Fix Runstop Button and Homing Functionality

src/pages/operator/css/FooterGlobal.css

@@ -65,6 +65,30 @@
     transition: filter 200ms ease-out;
 }
 
+/* Pulse animation for running state */
+@keyframes run-stop-pulse {
+    0% {
+        filter: brightness(1);
+        opacity: 1;
+    }
+    25% {
+        filter: brightness(1.5);
+        opacity: 0.7;
+    }
+    75% {
+        filter: brightness(2);
+        opacity: 0.4;
+    }
+    100% {
+        filter: brightness(1);
+        opacity: 1;
+    }
+}
+
+.footer-global .run-stop-container .run-stop-button.stopped .icon {
+    animation: run-stop-pulse 1.5s ease-in-out infinite;
+}
+
 /* END RunStop Button */
 
 /* START Scene Menu Button */

src/pages/operator/tsx/MobileOperator.tsx

@@ -80,7 +80,7 @@ export const MobileOperator = (props: {
     const [isCameraVeilVisible, isCameraVeilVisibleSet] = useState(false);
 
     // Track homed state in local React state
-    const [robotIsHomed, robotIsHomedSet] = useState<boolean>(false);
+    const [robotIsHomed, robotIsHomedSet] = useState<boolean>(true);
     // True once `HomingBanner` has fully dismissed (after success strip + exit), not merely `robotIsHomed`
     const [homingBannerDismissed, homingBannerDismissedSet] =
         useState(false);

src/pages/operator/tsx/function_providers/RunStopFunctionProvider.tsx

@@ -5,7 +5,7 @@ export type RunStopFunctions = {
 };
 
 export class RunStopFunctionProvider extends FunctionProvider {
-    private enabled: boolean;
+    private enabled: boolean = false;
     private runStopStateChangeCallback: (enabled: boolean) => void;
 
     constructor() {

src/pages/operator/tsx/layout_components/CustomizableComponent.tsx

@@ -8,7 +8,6 @@ import { RemoteStream, StretchTool } from "shared/util";
 import { ButtonPad } from "./ButtonPad";
 import { ButtonStateMap } from "../function_providers/ButtonFunctionProvider";
 import { Map } from "./Map";
-import { RunStopButton } from "../static_components/RunStop";
 import { BatteryGauge } from "../static_components/BatteryGauge";
 import { MovementRecorder } from "./MovementRecorder";
 
@@ -77,8 +76,6 @@ export const CustomizableComponent = (props: CustomizableComponentProps) => {
             return <ButtonPad {...props} />;
         case ComponentType.Map:
             return <Map {...props} />;
-        case ComponentType.RunStopButton:
-            return <RunStopButton {...props} />;
         case ComponentType.BatteryGauge:
             return <BatteryGauge {...props} />;
         case ComponentType.MovementRecorder:

src/pages/operator/tsx/layout_components/FooterGlobal.tsx

@@ -11,6 +11,8 @@ import batteryIcon from "operator/icons/Battery_Footer.svg";
 import runStopRunIcon from "operator/icons/RunStop_Run.svg";
 import runStopStopIcon from "operator/icons/RunStop_Stop.svg";
 import "operator/css/FooterGlobal.css";
+import { runStopFunctionProvider } from "..";
+import { RunStopFunctions } from "../function_providers/RunStopFunctionProvider";
 
 interface FooterGlobalProps {
     swipeableViewsIdxSet: React.Dispatch<React.SetStateAction<number>>;
@@ -23,9 +25,12 @@ const FooterGlobal: React.FC<FooterGlobalProps> = ({
     sceneSelected,
     onSceneSelectedChange,
 }) => {
-    const [isStopped, isStoppedSet] = useState<boolean>(false);
+    const [isRunStopped, isRunStoppedSet] = useState<boolean>(false);
     const [isMainMenuOpen, isMainMenuOpenSet] = useState<boolean>(false);
 
+    runStopFunctionProvider.setRunStopStateChangeCallback(isRunStoppedSet);
+    const functs: RunStopFunctions = runStopFunctionProvider.provideFunctions();
+
     const scenes: SceneItem[] = useMemo(
         () => [
             {
@@ -124,13 +129,13 @@ const FooterGlobal: React.FC<FooterGlobalProps> = ({
             </div>
             <div className="run-stop-container">
                 <button
-                    onClick={() => isStoppedSet(!isStopped)}
+                    onClick={() => functs.onClick()}
                     type="button"
-                    className={`run-stop-button ${isStopped ? "stopped" : "running"}`}
-                    aria-label={isStopped ? "Run" : "Stop"}
+                    className={`run-stop-button ${isRunStopped ? "stopped" : "running"}`}
+                    aria-label={isRunStopped ? "Run" : "Stop"}
                 >
                     <img
-                        src={!isStopped ? runStopStopIcon : runStopRunIcon}
+                        src={!isRunStopped ? runStopStopIcon : runStopRunIcon}
                         alt=""
                         aria-hidden="true"
                         className="icon"

src/pages/robot/tsx/robot.tsx

@@ -22,6 +22,7 @@ import {
     ROSBatteryState,
     StretchTool,
     getStretchTool,
+    DiagnosticArray,
 } from "shared/util";
 import {
     rosJointStatetoRobotPose,
@@ -254,8 +255,7 @@ export class Robot extends React.Component {
         this.subscribeToJointLimits();
         this.subscribeToBatteryState();
         this.subscribeToMode();
-        this.subscribeToIsHomed();
-        this.subscribeToIsRunStopped();
+        this.subscribetoJointStateDiagnostics();
         this.subscribeToActionResult(
             moveBaseActionName,
             this.moveBaseResultCallback,
@@ -368,29 +368,25 @@ export class Robot extends React.Component {
         });
     }
 
-    subscribeToIsHomed() {
-        const isHomedTopic: Topic = new Topic({
+    subscribetoJointStateDiagnostics() {
+        const jointStateDiagnosticsTopic: Topic = new Topic({
             ros: this.ros,
-            name: "/is_homed",
-            messageType: "std_msgs/msg/Bool",
+            name: "/joint_states_diagnostics",
+            messageType: "diagnostic_msgs/msg/DiagnosticArray",
         });
-        this.subscriptions.push(isHomedTopic);
-
-        isHomedTopic.subscribe((msg) => {
-            if (this.isHomedCallback) this.isHomedCallback(msg.data);
-        });
-    }
-
-    subscribeToIsRunStopped() {
-        let topic: Topic = new Topic({
-            ros: this.ros,
-            name: "is_runstopped",
-            messageType: "std_msgs/msg/Bool",
-        });
-        this.subscriptions.push(topic);
-
-        topic.subscribe((msg) => {
-            if (this.isRunStoppedCallback) this.isRunStoppedCallback(msg.data);
+        this.subscriptions.push(jointStateDiagnosticsTopic);
+        jointStateDiagnosticsTopic.subscribe((message: Message) => {
+            let msg = message as DiagnosticArray;
+            msg.status.forEach((status) => {
+                if (status.name == "is_runstopped") {
+                    let isRunStopped = status.values.every((v) => v.value == 'True');
+                    if (this.isRunStoppedCallback) this.isRunStoppedCallback(isRunStopped);
+                }
+                if (status.name == "is_homed") {
+                    let isHomed = status.values.every((v) => v.value == 'True');
+                    if (this.isHomedCallback) this.isHomedCallback(isHomed);
+                }
+            });
         });
     }
 
@@ -606,7 +602,7 @@ export class Robot extends React.Component {
     createRunStopService() {
         this.setRunStopService = new Service({
             ros: this.ros,
-            name: "/runstop",
+            name: "/runstop_the_robot",
             serviceType: "std_srvs/srv/SetBool",
         });
     }

src/shared/util.tsx

@@ -27,8 +27,6 @@ export type RemoteStream = {
     track: MediaStreamTrack;
 };
 
-
-
 export type ValidJointStateDict = { [key in ValidJoints]?: [boolean, boolean] };
 
 export interface ROSJointState extends Message {
@@ -38,6 +36,22 @@ export interface ROSJointState extends Message {
     velocity: [number];
 }
 
+export interface DiagnosticArray extends Message {
+    status: DiagnosticStatus[];
+}
+
+export interface DiagnosticStatus extends Message {
+    name: string;
+    level: number;
+    message: string;
+    hardware_id: string;
+    values: KeyValue[];
+}
+
+export interface KeyValue {
+    key: string;
+    value: string;
+}
 export enum StretchTool {
     DW4 = "eoa_wrist_dw4_tool_sg4",
     TABLET = "eoa_wrist_dw3_tool_tablet",
@@ -165,8 +179,6 @@ export interface BatteryVoltageMessage {
     message: number;
 }
 
-
-
 export interface ROSPoint extends Message {
     x: number;
     y: number;