command center stop and home

[leshy]

there is an issue with going home 0,0 if not mapped (dimos restarted) - this should work right? since we can place points outside of the explore area now?

2025-12-28T10:03:24.147007Z [info     ] changed state                                                [dimos/navigation/replanning_a_star/local_planner.py] state=idle
2025-12-28T10:03:32.209406Z [info     ] Robot is stuck. Replanning.                                  [dimos/navigation/replanning_a_star/global_planner.py]
2025-12-28T10:03:32.209974Z [info     ] Replanning.                                                  [dimos/navigation/replanning_a_star/global_planner.py] attempt=0
2025-12-28T10:03:32.210362Z [info     ] Cancelling goal.                                             [dimos/navigation/replanning_a_star/global_planner.py] arrived=False but_will_try_again=True

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[greptile-apps]

Greptile Summary

Adds "Go Home" and "Stop" buttons to the command center UI. The "Go Home" button sends the robot to coordinates (0, 0), while the "Stop" button attempts to stop the robot by sending it to its current position.

• Added Button component import
• Implemented handleReturnHome callback that sends robot to (0, 0)
• Implemented handleStop callback that reads current robot pose and sends it as goal
• Added two buttons to the UI control panel

The Stop button implementation has a critical flaw: it uses a stale robotPose value from the closure dependencies. Since the callback depends on state.robotPose, it captures the pose value at render time, not at click time. If the robot moves between renders, clicking Stop will send it to an outdated position rather than its actual current location. The existing stopMoveCommand() method should be used instead, which properly stops robot movement.

Confidence Score: 2/5

• PR has a critical logic bug in the Stop button that will cause unexpected robot behavior
• The Stop button implementation uses stale state from closure, causing it to send the robot to an outdated position instead of stopping. This defeats the purpose of the Stop button and could cause dangerous behavior. The Go Home feature appears functional but the PR description mentions an unresolved issue with navigation to (0,0) on unmapped areas.
• dimos/web/command-center-extension/src/App.tsx requires fixing the Stop button logic

Important Files Changed

Filename	Overview
dimos/web/command-center-extension/src/App.tsx	Added "Go Home" and "Stop" buttons to command center UI. Stop button has potential race condition with stale robotPose state.

Sequence Diagram

sequenceDiagram
    participant User
    participant App
    participant Connection
    participant WebSocket
    participant Backend

    User->>App: Click "Go Home" button
    App->>Connection: worldClick(0, 0)
    Connection->>WebSocket: emit("click", [0, 0])
    WebSocket->>Backend: Goal request at (0, 0)
    Backend-->>App: Updates robot pose via WebSocket
    
    User->>App: Click "Stop" button
    App->>App: Read state.robotPose from closure
    App->>Connection: worldClick(robotPose[0], robotPose[1])
    Connection->>WebSocket: emit("click", [x, y])
    WebSocket->>Backend: Goal request at current position
    Backend-->>App: Navigation updates via WebSocket

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[greptile-apps]

_{1 file reviewed, 1 comment}

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[greptile-apps]

logic: handleStop uses stale state.robotPose from closure. If robot moves between render and button click, it will send goal to outdated position instead of truly stopping.

Suggested change

	const handleStop = React.useCallback(() => {
	if (state.robotPose) {
	connectionRef.current?.worldClick(state.robotPose.coords[0]!, state.robotPose.coords[1]!);
	}
	}, [state.robotPose]);
	const handleStop = React.useCallback(() => {
	connectionRef.current?.stopMoveCommand();
	}, []);