teleop tag_id fix (#165)

Author: kevinjin420

teleoperation/basestation_gui/backend/models_pydantic.py

@@ -12,7 +12,7 @@ class BasicWaypointList(BaseModel):
 
 class AutonWaypoint(BaseModel):
     name: str
-    id: int = -1
+    tag_id: int = -1
     type: int = 0
     lat: float = 0.0
     lon: float = 0.0

teleoperation/basestation_gui/backend/routes/waypoints.py

@@ -62,8 +62,7 @@ def get_auton_waypoints():
         results = []
         for w in waypoints:
             wd = dict(w)
-            wd['db_id'] = wd['id']
-            wd['id'] = wd.pop('tag_id')
+            wd['db_id'] = wd.pop('id')
             wd['lat'] = wd.pop('latitude')
             wd['lon'] = wd.pop('longitude')
             wd['enable_costmap'] = bool(wd['enable_costmap'])
@@ -93,12 +92,12 @@ def save_auton_waypoints(data: AutonWaypointList):
                     UPDATE auton_waypoints
                     SET name=?, tag_id=?, type=?, latitude=?, longitude=?, enable_costmap=?
                     WHERE id=?
-                ''', (w.name, w.id, w.type, w.lat, w.lon, w.enable_costmap, w.db_id))
+                ''', (w.name, w.tag_id, w.type, w.lat, w.lon, w.enable_costmap, w.db_id))
             elif w.deletable:
                 conn.execute('''
                     INSERT INTO auton_waypoints (name, tag_id, type, latitude, longitude, enable_costmap, deletable)
                     VALUES (?, ?, ?, ?, ?, ?, ?)
-                ''', (w.name, w.id, w.type, w.lat, w.lon, w.enable_costmap, w.deletable))
+                ''', (w.name, w.tag_id, w.type, w.lat, w.lon, w.enable_costmap, w.deletable))
 
         conn.commit()
         return {'status': 'success'}
@@ -138,6 +137,7 @@ def get_current_auton_course():
         results = []
         for w in course:
             wd = dict(w)
+            del wd['id']
             wd['lat'] = wd.pop('latitude')
             wd['lon'] = wd.pop('longitude')
             wd['enable_costmap'] = bool(wd['enable_costmap'])
@@ -163,7 +163,7 @@ def save_current_auton_course(data: AutonWaypointList):
                 VALUES (?, ?, ?, ?, ?, ?, ?)
             ''', (
                 w.name,
-                w.id,
+                w.tag_id,
                 w.type,
                 w.lat,
                 w.lon,

teleoperation/basestation_gui/frontend/src/components/AutonWaypointEditor.vue

@@ -11,7 +11,7 @@
       <div class="waypoint-wrapper overflow-y-scroll flex-grow-1">
         <WaypointStore
           v-for="(waypoint, index) in waypoints"
-          :key="waypoint.id || index"
+          :key="waypoint.tag_id || index"
           :waypoint="waypoint"
           :index="index"
           @add="addToRoute"
@@ -92,7 +92,7 @@
                   v-if="modalWypt.type == 1"
                   class="form-control"
                   id="waypointid"
-                  v-model="modalWypt.id"
+                  v-model="modalWypt.tag_id"
                   type="number"
                   max="249"
                   min="0"
@@ -175,15 +175,16 @@ export default defineComponent({
       modal: null as Modal | null,
       modalWypt: {
         name: '',
-        id: -1,
+        tag_id: -1,
         type: 0,
         lat: 0,
         lon: 0,
         enable_costmap: true,
       },
 
       allCostmapToggle: true,
-      nextAvailableTagId: 8,
+      saveWaypointsTimer: null as ReturnType<typeof setTimeout> | null,
+      saveRouteTimer: null as ReturnType<typeof setTimeout> | null,
     }
   },
 
@@ -229,7 +230,10 @@ export default defineComponent({
         // Update map visualization
         const mapPoints = newRoute.map(waypoint => ({
           latLng: L.latLng(waypoint.lat, waypoint.lon),
-          name: waypoint.name
+          name: waypoint.name,
+          tag_id: waypoint.tag_id,
+          type: waypoint.type,
+          enable_costmap: waypoint.enable_costmap
         }))
         this.autonomyStore.setRoute(mapPoints)
 
@@ -256,12 +260,6 @@ export default defineComponent({
         const autonData = await waypointsAPI.getAuton()
         if (autonData.status === 'success') {
           this.waypoints = autonData.waypoints || []
-
-          // Calculate next available tag ID from existing waypoints
-          const maxTagId = this.waypoints.reduce((max, wp) => {
-            return wp.id > max ? wp.id : max
-          }, 7)
-          this.nextAvailableTagId = maxTagId + 1
         }
 
         // Fetch Active Route
@@ -272,7 +270,7 @@ export default defineComponent({
           // Mark items in route as "in_route" in the store list for visual feedback
           this.waypoints.forEach(wp => {
              wp.in_route = this.currentRoute.some(
-               r => r.name === wp.name && r.id === wp.id && r.type === wp.type
+               r => r.name === wp.name && r.tag_id === wp.tag_id && r.type === wp.type
              )
           })
         }
@@ -308,12 +306,12 @@ export default defineComponent({
       // Update visual feedback in store
       // Check if this type of waypoint still exists in the route elsewhere
       const stillInRoute = this.currentRoute.some(
-         r => r.name === waypoint.name && r.id === waypoint.id && r.type === waypoint.type
+         r => r.name === waypoint.name && r.tag_id === waypoint.tag_id && r.type === waypoint.type
       )
 
       if (!stillInRoute) {
         const storeIndex = this.waypoints.findIndex(
-           w => w.name === waypoint.name && w.id === waypoint.id && w.type === waypoint.type
+           w => w.name === waypoint.name && w.tag_id === waypoint.tag_id && w.type === waypoint.type
         )
         if (storeIndex !== -1) {
           const storeWaypoint = this.waypoints[storeIndex]
@@ -341,19 +339,11 @@ export default defineComponent({
       this.modalWypt.lat = this.clickPoint.lat
       this.modalWypt.lon = this.clickPoint.lon
 
-      // Assign next available tag ID if this is not a Post type (type 1 allows user to set tag_id)
-      if (this.modalWypt.type !== 1) {
-        this.modalWypt.id = this.nextAvailableTagId
-        this.nextAvailableTagId++
-      }
-
-      // Add to store (default deletable=true)
       this.waypoints.push({ ...this.modalWypt, enable_costmap: true })
 
-      // Reset modal
       this.modalWypt = {
         name: '',
-        id: -1,
+        tag_id: -1,
         type: 0,
         lat: 0,
         lon: 0,
@@ -395,7 +385,7 @@ export default defineComponent({
         ? this.currentRoute.map((waypoint: AutonWaypoint) => ({
             latitude_degrees: waypoint.lat,
             longitude_degrees: waypoint.lon,
-            tag_id: waypoint.id,
+            tag_id: waypoint.tag_id,
             type: waypoint.type,
             enable_costmap: waypoint.enable_costmap,
           }))

teleoperation/basestation_gui/frontend/src/components/AutonWaypointItem.vue

@@ -2,7 +2,7 @@
   <div class="waypoints p-2">
     <div class="waypoint-header mb-1">
       <h5 class="mb-0">{{ waypoint.name }}</h5>
-      <small class="text-muted">ID: {{ waypoint.id }}</small>
+      <small class="text-muted">ID: {{ waypoint.tag_id }}</small>
     </div>
 
     <div class="coordinates mb-1">

teleoperation/basestation_gui/frontend/src/components/AutonWaypointStore.vue

@@ -2,20 +2,20 @@
   <div class="waypoints p-2 mb-2">
     <div class="waypoint-header mb-1">
       <h5 class="mb-0">{{ waypoint.name }}</h5>
-      <small class="text-muted">ID: {{ waypoint.id }}</small>
+      <small class="text-muted">TAG ID: {{ waypoint.tag_id }}</small>
     </div>
     <div>
       <div class="input-group mb-1">
         <input
           class="form-control"
-          v-model.number="localLat" :id="'lat-' + waypoint.id"
+          v-model.number="localLat" :id="'lat-' + waypoint.tag_id"
         />
         <span class="input-group-text">ºN</span>
       </div>
       <div class="input-group mb-1">
         <input
           class="form-control"
-          v-model.number="localLon" :id="'lon-' + waypoint.id"
+          v-model.number="localLon" :id="'lon-' + waypoint.tag_id"
         />
         <span class="input-group-text">ºW</span>
       </div>

teleoperation/basestation_gui/frontend/src/types/waypoints.d.ts

@@ -6,7 +6,7 @@ import type { LatLng } from 'leaflet'
  */
 export interface AutonWaypoint {
   name: string
-  id: number
+  tag_id: number
   type: number
   lat: number
   lon: number