From a02cbf6caf183bd72bdeba75202a1cfe9ff51982 Mon Sep 17 00:00:00 2001
From: Amal Nanavati <amaln@uw.edu>
Date: Wed, 4 Sep 2024 13:15:48 -0700
Subject: [PATCH 1/2] Add video feed to teleop modal

---
 feedingwebapp/src/Pages/Header/InfoModal.jsx | 36 +++++++++++++++++++-
 1 file changed, 35 insertions(+), 1 deletion(-)

diff --git a/feedingwebapp/src/Pages/Header/InfoModal.jsx b/feedingwebapp/src/Pages/Header/InfoModal.jsx
index 8d428b2..fb0e2e1 100644
--- a/feedingwebapp/src/Pages/Header/InfoModal.jsx
+++ b/feedingwebapp/src/Pages/Header/InfoModal.jsx
@@ -124,7 +124,41 @@ function InfoModal(props) {
           {mode === VIDEO_MODE ? (
             <VideoFeed topic={CAMERA_FEED_TOPIC} updateRateHz={10} webrtcURL={props.webrtcURL} />
           ) : mode === TELEOP_MODE ? (
-            <TeleopSubcomponent allowIncreasingForceThreshold={true} allowRetaringFTSensor={true} />
+            <View
+              style={{
+                flex: 1,
+                flexDirection: 'column',
+                justifyContent: 'center',
+                alignItems: 'center',
+                width: '100%',
+                height: '100%'
+              }}
+            >
+              <View
+                style={{
+                  flex: 5,
+                  flexDirection: 'column',
+                  justifyContent: 'center',
+                  alignItems: 'center',
+                  width: '100%',
+                  height: '100%'
+                }}
+              >
+                <VideoFeed topic={CAMERA_FEED_TOPIC} updateRateHz={10} webrtcURL={props.webrtcURL} />
+              </View>
+              <View
+                style={{
+                  flex: 7,
+                  flexDirection: 'column',
+                  justifyContent: 'center',
+                  alignItems: 'center',
+                  width: '100%',
+                  height: '100%'
+                }}
+              >
+                <TeleopSubcomponent allowIncreasingForceThreshold={true} allowRetaringFTSensor={true} />
+              </View>
+            </View>
           ) : mode === SYSTEM_STATUS_MODE ? (
             <div>System Status</div>
           ) : (

From 692226fd8dcf302ebbf7f922d88cc8ce6fd6cc83 Mon Sep 17 00:00:00 2001
From: Amal Nanavati <amaln@uw.edu>
Date: Mon, 21 Oct 2024 16:49:58 -0700
Subject: [PATCH 2/2] Don't show video feed in teleop modal by default

---
 feedingwebapp/src/Pages/Header/InfoModal.jsx | 35 ++++++++++++--------
 1 file changed, 22 insertions(+), 13 deletions(-)

diff --git a/feedingwebapp/src/Pages/Header/InfoModal.jsx b/feedingwebapp/src/Pages/Header/InfoModal.jsx
index fb0e2e1..f23a1e2 100644
--- a/feedingwebapp/src/Pages/Header/InfoModal.jsx
+++ b/feedingwebapp/src/Pages/Header/InfoModal.jsx
@@ -134,18 +134,22 @@ function InfoModal(props) {
                 height: '100%'
               }}
             >
-              <View
-                style={{
-                  flex: 5,
-                  flexDirection: 'column',
-                  justifyContent: 'center',
-                  alignItems: 'center',
-                  width: '100%',
-                  height: '100%'
-                }}
-              >
-                <VideoFeed topic={CAMERA_FEED_TOPIC} updateRateHz={10} webrtcURL={props.webrtcURL} />
-              </View>
+              {props.showVideoFeedDuringTeleop ? (
+                <View
+                  style={{
+                    flex: 5,
+                    flexDirection: 'column',
+                    justifyContent: 'center',
+                    alignItems: 'center',
+                    width: '100%',
+                    height: '100%'
+                  }}
+                >
+                  <VideoFeed topic={CAMERA_FEED_TOPIC} updateRateHz={10} webrtcURL={props.webrtcURL} />
+                </View>
+              ) : (
+                <></>
+              )}
               <View
                 style={{
                   flex: 7,
@@ -175,7 +179,12 @@ InfoModal.propTypes = {
   // Callback function for when the modal is hidden
   onHide: PropTypes.func.isRequired,
   // The URL of the webrtc signalling server
-  webrtcURL: PropTypes.string.isRequired
+  webrtcURL: PropTypes.string.isRequired,
+  // Whether to show the video feed when teleoperating the robot
+  showVideoFeedDuringTeleop: PropTypes.bool.isRequired
+}
+InfoModal.defaultProps = {
+  showVideoFeedDuringTeleop: false
 }
 
 export default InfoModal