Add lat long. Refactor.

src/App.tsx

@@ -2,8 +2,9 @@ import { useState } from "react";
 import { createBrowserRouter, RouterProvider } from "react-router-dom";
 import { Provider as JotaiProvider } from "jotai";
 import { Home } from "./Home.tsx";
+import { Autonomy } from "./Autonomy.tsx";
 import { Version } from "./Version.tsx";
-import { Network } from "./Network.tsx";
+import { WhoAmI } from "./WhoAmI.tsx";
 import "./App.css";
 
 function App() {
@@ -26,13 +27,17 @@ const router = createBrowserRouter([
     element: <Home />,
   },
   {
-    path: "/network",
+    path: "/whoami",
-    element: <Network />,
+    element: <WhoAmI />,
   },
   {
     path: "/version",
     element: <Version />,
   },
+  {
+    path: "/autonomy",
+    element: <Autonomy />,
+  },
 ]);
 
 export default App;

src/AppNav.tsx

@@ -17,8 +17,11 @@ export function AppNav() {
             <Nav.Link as={Link} to="/version">
               Version
             </Nav.Link>
-            <Nav.Link as={Link} to="/network">
+            <Nav.Link as={Link} to="/whoami">
-              Network
+              WhoAmI
+            </Nav.Link>
+            <Nav.Link as={Link} to="/autonomy">
+              Autonomy
             </Nav.Link>
           </Nav>
         </Navbar.Collapse>

src/Autonomy.tsx

@@ -0,0 +1,97 @@
+import { AppNav, Footer } from "./AppNav.tsx";
+import { Container, Row, Col, Image, Card } from "react-bootstrap";
+import { atom, useAtomValue } from "jotai";
+import { atomWithQuery } from "jotai-tanstack-query";
+
+const costmapImageQuery = async () => {
+  const resp = await fetch("api/costmap_image");
+  if (!resp.ok) {
+    throw new Error("Network response was not ok");
+  }
+  const blob = await resp.blob();
+  return URL.createObjectURL(blob);
+};
+const costmapImageQueryAtom = atomWithQuery(() => ({
+  queryKey: ["costmap_image"],
+  queryFn: costmapImageQuery,
+  refetchInterval: 1000, // 1s
+}));
+const costmapImageAtom = atom((get) => {
+  const response = get(costmapImageQueryAtom);
+  if (response.isPending) {
+    return <p>"Loading..."</p>;
+  }
+  if (response.isError) {
+    return <p>"Error loading!"</p>;
+  }
+  const costmapStyle = {
+    minHeight: "65svb",
+  };
+  return <Image src={response.data} fluid style={costmapStyle} />;
+});
+
+const statusStringQuery = async () => {
+  const resp = await fetch("api/status");
+  if (!resp.ok) {
+    throw new Error("Network response was not ok");
+  }
+  return resp.json();
+};
+const statusStringQueryAtom = atomWithQuery(() => ({
+  queryKey: ["status_string"],
+  queryFn: statusStringQuery,
+  refetchInterval: 500, // 0.5s
+}));
+const statusStringAtom = atom((get) => {
+  const response = get(statusStringQueryAtom);
+  if (response.isPending || response.isError || !response.data.status) {
+    return "N/A";
+  }
+  return response.data.message;
+});
+
+const latLongQuery = async () => {
+  const resp = await fetch("api/position");
+  if (!resp.ok) {
+    throw new Error("Network response was not ok");
+  }
+  return resp.json();
+};
+const latLongQueryAtom = atomWithQuery(() => ({
+  queryKey: ["latlong"],
+  queryFn: latLongQuery,
+  refetchInterval: 500, // 0.5s
+}));
+const latLongAtom = atom((get) => {
+  const response = get(latLongQueryAtom);
+  if (response.isPending || response.isError || !response.data.status) {
+    return "N/A";
+  }
+  return `(${response.data.latitude}, ${response.data.longitude})`;
+});
+
+export function Autonomy() {
+  const costmapImage = useAtomValue(costmapImageAtom);
+  const statusString = useAtomValue(statusStringAtom);
+  const latLong = useAtomValue(latLongAtom);
+
+  return (
+    <div>
+      <AppNav />
+      <Container className="vert-padded">
+        <Card className="padded">
+          <Row>
+            <Col lg={8}>{costmapImage}</Col>
+            <Col lg={4}>
+              <p>Status:</p>
+              <pre>{statusString}</pre>
+              <p>Latitude, Longitude:</p>
+              <pre>{latLong}</pre>
+            </Col>
+          </Row>
+        </Card>
+      </Container>
+      <Footer />
+    </div>
+  );
+}

src/Home.tsx

@@ -3,74 +3,14 @@ import { Container, Row, Col, Image, Card } from "react-bootstrap";
 import { atom, useAtomValue } from "jotai";
 import { atomWithQuery } from "jotai-tanstack-query";
 
-const costmapImageQuery = async () => {
-  const resp = await fetch("api/costmap_image");
-  if (!resp.ok) {
-    throw new Error("Network response was not ok");
-  }
-  const blob = await resp.blob();
-  return URL.createObjectURL(blob);
-};
-const costmapImageQueryAtom = atomWithQuery(() => ({
-  queryKey: ["costmap_image"],
-  queryFn: costmapImageQuery,
-  refetchInterval: 1000, // 1s
-}));
-const costmapImageAtom = atom((get) => {
-  const response = get(costmapImageQueryAtom);
-  if (response.isPending) {
-    return <p>"Loading..."</p>;
-  }
-  if (response.isError) {
-    return <p>"Error loading!"</p>;
-  }
-  const costmapStyle = {
-    minHeight: "65svb",
-  };
-  return <Image src={response.data} fluid style={costmapStyle} />;
-});
-
-const statusStringQuery = async () => {
-  const resp = await fetch("api/status");
-  if (!resp.ok) {
-    throw new Error("Network response was not ok");
-  }
-  return resp.json();
-};
-const statusStringQueryAtom = atomWithQuery(() => ({
-  queryKey: ["status_string"],
-  queryFn: statusStringQuery,
-  refetchInterval: 500, // 0.5s
-}));
-const statusStringAtom = atom((get) => {
-  const response = get(statusStringQueryAtom);
-  if (response.isPending) {
-    return "Loading...";
-  }
-  if (response.isError) {
-    return "Error loading!";
-  }
-  if (!response.data.status) {
-    return "N/A";
-  }
-  return response.data.message;
-});
-
 export function Home() {
-  const costmapImage = useAtomValue(costmapImageAtom);
-  const statusString = useAtomValue(statusStringAtom);
-
   return (
     <div>
       <AppNav />
       <Container className="vert-padded">
         <Card className="padded">
           <Row>
-            <Col lg={8}>{costmapImage}</Col>
+            <p>Hello World!</p>
-            <Col lg={4}>
-              <p>Status:</p>
-              <pre>{statusString}</pre>
-            </Col>
           </Row>
         </Card>
       </Container>

src/WhoAmI.tsx

@@ -1,7 +1,7 @@
 import { AppNav, Footer } from "./AppNav.tsx";
 import { Container, Row, Col, Image } from "react-bootstrap";
 
-export function Network() {
+export function WhoAmI() {
   return (
     <div>
       <AppNav />