Update task creation form (#743)

* Rename place to waypoint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reduce delivery form requirements to just pickup and dropoff waypoint names Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Adding WaypointCollection, which filters each waypoint type, display waypoint options only for that type Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Disable menu item if task is unavailable Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix error of passing a value to element by int instead of string Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using patrol instead of loop Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix documentation and create-task story Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Revert to Place, as Waypoint implies routes Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Revert changes to variable names Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor if case Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Aug 24, 2023 · 1412804 · 1412804
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diff --git a/packages/dashboard-e2e/README.md b/packages/dashboard-e2e/README.md
@@ -52,13 +52,13 @@ browser.overwriteCommand(
 ```
 
 ```ts
-// this will fail depending on the context on which `getLoopOption` is called.
-const getLoopOption = async () => {
-  return $$('[role=option]').find(async (elem) => await elem.getText() === 'Loop');
+// this will fail depending on the context on which `getPatrolOption` is called.
+const getPatrolOption = async () => {
+  return $$('[role=option]').find(async (elem) => await elem.getText() === 'Patrol');
 };
 
-await browser.waitUntil(async () => !!(await getLoopOption)); // ok
-await console.log(await getLoopOption()); // error
+await browser.waitUntil(async () => !!(await getPatrolOption)); // ok
+await console.log(await getPatrolOption()); // error
 ```
 
-Possible reason is because async selectors chaining relies on a "finalizer" or some kind of context to resolve the promises. As a result, when running `getLoopOption` without a wdio await, the chaining does not work. But this is all speculation, the inner workings of async selector chainings are very complex.
+Possible reason is because async selectors chaining relies on a "finalizer" or some kind of context to resolve the promises. As a result, when running `getPatrolOption` without a wdio await, the chaining does not work. But this is all speculation, the inner workings of async selector chainings are very complex.
diff --git a/packages/dashboard-e2e/tests/ui-interactions/submit-task.test.ts b/packages/dashboard-e2e/tests/ui-interactions/submit-task.test.ts
@@ -1,24 +1,24 @@
 import { getAppBar } from '../utils';
 
 describe('submit task', () => {
-  it('can submit loop task', async () => {
+  it('can submit patrol task', async () => {
     const appBar = await getAppBar();
     await (await appBar.$('button[aria-label="Tasks"]')).click();
     await (await appBar.$('button[aria-label="new task"]')).click();
     await (await $('#task-type')).click();
-    const getLoopOption = async () => {
+    const getPatrolOption = async () => {
       const options = await $$('[role=option]');
       for (const opt of options) {
         const text = await opt.getText();
-        if (text === 'Loop') {
+        if (text === 'Patrol') {
           return opt;
         }
       }
       return null;
     };
-    await browser.waitUntil(async () => !!(await getLoopOption()));
-    const loopOption = (await getLoopOption())!;
-    await loopOption.click();
+    await browser.waitUntil(async () => !!(await getPatrolOption()));
+    const patrolOption = (await getPatrolOption())!;
+    await patrolOption.click();
 
     await (await $('#place-input')).setValue('coe');
 

diff --git a/packages/dashboard/src/components/appbar.tsx b/packages/dashboard/src/components/appbar.tsx
@@ -35,7 +35,7 @@ import {
   AppBarTab,
   CreateTaskForm,
   CreateTaskFormProps,
-  getPlaces,
+  getNamedPlaces,
   HeaderBar,
   LogoButton,
   NavigationBar,
@@ -167,8 +167,10 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
   const [brandingIconPath, setBrandingIconPath] = React.useState<string>('');
   const [settingsAnchor, setSettingsAnchor] = React.useState<HTMLElement | null>(null);
   const [openCreateTaskForm, setOpenCreateTaskForm] = React.useState(false);
-  const [placeNames, setPlaceNames] = React.useState<string[]>([]);
-  const [workcells, setWorkcells] = React.useState<string[]>();
+  const [waypointNames, setWaypointNames] = React.useState<string[]>([]);
+  const [cleaningZoneNames, setCleaningZoneNames] = React.useState<string[]>([]);
+  const [pickupPointNames, setPickupPointNames] = React.useState<string[]>([]);
+  const [dropoffPointNames, setDropoffPointNames] = React.useState<string[]>([]);
   const [favoritesTasks, setFavoritesTasks] = React.useState<TaskFavorite[]>([]);
   const [refreshTaskAppCount, setRefreshTaskAppCount] = React.useState(0);
   const [username, setUsername] = React.useState<string | null>(null);
@@ -214,23 +216,20 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
     })();
   }, [logoResourcesContext, safeAsync, curTheme]);
 
-  React.useEffect(() => {
-    if (!resourceManager?.dispensers) {
-      return;
-    }
-    setWorkcells(Object.keys(resourceManager.dispensers.dispensers));
-  }, [resourceManager]);
-
   React.useEffect(() => {
     if (!rmf) {
       return;
     }
 
     const subs: Subscription[] = [];
     subs.push(
-      rmf.buildingMapObs.subscribe((map) =>
-        setPlaceNames(getPlaces(map).map((p) => p.vertex.name)),
-      ),
+      rmf.buildingMapObs.subscribe((map) => {
+        const namedPlaces = getNamedPlaces(map);
+        setPickupPointNames(namedPlaces.pickupPoints.map((w) => w.vertex.name));
+        setDropoffPointNames(namedPlaces.dropoffPoints.map((w) => w.vertex.name));
+        setCleaningZoneNames(namedPlaces.cleaningZones.map((w) => w.vertex.name));
+        setWaypointNames(namedPlaces.places.map((w) => w.vertex.name));
+      }),
     );
     subs.push(
       AppEvents.refreshAlertCount.subscribe((_) => {
@@ -578,11 +577,10 @@ export const AppBar = React.memo(({ extraToolbarItems }: AppBarProps): React.Rea
       {openCreateTaskForm && (
         <CreateTaskForm
           user={username ? username : 'unknown user'}
-          cleaningZones={placeNames}
-          loopWaypoints={placeNames}
-          deliveryWaypoints={placeNames}
-          dispensers={workcells}
-          ingestors={workcells}
+          cleaningZones={cleaningZoneNames}
+          patrolWaypoints={waypointNames}
+          pickupPoints={pickupPointNames}
+          dropoffPoints={dropoffPointNames}
           favoritesTasks={favoritesTasks}
           open={openCreateTaskForm}
           onClose={() => setOpenCreateTaskForm(false)}

diff --git a/packages/react-components/lib/place.ts b/packages/react-components/lib/place.ts
@@ -1,10 +1,21 @@
 import type { BuildingMap, GraphNode } from 'api-client';
 
+const DEFAULT_PICKUP_POINT_PARAM_NAME = 'pickup_dispenser';
+const DEFAULT_DROPOFF_POINT_PARAM_NAME = 'dropoff_ingestor';
+const DEFAULT_CLEANING_ZONE_PARAM_NAME = 'is_cleaning_zone';
+
 export interface Place {
   level: string;
   vertex: GraphNode;
 }
 
+export interface NamedPlaces {
+  places: Place[];
+  pickupPoints: Place[];
+  dropoffPoints: Place[];
+  cleaningZones: Place[];
+}
+
 export function getPlaces(buildingMap: BuildingMap): Place[] {
   const places: Place[] = [];
   for (const level of buildingMap.levels) {
@@ -18,3 +29,39 @@ export function getPlaces(buildingMap: BuildingMap): Place[] {
   }
   return places;
 }
+
+export function getNamedPlaces(buildingMap: BuildingMap): NamedPlaces {
+  const places = new Map<string, Place>();
+  const pickupPoints = new Map<string, Place>();
+  const dropoffPoints = new Map<string, Place>();
+  const cleaningZones = new Map<string, Place>();
+
+  for (const level of buildingMap.levels) {
+    for (const graphs of level.nav_graphs) {
+      for (const vertex of graphs.vertices) {
+        if (!vertex.name) {
+          continue;
+        }
+        const place: Place = { level: level.name, vertex };
+        for (const p of vertex.params) {
+          if (p.name === DEFAULT_PICKUP_POINT_PARAM_NAME) {
+            pickupPoints.set(vertex.name, place);
+          }
+          if (p.name === DEFAULT_DROPOFF_POINT_PARAM_NAME) {
+            dropoffPoints.set(vertex.name, place);
+          }
+          if (p.name === DEFAULT_CLEANING_ZONE_PARAM_NAME) {
+            cleaningZones.set(vertex.name, place);
+          }
+        }
+        places.set(vertex.name, place);
+      }
+    }
+  }
+  return {
+    places: Array.from(places.values()),
+    pickupPoints: Array.from(pickupPoints.values()),
+    dropoffPoints: Array.from(dropoffPoints.values()),
+    cleaningZones: Array.from(cleaningZones.values()),
+  };
+}
diff --git a/packages/react-components/lib/tasks/create-task.stories.tsx b/packages/react-components/lib/tasks/create-task.stories.tsx
@@ -24,8 +24,7 @@ export const CreateTask: Story<CreateTaskFormProps> = (args) => {
 CreateTask.args = {
   submitTasks: async () => new Promise((res) => setTimeout(res, 500)),
   cleaningZones: ['test_zone_0', 'test_zone_1'],
-  loopWaypoints: ['test_waypoint_0', 'test_waypoint_1'],
-  deliveryWaypoints: ['test_waypoint_0', 'test_waypoint_1'],
-  dispensers: ['test_dispenser_0', 'test_dispenser_1'],
-  ingestors: ['test_ingestor_0', 'test_ingestor_1'],
+  patrolWaypoints: ['test_waypoint_0', 'test_waypoint_1'],
+  pickupPoints: ['test_waypoint_0'],
+  dropoffPoints: ['test_waypoint_1'],
 };