From 503b6bfdc26cc4bf3587905d8730f6ba36763a4f Mon Sep 17 00:00:00 2001
From: Quashnock <awq@uw.edu>
Date: Sun, 22 Dec 2024 14:41:14 -0800
Subject: [PATCH] [missioncontrol][addbasestationstates] Tied input from the UI
 element to the store and set up ROS topic publishing.

---
 src/components/Navbar.vue        | 41 +++++++++++++++-----------------
 src/store/operationStateStore.ts | 14 +++++++----
 2 files changed, 28 insertions(+), 27 deletions(-)

diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue
index d52acf6..9f4594e 100644
--- a/src/components/Navbar.vue
+++ b/src/components/Navbar.vue
@@ -18,7 +18,7 @@ import { useOperationStateStore} from '../store/operationStateStore'
 
 //TODO implement latency
 
-//TODO fix importing OperationState type from useOperationStateStore. This is currently a placeholder.
+//TODO fix importing OperationState type from useOperationStateStore. This is currently a temporary solution.
 type OperationState = 'disabled' | 'teleoperation' | 'autonomous';
 
 const roslib = useRoslibStore();
@@ -106,7 +106,7 @@ const pageIconArr: PageIcon = [
     </section>
     <section id = "states-section">
       <div class = "container">
-        <select id = "state-select">
+        <select id = "state-select" v-model = "operationstate" @change = "operationMode.setOperationState(operationstate)">
           <option value = "disabled">Disabled</option>
           <option value = "teleoperated">Teleoperated</option>
           <option value = "autonomous">Autonomous</option>
@@ -165,24 +165,32 @@ nav {
   h2,
   h3,
   h4,
-  p {
+  p,
+  select {
     color: var(--white);
     white-space: nowrap;
     overflow: hidden;
   }
-  .page-icon {
-    transform: scale(1.25);
-  }
   .current-page {
     background-color: var(--light-grey);
   }
   .navbar-tab {
     padding: 0 0.3rem;
     min-width: 4.5rem;
+    .page-icon {
+      transform: scale(1.25);
+    }
   }
   .navbar-tab:not(.current-page):hover {
     background-color: hsl(0, 0%, 16%);
   }
+  .container {
+    height: var(--nav-bar-size);
+    display: flex;
+    flex-direction: column;
+    align-items: center;
+    justify-content: center;
+  }
   #logo-section{
     display: flex;
     align-items: center;
@@ -196,21 +204,14 @@ nav {
       margin: 0 1rem;
     }
   }
-  .container {
-    height: var(--nav-bar-size);
-    display: flex;
-    flex-direction: column;
-    align-items: center;
-    justify-content: center;
-  }
   #page-section {
     display: flex;
     overflow-x: scroll;
     overflow-y: hidden;
     scrollbar-width: none;
     flex-grow: 1;
-    border-right: 1px solid white;
-    border-left: 1px solid white;
+    border-right: 1px solid var(--white);
+    border-left: 1px solid var(--white);
   }
   #states-section {
     display: flex;
@@ -222,10 +223,9 @@ nav {
       margin: 0;
       padding: 0.5rem 0.25rem;
       text-transform: uppercase;
-      background-color: hsl(0,0%,2%);
-      color: white;
-      font-weight: bold;
-      border: 1px solid white;
+      background-color: var(--black);
+      font-weight: 600;
+      border: 5px solid hsl(240, 20%, 15%) !important;
       border-radius: 4px;
     }
   }
@@ -235,8 +235,5 @@ nav {
   .green {
     color: var(--correct);
   }
-  ::-webkit-scrollbar {
-    display: none;
-  }
 }
 </style>
diff --git a/src/store/operationStateStore.ts b/src/store/operationStateStore.ts
index 53b6cee..4216a5c 100644
--- a/src/store/operationStateStore.ts
+++ b/src/store/operationStateStore.ts
@@ -1,16 +1,20 @@
 import { defineStore } from 'pinia';
+import { createPublisher } from '@/lib/roslibUtils/createPublisher';
 import { ref } from 'vue';
 
 export type OperationState = 'disabled' | 'teleoperation' | 'autonomous';
 
-
 export const useOperationStateStore = defineStore('operationType', () => {
 
+  const operationStatePublisher = createPublisher({topicName: '/setOperationState', topicType: 'std_msgs/String' });
   const operationState = ref<OperationState>('disabled');
-  function setOperationMode(status: OperationState) {
-    operationState.value = status;
-    alert(`Mode Changed: ${status}`);
+
+  // Sets the operation state to the specified state and sends out a message on the ros topic to change the state.
+  function setOperationState(state: OperationState) {
+    operationState.value = state;
+    operationStatePublisher.publish({data: operationState.value});
   }
+
   // Return all state, getters and functions
-  return {operationState, setOperationMode};
+  return {operationState, setOperationState};
 });