Add stop button for Behaviour Tree

Chi-EEE · Mar 20, 2024 · 755bab3 · 755bab3
1 parent e8a8996
commit 755bab3
Show file tree

Hide file tree

Showing 5 changed files with 37 additions and 4 deletions.
diff --git a/app/admin_panel/js/behaviour_tree.js b/app/admin_panel/js/behaviour_tree.js
@@ -10,10 +10,16 @@ function startBehaviourTree(_event, _args) {
     websocket_server.startBehaviourTree();
 }
 
+function stopBehaviourTree(_event, _args) {
+    websocket_server.stopBehaviourTree()
+}
+
 ipcMain.handle('sendBehaviourTree', sendBehaviourTree);
 ipcMain.handle('startBehaviourTree', startBehaviourTree);
+ipcMain.handle('stopBehaviourTree', stopBehaviourTree);
 
 module.exports = {
     sendBehaviourTree: sendBehaviourTree,
     startBehaviourTree: startBehaviourTree,
+    stopBehaviourTree: stopBehaviourTree,
 }
diff --git a/app/admin_panel/js/main.js b/app/admin_panel/js/main.js
@@ -80,7 +80,7 @@ const { websocket_server } = require('./websocket');
 const { closeWebSocketServer } = require('./websocket_events');
 const { selectRaspberryPi, unselectRaspberryPi, getRaspberryPiList, getSelectedRaspberryPi } = require('./raspberry_pi');
 const { getLocalIPList } = require('./device');
-const { sendBehaviourTree, startBehaviourTree } = require('./behaviour_tree');
+const { sendBehaviourTree, startBehaviourTree, stopBehaviourTree } = require('./behaviour_tree');
 
 function onClose() {
     closeWebSocketServer();

diff --git a/app/admin_panel/js/preload.js b/app/admin_panel/js/preload.js
@@ -21,6 +21,7 @@ const WINDOW_API = {
 
     sendBehaviourTree: (/** @type {any} */ args) => ipcRenderer.invoke("sendBehaviourTree", args),
     startBehaviourTree: () => ipcRenderer.invoke("startBehaviourTree"),
+    stopBehaviourTree: () => ipcRenderer.invoke("stopBehaviourTree"),
 }
 
 contextBridge.exposeInMainWorld("api", WINDOW_API)
diff --git a/app/admin_panel/js/websocket.js b/app/admin_panel/js/websocket.js
@@ -185,6 +185,20 @@ class WebSocketServer {
             action: 'start',
         }));
     }
+
+    stopBehaviourTree() {
+        if (this._wss === undefined) {
+            return;
+        }
+        if (this._selected_raspberry_pi === undefined) {
+            return;
+        }
+        this._selected_raspberry_pi.ws.send(JSON.stringify({
+            type: 'command',
+            command: 'behaviour_tree',
+            action: 'stop',
+        }));
+    }
 }
 
 module.exports = { websocket_server: new WebSocketServer() };
diff --git a/app/admin_panel/src/lib/CodeBox.svelte b/app/admin_panel/src/lib/CodeBox.svelte
@@ -23,7 +23,7 @@
     let start_behaviour_tree_text = "Start Behaviour Tree";
 
     /** @type {string} */
-    let start_behaviour_tree_color = "#89AAFF"
+    let start_behaviour_tree_color = "#89AAFF";
 
     /** @type {boolean} */
     let start_behaviour_tree_debounce = false;
@@ -34,7 +34,9 @@
         }
         send_behaviour_tree_debounce = true;
         try {
-            await api.sendBehaviourTree({ data: xmlFormat.minify($behaviour_tree_xml_code) });
+            await api.sendBehaviourTree({
+                data: xmlFormat.minify($behaviour_tree_xml_code),
+            });
             send_behaviour_tree_text = "Sent Behaviour Tree!";
             send_behaviour_tree_color = "#3457AA";
         } catch (error) {
@@ -67,10 +69,14 @@
             start_behaviour_tree_debounce = false;
         }, 1000);
     }
+
+    async function stopBehaviourTree() {
+        await api.stopBehaviourTree();
+    }
 </script>
 
 <div class="h-full">
-    <div class="grid grid-cols-2 gap-2">
+    <div class="grid grid-cols-3 gap-2">
         <button
             on:mousedown={sendBehaviourTree}
             class="p-2 rounded-lg shadow-lg relative inset-0"
@@ -83,6 +89,12 @@
             style="background-color: {start_behaviour_tree_color}; color: white; width: 100%; border: none;"
             >{start_behaviour_tree_text}</button
         >
+        <button
+            on:mousedown={stopBehaviourTree}
+            class="p-2 rounded-lg shadow-lg relative inset-0"
+            style="background-color: #FF352F; color: white; width: 100%; border: none;"
+            >Stop Behaviour Tree</button
+        >
     </div>
     <CodeMirror
         class="text-left h-full flex-auto font-mono text-lg font-bold"