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[WIP] Prevent RobotMotion modal from starting in pause when customizing #143

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[WIP] Prevent RobotMotion modal from starting in pause when customizing #143

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13 changes: 11 additions & 2 deletions feedingwebapp/src/Pages/Home/MealStates/RobotMotion.jsx
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,10 @@ const RobotMotion = (props) => {
actionStatus: null
})

// Track the number of times the action has been called, to ensure that we do not
// process responses that are received before the action is called.
const actionCallCount = useRef(0)

// Get the relevant global variables
const paused = useGlobalState((state) => state.paused)
const setPaused = useGlobalState((state) => state.setPaused)
Expand Down Expand Up @@ -147,6 +151,10 @@ const RobotMotion = (props) => {
*/
const responseCallback = useCallback(
(response) => {
if (actionCallCount.current === 0) {
console.log('Ignoring response message because an action has not yet been called', response)
return
}
console.log('Got response message', response)
if (response.response_type === 'result' && response.values.status === MOTION_STATUS_SUCCESS) {
setActionStatus({
Expand All @@ -173,7 +181,7 @@ const RobotMotion = (props) => {
}
}
},
[setLastMotionActionResponse, setActionStatus, setPaused, robotMotionDone]
[actionCallCount, setLastMotionActionResponse, setActionStatus, setPaused, robotMotionDone]
)

/**
Expand Down Expand Up @@ -203,14 +211,15 @@ const RobotMotion = (props) => {
const callRobotMotionAction = useCallback(
(feedbackCb, responseCb) => {
if (!paused) {
actionCallCount.current += 1
setActionStatus({
actionStatus: ROS_ACTION_STATUS_EXECUTE
})
console.log('Calling action with input', props.actionInput)
callROSAction(robotMotionAction, props.actionInput, feedbackCb, responseCb)
}
},
[paused, robotMotionAction, props.actionInput]
[actionCallCount, paused, robotMotionAction, props.actionInput]
)

/**
Expand Down
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