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feat(ui): localization-aware map view and auto nav-done state transition#128

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xiaolefang-dm wants to merge 13 commits intomainfrom
feat/poi-nav-auto-done
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feat(ui): localization-aware map view and auto nav-done state transition#128
xiaolefang-dm wants to merge 13 commits intomainfrom
feat/poi-nav-auto-done

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@xiaolefang-dm xiaolefang-dm commented Apr 30, 2026

  • Fix _on_relocalization — backend now stores map_pose when relocalization message arrives; previously only set _localized = True, so the PiP map had no robot position to draw
  • Auto nav-done — map_node.py publishes /mapping/nav_done when all POIs are visited; backend subscribes and transitions state from navigation → idle, which also clears the active POI list in the frontend

after localizatin robot position to draw:

1.mov

auto nav-done:

2.mov

xiaolefang and others added 13 commits April 30, 2026 09:58
@claude
feat(nav): auto-restore POI button when all POIs are visited
0a9f5ff 
map_node publishes Bool(True) to /mapping/nav_done once all POIs
are reached (guarded by _nav_completed flag to avoid repeat fires);
BackendNode subscribes and transitions state back to idle so the
frontend POI button restores automatically without manual cancel.
_nav_completed resets when new POIs arrive via pois_callback.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
feat(ui): auto-close POI sheet after Go succeeds
91dea0d 
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
fix(ui): properly close POI sheet after Go
e99e5ac 
Capture Navigator before await to avoid stale context; replace
whenData (which doesn't await the returned future) with direct
valueOrNull call so the async close actually runs.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
feat(ui): show robot localization + active POIs + footprint on map
66b07d8 
- Add _MapToggleButton to switch between Local and Global map views when localized
- Show selected POIs on global map after Go; clear them when nav ends or is cancelled
- Add robot footprint rectangle (0.7m × 0.3m, Go2 config) to local planning view
  mirroring /planning/footprint topic data

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
fix(backend): set map_pose from relocalization topic
3ec41df 
_on_relocalization now stores the pose dict so the PiP map
can show the robot arrow immediately after localization,
without waiting for POI navigation to start.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
fix(ui): make footprint rectangle more visible
c346114 
Increase stroke width 1.5→2.5 and fill opacity for better
contrast on dark background.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
fix(ui): draw footprint outline on top of robot arrow
d6d82d7 
Previously footprint was drawn before the arrow and got covered
by the white fill. Now draws after as a yellow outline-only,
always visible regardless of zoom level.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
fix(ui): fix footprint invisible due to same size as arrow
20ae3d7 
Root cause: at default 10m grid scale (40px/m), footprint
fl=0.35m×40=14px coincided exactly with arrow tip=14px,
making the rectangle completely hidden behind the arrow.

Fix: use max(world_scale, min_pixels) so footprint always
clearly surrounds the arrow (min 22px front, 18px rear, 12px half-w).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
fix(footprint): use actual /planning/footprint PointCloud data
12289e0 
Previously drew a hardcoded rectangle (wrong). Now:
- node_manager subscribes to /planning/footprint (PointCloud)
- extracts x,y points and includes in planning snapshot
- PlanningState.footprint parsed from WS payload
- LocalPlanningPainter draws the actual footprint polygon
  using same world→canvas transform as trajectory

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
refactor: remove dead code from multi-iteration cleanup
b26f6b0 
- Remove unused pose param from _PoiButton / _PoiSheet
- Remove showFootprint toggle (footprint always drawn when data present)
- Hide _LayerTogglePanel when global map view is active

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
revert: remove footprint feature and auto-close POI sheet
9d29aaf 
Both features did not work reliably. Clean slate.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
fix(ui): show active nav POIs on PiP map after Go
8a0f1e7 
Pass activeNavPois from _CameraPanel to _MapPip so selected
POIs appear as markers on the picture-in-picture map.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
@claude
refactor(ui): remove POI markers from PiP map
744fd47 
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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github-actions Bot commented Apr 30, 2026

cloc github.com/AlDanial/cloc v 2.04 T=0.14 s (302.6 files/s, 44537.6 lines/s)
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Markdown 4 155 6 426
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CMake 1 4 0 17
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SUM: 42 933 359 4890

@xiaolefang-dm xiaolefang-dm requested a review from dvorak0 April 30, 2026 04:29
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dvorak0 commented Apr 30, 2026

@xiaolefang-dm it's cool to have something I want for long time. We need /mapping/nav_progress. Would you like to finish it? instead of only having the binary signal of "nav_done".

I'm not very sure how to do it. It would be great if we could publish:

  1. Which POI are we heading to?
  2. how long do we need to finish the whole task. We might publish percentage/progress, and the upper layer(app layer) could have some kind of estimation on on the left time to finish.

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xiaolefang-dm commented Apr 30, 2026 •
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@xiaolefang-dm it's cool to have something I want for long time. We need /mapping/nav_progress. Would you like to finish it? instead of only having the binary signal of "nav_done".

I'm not very sure how to do it. It would be great if we could publish:

  1. Which POI are we heading to?
  2. how long do we need to finish the whole task. We might publish percentage/progress, and the upper layer(app layer) could have some kind of estimation on on the left time to finish.

@dvorak0

1 its easy to do
2 worth to consider, what jump out my head firstly:
(1) total = len(poses); percent = visted/total, that would be our progress percentage
(2) eastimate remaining time: avg_per_pose * remaining, avg value would be dynamic, so it is kinda rough

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dvorak0 commented Apr 30, 2026 •
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@xiaolefang-dm cool, let's go for it.

@dvorak0 dvorak0 closed this Apr 30, 2026
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