refactor(connections): 🎉 add ros connection control functions

robolaunch · Dec 20, 2023 · 2806011 · 2806011
1 parent 2a8c145
commit 2806011
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Showing 3 changed files with 39 additions and 9 deletions.
diff --git a/package.json b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "ui",
-  "version": "0.23.3",
+  "version": "0.23.4",
   "private": true,
   "scripts": {
     "dev": "react-scripts start",

diff --git a/src/components/Connections/Connections.tsx b/src/components/Connections/Connections.tsx
@@ -3,12 +3,48 @@ import StateCell from "../TableInformationCells/StateCell";
 import { envApplication } from "../../helpers/envProvider";
 import { useKeycloak } from "@react-keycloak/web";
 import useRobot from "../../hooks/useRobot";
-import { ReactElement } from "react";
+import { ReactElement, useEffect, useState } from "react";
+import ROSLIB from "roslib";
 
 export default function Connections(): ReactElement {
-  const { responseRobot, isSettedCookie } = useRobot();
+  const { responseRobot, isSettedCookie, isRobotReady } = useRobot();
   const { keycloak } = useKeycloak();
 
+  const [isRosConnected, setIsRosConnected] = useState<boolean | null>(null);
+
+  useEffect(() => {
+    const rosClient: ROSLIB.Ros = new ROSLIB.Ros({
+      url: responseRobot?.bridgeIngressEndpoint,
+    });
+
+    if (isRosConnected === null) {
+      if (
+        isRobotReady &&
+        isSettedCookie &&
+        responseRobot?.bridgeIngressEndpoint
+      ) {
+        rosClient?.on("connection", function () {
+          setIsRosConnected(true);
+        });
+
+        rosClient?.on("error", function (error) {
+          setIsRosConnected(false);
+        });
+      }
+    } else {
+      rosClient?.close();
+    }
+  }, [
+    isRobotReady,
+    isSettedCookie,
+    isRosConnected,
+    responseRobot?.bridgeIngressEndpoint,
+  ]);
+
+  useEffect(() => {
+    console.log("isRosConnected", isRosConnected);
+  }, [isRosConnected]);
+
   return (
     <div className="flex gap-4">
       {!envApplication && (

diff --git a/src/contexts/RobotContext.tsx b/src/contexts/RobotContext.tsx
@@ -42,10 +42,6 @@ export default ({ children }: any) => {
     undefined,
   );
 
-  useEffect(() => {
-    console.log("pagesState", pagesState);
-  }, [pagesState]);
-
   // Main Functions
   useEffect(() => {
     if (
@@ -148,8 +144,6 @@ export default ({ children }: any) => {
         ? true
         : false;
 
-    console.log("isWorkspaceReady", isWorkspaceReady);
-
     if (isWorkspaceReady || isBuildManagerReady || isLaunchManagerReady) {
       setIsRobotReady(true);
     } else {