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feat: Removed jogging activation gating in favor of short-lived websockets #154

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merged 8 commits into from
Dec 2, 2024
Merged

feat: Removed jogging activation gating in favor of short-lived websockets #154

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fa97d41
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evrys Nov 11, 2024
8e34425
Merge branch 'main' into feat/rps-204-safety-state-handling
evrys Nov 28, 2024
4167ae9
Activation tweaks
evrys Nov 29, 2024
3683be2
Merge branch 'main' into feat/rps-204-safety-state-handling
evrys Nov 29, 2024
2f8898e
Ensure joint jogger gets activated
evrys Nov 29, 2024
e6859f2
Fix centering
evrys Nov 29, 2024
f622585
Fix joint tab centering
evrys Nov 29, 2024
ab67d47
Remove commented out code
evrys Dec 2, 2024
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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>
)
})
})}
Expand Down
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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