fixed bug file getting latest file and setting status to ready after playback

client/app/components/coordinator/js/ros_scripts.js

@@ -267,7 +267,8 @@ robotiqDataTopic.subscribe(function(message) {
   }
 });
 
-// Recording Bag
+
+// Recording bag
 var recordingBagTopic = new ROSLIB.Topic({
   ros : ros,
   name : '/aescape/bags/recording_status',
@@ -291,11 +292,17 @@ recordingBagTopic.subscribe(function(message) {
 
   var teachingModeLastActive = lastActiveButton.teachingMode;
 
+  //status changed
   if(teachingModeLastActive && teachingModeLastActive != message.data) {
     var teachingModeButton = teachingModeToButtonMap[teachingModeLastActive];
     if (teachingModeButton) {
       document.getElementById(teachingModeButton).classList.remove("active");
     }
+    if(message.data == 'stopped') {
+      triggerService('/left/aescape/mode/activateReadyController');
+      triggerService('/right/aescape/mode/activateReadyController');
+      displayTaggingOptions('teach');
+    }
   }
 
   var teachingModeButton = teachingModeToButtonMap[message.data];
@@ -306,7 +313,9 @@ recordingBagTopic.subscribe(function(message) {
   lastActiveButton.teachingMode = message.data;
 });
 
-// Executing Bag
+
+// Execution bag
+// Use playback status instead of this
 var executingBagTopic = new ROSLIB.Topic({
   ros : ros,
   name : '/aescape/bags/execution_status',
@@ -345,37 +354,58 @@ executingBagTopic.subscribe(function(message) {
 });
 
 
-
-var bagNotifier = new ROSLIB.Topic({
+// Playback status
+var playbackStatus = new ROSLIB.Topic({
   ros : ros,
   name : '/left/playback/status',
   messageType : 'std_msgs/String'
 });
 
+playbackStatus.subscribe(function(message) {
+  message = JSON.parse(message);
+  status = message.status;
+  bagName = message.bag_file;
+  console.log("playbackStatus");
+  console.log(playbackStatus);
+  if (status === "playing") {
 
-bagNotifier.subscribe(function(message) {
-  console.log("bagNotifier: " +message.data)
-  if (message.data === "playing") {
-
-  } else if (message.data === "stopped")
+  } else if (message === "stopped")
   {
-
+    triggerService('/left/aescape/mode/activateReadyController');
+    triggerService('/right/aescape/mode/activateReadyController');
+    displayTaggingOptions('play');
   }
-
 });
 
 
-// Last Bag
-var bagPlayingTopic = new ROSLIB.Topic({
+// Last played bag
+var lastPlayedBag = new ROSLIB.Topic({
   ros : ros,
   name : '/aescape/bags/last_played',
   messageType : 'std_msgs/String'
 });
 
-bagPlayingTopic.subscribe(function(message) {
+lastPlayedBag.subscribe(function(message) {
   //document.getElementById("lastbagText").innerHTML = message.data
+  console.log("Last played bag");
+  console.log(message);
 });
 
+
+//Last recorded bag
+var lastRecordedBag = new ROSLIB.Topic({
+  ros : ros,
+  name : '/aescape/bags/last_recorded',
+  messageType : 'std_msgs/String'
+});
+
+lastRecordedBag.subscribe(function(message) {
+  //document.getElementById("lastbagText").innerHTML = message.data
+  console.log("Last recorded bag");
+  console.log(message);
+});
+
+
 ////////////////////////////////////////////////////////////////
 // Services
 ////////////////////////////////////////////////////////////////
@@ -504,7 +534,7 @@ function triggerService(serviceName, toSend, callback) {
 }
 
 
-document.addEventListener("keydown", invokeSafetyController);
+//document.addEventListener("keydown", invokeSafetyController);
 function invokeSafetyController(event)
 {
    var keyID = event.keyCode;
@@ -554,14 +584,12 @@ function stopTeachRecording() {
       function(callback) {
           triggerService('/aescape/bags/stopTeachRecording', false, callback);
       },
+      // function(response, callback) {
+      //     triggerService('/left/aescape/mode/activateReadyController', false, callback);
+      // },
       function(response, callback) {
-          triggerService('/left/aescape/mode/activateReadyController', false, callback);
-      },
-      function(response, callback) {
-        setTimeout(function(){
-          displayTaggingOptions('teach');
-          callback();
-        }, 2000)
+        //displayTaggingOptions('teach');
+        callback();
       }
   ], function (err, result) {
     console.log(err);
@@ -587,15 +615,12 @@ function stopPlayingRecording() {
       function(callback) {
           triggerService('/aescape/bags/stopPlayingBag', false, callback);
       },
+      // function(response, callback) {
+      //     triggerService('/left/aescape/mode/activateReadyController', false, callback);
+      // },
       function(response, callback) {
-          triggerService('/left/aescape/mode/activateReadyController', false, callback);
-      },
-      function(response, callback) {
-        setTimeout(function(){
-          displayTaggingOptions('play');
-          callback();
-        }, 2000)
-
+        //displayTaggingOptions('play');
+        callback();
       }
   ], function (err, result) {
       // result now equals 'done'