From 7bbbf54044533ad76000965aa0aad9c8f5cd67fb Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Tue, 4 Apr 2023 17:03:31 +0200
Subject: [PATCH] Active BO works

---
 ActiveBOWeb/src/components/RosBar.vue | 70 +++++++++++++++++++++------
 ActiveBOWeb/src/main.ts               | 21 ++++----
 2 files changed, 64 insertions(+), 27 deletions(-)

diff --git a/ActiveBOWeb/src/components/RosBar.vue b/ActiveBOWeb/src/components/RosBar.vue
index 8708f72..fc41603 100644
--- a/ActiveBOWeb/src/components/RosBar.vue
+++ b/ActiveBOWeb/src/components/RosBar.vue
@@ -129,7 +129,7 @@ rl_feedback_subscriber.subscribe((msg) => {
 const active_rl_eval_sub = new ROSLIB.Topic({
   ros: ros_eval,
   name: "/active_rl_eval_request",
-  messageType: "active_bo_msgs/msg/ActiveRLEval",
+  messageType: "active_bo_msgs/msg/ActiveRL",
 });
 
 const pendingRequest = ref(false);
@@ -142,7 +142,7 @@ active_rl_eval_sub.subscribe((msg) => {
 const active_rl_eval_pub = new ROSLIB.Topic({
   ros: ros_eval,
   name: "/active_rl_eval_response",
-  messageType: "active_bo_msgs/msg/ActiveRLEval",
+  messageType: "active_bo_msgs/msg/ActiveRL",
 });
 
 // const active_eval_response_first = new ROSLIB.Message({
@@ -202,10 +202,31 @@ const bo_service = new ROSLIB.Service({
   serviceType: "active_bo_msgs/srv/BO",
 });
 
-const active_bo_service = new ROSLIB.Service({
+// const active_bo_service = new ROSLIB.Service({
+//   ros: ros,
+//   name: "/active_bo_srv",
+//   serviceType: "active_bo_msgs/srv/ActiveBO",
+// });
+const active_bo_pending = ref(false);
+
+const active_bo_request = new ROSLIB.Topic({
   ros: ros,
-  name: "/active_bo_srv",
-  serviceType: "active_bo_msgs/srv/ActiveBO",
+  name: "/active_bo_request",
+  messageType: "active_bo_msgs/msg/ActiveBORequest",
+});
+
+const active_bo_response = new ROSLIB.Topic({
+  ros: ros,
+  name: "/active_bo_response",
+  messageType: "active_bo_msgs/msg/ActiveBOResponse",
+});
+
+active_bo_response.subscribe((msg) => {
+  pstore.setPolicy(msg.best_policy);
+  pstore.setWeights(msg.best_weights);
+  rstore.setMean(msg.reward_mean);
+  rstore.setStd(msg.reward_std);
+  active_bo_pending.value = false;
 });
 
 watch(
@@ -241,8 +262,8 @@ watch(
       });
 
       rl_service.callService(rl_request, () => {});
-    } else if (usr_mode === "active BO") {
-      const active_bo_request = new ROSLIB.ServiceRequest({
+    } else if (usr_mode === "active BO" && !active_bo_pending.value) {
+      const request_msg = new ROSLIB.Message({
         nr_weights: pstore.nr_weights,
         max_steps: pstore.max_steps,
         nr_episodes: cstore.nr_episodes,
@@ -251,20 +272,37 @@ watch(
         epsilon: cstore.epsilon,
       });
 
-      active_bo_service.callService(
-        active_bo_request,
-        function (active_bo_response) {
-          pstore.setPolicy(active_bo_response.best_policy);
-          pstore.setWeights(active_bo_response.best_weights);
-          rstore.setMean(active_bo_response.reward_mean);
-          rstore.setStd(active_bo_response.reward_std);
-        }
-      );
+      active_bo_request.publish(request_msg);
       const rl_request = new ROSLIB.ServiceRequest({
         policy: pstore.policy,
       });
 
       rl_service.callService(rl_request, () => {});
+      active_bo_pending.value = true;
+
+      // const active_bo_request = new ROSLIB.ServiceRequest({
+      //   nr_weights: pstore.nr_weights,
+      //   max_steps: pstore.max_steps,
+      //   nr_episodes: cstore.nr_episodes,
+      //   nr_runs: cstore.nr_runs,
+      //   acquisition_function: cstore.acq_fun,
+      //   epsilon: cstore.epsilon,
+      // });
+      //
+      // active_bo_service.callService(
+      //   active_bo_request,
+      //   function (active_bo_response) {
+      //     pstore.setPolicy(active_bo_response.best_policy);
+      //     pstore.setWeights(active_bo_response.best_weights);
+      //     rstore.setMean(active_bo_response.reward_mean);
+      //     rstore.setStd(active_bo_response.reward_std);
+      //   }
+      // );
+      // const rl_request = new ROSLIB.ServiceRequest({
+      //   policy: pstore.policy,
+      // });
+      //
+      // rl_service.callService(rl_request, () => {});
     }
   }
 );
diff --git a/ActiveBOWeb/src/main.ts b/ActiveBOWeb/src/main.ts
index 61a334b..90c5fac 100644
--- a/ActiveBOWeb/src/main.ts
+++ b/ActiveBOWeb/src/main.ts
@@ -4,22 +4,21 @@ import { createApp } from "vue";
 import { createPinia } from "pinia";
 
 // Vuetify
-import 'vuetify/styles'
-import { createVuetify } from 'vuetify'
-import * as components from 'vuetify/components'
-import * as directives from 'vuetify/directives'
-import '@mdi/font/css/materialdesignicons.css'
-
+import "vuetify/styles";
+import { createVuetify } from "vuetify";
+import * as components from "vuetify/components";
+import * as directives from "vuetify/directives";
+import "@mdi/font/css/materialdesignicons.css";
 
 import App from "./App.vue";
 
 const pinia = createPinia();
 const vuetify = createVuetify({
-    theme: {
-        defaultTheme: 'dark',
-    },
-    components,
-    directives,
+  theme: {
+    defaultTheme: "dark",
+  },
+  components,
+  directives,
 });
 
 const app = createApp(App);