Change button behavior on task page

Add new data over api
Update readme

CaSSAndRA/app.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-#Version:0.103.4 Fix issue with send message button
+#Version:0.104.0 Change button behavior on task page, add new api values
 # package imports
 import os
 import sys

CaSSAndRA/src/backend/comm/api.py

@@ -36,6 +36,7 @@ def create_api_payload(self) -> None:
 
     def create_robot_payload(self) -> None:
         self.robotstate['status'] = robot.status
+        self.robotstate['dock reason'] = robot.dock_reason
         self.robotstate['battery'] = robot.soc
         self.robotstate['position'] = dict(x=robot.position_x, y=robot.position_y)
         self.robotstate['target'] = dict(x=robot.target_x, y=robot.target_y) 
@@ -75,8 +76,10 @@ def create_mow_parameters_payload(self) -> None:
         self.mowparametersstate_json = json.dumps(self.mowparametersstate)
 
     def create_map_payload(self) -> None:
+        self.mapstate['mowprogress idx'] = robot.mowprogress
+        self.mapstate['mowprogress distance'] = robot.mowprogress_distance
         self.mapstate_json = json.dumps(self.mapstate)
-
+        
     def update_payload(self) -> None:
         self.create_api_payload()
         self.create_robot_payload()

CaSSAndRA/src/backend/data/appdata.py

@@ -1,4 +1,4 @@
 import logging
 logger = logging.getLogger(__name__)
 
-version = '0.103.4'
+version = '0.104.0'

CaSSAndRA/src/components/ids.py

@@ -84,7 +84,6 @@
 BUTTONPLANMOWALL = 'button-plan-mow-all'
 BUTTONSAVECURRENTTASK = 'button-save-current-task'
 BUTTONPLANMOWSETTINGS = 'button-plan-mow-settings'
-BUTTONCONFIRMSELECTION = 'button-confirm-selection'
 BUTTONPLANCANCEL = 'button-plan-cancel'
 BUTTONREMOVETASK = 'button-remove-task'
 BUTTONSTARTSELECTEDTASKSORDER = 'button-start-selected-tasks-order'

CaSSAndRA/src/components/state/buttongroupcontrol.py

@@ -98,7 +98,7 @@ def perfom_cmd(n_clicks_bgo: int,
                active_bma: bool, 
                active_bss: bool, 
                active_bgt: bool,
-               ) -> list():
+               ) -> list:
 
     context = ctx.triggered_id
     rover_state = robot.status
@@ -167,7 +167,7 @@ def update_button_disabled(n_intervals: int,
                            bss_disabled: bool,
                            bgt_disabled: bool, 
                            bc_disabled: bool,
-                           ) -> list():
+                           ) -> list:
     context = ctx.triggered_id
 
     if current_map.perimeter.empty:

CaSSAndRA/src/components/tasks/buttongroupcontrol.py

@@ -5,8 +5,7 @@
 from src.backend.data.roverdata import robot
 from src.backend.data.mapdata import current_map
 
-buttonplanmowall = dbc.Button(id=ids.BUTTONPLANMOWALL, size='lg', class_name='me-1 mt-1 bi bi-map-fill', disabled=False, title='plan mow all')
+buttonplanmowall = dbc.Button(id=ids.BUTTONPLANMOWALL, size='lg', class_name='me-1 mt-1 bi bi-map-fill', disabled=False, title='calc task for selected area')
 buttonmowsettings = dbc.Button(id=ids.BUTTONPLANMOWSETTINGS, size='lg', class_name='me-1 mt-1 bi bi-gear-fill', disabled=False, title='temporarly mow settings')
-buttonconfirmselection = dbc.Button(id=ids.BUTTONCONFIRMSELECTION, size='lg', class_name='me-1 mt-1 bi bi-check-square-fill', disabled=False, title='confirm selection')
 buttoncancel = dbc.Button(id=ids.BUTTONPLANCANCEL, size='lg', class_name='me-1 mt-1 bi bi-x-square-fill', disabled=False, title='cancel')
 

CaSSAndRA/src/components/tasks/map.py

@@ -42,21 +42,22 @@
 
 @callback(Output(ids.TASKMAP, 'figure'),
           [Input(ids.BUTTONPLANMOWALL, 'n_clicks'),
-           Input(ids.BUTTONCONFIRMSELECTION, 'n_clicks'),
            Input(ids.BUTTONPLANCANCEL, 'n_clicks'),
            Input(ids.MODALSAVECURRENTTASK, 'is_open'),
            Input(ids.MODALREMOVETASK, 'is_open'), 
            Input(ids.DROPDOWNTASKSORDER, 'value'),
            Input(ids.BUTTONREMOVETASK, 'n_clicks'),
-           State(ids.TASKMAP, 'selectedData'),])
+           State(ids.TASKMAP, 'selectedData'),
+           State(ids.TASKMAP, 'figure')
+           ])
 def update(bpma_nclicks: int, 
-           bcs_nclicks: int, 
            bpc_nclicks: int, 
            save_is_open: bool, 
            remove_is_open: bool, 
            tasks_order: list, 
            brt_nclicks: int, 
            selecteddata: dict,
+           fig_state: dict,
            ) -> list:
 
     traces = []
@@ -66,10 +67,22 @@ def update(bpma_nclicks: int,
     context = ctx.triggered_id
     context_triggered = ctx.triggered
 
-    #Create a task for whole map
+    #Create a task
     if context == ids.BUTTONPLANMOWALL:# and buttonmowall:
         current_task.preview = pd.DataFrame()
-        current_task.selected_perimeter = current_map.perimeter_polygon
+        if 'selections' in fig_state['layout'] and fig_state['layout']['selections'] != []:
+            current_task.selected_perimeter = map.selection(current_map.perimeter_polygon, selecteddata)
+            if 'lassoPoints' in selecteddata:
+                current_task.selection_type = 'lassoPoints'
+                current_task.selection = selecteddata['lassoPoints']
+            else:
+                current_task.selection_type = 'range'
+                current_task.selection = selecteddata['range']
+        else:
+            current_task.selected_perimeter = current_map.perimeter_polygon
+            current_task.selection_type = 'perimeter'
+            current_task.selection = {'X': [0], 'Y': [0]}
+        #current_task.selected_perimeter = current_map.perimeter_polygon
         current_map.task_progress = 0
         current_map.total_tasks = 1
         current_map.calculating = True
@@ -78,31 +91,6 @@ def update(bpma_nclicks: int,
             current_task.calc_route_preview(route) 
         current_map.calculating = False
         current_task.parameters = pathplannercfgtask
-        current_task.selection_type = 'perimeter'
-        current_task.selection = {'X': [0], 'Y': [0]}
-
-    #Check interactions with graph and create a task for selected zone
-    if selecteddata == {'points':[]}: #Workaround for selected data, beacause after select selected data changing to {'poonts':[]} and triggering context_id
-        selecteddata = None
-    if context == ids.BUTTONCONFIRMSELECTION and selecteddata: #context_triggered[0]['prop_id'] == ids.TASKMAP+'.selectedData' and selecteddata:
-        current_task.preview = pd.DataFrame()
-        perimeter_preview = current_map.perimeter_polygon
-        current_task.selected_perimeter = map.selection(perimeter_preview, selecteddata)
-        if not current_task.selected_perimeter.is_empty:
-            current_map.task_progress = 0
-            current_map.total_tasks = 1
-            current_map.calculating = True
-            route = path.calc(current_task.selected_perimeter, pathplannercfgtask, rover_position)
-            if route:
-                current_task.calc_route_preview(route)
-            current_map.calculating = False
-            current_task.parameters = pathplannercfgtask
-            if 'lassoPoints' in selecteddata:
-                current_task.selection_type = 'lassoPoints'
-                current_task.selection = selecteddata['lassoPoints']
-            else:
-                current_task.selection_type = 'range'
-                current_task.selection = selecteddata['range']
 
     #Remove preview if cancel button clicked
     if context == ids.BUTTONPLANCANCEL and not current_task.preview.empty:

CaSSAndRA/src/pages/taskplanner.py

@@ -71,7 +71,6 @@ def update_layout() -> html.Div:
                             [
                                 buttongroupcontrol.buttonplanmowall,
                                 buttongroupcontrol.buttonmowsettings,
-                                buttongroupcontrol.buttonconfirmselection,
                                 buttongroupcontrol.buttoncancel,
                             ],
                             className='text-center p-1',

README.md

@@ -337,12 +337,12 @@ Overview page can be called by clicking "CaSSAndRA" in the navbar. This is your
 Click on "go home" button and confirm the action by clicking play button. 
 
 ### Mow whole area
-Click on "mow all" button. CaSSAndRA calculates the mowing paths according to your settings. Depending on the performance of your computer or the size of your map, the calculation may take some time. The calculated route appear green on the map. Click on play button to start mowing
+Click on "mow all or selected area" button. CaSSAndRA calculates the mowing paths according to your settings. Depending on the performance of your computer or the size of your map, the calculation may take some time. The calculated route appear green on the map. Click on play button to start mowing
 
 ![using_app_mow](https://raw.githubusercontent.com/EinEinfach/CaSSAndRA/master/docs/using_app_mow.jpeg) 
 
 ### Mow selected area
-Click on "select zone to mow" button. Select "Lasso Select" or "Box Select" in the tool bar on top of the map. Then mark the desired area on the map. Depending on the performance of your computer or the size of your map, the calculation may take some time. The calculated routes appear green on the map. You can repeat the calculation for selected area. Change your mow settings and click "select zone to mow" again. The Lasso-Select selection and Box-Select selection can be removed by double click event if corespondent tool selected. Click on play button to start mowing
+Select "Lasso Select" or "Box Select" in the tool bar on top of the map. Then mark the desired area on the map. And select "mow all or selected area" button. Depending on the performance of your computer or the size of your map, the calculation may take some time. The calculated routes appear green on the map. You can repeat the calculation for selected area. Change your mow settings and click "select zone to mow" again. The Lasso-Select selection and Box-Select selection can be removed by double click event if corespondent tool selected. Click on play button to start mowing
 
 ![using_app_mow_zone](https://raw.githubusercontent.com/EinEinfach/CaSSAndRA/master/docs/using_app_mow_zone.jpeg)