Call AcquisitionReport service after food-on-fork question (#121)

* Added Toast to check logic

* Add AcquisitionReport service call

* Fix response processing

Author: egordon

feedingwebapp/package-lock.json

@@ -11,6 +11,7 @@
     "axios": "^1.6.5",
     "body-parser": "^1.20.2",
     "bootstrap": "^5.1.3",
+    "caniuse-lite": "^1.0.30001579",
     "cors": "^2.8.5",
     "express": "^4.18.2",
     "mdb-react-ui-kit": "^3.0.0",

feedingwebapp/package.json

@@ -109,6 +109,8 @@ ROS_SERVICE_NAMES[MEAL_STATE.R_DetectingFace] = {
 export { ROS_SERVICE_NAMES }
 export const CLEAR_OCTOMAP_SERVICE_NAME = 'clear_octomap'
 export const CLEAR_OCTOMAP_SERVICE_TYPE = 'std_srvs/srv/Empty'
+export const ACQUISITION_REPORT_SERVICE_NAME = 'ada_feeding_action_select/action_report'
+export const ACQUISITION_REPORT_SERVICE_TYPE = 'ada_feeding_msgs/srv/AcquisitionReport'
 export const GET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/get_parameters'
 export const GET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/GetParameters'
 export const SET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/set_parameters'

feedingwebapp/src/Pages/Constants.js

@@ -121,6 +121,8 @@ export const useGlobalState = create(
       // message received from the face detection node where a
       // face was detected and within the distance bounds of the camera.
       moveToMouthActionGoal: null,
+      // Last RobotMotion action response
+      lastMotionActionResponse: null,
       // Whether or not the currently-executing robot motion was paused by the user
       paused: false,
       // Flag to indicate robot motion trough teleoperation interface
@@ -171,6 +173,10 @@ export const useGlobalState = create(
         set(() => ({
           biteAcquisitionActionGoal: biteAcquisitionActionGoal
         })),
+      setLastMotionActionResponse: (lastMotionActionResponse) =>
+        set(() => ({
+          lastMotionActionResponse: lastMotionActionResponse
+        })),
       setMoveToMouthActionGoal: (moveToMouthActionGoal) =>
         set(() => ({
           moveToMouthActionGoal: moveToMouthActionGoal

feedingwebapp/src/Pages/GlobalState.jsx

@@ -1,13 +1,16 @@
 // React Imports
-import React, { useCallback } from 'react'
+import React, { useCallback, useRef } from 'react'
 import Button from 'react-bootstrap/Button'
 import { useMediaQuery } from 'react-responsive'
+import { toast } from 'react-toastify'
 import { View } from 'react-native'
 
 // Local Imports
 import '../Home.css'
 import { useGlobalState, MEAL_STATE } from '../../GlobalState'
 import { MOVING_STATE_ICON_DICT } from '../../Constants'
+import { useROS, createROSService, createROSServiceRequest } from '../../../ros/ros_helpers'
+import { ACQUISITION_REPORT_SERVICE_NAME, ACQUISITION_REPORT_SERVICE_TYPE } from '../../Constants'
 
 /**
  * The BiteAcquisitionCheck component appears after the robot has attempted to
@@ -31,23 +34,57 @@ const BiteAcquisitionCheck = () => {
   let iconWidth = isPortrait ? '28vh' : '28vw'
   let iconHeight = isPortrait ? '18vh' : '18vw'
 
+  // Configure AcquisitionReport service
+  const lastMotionActionResponse = useGlobalState((state) => state.lastMotionActionResponse)
+  /**
+   * Connect to ROS, if not already connected. Put this in useRef to avoid
+   * re-connecting upon re-renders.
+   */
+  const ros = useRef(useROS().ros)
+  /**
+   * Create the ROS Service Client for reporting success/failure
+   */
+  let acquisitionReportService = useRef(createROSService(ros.current, ACQUISITION_REPORT_SERVICE_NAME, ACQUISITION_REPORT_SERVICE_TYPE))
+
   /**
    * Callback function for when the user indicates that the bite acquisition
    * succeeded.
    */
   const acquisitionSuccess = useCallback(() => {
     console.log('acquisitionSuccess')
+    toast.info('Reporting Food Acquisition Success!')
+    // Create a service request
+    let request = createROSServiceRequest({
+      loss: 0.0,
+      action_index: lastMotionActionResponse.action_index,
+      posthoc: lastMotionActionResponse.posthoc,
+      id: lastMotionActionResponse.selection_id
+    })
+    // Call the service
+    let service = acquisitionReportService.current
+    service.callService(request, (response) => console.log('Got acquisition report response', response))
     setMealState(MEAL_STATE.R_MovingToStagingConfiguration)
-  }, [setMealState])
+  }, [lastMotionActionResponse, setMealState])
 
   /**
    * Callback function for when the user indicates that the bite acquisition
    * failed.
    */
   const acquisitionFailure = useCallback(() => {
     console.log('acquisitionFailure')
+    toast.info('Reporting Food Acquisition Failure.')
+    // Create a service request
+    let request = createROSServiceRequest({
+      loss: 1.0,
+      action_index: lastMotionActionResponse.action_index,
+      posthoc: lastMotionActionResponse.posthoc,
+      id: lastMotionActionResponse.selection_id
+    })
+    // Call the service
+    let service = acquisitionReportService.current
+    service.callService(request, (response) => console.log('Got acquisition report response', response))
     setMealState(MEAL_STATE.R_MovingAbovePlate)
-  }, [setMealState])
+  }, [lastMotionActionResponse, setMealState])
 
   /**
    * Get the ready for bite text to render.

feedingwebapp/src/Pages/Home/MealStates/BiteAcquisitionCheck.jsx

@@ -63,6 +63,9 @@ const RobotMotion = (props) => {
   const paused = useGlobalState((state) => state.paused)
   const setPaused = useGlobalState((state) => state.setPaused)
 
+  // Setter for last motion action response
+  const setLastMotionActionResponse = useGlobalState((state) => state.setLastMotionActionResponse)
+
   /**
    * Connect to ROS, if not already connected. Put this in useRef to avoid
    * re-connecting upon re-renders.
@@ -143,6 +146,7 @@ const RobotMotion = (props) => {
         setActionStatus({
           actionStatus: ROS_ACTION_STATUS_SUCCEED
         })
+        setLastMotionActionResponse(response.values)
         robotMotionDone()
       } else {
         if (
@@ -163,7 +167,7 @@ const RobotMotion = (props) => {
         }
       }
     },
-    [setActionStatus, setPaused, robotMotionDone]
+    [setLastMotionActionResponse, setActionStatus, setPaused, robotMotionDone]
   )
 
   /**