Merge pull request #119 from marip8/update/tpp-bt-behavior

ros-industrial-consortium · May 29, 2024 · 3af4a81 · 3af4a81
2 parents b99c87f + 1fdc976
commit 3af4a81
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Showing 2 changed files with 28 additions and 23 deletions.
diff --git a/snp_application/config/snp.xml b/snp_application/config/snp.xml
@@ -100,29 +100,33 @@
       </Progress>
       <Progress start="60"
                 end="80">
-        <Sequence>
-          <SetPage index="1">
-            <ButtonApproval name="Approve Motion Plan Generation"
-                            approve_button="plan"
-                            disapprove_button="back"
-                            _description="Press next to generate a motion plan for the tool path"/>
-          </SetPage>
-          <GenerateMotionPlanService name="Generate Process Motion Plan"
-                                     service_name="generate_motion_plan"
-                                     tool_paths="{tool_paths}"
-                                     approach="{approach}"
-                                     process="{process}"
-                                     departure="{departure}"/>
-          <CombineTrajectories first="{approach}"
-                               second="{process}"
-                               output="{trajectory}"/>
-          <CombineTrajectories first="{trajectory}"
-                               second="{departure}"
-                               output="{trajectory}"/>
-          <MotionPlanPub name="Publish Process Motion Plan"
-                         topic_name="motion_plan"
-                         trajectory="{trajectory}"/>
-        </Sequence>
+        <ReactiveSequence>
+          <ButtonMonitor name="Tool Path Configuration Changed"
+                         button="tpp_config"/>
+          <Sequence>
+            <SetPage index="1">
+              <ButtonApproval name="Approve Motion Plan Generation"
+                              approve_button="plan"
+                              disapprove_button="back"
+                              _description="Press next to generate a motion plan for the tool path"/>
+            </SetPage>
+            <GenerateMotionPlanService name="Generate Process Motion Plan"
+                                       service_name="generate_motion_plan"
+                                       tool_paths="{tool_paths}"
+                                       approach="{approach}"
+                                       process="{process}"
+                                       departure="{departure}"/>
+            <CombineTrajectories first="{approach}"
+                                 second="{process}"
+                                 output="{trajectory}"/>
+            <CombineTrajectories first="{trajectory}"
+                                 second="{departure}"
+                                 output="{trajectory}"/>
+            <MotionPlanPub name="Publish Process Motion Plan"
+                           topic_name="motion_plan"
+                           trajectory="{trajectory}"/>
+          </Sequence>
+        </ReactiveSequence>
       </Progress>
       <Progress start="80"
                 end="100">

diff --git a/snp_application/src/snp_widget.cpp b/snp_application/src/snp_widget.cpp
@@ -147,6 +147,7 @@ SNPWidget::SNPWidget(rclcpp::Node::SharedPtr rviz_node, QWidget* parent)
   board_->set("tpp", static_cast<QAbstractButton*>(ui_->push_button_tpp));
   board_->set("plan", static_cast<QAbstractButton*>(ui_->push_button_motion_plan));
   board_->set("execute", static_cast<QAbstractButton*>(ui_->push_button_motion_execution));
+  board_->set("tpp_config", static_cast<QAbstractButton*>(ui_->tool_button_tpp));
 }
 
 BT::BehaviorTreeFactory SNPWidget::createBTFactory(int ros_short_timeout, int ros_long_timeout)