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now trying to use topics for abo

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This commit is contained in:
Niko Feith 2023-03-21 14:59:19 +01:00
parent 1db897b9d5
commit 12c5fd25be
1 changed files with 85 additions and 33 deletions
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118
ActiveBOWeb/src/components/RosBar.vue
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@ -107,6 +107,57 @@ const policy_service = new ROSLIB.Service({
serviceType: "active_bo_msgs/srv/WeightToPolicy", 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( watch(
() => cstore.getSendWeights, () => cstore.getSendWeights,
() => { () => {
@ -121,43 +172,44 @@ watch(
policy_service.callService(policy_request, function (result) { policy_service.callService(policy_request, function (result) {
pstore.setPolicy(result.policy); 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({ const rl_service = new ROSLIB.Service({
ros: ros, ros: ros,
name: "/rl_srv", name: "/rl_srv",