Implemented individual abort and estops

Dockerfile

@@ -28,6 +28,6 @@ RUN . /opt/ros/foxy/setup.sh \
     && colcon build --packages-select starling_ui_dashly starling_allocator_msgs --cmake-force-configure \
     && rm -r build
 
-EXPOSE 3000
+ENV PORT 3000
 
 cmd ["ros2", "launch", "starling_ui_dashly", "dashboard_gunicorn.launch.xml"]

README.md

@@ -34,6 +34,8 @@ ros2 launch starling_ui_dashly dashboard_gunicorn.launxch.xml
 
 which will run a user facing server on https://0.0.0.0:3000
 
+> The port number can be specified with environment varibale `PORT` 
+
 ### Docker
 
 The project can also be run using a dockerfile, either build the local file after cloning as follows
@@ -48,6 +50,10 @@ Or use the built version on docker hub
 docker run --it -rm --network=host mickeyli789/starling_ui_dashly:latest
 ```
 
+> Specify port number using `-e PORT=3002` for example. 
+
+To make things easier, a MAKEFILE has been provided. Therefore to build and run the project, run `make run` in the root of this project.
+
 ## Usage
 
 ### Mission Control Screen (`/`)

starling_ui_dashly/launch/dashboard_gunicorn.launch.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
 
-    <executable cmd="gunicorn -b 0.0.0.0:3000 'starling_ui_dashly.main:server()'" output="screen"/>
+    <executable cmd="gunicorn -b 0.0.0.0:$(env PORT 3000) 'starling_ui_dashly.main:server()'" output="screen"/>
 
 </launch>

starling_ui_dashly/starling_ui_dashly/control_panel_manager_component.py

@@ -1,7 +1,8 @@
 import pandas as pd
+import json
 
 import dash
-from dash.dependencies import Input, Output, State
+from dash.dependencies import Input, Output, State, MATCH, ALL
 from dash import dcc, html
 import dash_bootstrap_components as dbc
 # import dash_core_components as dcc
@@ -123,21 +124,51 @@ def __control_panel_system_status_update(self, n_clicks, n_intervals):
         # Call self.dashboard_node.get_system_status()
         vehic_namespace = self.dashboard_node.get_current_vehicle_namespaces()
         return html.Div([ 
-            html.P(f"System status update at {get_time()}"),
+            html.P(f"System status update at {get_time()}, {len(vehic_namespace)} vehicles detected"),
             dbc.Row([
                 dbc.Col([
-                    html.H4(f"Abort {vehicle_name}"),
-                    dbc.Button(
-                        html.Img(src='/static/stop-button.png', style={"max-width": "75%"}),
-                        id=f"mc_btn_mission_abort_{vehicle_name}",
-                        size="sm",
-                        outline=True,
-                        color="warning"),
+                    html.Div([
+                        dbc.Button(
+                            f"Abort {vehicle_name}",
+                            id={'type': f"mc_btn_mission_abort_drone", 'index': vehicle_name},
+                            size="lg",
+                            block=True,
+                            color="warning"),
+                        dbc.Button(
+                            f"ESTOP {vehicle_name}",
+                            id={'type': f"mc_btn_emergency_stop_drone", 'index': vehicle_name},
+                            size="lg",
+                            block=True,
+                            color="danger"),
+                    ],
+                    className="d-grid gap-5")
                 ])
                 for vehicle_name in vehic_namespace
-            ])
+            ]),
+            html.Div("", id="mc_system_status_individual_vehicle_status_msg")
         ])
 
+    @app_callback(
+        Output("mc_system_status_individual_vehicle_status_msg", "children"),
+        [Input({"type": "mc_btn_mission_abort_drone", "index": ALL}, 'n_clicks'),
+         Input({"type": "mc_btn_emergency_stop_drone", "index": ALL}, 'n_clicks')]
+    )
+    def __control_panel_individual_drone_abort_press(self, abort_n_clicks, estop_n_clicks):
+        ctx = dash.callback_context
+        if ctx.triggered:
+            trigger_id = ctx.triggered[0]['prop_id'].split('.')[0]
+            trigger_dict = json.loads(trigger_id)
+            vehicle_name = trigger_dict["index"]
+
+            if trigger_dict["type"] == "mc_btn_mission_abort_drone":
+                self.dashboard_node.call_mission_abort_drone(vehicle_name)
+                return f"Abort {vehicle_name} pressed at {get_time()}"
+            else:
+                self.dashboard_node.send_emergency_stop_drone(vehicle_name)
+                return f"ESTOP {vehicle_name} pressed at {get_time()}"
+
+        return "Waiting for button press"
+
     def __generate_control_panel_emergency_stop(self):
         return html.Div([
             html.H2("EMERGENCY STOP (/emergency_stop)", id="mc_title_estop"),

starling_ui_dashly/starling_ui_dashly/main.py

@@ -24,7 +24,7 @@
 try:
     from .node import Dashboard_Node
     from .handler import Dashboard_Handler
-except Exception:
+except ModuleNotFoundError:
     from node import Dashboard_Node
     from handler import Dashboard_Handler
 

starling_ui_dashly/starling_ui_dashly/node.py

@@ -28,6 +28,8 @@ def __init__(self):
         self.timer_period = 0.01  # seconds
         self.emergency_stop_timer = None
 
+        self.current_vehicle_namespaces = []
+
         self.valid_methods = [
             'nearest',
             'random',
@@ -62,7 +64,7 @@ def send_emergency_stop_drone(self, drone_namespace):
         msg = Empty()
         emergency_stop_publisher_ = self.create_publisher(Empty, f'/{drone_namespace}/emergency_stop', 10)
         emergency_stop_publisher_.publish(msg)
-        self.get_logger().info('emergency_stop published')
+        self.get_logger().info(f'emergency_stop published to {drone_namespace}')
         emergency_stop_publisher_.destroy()
 
     def call_mission_abort_drone(self, drone_namespace):
@@ -75,16 +77,17 @@ def call_mission_abort_drone(self, drone_namespace):
     def get_current_vehicle_namespaces(self):
         topic_list = self.get_topic_names_and_types()
         namespaces = set()
-        self.get_logger().info('Found the following topics:')
+        # self.get_logger().info('Found the following topics:')
         for topic_name, _ in topic_list:
-            self.get_logger().info(topic_name)
-            if 'mavros' in topic_name:
+            # self.get_logger().info(topic_name)
+            if 'mavros/state' in topic_name:
                 name = topic_name.split('/')[1]
                 if name == 'mavros':
                     name = ''
                 namespaces.add(name)
         self.get_logger().info(f'Found {len(namespaces)} namespaces: {",".join(namespaces)}')
-        return list(namespaces)
+        self.current_vehicle_namespaces = list(namespaces)
+        return self.current_vehicle_namespaces
 
     def is_valid_trajectory_dict(self, trajectory_dict):
         self.get_logger().info("testing validity of trajectory dictionary")