "limit": 3
       },
-      "stamped": false
+      "stamped": false,
+      "advanced": false
     },
     "Tab!1plmth0": {
       "activeTabIdx": 2,
@@ -155,6 +174,14 @@
             },
             "direction": "column"
           }
+        },
+        {
+          "title": "Services",
+          "layout": {
+            "first": "ToggleSrvButton!2dzr02u",
+            "second": "ToggleSrvButton!449y0td",
+            "direction": "row"
+          }
         }
       ]
     }

diff --git a/packages/studio-base/src/panels/EStop/EStop.tsx b/packages/studio-base/src/panels/EStop/EStop.tsx
@@ -331,10 +331,10 @@ function EStopContent(
                 onClick={eStopClicked}
                 data-testid="call-service-button"
                 style={{
-                  minWidth: "150px",
-                  minHeight: "70px",
-                  fontSize: "1.7rem",
-                  borderRadius: "0.3rem",
+                  minWidth: "100px",
+                  minHeight: "100px",
+                  fontSize: "2.2rem",
+                  borderRadius: "50%",
                 }}
               >
                 {eStopAction?.toUpperCase() ?? "Wait for feedback"}