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Antenna panel changes #62

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e5bb38a
changes needed for proper manual publishing
Landwhich May 14, 2026
0c0c810
updated values
Landwhich May 14, 2026
3a8822b
fixed wtv I was doing before
Landwhich Jul 25, 2026
9ff26f9
Merge branch 'main' into antenna-panel-changes
Landwhich Jul 25, 2026
b876972
Potential fix for pull request finding
Landwhich Jul 25, 2026
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57 changes: 49 additions & 8 deletions src/components/BreadCrumbTrail.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
import React, { useState, useEffect } from 'react';
import { Polyline, Marker, Popup } from 'react-leaflet';
import { useROS } from '@/ros/ROSContext';
import { useWaypoints } from '@/contexts/WaypointContext';
import { useWaypoints, LatLngTuple } from '@/contexts/WaypointContext';
import ROSLIB from 'roslib';
import L from 'leaflet'

Expand All @@ -18,6 +18,8 @@ const BreadcrumbTrail: React.FC = () => {
const [breadcrumbs, setBreadcrumbs] = useState<Breadcrumb[]>([]);
const [paused, setPaused] = useState<boolean>(false);
const [lastFix, setLastFix] = useState<Breadcrumb | null>(null);
const [antennaLoc, setAntennaLoc] = useState<LatLngTuple>([0, 0]);
const [antennaHead, setAntennaHead] = useState<number>(0);

useEffect(() => {
if (!ros) return;
Expand All @@ -28,6 +30,18 @@ const BreadcrumbTrail: React.FC = () => {
messageType: 'sensor_msgs/NavSatFix',
});

const antennaFixTopic = new ROSLIB.Topic({
ros,
name: '/base_station/fix',
messageType: 'sensor_msgs/NavSatFix',
});

const antennaBearingTopic = new ROSLIB.Topic({
ros,
name: '/antenna/tracker_bearing',
messageType: 'std_msgs/Float32',
});

const handleFix = (message: any) => {
if (paused) return;
// Assuming the /fix message contains 'latitude' and 'longitude'
Expand All @@ -40,9 +54,25 @@ const BreadcrumbTrail: React.FC = () => {
setLastFix(newFix);
};

const handleAntennaFix = (message: any) => {
// Assuming the /fix message contains 'latitude' and 'longitude'
const { latitude, longitude } = message;
setAntennaLoc([latitude, longitude]);
};

const handleAntennaBearing = (message: any) => {
// Assuming the message contains float32
const angle = message.data * 360;
setAntennaHead(angle);
};

fixTopic.subscribe(handleFix);
antennaFixTopic.subscribe(handleAntennaFix);
antennaBearingTopic.subscribe(handleAntennaBearing);
return () => {
fixTopic.unsubscribe(handleFix);
antennaFixTopic.unsubscribe(handleAntennaFix);
antennaBearingTopic.unsubscribe(handleAntennaBearing);
};
}, [ros, paused]);

Expand Down Expand Up @@ -107,17 +137,17 @@ const BreadcrumbTrail: React.FC = () => {
maxWidth: '300px',
}}
>
<div style={{ marginBottom: '0.5rem' }}>
<div style={{ marginBottom: '0.125rem' }}>
<strong>GPS Fix Status</strong>
</div>
<div style={{ marginBottom: '0.5rem' }}>
<div style={{ marginBottom: '0.125rem' }}>
<strong>ROS Connection:</strong>{' '}
<span style={{ color: connectionStatus === 'connected' ? 'green' : 'red' }}>
{connectionStatus}
</span>
</div>
{lastFix ? (
<div style={{ marginBottom: '0.5rem' }}>
<div style={{ marginBottom: '0.125rem' }}>
<strong>Last Fix:</strong>
<br />
{/* TODO: Is this enough percision? */}
Expand All @@ -128,15 +158,26 @@ const BreadcrumbTrail: React.FC = () => {
Time: {new Date(lastFix.timestamp).toLocaleTimeString()}
</div>
) : (
<div style={{ marginBottom: '0.5rem' }}>No fix data received yet.</div>
<div style={{ marginBottom: '0.125rem' }}>No fix data received yet.</div>
)}
<div style={{ marginBottom: '0.5rem' }}>
<div style={{ marginBottom: '0.125rem' }}>
<strong>Total Fixes:</strong> {breadcrumbs.length}
</div>
<div style={{ marginBottom: '0.5rem' }}>
<div style={{ marginBottom: '0.125rem' }}>
<strong>Total Distance:</strong> {totalDistance.toFixed(2)} km
</div>
<div style={{ marginBottom: '0.5rem' }}>
<div style={{ marginBottom: '0.125rem' }}>
<strong>Antenna Location:</strong>
<br/>
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Outdated
{/* TODO: Is this enough percision? */}
Lat: {antennaLoc[0].toFixed(6)}
<br />
Lon: {antennaLoc[1].toFixed(6)}
</div>
<div style={{ marginBottom: '0.125rem' }}>
<strong>Antenna Heading:</strong> {antennaHead.toFixed(1)}°
</div>
<div style={{ marginBottom: '0.125rem' }}>
<button
onClick={() => setPaused(!paused)}
style={{
Expand Down
49 changes: 30 additions & 19 deletions src/components/panels/AntennaControlPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -6,47 +6,56 @@ import { useROS } from '@/ros/ROSContext';
const AntennaControlPanel: React.FC = () => {
const { ros } = useROS();

const [disabled, setDisabled] = useState(false);
const [enabled, setEnabled] = useState(false);
const [leftHeld, setLeftHeld] = useState(false);
const [rightHeld, setRightHeld] = useState(false);

const topicRef = useRef<ROSLIB.Topic | null>(null);
const antStatusTopicRef = useRef<ROSLIB.Topic | null>(null);
const antValTopicRef = useRef<ROSLIB.Topic | null>(null);
const intervalRef = useRef<number | null>(null);

// Create/cleanup topic when ROS connection changes
useEffect(() => {
if (!ros) {
topicRef.current = null;
antValTopicRef.current = null;
return;
}

topicRef.current = new ROSLIB.Topic({
antValTopicRef.current = new ROSLIB.Topic({
ros,
name: '/antenna_control',
name: '/antenna/manual_value',
messageType: 'std_msgs/Float32',
});

antStatusTopicRef.current = new ROSLIB.Topic({
ros,
name: '/antenna/manual',
messageType: 'std_msgs/Bool',
});

return () => {
try {
topicRef.current?.unadvertise();
antStatusTopicRef.current?.unadvertise();
antValTopicRef.current?.unadvertise();
} catch {
// ignore
}
topicRef.current = null;
antStatusTopicRef.current = null;
antValTopicRef.current = null;
};
}, [ros]);

// Determine what value should be published right now
const computeValue = () => {
if (disabled) return 0.0;
if (leftHeld && !rightHeld) return -0.5;
if (rightHeld && !leftHeld) return 0.5;
if (enabled) return 0.0;
if (leftHeld && !rightHeld) return -0.125;
if (rightHeld && !leftHeld) return 0.125;
return 0.0; // neither held OR both held
};

// Start/stop the 100ms publish loop
useEffect(() => {
if (!ros || !topicRef.current) return;
if (!ros || !antValTopicRef.current || !antStatusTopicRef.current) return;

// Clear any previous loop
if (intervalRef.current) {
Expand All @@ -57,7 +66,9 @@ const AntennaControlPanel: React.FC = () => {
// Publish immediately, then every 100ms
const publishNow = () => {
const value = computeValue();
topicRef.current?.publish(new ROSLIB.Message({ data: value }));
const status = enabled;
antValTopicRef.current?.publish(new ROSLIB.Message({ data: value }));
antStatusTopicRef.current?.publish(new ROSLIB.Message({ data: status }));
};

publishNow();
Expand All @@ -70,23 +81,23 @@ const AntennaControlPanel: React.FC = () => {
}
};
// eslint-disable-next-line react-hooks/exhaustive-deps
}, [ros, disabled, leftHeld, rightHeld]);
}, [ros, enabled, leftHeld, rightHeld]);

// If user disables controls, clear held state so it goes to 0 cleanly
useEffect(() => {
if (disabled) {
if (enabled) {
setLeftHeld(false);
setRightHeld(false);
}
}, [disabled]);
}, [enabled]);

const setHeld = (side: 'left' | 'right', held: boolean) => {
if (disabled) return;
if (enabled) return;
if (side === 'left') setLeftHeld(held);
else setRightHeld(held);
};

const btnDisabled = disabled || !ros;
const btnDisabled = enabled || !ros;

return (
<div className="antenna-panel">
Expand Down Expand Up @@ -121,8 +132,8 @@ const AntennaControlPanel: React.FC = () => {
<label className="checkbox">
<input
type="checkbox"
checked={disabled}
onChange={(e) => setDisabled(e.target.checked)}
checked={enabled}
onChange={(e) => setEnabled(e.target.checked)}
/>
Auto tracking
</label>
Expand Down