From 5c6794d7c920d60827a2f22104e4dd488b36a1f7 Mon Sep 17 00:00:00 2001
From: ConnorN <connor.needham2015@gmail.com>
Date: Mon, 25 May 2026 22:38:29 -0400
Subject: [PATCH] feat: more useful default page feat: 240 sample option for
 science readings feat: eef distance display

---
 src/components/TelemetryGraph.tsx         |  1 +
 src/components/panels/ArmControlPanel.tsx | 59 +++++++++++++++++++++++
 src/components/panels/MosaicDashboard.tsx |  8 +--
 3 files changed, 64 insertions(+), 4 deletions(-)

diff --git a/src/components/TelemetryGraph.tsx b/src/components/TelemetryGraph.tsx
index dba80ce..67f05eb 100644
--- a/src/components/TelemetryGraph.tsx
+++ b/src/components/TelemetryGraph.tsx
@@ -92,6 +92,7 @@ const TelemetryGraph: React.FC<Props> = ({ topic, label, color = '#4da3ff' }) =>
             <option value={30}>30 samples</option>
             <option value={60}>60 samples</option>
             <option value={120}>120 samples</option>
+            <option value={240}>240 samples</option>
           </select>
 
           <button onClick={downloadPNG}>PNG</button>
diff --git a/src/components/panels/ArmControlPanel.tsx b/src/components/panels/ArmControlPanel.tsx
index bfc7894..a690a53 100644
--- a/src/components/panels/ArmControlPanel.tsx
+++ b/src/components/panels/ArmControlPanel.tsx
@@ -9,6 +9,8 @@ const ArmControlPanel: React.FC = () => {
 
   const [poseNames, setPoseNames] = useState<string[]>([]);
   const [selectedPose, setSelectedPose] = useState('');
+  const [distance, setDistance] = useState<number | null>(null);
+  const [distanceStatus, setDistanceStatus] = useState<number | null>(null);
   const [response, setResponse] = useState<{ success: boolean; message: string } | null>(null);
 
   const refreshPoseNames = () => {
@@ -36,6 +38,38 @@ const ArmControlPanel: React.FC = () => {
     refreshPoseNames();
   }, [ros]);
 
+  useEffect(() => {
+    if (!ros) return;
+
+    const distanceTopic = new ROSLIB.Topic({
+      ros,
+      name: '/eef_distance',
+      messageType: 'interfaces/msg/Distance',
+    });
+
+    const handleDistance = (msg: any) => {
+      setDistance(msg.distance);
+      setDistanceStatus(msg.status);
+    };
+
+    distanceTopic.subscribe(handleDistance);
+
+    return () => {
+      distanceTopic.unsubscribe(handleDistance);
+    };
+  }, [ros]);
+
+  const getDistanceDisplay = () => {
+    const GRIPPER_OFFSET = 0.18;
+    if (distance === null) return 'No data';
+    const distance_with_offset = distance - GRIPPER_OFFSET;
+
+    if (distanceStatus === 1) return `Error (${distance_with_offset.toFixed(3)})`;
+    if (distanceStatus === 2) return `Invalid (${distance_with_offset.toFixed(3)})`;
+
+    return distance_with_offset.toFixed(3);
+  };
+
   const handleGo = () => {
     if (!ros) {
       alert('ROS is not connected');
@@ -108,6 +142,11 @@ const ArmControlPanel: React.FC = () => {
         </select>
       </div>
 
+      <div className="display-row">
+        <span>Distance:</span>
+        <strong>{getDistanceDisplay()}</strong>
+      </div>
+
       <button onClick={handleGo} disabled={!selectedPose}>
         Go
       </button>
@@ -152,6 +191,26 @@ const ArmControlPanel: React.FC = () => {
           color: #f1f1f1;
         }
 
+        .display-row {
+          display: flex;
+          justify-content: space-between;
+          align-items: center;
+          margin-bottom: 0.75rem;
+          padding: 0.5rem;
+          border: 1px solid #333;
+          border-radius: 4px;
+          background: #2b2b2b;
+        }
+
+        .display-row span {
+          color: #ccc;
+        }
+
+        .display-row strong {
+          color: #f1f1f1;
+          font-weight: 600;
+        }
+
         button {
           background: #0070f3;
           color: #f1f1f1;
diff --git a/src/components/panels/MosaicDashboard.tsx b/src/components/panels/MosaicDashboard.tsx
index 1657fb5..327b80a 100644
--- a/src/components/panels/MosaicDashboard.tsx
+++ b/src/components/panels/MosaicDashboard.tsx
@@ -131,7 +131,7 @@ function buildDefaultLayout(makeTileId: (type: TileType) => TileId): MosaicNode<
           },
           second: makeTileId('networkHealthMonitor'),
         },
-        second: makeTileId('rosMonitor'),
+        second: makeTileId('waypointList'),
         splitPercentage: 55,
       },
       splitPercentage: 55,
@@ -141,11 +141,11 @@ function buildDefaultLayout(makeTileId: (type: TileType) => TileId): MosaicNode<
       first: makeTileId('videoControls'),
       second: {
         direction: 'row',
-        first: makeTileId('waypointList'),
+        first: makeTileId('pdbRails'),
         second: {
           direction: 'row',
-          first: makeTileId('gasSensor'),
-          second: makeTileId('goalSetter'),
+          first: makeTileId('espSensorPanel'),
+          second: makeTileId('armControlPanel'),
         },
         splitPercentage: 50,
       },