@@ -39,18 +39,9 @@ export const APP_PAGE = {
3939 * - R_DetectingFace: Waiting for the robot to detect a face.
4040 * - R_MovingToMouth: Waiting for the robot to finish moving to the user's
4141 * mouth.
42- * - R_MovingFromMouthToStagingConfiguration : Waiting for the robot to move
42+ * - R_MovingFromMouth : Waiting for the robot to move
4343 * from the user's mouth to the staging configuration. This is a separate
44- * action from R_MovingToStagingConfiguration to allow us to customize the
45- * departure from the mouth (e.g., a slower speed).
46- * - R_MovingFromMouthToAbovePlate: Waiting for the robot to move from the
47- * user's mouth to above the plate. This is a separate action from
48- * R_MovingAbovePlate to allow us to customize the departure from the mouth
49- * (e.g., a slower speed).
50- * - R_MovingFromMouthToRestingPosition: Waiting for the robot to move from
51- * the user's mouth to resting position. This is a separate action from
52- * R_MovingToRestingPosition to allow us to customize the departure from
53- * the mouth (e.g., a slower speed).
44+ * action from R_MovingToStagingConfiguration since it is cartesian.
5445 * - U_BiteDone: Waiting for the user to indicate that they are done eating
5546 * the bite.
5647 * - R_StowingArm: Waiting for the robot to stow the arm.
@@ -67,14 +58,23 @@ export const MEAL_STATE = {
6758 R_MovingToStagingConfiguration : 'R_MovingToStagingConfiguration' ,
6859 R_DetectingFace : 'R_DetectingFace' ,
6960 R_MovingToMouth : 'R_MovingToMouth' ,
70- R_MovingFromMouthToStagingConfiguration : 'R_MovingFromMouthToStagingConfiguration' ,
71- R_MovingFromMouthToAbovePlate : 'R_MovingFromMouthToAbovePlate' ,
72- R_MovingFromMouthToRestingPosition : 'R_MovingFromMouthToRestingPosition' ,
61+ R_MovingFromMouth : 'R_MovingFromMouth' ,
7362 U_BiteDone : 'U_BiteDone' ,
7463 R_StowingArm : 'R_StowingArm' ,
7564 U_PostMeal : 'U_PostMeal'
7665}
7766
67+ /**
68+ * SETTINGS_STATE controls which settings page to display.
69+ * - MAIN: The main page, with options to navigate to the other pages.
70+ * - BITE_TRANSFER: The bite transfer page, where the user can configure
71+ * parameters for bite transfer.
72+ */
73+ export const SETTINGS_STATE = {
74+ MAIN : 'MAIN' ,
75+ BITE_TRANSFER : 'BITE_TRANSFER'
76+ }
77+
7878/**
7979 * The parameters that users can set (keys) and a list of human-readable values
8080 * they can take on.
@@ -90,11 +90,11 @@ export const MEAL_STATE = {
9090 * TODO (amaln): When we connect this to ROS, each of these settings types and
9191 * value options will have to have corresponding rosparam names and value options.
9292 */
93- export const SETTINGS = {
94- stagingPosition : [ 'In Front of Me' , 'On My Right Side' ] ,
95- biteInitiation : [ 'Open Mouth' , 'Say "I am Ready"' , 'Press Button' ] ,
96- biteSelection : [ 'Name of Food' , 'Click on Food' ]
97- }
93+ // export const SETTINGS = {
94+ // stagingPosition: ['In Front of Me', 'On My Right Side'],
95+ // biteInitiation: ['Open Mouth', 'Say "I am Ready"', 'Press Button'],
96+ // biteSelection: ['Name of Food', 'Click on Food']
97+ // }
9898
9999/**
100100 * useGlobalState is a hook to store and manipulate web app state that we want
@@ -104,12 +104,14 @@ export const SETTINGS = {
104104export const useGlobalState = create (
105105 persist (
106106 ( set ) => ( {
107+ // The current app page
108+ appPage : APP_PAGE . Home ,
107109 // The app's current meal state
108110 mealState : MEAL_STATE . U_PreMeal ,
109111 // The timestamp when the robot transitioned to its current meal state
110112 mealStateTransitionTime : Date . now ( ) ,
111- // The current app page
112- appPage : APP_PAGE . Home ,
113+ // The currently displayed settings page
114+ settingsState : SETTINGS_STATE . MAIN ,
113115 // The goal for the bite acquisition action, including the most recent
114116 // food item that the user selected in "bite selection"
115117 biteAcquisitionActionGoal : null ,
@@ -123,20 +125,44 @@ export const useGlobalState = create(
123125 teleopIsMoving : false ,
124126 // Flag to indicate whether to auto-continue after face detection
125127 faceDetectionAutoContinue : false ,
128+ // Whether the settings bite transfer page is currently at the user's face
129+ // or not. This is in the off-chance that the mealState is not at the user's
130+ // face, the settings page is, and the user refreshes -- the page should
131+ // call MoveFromMouthToStaging instead of just MoveToStaging.
132+ biteTransferPageAtFace : false ,
133+ // The button the user most recently clicked on the BiteDone page. In practice,
134+ // this is the state we transition to after R_MovingFromMouth. In practice,
135+ // it is either R_MovingAbovePlate, R_MovingToRestingPosition, or R_DetectingFace.
136+ mostRecentBiteDoneResponse : MEAL_STATE . R_DetectingFace ,
126137 // Settings values
127- stagingPosition : SETTINGS . stagingPosition [ 0 ] ,
128- biteInitiation : SETTINGS . biteInitiation [ 0 ] ,
129- biteSelection : SETTINGS . biteSelection [ 0 ] ,
138+ // stagingPosition: SETTINGS.stagingPosition[0],
139+ // biteInitiation: SETTINGS.biteInitiation[0],
140+ // biteSelection: SETTINGS.biteSelection[0],
130141
131142 // Setters for global state
132- setMealState : ( mealState ) =>
143+ setAppPage : ( appPage ) =>
133144 set ( ( ) => ( {
134- mealState : mealState ,
135- mealStateTransitionTime : Date . now ( )
145+ appPage : appPage ,
146+ settingsState : SETTINGS_STATE . MAIN ,
147+ // Sometimes the settings menu leaves the robot in a paused state.
148+ // Thus, we reset it to an unpaused state.
149+ paused : false
136150 } ) ) ,
137- setAppPage : ( appPage ) =>
151+ setMealState : ( mealState , mostRecentBiteDoneResponse = null ) =>
152+ set ( ( ) => {
153+ let retval = {
154+ mealState : mealState ,
155+ mealStateTransitionTime : Date . now ( ) ,
156+ biteTransferPageAtFace : false // Reset this flag when the meal state changes
157+ }
158+ if ( mostRecentBiteDoneResponse ) {
159+ retval . mostRecentBiteDoneResponse = mostRecentBiteDoneResponse
160+ }
161+ return retval
162+ } ) ,
163+ setSettingsState : ( settingsState ) =>
138164 set ( ( ) => ( {
139- appPage : appPage
165+ settingsState : settingsState
140166 } ) ) ,
141167 setBiteAcquisitionActionGoal : ( biteAcquisitionActionGoal ) =>
142168 set ( ( ) => ( {
@@ -158,18 +184,22 @@ export const useGlobalState = create(
158184 set ( ( ) => ( {
159185 faceDetectionAutoContinue : faceDetectionAutoContinue
160186 } ) ) ,
161- setStagingPosition : ( stagingPosition ) =>
162- set ( ( ) => ( {
163- stagingPosition : stagingPosition
164- } ) ) ,
165- setBiteInitiation : ( biteInitiation ) =>
166- set ( ( ) => ( {
167- biteInitiation : biteInitiation
168- } ) ) ,
169- setBiteSelection : ( biteSelection ) =>
187+ setBiteTransferPageAtFace : ( biteTransferPageAtFace ) =>
170188 set ( ( ) => ( {
171- biteSelection : biteSelection
189+ biteTransferPageAtFace : biteTransferPageAtFace
172190 } ) )
191+ // setStagingPosition: (stagingPosition) =>
192+ // set(() => ({
193+ // stagingPosition: stagingPosition
194+ // })),
195+ // setBiteInitiation: (biteInitiation) =>
196+ // set(() => ({
197+ // biteInitiation: biteInitiation
198+ // })),
199+ // setBiteSelection: (biteSelection) =>
200+ // set(() => ({
201+ // biteSelection: biteSelection
202+ // }))
173203 } ) ,
174204 { name : 'ada_web_app_global_state' }
175205 )
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