From 39ebd35247c4ae1d838e5bbde7f09827ff12cefe Mon Sep 17 00:00:00 2001
From: David Walsh <david@aescape.co>
Date: Sun, 24 Mar 2019 23:52:04 -0400
Subject: [PATCH] Added standby mode.

---
 coordinator/coordinator.html  | 5 ++++-
 coordinator/js/ros_scripts.js | 8 ++++++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
index cacee22..cffdcda 100644
--- a/coordinator/coordinator.html
+++ b/coordinator/coordinator.html
@@ -10,8 +10,11 @@
             <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
                 Execution Mode
             </button>
-            <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
+            <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
                 Standby Mode
+            </button>            
+            <button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
+                Stopped Mode
             </button>
         </div>
     </div>
diff --git a/coordinator/js/ros_scripts.js b/coordinator/js/ros_scripts.js
index 1b1d7eb..1233562 100644
--- a/coordinator/js/ros_scripts.js
+++ b/coordinator/js/ros_scripts.js
@@ -24,13 +24,17 @@ var modeStatus = new ROSLIB.Topic({
 });
 
 modeStatus.subscribe(function(message) {
+  document.getElementById("stoppedModeButton").className = "btn btn-secondary"
   document.getElementById("standbyModeButton").className = "btn btn-primary"
   document.getElementById("teachingModeButton").className = "btn btn-primary"
   document.getElementById("executionModeButton").className = "btn btn-primary"
 
 
-  if (message.data === "standby") {
-    document.getElementById("standbyModeButton").className = "btn btn-success"
+  if (message.data === "stopped") {
+    document.getElementById("stoppedModeButton").className = "btn btn-warning"
+  } else if (message.data === "standby")
+  {
+    document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
   } else if (message.data === "teach")
   {
     document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"