From 12c5fd25be4e7e7d7216c4e8979a80ff55471ac6 Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Tue, 21 Mar 2023 14:59:19 +0100
Subject: [PATCH] now trying to use topics for abo

---
 ActiveBOWeb/src/components/RosBar.vue | 118 +++++++++++++++++++-------
 1 file changed, 85 insertions(+), 33 deletions(-)

diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index a991857..866fdfa 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -107,6 +107,57 @@ const policy_service = new ROSLIB.Service({
   serviceType: "active_bo_msgs/srv/WeightToPolicy",
 });
 
+// RL Service + Feedback Suscriber
+const rl_feedback_subscriber = new ROSLIB.Topic({
+  ros: ros,
+  name: "/rl_feedback",
+  messageType: "active_bo_msgs/msg/ImageFeedback",
+});
+
+rl_feedback_subscriber.subscribe((msg) => {
+  mcstore.setDim(msg.height, msg.width);
+  mcstore.setRgbArrays(msg.red, msg.green, msg.blue);
+});
+
+const active_rl_eval_sub = new ROSLIB.Topic({
+  ros: ros,
+  name: "/active_rl_eval_request",
+  messageType: "active_bo_msgs/msg/ActiveRLEval",
+});
+
+const pendingRequest = ref(false);
+active_rl_eval_sub.subscribe((msg) => {
+  pstore.setPolicy(msg.policy);
+  pstore.setWeights(msg.weights);
+  pendingRequest.value = true;
+});
+
+const active_rl_eval_pub = new ROSLIB.Topic({
+  ros: ros,
+  name: "/active_rl_eval_response",
+  messageType: "active_bo_msgs/msg/ActiveRLEval",
+});
+// const active_rl_eval_service = new ROSLIB.Service({
+//   ros: ros,
+//   name: "/active_rl_eval_srv",
+//   serviceType: "active_bo_msgs/srv/ActiveRLEval",
+// });
+//
+// let currentResponse = null;
+// let currentServiceId = null;
+// const pendingRequest = ref(false);
+//
+// active_rl_eval_service.advertise(function (request, response) {
+//   currentResponse = response;
+//   currentServiceId = this.id;
+//   pendingRequest.value = true;
+//
+//   pstore.setPolicy(request["old_policy"]);
+//   pstore.setWeights(request["old_weights"]);
+//
+//   return false;
+// });
+
 watch(
   () => cstore.getSendWeights,
   () => {
@@ -121,43 +172,44 @@ watch(
       policy_service.callService(policy_request, function (result) {
         pstore.setPolicy(result.policy);
       });
+      // } else if (usr_mode === "active BO") {
+      //   if (!pendingRequest.value) {
+      //     return;
+      //   }
+      //   console.log('after Button')
+      //   currentResponse["new_policy"] = pstore.getPolicy;
+      //   currentResponse["new_weights"] = pstore.getWeights;
+      //
+      //   active_rl_eval_service.ros.callOnConnection({
+      //     op: "service_response",
+      //     service: active_rl_eval_service.name,
+      //     values: currentResponse,
+      //     result: true,
+      //     id: currentServiceId,
+      //   });
+      //   console.log('call on connection')
+      //   pendingRequest.value = false;
+      //   currentResponse = null;
+      //   currentServiceId = null;
+    } else if (usr_mode === "active BO") {
+      if (!pendingRequest.value) {
+        return;
+      }
+      console.log("Button pressed!");
+      const active_eval_response = new ROSLIB.Message({
+        policy: pstore.getPolicy,
+        weights: pstore.getWeights,
+      });
+
+      console.log(active_eval_response);
+
+      active_rl_eval_pub.publish(active_eval_response);
+      console.log("New Policy/ Weights published");
+      // pendingRequest.value = false;
     }
   }
 );
 
-// RL Service + Feedback Suscriber
-const rl_feedback_subscriber = new ROSLIB.Topic({
-  ros: ros,
-  name: "/rl_feedback",
-  message: "active_bo_msgs/msg/ImageFeedback",
-});
-
-rl_feedback_subscriber.subscribe((msg) => {
-  mcstore.setDim(msg.height, msg.width);
-  mcstore.setRgbArrays(msg.red, msg.green, msg.blue);
-});
-
-const active_rl_eval_service = new ROSLIB.Service({
-  ros: ros,
-  name: "/active_rl_eval_srv",
-  serviceType: "active_bo_msgs/srv/ActiveRLEval",
-});
-
-active_rl_eval_service.advertise(function (request, response) {
-  pstore.setPolicy(request["old_policy"]);
-  pstore.setWeights(request["old_weights"]);
-
-  watch(
-    () => cstore.getSendWeights,
-    () => {
-      response["new_policy"] = pstore.getPolicy;
-      response["new_weights"] = pstore.getWeights;
-
-      return true;
-    }
-  );
-});
-
 const rl_service = new ROSLIB.Service({
   ros: ros,
   name: "/rl_srv",