From 8af9aecfb061731492af0f54ec58acb01d8e05f9 Mon Sep 17 00:00:00 2001
From: David Walsh <david@aescape.co>
Date: Wed, 8 May 2019 13:10:03 -0400
Subject: [PATCH] Add Load and Play Buttons

---
 coordinator/coordinator.html  |  5 ++++-
 coordinator/js/ros_scripts.js | 15 ++++++++++++++-
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
index d90a542..58ea031 100644
--- a/coordinator/coordinator.html
+++ b/coordinator/coordinator.html
@@ -160,7 +160,10 @@
                                     <button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
                                         Activate Ready Mode
                                     </button>
-                                    <button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
+                                    <button id="executionLoadButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
+                                        Load Last Recording
+                                    </button>
+                                    <button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerTopic('/left/run_trajectory')" class="btn btn-primary">
                                         Play Last Recording
                                     </button>
                                     <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
diff --git a/coordinator/js/ros_scripts.js b/coordinator/js/ros_scripts.js
index 52d9c22..0618153 100644
--- a/coordinator/js/ros_scripts.js
+++ b/coordinator/js/ros_scripts.js
@@ -5,6 +5,18 @@
 // Publishers
 ///////////////////////////////////////////////////////////////////////////////////
 
+function triggerTopic(topicName)
+{
+  var topic = new ROSLIB.Topic({
+    ros : ros,
+    name : topicName,
+    messageType : 'std_msgs/Empty'
+  });
+  
+  var msg = new ROSLIB.Message({});
+
+  topic.publish(msg);
+}
 
 ////////////////////////////////////////////////////////////////
 // Topics
@@ -279,4 +291,5 @@ function triggerMessageService(serviceName, textInput)
       + ': '
       + result.sum);
   });
-}
\ No newline at end of file
+}
+