diff --git a/ActiveBOWeb/index.html b/ActiveBOWeb/index.html
index 3336a32..2ad8df9 100644
--- a/ActiveBOWeb/index.html
+++ b/ActiveBOWeb/index.html
@@ -4,7 +4,7 @@
- Vite App
+ Active BO
diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index 866fdfa..fc8ad83 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -137,30 +137,14 @@ const active_rl_eval_pub = new ROSLIB.Topic({
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;
-// });
+
+function sleep(ms) {
+ return new Promise((resolve) => setTimeout(resolve, ms));
+}
watch(
() => cstore.getSendWeights,
- () => {
+ async () => {
const usr_mode = cstore.getUserMode;
if (usr_mode === "manually") {
@@ -172,25 +156,6 @@ 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;
@@ -202,8 +167,12 @@ watch(
});
console.log(active_eval_response);
+ for (let i = 0; i < 10; i++) {
+ console.log(i);
- active_rl_eval_pub.publish(active_eval_response);
+ active_rl_eval_pub.publish(active_eval_response);
+ await sleep(1000);
+ }
console.log("New Policy/ Weights published");
// pendingRequest.value = false;
}