Remove localization dialog for anymal

equinor · Nov 26, 2024 · 7d9f220 · 7d9f220
1 parent 6f5caee
commit 7d9f220
Show file tree

Hide file tree

Showing 2 changed files with 32 additions and 1 deletion.
diff --git a/frontend/src/components/Displays/ConfirmScheduleDialogs/ConfirmScheduleDialog.tsx b/frontend/src/components/Displays/ConfirmScheduleDialogs/ConfirmScheduleDialog.tsx
@@ -1,4 +1,4 @@
-import { Robot } from 'models/Robot'
+import { Robot, RobotCapabilitiesEnum } from 'models/Robot'
 import { useEffect, useState } from 'react'
 import { useRobotContext } from 'components/Contexts/RobotContext'
 import {
@@ -22,6 +22,7 @@ export const ScheduleMissionWithConfirmDialogs = ({
 }: ConfirmScheduleDialogProps) => {
     const { enabledRobots } = useRobotContext()
     const [robot, setRobot] = useState<Robot>()
+    const [shouldScheduleWithoutLocalization, setShouldScheduleWithoutLocalization] = useState<boolean>()
 
     const isBatteryInsufficient = (currentRobot: Robot) => {
         const hasBatteryValue = currentRobot.batteryLevel !== null && currentRobot.batteryLevel !== undefined
@@ -47,13 +48,29 @@ export const ScheduleMissionWithConfirmDialogs = ({
         setRobot(enabledRobots.find((robot) => robot.id === robotId))
     }, [robotId, enabledRobots])
 
+    useEffect(() => {
+        if (shouldScheduleWithoutLocalization) {
+            scheduleMissions()
+            closeDialog()
+        }
+        // eslint-disable-next-line react-hooks/exhaustive-deps
+    }, [shouldScheduleWithoutLocalization])
+
     if (!robot) {
         return <></>
     } else if (isBatteryInsufficient(robot)) {
         return <InsufficientBatteryDialog robot={robot} cancel={closeDialog} />
     } else if (isPressureInsufficient(robot)) {
         return <InsufficientPressureDialog robot={robot} cancel={closeDialog} />
     } else {
+        // Auto-localizing robots don't need to confirmation localization. Localization dialog can be skipped
+        if (
+            robot.robotCapabilities?.includes(RobotCapabilitiesEnum.auto_localize) &&
+            !shouldScheduleWithoutLocalization
+        ) {
+            setShouldScheduleWithoutLocalization(true)
+            return <></>
+        }
         return (
             <ScheduleMissionWithLocalizationVerificationDialog
                 scheduleMissions={scheduleMissions}

diff --git a/frontend/src/models/Robot.ts b/frontend/src/models/Robot.ts
@@ -32,6 +32,7 @@ export interface Robot {
     pressureLevel?: number
     pose?: Pose
     status: RobotStatus
+    robotCapabilities?: RobotCapabilitiesEnum[]
     isarConnected: boolean
     deprecated: boolean
     host?: string
@@ -50,3 +51,16 @@ export const placeholderRobot: Robot = {
     isarConnected: true,
     deprecated: false,
 }
+
+export enum RobotCapabilitiesEnum {
+    take_thermal_image = 'take_thermal_image',
+    take_image = 'take_image',
+    take_video = 'take_video',
+    take_thermal_video = 'take_thermal_video',
+    record_audio = 'record_audio',
+    localize = 'localize',
+    auto_localize = 'auto_localize',
+    auto_return_to_home = 'auto_return_to_home',
+    docking_procedure = 'docking_procedure',
+    return_to_home = 'return_to_home',
+}