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feat: Removed jogging activation gating in favor of short-lived webso…
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…ckets (#154)
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@evrys
evrys authored Dec 2, 2024
1 parent 0ee316a commit 3714c24
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Showing 9 changed files with 182 additions and 326 deletions.
32 changes: 15 additions & 17 deletions src/components/3d-viewport/SafetyZonesRenderer.tsx
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
import type { SafetySetupSafetyZone } from "@wandelbots/wandelbots-js"
import { type GroupProps } from "@react-three/fiber"
import type { Geometry } from "@wandelbots/wandelbots-api-client"
import type { SafetySetupSafetyZone } from "@wandelbots/wandelbots-js"
import * as THREE from "three"
import { ConvexGeometry } from "three-stdlib"
import { type GroupProps } from "@react-three/fiber"

export type SafetyZonesRendererProps = {
safetyZones: SafetySetupSafetyZone[]
Expand Down Expand Up @@ -89,21 +89,19 @@ export function SafetyZonesRenderer({
return null
}
return (
<>
<mesh key={`${index}-${i}`} geometry={convexGeometry}>
<meshStandardMaterial
key={index}
attach="material"
color="#009f4d"
opacity={0.2}
depthTest={false}
depthWrite={false}
transparent
polygonOffset
polygonOffsetFactor={-i}
/>
</mesh>
</>
<mesh key={`${index}-${i}`} geometry={convexGeometry}>
<meshStandardMaterial
key={index}
attach="material"
color="#009f4d"
opacity={0.2}
depthTest={false}
depthWrite={false}
transparent
polygonOffset
polygonOffsetFactor={-i}
/>
</mesh>
)
})
})}
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56 changes: 0 additions & 56 deletions src/components/jogging/JoggingActivationRequired.tsx
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This file was deleted.

216 changes: 110 additions & 106 deletions src/components/jogging/JoggingCartesianTab.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@ import YAxisIcon from "../../icons/axis-y.svg"
import ZAxisIcon from "../../icons/axis-z.svg"
import RotationIcon from "../../icons/rotation.svg"
import { useReaction } from "../utils/hooks"
import { JoggingActivationRequired } from "./JoggingActivationRequired"
import { JoggingCartesianAxisControl } from "./JoggingCartesianAxisControl"
import { JoggingJointLimitDetector } from "./JoggingJointLimitDetector"
import { JoggingOptions } from "./JoggingOptions"
Expand Down Expand Up @@ -67,11 +66,11 @@ export const JoggingCartesianTab = observer(
opts: JoggingCartesianOpts,
increment: DiscreteIncrementOption,
) {
const tcpPose =
store.jogger.motionStream.rapidlyChangingMotionState.tcp_pose
const jogger = await store.activate()

const tcpPose = jogger.motionStream.rapidlyChangingMotionState.tcp_pose
const jointPosition =
store.jogger.motionStream.rapidlyChangingMotionState.state
.joint_position
jogger.motionStream.rapidlyChangingMotionState.state.joint_position
if (!tcpPose) return

await store.withMotionLock(async () => {
Expand Down Expand Up @@ -100,13 +99,15 @@ export const JoggingCartesianTab = observer(
})
} finally {
store.setCurrentIncrementJog(null)
await store.deactivate()
}
})
}

async function startCartesianJogging(opts: JoggingCartesianOpts) {
if (store.isLocked) return

const jogger = await store.activate()
if (store.activeDiscreteIncrement) {
return runIncrementalCartesianJog(opts, store.activeDiscreteIncrement)
}
Expand All @@ -133,7 +134,7 @@ export const JoggingCartesianTab = observer(
return
}

await store.jogger.stop()
await store.deactivate()
}

const axisList = [
Expand Down Expand Up @@ -183,109 +184,112 @@ export const JoggingCartesianTab = observer(
justifyContent="center"
sx={{ flexGrow: "1" }}
>
{/* Translate or rotate toggle */}
<JoggingToggleButtonGroup
value={store.selectedCartesianMotionType}
onChange={onMotionTypeChange}
exclusive
aria-label={t("Jogging.Cartesian.MotionType.lb")}
sx={{ justifyContent: "center" }}
<Stack
alignItems="center"
justifyContent="center"
gap="24px"
sx={{ flexGrow: 1 }}
>
<ToggleButton value="translate">
{t("Jogging.Cartesian.Translation.bt")}
</ToggleButton>
<ToggleButton value="rotate">
{t("Jogging.Cartesian.Rotation.bt")}
</ToggleButton>
</JoggingToggleButtonGroup>
{/* Translate or rotate toggle */}
<JoggingToggleButtonGroup
value={store.selectedCartesianMotionType}
onChange={onMotionTypeChange}
exclusive
aria-label={t("Jogging.Cartesian.MotionType.lb")}
sx={{ justifyContent: "center" }}
>
<ToggleButton value="translate">
{t("Jogging.Cartesian.Translation.bt")}
</ToggleButton>
<ToggleButton value="rotate">
{t("Jogging.Cartesian.Rotation.bt")}
</ToggleButton>
</JoggingToggleButtonGroup>

<JoggingActivationRequired store={store}>
<Stack alignItems="center" gap="24px" sx={{ flexGrow: 1 }}>
{/* Cartesian translate jogging */}
{store.selectedCartesianMotionType === "translate" &&
axisList.map((axis) => (
<JoggingCartesianAxisControl
key={axis.id}
colors={axis.colors}
disabled={store.isLocked}
activeJoggingDirection={
store.incrementJogInProgress?.axis === axis.id
? store.incrementJogInProgress.direction
: undefined
}
label={
<>
{axis.icon}
<Typography
sx={{
fontSize: "24px",
color: theme.palette.text.primary,
}}
>
{axis.id.toUpperCase()}
</Typography>
</>
}
getDisplayedValue={() =>
formatMM(
store.jogger.motionStream.rapidlyChangingMotionState
.tcp_pose?.position[axis.id] || 0,
)
}
startJogging={(direction: "-" | "+") =>
startCartesianJogging({
axis: axis.id,
motionType: "translate",
direction,
})
}
stopJogging={stopJogging}
/>
))}
{/* Cartesian translate jogging */}
{store.selectedCartesianMotionType === "translate" &&
axisList.map((axis) => (
<JoggingCartesianAxisControl
key={axis.id}
colors={axis.colors}
disabled={store.isLocked}
activeJoggingDirection={
store.incrementJogInProgress?.axis === axis.id
? store.incrementJogInProgress.direction
: undefined
}
label={
<>
{axis.icon}
<Typography
sx={{
fontSize: "24px",
color: theme.palette.text.primary,
}}
>
{axis.id.toUpperCase()}
</Typography>
</>
}
getDisplayedValue={() =>
formatMM(
store.jogger.motionStream.rapidlyChangingMotionState
.tcp_pose?.position[axis.id] || 0,
)
}
startJogging={(direction: "-" | "+") =>
startCartesianJogging({
axis: axis.id,
motionType: "translate",
direction,
})
}
stopJogging={stopJogging}
/>
))}

{/* Cartesian rotate jogging */}
{store.selectedCartesianMotionType === "rotate" &&
axisList.map((axis) => (
<JoggingCartesianAxisControl
key={axis.id}
colors={axis.colors}
disabled={store.isLocked}
activeJoggingDirection={
store.incrementJogInProgress?.axis === axis.id
? store.incrementJogInProgress.direction
: undefined
}
label={
<>
<RotationIcon />
<Typography
sx={{
fontSize: "24px",
color: theme.palette.text.primary,
}}
>
{axis.id.toUpperCase()}
</Typography>
</>
}
getDisplayedValue={() =>
formatDegrees(
store.jogger.motionStream.rapidlyChangingMotionState
.tcp_pose?.orientation?.[axis.id] || 0,
)
}
startJogging={(direction: "-" | "+") =>
startCartesianJogging({
axis: axis.id,
motionType: "rotate",
direction,
})
}
stopJogging={stopJogging}
/>
))}
</Stack>
</JoggingActivationRequired>
{/* Cartesian rotate jogging */}
{store.selectedCartesianMotionType === "rotate" &&
axisList.map((axis) => (
<JoggingCartesianAxisControl
key={axis.id}
colors={axis.colors}
disabled={store.isLocked}
activeJoggingDirection={
store.incrementJogInProgress?.axis === axis.id
? store.incrementJogInProgress.direction
: undefined
}
label={
<>
<RotationIcon />
<Typography
sx={{
fontSize: "24px",
color: theme.palette.text.primary,
}}
>
{axis.id.toUpperCase()}
</Typography>
</>
}
getDisplayedValue={() =>
formatDegrees(
store.jogger.motionStream.rapidlyChangingMotionState
.tcp_pose?.orientation?.[axis.id] || 0,
)
}
startJogging={(direction: "-" | "+") =>
startCartesianJogging({
axis: axis.id,
motionType: "rotate",
direction,
})
}
stopJogging={stopJogging}
/>
))}
</Stack>
</Stack>

{/* Show message if joint limits reached */}
Expand Down
4 changes: 2 additions & 2 deletions src/components/jogging/JoggingJointRotationControl.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ export const JoggingJointRotationControl = externalizeComponent(
>
<ChevronLeft
sx={{
"pointer-events": "none",
pointerEvents: "none",
}}
/>
</IconButton>
Expand Down Expand Up @@ -231,7 +231,7 @@ export const JoggingJointRotationControl = externalizeComponent(
>
<ChevronRight
sx={{
"pointer-events": "none",
pointerEvents: "none",
}}
/>
</IconButton>
Expand Down
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