From 7bea1128df653829f3b30b5c26518f2fe1b7642c Mon Sep 17 00:00:00 2001
From: David Walsh <david@aescape.co>
Date: Wed, 17 Apr 2019 11:26:08 -0400
Subject: [PATCH] Updates for Ready Mode

---
 coordinator/coordinator.html  |  9 +++++++++
 coordinator/js/ros_scripts.js | 23 +++++++++++++++++++----
 2 files changed, 28 insertions(+), 4 deletions(-)

diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
index 7a482b9..40eae11 100644
--- a/coordinator/coordinator.html
+++ b/coordinator/coordinator.html
@@ -10,6 +10,9 @@
             <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
                 Massage Mode
             </button>
+            <button id="readyModeButton" type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
+                Ready Mode
+            </button>
             <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
                 Standby Mode
             </button>            
@@ -89,6 +92,9 @@
                     Bag manager not connected!
                 </label>
             </span>
+            <button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
+                Activate Ready Mode
+            </button>
             <button id="recordingStartButton" type="button" onclick="triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
                 Start Teach Recording
             </button>
@@ -117,6 +123,9 @@
                 None
             </span>
             <div>
+            <button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
+                Activate Ready Mode
+            </button>
             <button id="executionStartButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
                 Play Last Recording
             </button>
diff --git a/coordinator/js/ros_scripts.js b/coordinator/js/ros_scripts.js
index f761d76..8a8a335 100644
--- a/coordinator/js/ros_scripts.js
+++ b/coordinator/js/ros_scripts.js
@@ -27,22 +27,37 @@ 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("readyModeButton").className = "btn btn-primary"
   document.getElementById("teachingModeButton").className = "btn btn-primary"
   document.getElementById("executionModeButton").className = "btn btn-primary"
+  
+  document.getElementById("recordingStartButton").disabled = true
+  document.getElementById("executionStartButton").disabled = true
 
 
-  if (message.data == "stopped") {
+
+  if (message.data == "stopped") 
+  {
     document.getElementById("stoppedModeButton").className = "btn btn-warning"
-  } else if (message.data == "standby")
+  } 
+  else if (message.data == "standby")
   {
     document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
-  } else if (message.data == "teach")
+  } 
+  else if (message.data == "teach")
   {
     document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
-  } else if (message.data == "execution")
+  } 
+  else if (message.data == "execution")
   {
     document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
   }
+  else if (message.data == "ready")
+  {
+    document.getElementById("readyModeButton").className = "btn btn-primary btn-success"
+    document.getElementById("recordingStartButton").disabled = false
+    document.getElementById("executionStartButton").disabled = false
+  }
 });