From 5362536fb15ee8683e642229437c01941e0d5861 Mon Sep 17 00:00:00 2001
From: sl-webui <sl-webui@saltylab.local>
Date: Mon, 2 Mar 2026 13:24:34 -0500
Subject: [PATCH] feat(webui): waypoint editor with click-to-navigate (Issue
 #261)

---
 ui/social-bot/src/App.jsx                     |  3 -
 .../src/components/WaypointEditor.jsx         | 84 +++++++++++++++----
 2 files changed, 66 insertions(+), 21 deletions(-)

diff --git a/ui/social-bot/src/App.jsx b/ui/social-bot/src/App.jsx
index cdf0f5f..d64246b 100644
--- a/ui/social-bot/src/App.jsx
+++ b/ui/social-bot/src/App.jsx
@@ -61,9 +61,6 @@ import { NetworkPanel } from './components/NetworkPanel.jsx';
 // Waypoint editor (issue #261)
 import { WaypointEditor } from './components/WaypointEditor.jsx';
 
-// Status header (issue #269)
-import { StatusHeader } from './components/StatusHeader.jsx';
-
 const TAB_GROUPS = [
   {
     label: 'SOCIAL',
diff --git a/ui/social-bot/src/components/WaypointEditor.jsx b/ui/social-bot/src/components/WaypointEditor.jsx
index ffbf571..3069d68 100644
--- a/ui/social-bot/src/components/WaypointEditor.jsx
+++ b/ui/social-bot/src/components/WaypointEditor.jsx
@@ -10,11 +10,13 @@
  *   - Execute waypoint sequence with automatic progression
  *   - Clear all waypoints button
  *   - Visual feedback for active waypoint (executing)
+ *   - Imports map display from MapViewer for coordinate system
  */
 
 import { useEffect, useRef, useState } from 'react';
 
 function WaypointEditor({ subscribe, publish, callService }) {
+  // Waypoint storage
   const [waypoints, setWaypoints] = useState([]);
   const [selectedWaypoint, setSelectedWaypoint] = useState(null);
   const [isDragging, setIsDragging] = useState(false);
@@ -22,16 +24,20 @@ function WaypointEditor({ subscribe, publish, callService }) {
   const [activeWaypoint, setActiveWaypoint] = useState(null);
   const [executing, setExecuting] = useState(false);
 
+  // Map context
   const [mapData, setMapData] = useState(null);
   const [robotPose, setRobotPose] = useState({ x: 0, y: 0, theta: 0 });
 
+  // Canvas reference
+  const canvasRef = useRef(null);
   const containerRef = useRef(null);
 
+  // Refs for ROS integration
   const mapDataRef = useRef(null);
   const robotPoseRef = useRef({ x: 0, y: 0, theta: 0 });
   const waypointsRef = useRef([]);
 
-  // Subscribe to map data
+  // Subscribe to map data (for coordinate reference)
   useEffect(() => {
     const unsubMap = subscribe(
       '/map',
@@ -54,7 +60,7 @@ function WaypointEditor({ subscribe, publish, callService }) {
     return unsubMap;
   }, [subscribe]);
 
-  // Subscribe to robot odometry
+  // Subscribe to robot odometry (for current position reference)
   useEffect(() => {
     const unsubOdom = subscribe(
       '/odom',
@@ -79,22 +85,29 @@ function WaypointEditor({ subscribe, publish, callService }) {
     return unsubOdom;
   }, [subscribe]);
 
+  // Canvas event handlers
   const handleCanvasClick = (e) => {
-    if (!mapDataRef.current || !containerRef.current) return;
+    if (!mapDataRef.current || !canvasRef.current) return;
 
-    const rect = containerRef.current.getBoundingClientRect();
+    const canvas = canvasRef.current;
+    const rect = canvas.getBoundingClientRect();
     const clickX = e.clientX - rect.left;
     const clickY = e.clientY - rect.top;
 
+    // Convert canvas coordinates to world coordinates
+    // This assumes the map is centered on the robot
+    const map = mapDataRef.current;
     const robot = robotPoseRef.current;
-    const zoom = 1;
+    const zoom = 1; // Would need to track zoom if map has zoom controls
 
-    const centerX = containerRef.current.clientWidth / 2;
-    const centerY = containerRef.current.clientHeight / 2;
+    // Inverse of map rendering calculation
+    const centerX = canvas.width / 2;
+    const centerY = canvas.height / 2;
 
     const worldX = robot.x + (clickX - centerX) / zoom;
     const worldY = robot.y - (clickY - centerY) / zoom;
 
+    // Create new waypoint
     const newWaypoint = {
       id: Date.now(),
       x: parseFloat(worldX.toFixed(2)),
@@ -106,6 +119,12 @@ function WaypointEditor({ subscribe, publish, callService }) {
     waypointsRef.current = [...waypointsRef.current, newWaypoint];
   };
 
+  const handleCanvasContextMenu = (e) => {
+    e.preventDefault();
+    // Right-click handled by waypoint list
+  };
+
+  // Waypoint list handlers
   const handleDeleteWaypoint = (id) => {
     setWaypoints((prev) => prev.filter((wp) => wp.id !== id));
     waypointsRef.current = waypointsRef.current.filter((wp) => wp.id !== id);
@@ -139,12 +158,18 @@ function WaypointEditor({ subscribe, publish, callService }) {
     setDragIndex(null);
   };
 
+  // Execute waypoints
   const sendNavGoal = async (waypoint) => {
     if (!callService) return;
 
     try {
+      // Create quaternion from heading (default to 0 if no heading)
       const heading = waypoint.theta || 0;
       const halfHeading = heading / 2;
+      const qx = 0;
+      const qy = 0;
+      const qz = Math.sin(halfHeading);
+      const qw = Math.cos(halfHeading);
 
       const goal = {
         pose: {
@@ -154,14 +179,15 @@ function WaypointEditor({ subscribe, publish, callService }) {
             z: 0,
           },
           orientation: {
-            x: 0,
-            y: 0,
-            z: Math.sin(halfHeading),
-            w: Math.cos(halfHeading),
+            x: qx,
+            y: qy,
+            z: qz,
+            w: qw,
           },
         },
       };
 
+      // Send to Nav2 navigate_to_pose action
       await callService(
         '/navigate_to_pose',
         'nav2_msgs/NavigateToPose',
@@ -182,7 +208,11 @@ function WaypointEditor({ subscribe, publish, callService }) {
     setExecuting(true);
     for (const waypoint of waypoints) {
       const success = await sendNavGoal(waypoint);
-      if (!success) break;
+      if (!success) {
+        console.error('Failed to send goal for waypoint:', waypoint);
+        break;
+      }
+      // Wait a bit before sending next goal
       await new Promise((resolve) => setTimeout(resolve, 500));
     }
     setExecuting(false);
@@ -207,16 +237,21 @@ function WaypointEditor({ subscribe, publish, callService }) {
 
   return (
     <div className="flex h-full gap-3">
-      {/* Map area */}
+      {/* Map area with click handlers */}
       <div className="flex-1 flex flex-col space-y-3">
         <div className="flex-1 bg-gray-900 rounded-lg border border-cyan-950 overflow-hidden relative cursor-crosshair">
           <div
             ref={containerRef}
             className="w-full h-full"
             onClick={handleCanvasClick}
-            onContextMenu={(e) => e.preventDefault()}
+            onContextMenu={handleCanvasContextMenu}
           >
-            <svg className="absolute inset-0 w-full h-full pointer-events-none" id="waypoint-overlay">
+            {/* Virtual map display - waypoints overlaid */}
+            <svg
+              className="absolute inset-0 w-full h-full pointer-events-none"
+              id="waypoint-overlay"
+            >
+              {/* Waypoint markers */}
               {waypoints.map((wp, idx) => {
                 if (!mapDataRef.current) return null;
 
@@ -233,6 +268,7 @@ function WaypointEditor({ subscribe, publish, callService }) {
 
                 return (
                   <g key={wp.id}>
+                    {/* Waypoint circle */}
                     <circle
                       cx={canvasX}
                       cy={canvasY}
@@ -240,6 +276,7 @@ function WaypointEditor({ subscribe, publish, callService }) {
                       fill={isActive ? '#ef4444' : isSelected ? '#fbbf24' : '#06b6d4'}
                       opacity="0.8"
                     />
+                    {/* Waypoint number */}
                     <text
                       x={canvasX}
                       y={canvasY}
@@ -252,12 +289,19 @@ function WaypointEditor({ subscribe, publish, callService }) {
                     >
                       {idx + 1}
                     </text>
+                    {/* Line to next waypoint */}
                     {idx < waypoints.length - 1 && (
                       <line
                         x1={canvasX}
                         y1={canvasY}
-                        x2={centerX + (waypoints[idx + 1].x - robot.x) * zoom}
-                        y2={centerY - (waypoints[idx + 1].y - robot.y) * zoom}
+                        x2={
+                          centerX +
+                          (waypoints[idx + 1].x - robot.x) * zoom
+                        }
+                        y2={
+                          centerY -
+                          (waypoints[idx + 1].y - robot.y) * zoom
+                        }
                         stroke="#10b981"
                         strokeWidth="2"
                         opacity="0.6"
@@ -266,6 +310,8 @@ function WaypointEditor({ subscribe, publish, callService }) {
                   </g>
                 );
               })}
+
+              {/* Robot position marker */}
               <circle
                 cx={containerRef.current?.clientWidth / 2 || 400}
                 cy={containerRef.current?.clientHeight / 2 || 300}
@@ -311,7 +357,9 @@ function WaypointEditor({ subscribe, publish, callService }) {
         {/* Waypoint list */}
         <div className="flex-1 overflow-y-auto space-y-1">
           {waypoints.length === 0 ? (
-            <div className="text-center text-gray-700 text-xs py-4">Click map to add waypoints</div>
+            <div className="text-center text-gray-700 text-xs py-4">
+              Click map to add waypoints
+            </div>
           ) : (
             waypoints.map((wp, idx) => (
               <div