From 327c26becda2856eff648f40157e1d359b7490b6 Mon Sep 17 00:00:00 2001
From: neuenfeldttj <tjneuenfeldt@gmail.com>
Date: Fri, 5 Apr 2024 11:13:14 -0400
Subject: [PATCH 1/2] added comms to top

---
 src/teleoperation/backend/consumers.py        | 37 ++++++++++++-------
 .../frontend/src/components/AutonTask.vue     | 11 ++++--
 .../frontend/src/components/BasicRoverMap.vue |  1 +
 .../frontend/src/components/DMESTask.vue      | 10 ++++-
 .../frontend/src/components/ISHTask.vue       | 16 ++++----
 .../src/components/NetworkBandwidth.vue       | 37 +++++++++++++++++++
 .../frontend/src/components/SATask.vue        | 24 ++++--------
 7 files changed, 91 insertions(+), 45 deletions(-)
 create mode 100644 src/teleoperation/frontend/src/components/NetworkBandwidth.vue

diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index d86889ae0..526df60e4 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -31,6 +31,7 @@
     Spectral,
     ScienceThermistors,
     HeaterData,
+    NetworkBandwidth
 )
 from mrover.srv import EnableAuton, AdjustMotor, ChangeCameras, CapturePanorama
 from sensor_msgs.msg import NavSatFix, Temperature, RelativeHumidity, Image
@@ -64,6 +65,20 @@ class GUIConsumer(JsonWebsocketConsumer):
     def connect(self):
         self.accept()
         try:
+            # ROS Parameters
+            self.mappings = rospy.get_param("teleop/joystick_mappings")
+            self.drive_config = rospy.get_param("teleop/drive_controls")
+            self.max_wheel_speed = rospy.get_param("rover/max_speed")
+            self.wheel_radius = rospy.get_param("wheel/radius")
+            self.max_angular_speed = self.max_wheel_speed / self.wheel_radius
+            self.ra_config = rospy.get_param("teleop/ra_controls")
+            self.ik_names = rospy.get_param("teleop/ik_multipliers")
+            self.RA_NAMES = rospy.get_param("teleop/ra_names")
+            self.brushless_motors = rospy.get_param("brushless_motors/controllers")
+            self.brushed_motors = rospy.get_param("brushed_motors/controllers")
+            self.xbox_mappings = rospy.get_param("teleop/xbox_mappings")
+            self.sa_config = rospy.get_param("teleop/sa_controls")
+
             # Publishers
             self.twist_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=1)
             self.led_pub = rospy.Publisher("/auton_led_cmd", String, queue_size=1)
@@ -104,6 +119,7 @@ def connect(self):
             )
             self.science_spectral = rospy.Subscriber("/science_spectral", Spectral, self.science_spectral_callback)
             self.cmd_vel = rospy.Subscriber("/cmd_vel", Twist, self.cmd_vel_callback)
+            self.network_bandwidth = rospy.Subscriber("/network_bandwidth", NetworkBandwidth, self.network_bandwidth_callback)
 
             # Services
             self.laser_service = rospy.ServiceProxy("enable_arm_laser", SetBool)
@@ -116,20 +132,6 @@ def connect(self):
             self.capture_panorama_srv = rospy.ServiceProxy("capture_panorama", CapturePanorama)
             self.heater_auto_shutoff_srv = rospy.ServiceProxy("science_change_heater_auto_shutoff_state", SetBool)
 
-            # ROS Parameters
-            self.mappings = rospy.get_param("teleop/joystick_mappings")
-            self.drive_config = rospy.get_param("teleop/drive_controls")
-            self.max_wheel_speed = rospy.get_param("rover/max_speed")
-            self.wheel_radius = rospy.get_param("wheel/radius")
-            self.max_angular_speed = self.max_wheel_speed / self.wheel_radius
-            self.ra_config = rospy.get_param("teleop/ra_controls")
-            self.ik_names = rospy.get_param("teleop/ik_multipliers")
-            self.RA_NAMES = rospy.get_param("teleop/ra_names")
-            self.brushless_motors = rospy.get_param("brushless_motors/controllers")
-            self.brushed_motors = rospy.get_param("brushed_motors/controllers")
-            self.xbox_mappings = rospy.get_param("teleop/xbox_mappings")
-            self.sa_config = rospy.get_param("teleop/sa_controls")
-
             self.tf_buffer = tf2_ros.Buffer()
             self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)
             self.flight_thread = threading.Thread(target=self.flight_attitude_listener)
@@ -610,6 +612,13 @@ def cmd_vel_callback(self, msg):
             )
         )
 
+    def network_bandwidth_callback(self, msg):
+        self.send(
+            text_data=json.dumps(
+                {"type": "network_bandwidth", "tx": msg.tx, "rx": msg.rx}
+            )
+        )
+
     def gps_fix_callback(self, msg):
         self.send(
             text_data=json.dumps(
diff --git a/src/teleoperation/frontend/src/components/AutonTask.vue b/src/teleoperation/frontend/src/components/AutonTask.vue
index 0c36c1a89..ca65ec4ab 100644
--- a/src/teleoperation/frontend/src/components/AutonTask.vue
+++ b/src/teleoperation/frontend/src/components/AutonTask.vue
@@ -3,8 +3,8 @@
     <div class="shadow p-3 mb-5 header">
       <img class="logo" src="/mrover.png" alt="MRover" title="MRover" width="200" />
       <h1>Auton Dashboard</h1>
-      <!-- <MCUReset class="mcu_reset"></MCUReset>
-        <CommReadout class="comms"></CommReadout> -->
+      <!-- <MCUReset class="mcu_reset"></MCUReset> -->
+      <NetworkBandwidth class="comms"></NetworkBandwidth>
       <div class="help">
         <img src="/help.png" alt="Help" title="Help" width="48" height="48" />
       </div>
@@ -68,6 +68,7 @@ import OdometryReading from './OdometryReading.vue'
 import JoystickValues from './JoystickValues.vue'
 import DriveControls from './DriveControls.vue'
 import MastGimbalControls from './MastGimbalControls.vue'
+import NetworkBandwidth from './NetworkBandwidth.vue'
 import { quaternionToMapAngle } from '../utils.js'
 import { defineComponent } from 'vue'
 
@@ -84,7 +85,8 @@ export default defineComponent({
     OdometryReading,
     JoystickValues,
     DriveControls,
-    MastGimbalControls
+    MastGimbalControls,
+    NetworkBandwidth
   },
 
   data() {
@@ -241,7 +243,8 @@ h2 {
 }
 
 .comms {
-  margin-right: 5px;
+  position: absolute;
+  right: 25%;
 }
 
 .helpscreen {
diff --git a/src/teleoperation/frontend/src/components/BasicRoverMap.vue b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
index c59f54152..dc88bd1ed 100644
--- a/src/teleoperation/frontend/src/components/BasicRoverMap.vue
+++ b/src/teleoperation/frontend/src/components/BasicRoverMap.vue
@@ -221,5 +221,6 @@ export default {
   display: flex;
   align-items: center;
   height: 100%;
+  width: 100%;
 }
 </style>
diff --git a/src/teleoperation/frontend/src/components/DMESTask.vue b/src/teleoperation/frontend/src/components/DMESTask.vue
index 6dffa10f1..67f33b280 100644
--- a/src/teleoperation/frontend/src/components/DMESTask.vue
+++ b/src/teleoperation/frontend/src/components/DMESTask.vue
@@ -4,6 +4,7 @@
       <h1 v-if="type === 'ES'">ES GUI Dashboard</h1>
       <h1 v-else>DM GUI Dashboard</h1>
       <img class="logo" src="/mrover.png" alt="MRover" title="MRover" width="200" />
+      <NetworkBandwidth class="comms"></NetworkBandwidth>
       <div class="help">
         <img src="/help.png" alt="Help" title="Help" width="48" height="48" />
       </div>
@@ -69,6 +70,7 @@ import MotorsStatusTable from './MotorsStatusTable.vue'
 import OdometryReading from './OdometryReading.vue'
 import DriveControls from './DriveControls.vue'
 import MastGimbalControls from './MastGimbalControls.vue'
+import NetworkBandwidth from './NetworkBandwidth.vue'
 
 export default defineComponent({
   components: {
@@ -82,7 +84,8 @@ export default defineComponent({
     MotorsStatusTable,
     OdometryReading,
     DriveControls,
-    MastGimbalControls
+    MastGimbalControls,
+    NetworkBandwidth
   },
 
   props: {
@@ -252,6 +255,11 @@ export default defineComponent({
   transform: translateX(-50%);
 }
 
+.comms {
+  position: absolute;
+  right: 25%;
+}
+
 .map {
   grid-area: map;
 }
diff --git a/src/teleoperation/frontend/src/components/ISHTask.vue b/src/teleoperation/frontend/src/components/ISHTask.vue
index 8be0a6a1c..028bc05a6 100644
--- a/src/teleoperation/frontend/src/components/ISHTask.vue
+++ b/src/teleoperation/frontend/src/components/ISHTask.vue
@@ -2,8 +2,8 @@
   <div class="wrapper">
     <div class="shadow p-3 mb-5 header">
       <h1>ISH Dashboard</h1>
-      <!-- <MCUReset class="mcu_reset"></MCUReset>
-        <CommReadout class="comms"></CommReadout> -->
+      <!-- <MCUReset class="mcu_reset"></MCUReset> -->
+      <NetworkBandwidth class="comms"></NetworkBandwidth>
       <img class="logo" src="/mrover.png" alt="MRover" title="MRover" width="200" />
       <div class="help">
         <img src="/help.png" alt="Help" title="Help" width="48" height="48" />
@@ -44,13 +44,11 @@
 
 <script lang="ts">
 import SelectSite from './SelectSite.vue'
-//   import Raman from "./Raman.vue";
 import Cache from './CacheControls.vue'
 import Chlorophyll from './Chlorophyll.vue'
 import AminoBenedict from './AminoBenedict.vue'
 import Cameras from './Cameras.vue'
-//   import CommReadout from "./CommReadout.vue";
-//   import MCUReset from "./MCUReset.vue"
+import NetworkBandwidth from './NetworkBandwidth.vue'
 import { disableAutonLED } from '../utils.js'
 
 export default {
@@ -59,9 +57,8 @@ export default {
     Cache,
     Chlorophyll,
     AminoBenedict,
-    Cameras
-    //   CommReadout,
-    //   MCUReset,
+    Cameras,
+    NetworkBandwidth
   },
   data() {
     return {
@@ -95,7 +92,8 @@ export default {
 }
 
 .comms {
-  margin-right: 5px;
+  position: absolute;
+  right: 25%;
 }
 
 .helpscreen {
diff --git a/src/teleoperation/frontend/src/components/NetworkBandwidth.vue b/src/teleoperation/frontend/src/components/NetworkBandwidth.vue
new file mode 100644
index 000000000..30de54005
--- /dev/null
+++ b/src/teleoperation/frontend/src/components/NetworkBandwidth.vue
@@ -0,0 +1,37 @@
+<template>
+    <!-- <div class="wrap"> -->
+    <span
+      >TX: {{ tx.toFixed(2) }} Mbps RX:
+      {{ rx.toFixed(2) }} Mbps</span
+    >
+  <!-- </div> -->
+</template>
+  
+<script lang="ts">
+import { defineComponent } from 'vue'
+import { mapState } from 'vuex'
+  
+export default defineComponent({
+    data() {
+        return {
+            tx: 0,
+            rx: 0,
+        }
+    },
+
+    computed: {
+        ...mapState('websocket', ['message'])
+    },
+
+    watch: {
+        message(msg) {
+        if (msg.type == 'network_bandwidth') {
+            this.tx = parseFloat(msg.tx);
+            this.rx = parseFloat(msg.rx);
+        }
+        }
+    }
+})
+</script>
+<style scoped>
+</style>
\ No newline at end of file
diff --git a/src/teleoperation/frontend/src/components/SATask.vue b/src/teleoperation/frontend/src/components/SATask.vue
index 45af1e6fa..1e1e3b5bf 100644
--- a/src/teleoperation/frontend/src/components/SATask.vue
+++ b/src/teleoperation/frontend/src/components/SATask.vue
@@ -2,8 +2,8 @@
   <div class="wrapper">
     <div class="shadow p-3 mb-5 header">
       <h1>SA Dashboard</h1>
-      <!-- <MCUReset class="mcu_reset"></MCUReset>
-        <CommReadout class="comms"></CommReadout> -->
+      <!-- <MCUReset class="mcu_reset"></MCUReset> -->
+        <NetworkBandwidth class="comms"></NetworkBandwidth>
       <img class="logo" src="/mrover.png" alt="MRover" title="MRover" width="200" />
       <div class="help">
         <img src="/help.png" alt="Help" title="Help" width="48" height="48" />
@@ -78,13 +78,6 @@
           :topic_name="'sa_calibrate_sensor_actuator'"
         />
       </div>
-      <!-- <MotorAdjust
-        :options="[
-          { name: 'sa_joint_1', option: 'Joint 1' },
-          { name: 'sa_joint_2', option: 'Joint 2' },
-          { name: 'sa_joint_3', option: 'Joint 3' }
-        ]"
-      /> -->
     </div>
     <div v-show="false">
       <MastGimbalControls></MastGimbalControls>
@@ -107,11 +100,9 @@ import DriveMoteusStateTable from './DriveMoteusStateTable.vue'
 import MotorsStatusTable from './MotorsStatusTable.vue'
 import LimitSwitch from './LimitSwitch.vue'
 import CalibrationCheckbox from './CalibrationCheckbox.vue'
-//   import CommReadout from "./CommReadout.vue";
-//   import MCUReset from "./MCUReset.vue";
-import MotorAdjust from './MotorAdjust.vue'
 import OdometryReading from './OdometryReading.vue'
 import SAArmControls from './SAArmControls.vue'
+import NetworkBandwidth from './NetworkBandwidth.vue'
 import { disableAutonLED, quaternionToMapAngle } from '../utils.js'
 import { mapState } from 'vuex'
 
@@ -128,11 +119,9 @@ export default {
     SAArmControls,
     LimitSwitch,
     CalibrationCheckbox,
-    //   CommReadout,
-    //   MCUReset,
-    MotorAdjust,
     OdometryReading,
-    MotorsStatusTable
+    MotorsStatusTable,
+    NetworkBandwidth
   },
   data() {
     return {
@@ -216,7 +205,8 @@ export default {
 }
 
 .comms {
-  margin-right: 5px;
+  position: absolute;
+  right: 25%;
 }
 
 .helpscreen {

From 784d3807c924d85a98272a66034d800b4ec8a68f Mon Sep 17 00:00:00 2001
From: neuenfeldttj <tjneuenfeldt@gmail.com>
Date: Fri, 5 Apr 2024 11:25:21 -0400
Subject: [PATCH 2/2] format

---
 scripts/moteusConfigManage.py          |  2 ++
 src/teleoperation/backend/consumers.py | 18 ++++++------------
 2 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/scripts/moteusConfigManage.py b/scripts/moteusConfigManage.py
index f2b2c5768..1886ec1f9 100755
--- a/scripts/moteusConfigManage.py
+++ b/scripts/moteusConfigManage.py
@@ -27,11 +27,13 @@
 
 MOTEUS_SAVE_DIR = str(Path.cwd()) + "/config/moteus/"  # Need to change this for other laptops.
 
+
 def list_cfgs():
     files = os.listdir(MOTEUS_SAVE_DIR)
     print("Saved configs:\n\t")
     print(*files, sep="\n\t")
 
+
 def main():
     command: str
     if len(sys.argv) >= 2:
diff --git a/src/teleoperation/backend/consumers.py b/src/teleoperation/backend/consumers.py
index 526df60e4..e84c2ae44 100644
--- a/src/teleoperation/backend/consumers.py
+++ b/src/teleoperation/backend/consumers.py
@@ -31,7 +31,7 @@
     Spectral,
     ScienceThermistors,
     HeaterData,
-    NetworkBandwidth
+    NetworkBandwidth,
 )
 from mrover.srv import EnableAuton, AdjustMotor, ChangeCameras, CapturePanorama
 from sensor_msgs.msg import NavSatFix, Temperature, RelativeHumidity, Image
@@ -119,7 +119,9 @@ def connect(self):
             )
             self.science_spectral = rospy.Subscriber("/science_spectral", Spectral, self.science_spectral_callback)
             self.cmd_vel = rospy.Subscriber("/cmd_vel", Twist, self.cmd_vel_callback)
-            self.network_bandwidth = rospy.Subscriber("/network_bandwidth", NetworkBandwidth, self.network_bandwidth_callback)
+            self.network_bandwidth = rospy.Subscriber(
+                "/network_bandwidth", NetworkBandwidth, self.network_bandwidth_callback
+            )
 
             # Services
             self.laser_service = rospy.ServiceProxy("enable_arm_laser", SetBool)
@@ -606,18 +608,10 @@ def drive_status_callback(self, msg):
         )
 
     def cmd_vel_callback(self, msg):
-        self.send(
-            text_data=json.dumps(
-                {"type": "cmd_vel", "linear_x": msg.linear.x, "angular_z": msg.angular.z}
-            )
-        )
+        self.send(text_data=json.dumps({"type": "cmd_vel", "linear_x": msg.linear.x, "angular_z": msg.angular.z}))
 
     def network_bandwidth_callback(self, msg):
-        self.send(
-            text_data=json.dumps(
-                {"type": "network_bandwidth", "tx": msg.tx, "rx": msg.rx}
-            )
-        )
+        self.send(text_data=json.dumps({"type": "network_bandwidth", "tx": msg.tx, "rx": msg.rx}))
 
     def gps_fix_callback(self, msg):
         self.send(