From a5dbf777399f5e90d3e6ad6f7e8810e416517440 Mon Sep 17 00:00:00 2001
From: Rohit <rnand@aescape.co>
Date: Thu, 27 Jun 2019 14:56:29 -0400
Subject: [PATCH] front-end for single arm mode

---
 .../app/components/coordinator/coordinator.html  |  4 ++--
 .../app/components/coordinator/js/ros_scripts.js | 11 +++++++++--
 .../app/components/coordinator/js/update_guis.js | 16 +++++++++++++++-
 3 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/client/app/components/coordinator/coordinator.html b/client/app/components/coordinator/coordinator.html
index 53df455..9eaae07 100644
--- a/client/app/components/coordinator/coordinator.html
+++ b/client/app/components/coordinator/coordinator.html
@@ -400,8 +400,8 @@
                                         <div class="col-md-10">
                                             <div class="dropdown">
                                                 <div>
-                                                        <select id="loadBagList" placeholder="Select bag to play">
-                                                        </select>
+                                                        <select id="loadBagList" placeholder="Select bag to play"></select>
+                                                        <select id="armMode"></select>
                                                 </div>
                                                 <!-- <i class="fas fa-sync-alt" onclick="updateRecordingsList()"></i> -->
                                             </div>
diff --git a/client/app/components/coordinator/js/ros_scripts.js b/client/app/components/coordinator/js/ros_scripts.js
index 1e0ee35..5daeafa 100644
--- a/client/app/components/coordinator/js/ros_scripts.js
+++ b/client/app/components/coordinator/js/ros_scripts.js
@@ -433,10 +433,17 @@ function triggerService(serviceName, toSend)
 }
 
 function loadSelectedBagFile() {
-  var selectedBagName = $('#bagList').val();
+  var selectedBagName = $('#loadBagList').val();
+  var singleArmMode = $('#armMode').val();
+  if (singleArmMode) {
+    singleArmMode = true
+  } else {
+    singleArmMode = false
+  }
 
   var toSend = {
-    message : selectedBagName
+    bag_name : selectedBagName, 
+    single_arm : singleArmMode
   }
 
   triggerService('/aescape/bags/startPlayingRecording', toSend)
diff --git a/client/app/components/coordinator/js/update_guis.js b/client/app/components/coordinator/js/update_guis.js
index e9b8afa..dee8dd3 100644
--- a/client/app/components/coordinator/js/update_guis.js
+++ b/client/app/components/coordinator/js/update_guis.js
@@ -222,7 +222,21 @@ function displayLoadingOptions() {
       if(results[0]) {
         selectize.setValue(results[0].filename);
       }
-    }) 
+    })
+    
+    var $armModeSelect = $('#armMode').selectize({
+      valueField: 'value',
+      labelField: 'name',
+      searchField: ['name'], 
+      options: [], 
+      create: false,
+      placeholder : "Select dual or single arm mode"
+    });  
+  
+    var armSelectize = $armModeSelect[0].selectize;
+    armSelectize.clearOptions()
+    armSelectize.addOption([{name: 'Dual-arm', value: false}, {name: 'Single-arm', value: true}]);
+    armSelectize.setValue(false);
 }
 
 function hideLoadingOptions() {