RDSK-3562: Add localization mode detection and new map update workflo…

…w PR2 (viamrobotics#2596)

web/frontend/package.json

@@ -17,7 +17,7 @@
     "@improbable-eng/grpc-web": "~0.15.*",
     "@viamrobotics/prime": "~0.2.*",
     "@viamrobotics/rpc": "~0.1.*",
-    "@viamrobotics/sdk": "0.2.0-pre.1",
+    "@viamrobotics/sdk": "0.2.3-rc.0",
     "google-protobuf": "~3.*.*",
     "tailwindcss": "~3.3.*",
     "three": "~0.152.*",
@@ -35,7 +35,7 @@
     "@typescript-eslint/parser": "^5.60.1",
     "@viamrobotics/prime": "0.2.19",
     "@viamrobotics/rpc": "0.1.37",
-    "@viamrobotics/sdk": "0.2.2",
+    "@viamrobotics/sdk": "0.2.3-rc.0",
     "@viamrobotics/typescript-config": "^0.0.3",
     "cypress": "12.16.0",
     "eslint": "8.43.0",

web/frontend/src/api/motion.ts

@@ -1,6 +1,6 @@
 import { type Client, commonApi, motionApi, robotApi } from '@viamrobotics/sdk';
 import { Struct } from 'google-protobuf/google/protobuf/struct_pb';
-import { getSLAMPosition } from './slam';
+import { getPosition } from './slam';
 import { rcLogConditionally } from '@/lib/log';
 
 export const moveOnMap = async (robotClient: Client, name: string, componentName: string, x: number, y: number) => {
@@ -12,7 +12,7 @@ export const moveOnMap = async (robotClient: Client, name: string, componentName
   request.setName('builtin');
 
   // set pose in frame
-  const lastPose = await getSLAMPosition(robotClient, name);
+  const lastPose = await getPosition(robotClient, name);
 
   const destination = new commonApi.Pose();
   destination.setX(x * 1000);

web/frontend/src/api/slam.ts

@@ -58,7 +58,7 @@ export const getPointCloudMap = (robotClient: Client, name: string) => {
   });
 };
 
-export const getSLAMPosition = async (robotClient: Client, name: string) => {
+export const getPosition = async (robotClient: Client, name: string) => {
   const request = new slamApi.GetPositionRequest();
   request.setName(name);
 
@@ -74,3 +74,19 @@ export const getSLAMPosition = async (robotClient: Client, name: string) => {
 
   return response?.getPose();
 };
+
+export const getLatestMapInfo = async (robotClient: Client, name: string) => {
+  const request = new slamApi.GetLatestMapInfoRequest();
+  request.setName(name);
+  const response = await new Promise<slamApi.GetLatestMapInfoResponse | null >((resolve, reject) => {
+    robotClient.slamService.getLatestMapInfo(request, (error, res) => {
+      if (error) {
+        reject(error);
+      } else {
+        resolve(res);
+      }
+    });
+  });
+  return response?.getLastMapUpdate();
+};
+

web/frontend/src/components/slam/index.svelte

@@ -1,10 +1,11 @@
 <script lang="ts">
+/* eslint-disable require-atomic-updates */
 
 import * as THREE from 'three';
 import { commonApi, type ServiceError } from '@viamrobotics/sdk';
 import { copyToClipboard } from '@/lib/copy-to-clipboard';
 import { filterSubtype } from '@/lib/resource';
-import { getPointCloudMap, getSLAMPosition } from '@/api/slam';
+import { getPointCloudMap, getPosition, getLatestMapInfo } from '@/api/slam';
 import { moveOnMap, stopMoveOnMap } from '@/api/motion';
 import { notify } from '@viamrobotics/prime';
 import { setAsyncInterval } from '@/lib/schedule';
@@ -13,7 +14,7 @@ import Collapse from '@/lib/components/collapse.svelte';
 import PCD from '@/components/pcd/pcd-view.svelte';
 import Slam2dRenderer from './2d-renderer.svelte';
 import { useRobotClient, useDisconnect } from '@/hooks/robot-client';
-
+import { Timestamp } from 'google-protobuf/google/protobuf/timestamp_pb';
 export let name: string;
 
 const { robotClient, operations } = useRobotClient();
@@ -29,6 +30,9 @@ let refresh2dRate = 'manual';
 let refresh3dRate = 'manual';
 let pointcloud: Uint8Array | undefined;
 let pose: commonApi.Pose | undefined;
+
+let lastTimestamp = new Timestamp();
+
 let show2d = false;
 let show3d = false;
 let showAxes = true;
@@ -50,11 +54,24 @@ const deleteDestinationMarker = () => {
 };
 
 const refresh2d = async () => {
+
   try {
-    const [map, nextPose] = await Promise.all([
-      getPointCloudMap($robotClient, name),
-      getSLAMPosition($robotClient, name),
-    ]);
+    const mapTimestamp = await getLatestMapInfo($robotClient, name);
+    let nextPose;
+
+    /*
+     * The map timestamp is compared to the last timestamp
+     * to see if a change has been made to the pointcloud map.
+     * A new call to getPointCloudMap is made if an update has occured.
+     */
+    if (mapTimestamp?.getSeconds() === lastTimestamp.getSeconds()) {
+      nextPose = await getPosition($robotClient, name);
+    } else {
+      [pointcloud, nextPose] = await Promise.all([
+        getPointCloudMap($robotClient, name),
+        getPosition($robotClient, name),
+      ]);
+    }
 
     /*
      * The pose is returned in millimeters, but we need
@@ -63,9 +80,10 @@ const refresh2d = async () => {
     nextPose?.setX(nextPose.getX() / 1000);
     nextPose?.setY(nextPose.getY() / 1000);
     nextPose?.setZ(nextPose.getZ() / 1000);
-
-    pointcloud = map;
     pose = nextPose;
+    if (mapTimestamp) {
+      lastTimestamp = mapTimestamp;
+    }
   } catch (error) {
     refreshErrorMessage2d = error !== null && typeof error === 'object' && 'message' in error
       ? `${refreshErrorMessage} ${error.message}`
@@ -75,7 +93,19 @@ const refresh2d = async () => {
 
 const refresh3d = async () => {
   try {
-    pointcloud = await getPointCloudMap($robotClient, name);
+    const mapTimestamp = await getLatestMapInfo($robotClient, name);
+
+    /*
+     * The map timestamp is compared to the last timestamp
+     * to see if a change has been made to the pointcloud map.
+     * A new call to getPointCloudMap is made if an update has occured.
+     */
+    if (mapTimestamp?.getSeconds() !== lastTimestamp.getSeconds()) {
+      pointcloud = await getPointCloudMap($robotClient, name);
+    }
+    if (mapTimestamp) {
+      lastTimestamp = mapTimestamp;
+    }
   } catch (error) {
     refreshErrorMessage3d = error !== null && typeof error === 'object' && 'message' in error
       ? `${refreshErrorMessage} ${error.message}`