@viamrobotics/motion-tools 0.19.1 → 0.19.2

package/dist/frame.d.ts

@@ -1,3 +1,4 @@
+import type { Transform } from '@viamrobotics/sdk';
 import type { ValueOf } from 'type-fest';
 type FrameGeometryMap = {
     none: {
@@ -73,4 +74,5 @@ export interface Frame<T extends FrameGeometry = FrameGeometry, K extends FrameO
     geometry?: FrameGeometryMap[T];
 }
 export declare const createFrame: <T extends FrameGeometry = "box", K extends FrameOrientation = "ov_degrees">(geometry?: FrameGeometryMap[T]) => Frame<T>;
+export declare const createTransformFromFrame: (name: string, frame: Partial<Frame>) => Transform;
 export {};

package/dist/frame.js

@@ -1,4 +1,7 @@
 // TODO: replace with types exported from the sdk when created
+import { UuidTool } from 'uuid-tool';
+import { createPoseFromFrame } from './transform';
+import { createGeometryFromFrame } from './geometry';
 export const createFrame = (geometry) => {
     return {
         parent: 'world',
@@ -10,3 +13,14 @@ export const createFrame = (geometry) => {
         geometry: (geometry ?? { type: 'box', x: 100, y: 100, z: 100 }),
     };
 };
+export const createTransformFromFrame = (name, frame) => {
+    return {
+        uuid: new Uint8Array(UuidTool.toBytes(UuidTool.newUuid())),
+        referenceFrame: name,
+        poseInObserverFrame: {
+            referenceFrame: frame.parent ?? 'world',
+            pose: createPoseFromFrame(frame),
+        },
+        physicalObject: createGeometryFromFrame(frame),
+    };
+};

package/dist/hooks/useDrawAPI.svelte.js

@@ -497,6 +497,7 @@ export const provideDrawAPI = () => {
             sendResponse({ code: 200, requestID, message: `${operation} succeeded.` });
         }
         catch (error) {
+            logs.add(`${error}`, 'error');
             sendResponse({
                 code: 500,
                 requestID,

package/dist/hooks/useFrames.svelte.js

@@ -1,12 +1,12 @@
 import { getContext, setContext, untrack } from 'svelte';
+import { Transform } from '@viamrobotics/sdk';
 import { useRobotClient, createRobotQuery, useMachineStatus } from '@viamrobotics/svelte-sdk';
 import { WorldObject } from '../WorldObject.svelte';
 import { useLogs } from './useLogs.svelte';
 import { resourceNameToColor } from '../color';
+import { createTransformFromFrame } from '../frame';
 import { usePartConfig } from './usePartConfig.svelte';
 import { useEnvironment } from './useEnvironment.svelte';
-import { createPoseFromFrame } from '../transform';
-import { createGeometryFromFrame } from '../geometry';
 import { useResourceByName } from './useResourceByName.svelte';
 import { usePersistentUUIDs } from './usePersistentUUIDs.svelte';
 const key = Symbol('frames-context');
@@ -20,7 +20,7 @@ export const provideFrames = (partID) => {
     const partConfig = usePartConfig();
     const environment = useEnvironment();
     const { updateUUIDs } = usePersistentUUIDs();
-    $effect.pre(() => {
+    $effect(() => {
         if (revision) {
             untrack(() => query.refetch());
         }
@@ -33,7 +33,7 @@ export const provideFrames = (partID) => {
             logs.add(`Frames: ${query.error.message}`, 'error');
         }
     });
-    $effect.pre(() => {
+    $effect(() => {
         if (partConfig.isDirty) {
             environment.current.viewerMode = 'edit';
         }
@@ -42,40 +42,33 @@ export const provideFrames = (partID) => {
         }
     });
     const machineFrames = $derived.by(() => {
-        const objects = {};
+        const frames = {};
         for (const { frame } of query.data ?? []) {
             if (frame === undefined) {
                 continue;
             }
-            const resourceName = resourceByName.current[frame.referenceFrame];
-            const frameName = frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame';
-            const color = resourceNameToColor(resourceName);
-            objects[frameName] = new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined);
+            frames[frame.referenceFrame] = frame;
         }
-        return objects;
+        return frames;
     });
-    const [configFrames, configUnsetFrames] = $derived.by(() => {
+    const [configFrames, configUnsetFrameNames] = $derived.by(() => {
         const components = partConfig.localPartConfig.toJson().components;
-        const objects = [];
-        const unsetObjects = [];
-        // deal with part defined frame config
-        for (const component of components ?? []) {
-            if (!component.frame) {
-                unsetObjects.push(component.name);
+        const results = {};
+        const unsetResults = [];
+        for (const { name, frame } of components ?? []) {
+            if (!frame) {
+                unsetResults.push(name);
                 continue;
             }
-            const pose = createPoseFromFrame(component.frame);
-            const geometry = createGeometryFromFrame(component.frame);
-            const worldObject = new WorldObject(component.name, pose, component.frame.parent, geometry);
-            objects.push(worldObject);
+            results[name] = createTransformFromFrame(name, frame);
         }
-        return [objects, unsetObjects];
+        return [results, unsetResults];
     });
-    const [fragmentFrames, fragmentUnsetFrames] = $derived.by(() => {
+    const [fragmentFrames, fragmentUnsetFrameNames] = $derived.by(() => {
         const { fragment_mods: fragmentMods = [] } = partConfig.localPartConfig.toJson() ?? {};
         const fragmentDefinedComponents = Object.keys(partConfig.componentNameToFragmentId);
-        const objects = [];
-        const unsetObjects = [];
+        const results = {};
+        const unsetResults = [];
         // deal with fragment defined components
         for (const fragmentComponentName of fragmentDefinedComponents || []) {
             const fragmentId = partConfig.componentNameToFragmentId[fragmentComponentName];
@@ -86,60 +79,39 @@ export const provideFrames = (partID) => {
             const setComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$set']?.[`components.${fragmentComponentName}.frame`] !== undefined);
             const unsetComponentModIndex = fragmentMod.mods.findLastIndex((mod) => mod['$unset']?.[`components.${fragmentComponentName}.frame`] !== undefined);
             if (setComponentModIndex < unsetComponentModIndex) {
-                unsetObjects.push(fragmentComponentName);
+                unsetResults.push(fragmentComponentName);
             }
             else if (unsetComponentModIndex < setComponentModIndex) {
                 const frameData = fragmentMod.mods[setComponentModIndex]['$set'][`components.${fragmentComponentName}.frame`];
-                const pose = createPoseFromFrame(frameData);
-                const geometry = createGeometryFromFrame(frameData);
-                const worldObject = new WorldObject(fragmentComponentName, pose, frameData.parent, geometry);
-                objects.push(worldObject);
-            }
-        }
-        return [objects, unsetObjects];
-    });
-    $effect.pre(() => {
-        for (const frame of configFrames) {
-            const result = machineFrames[frame.name];
-            if (result) {
-                result.referenceFrame = frame.referenceFrame;
-                result.localEditedPose = frame.pose;
-                result.geometry = frame.geometry;
-            }
-            else {
-                machineFrames[frame.name] = frame;
+                results[fragmentComponentName] = createTransformFromFrame(fragmentComponentName, frameData);
             }
         }
+        return [results, unsetResults];
     });
-    $effect.pre(() => {
-        for (const frame of fragmentFrames) {
-            const result = machineFrames[frame.name];
-            if (result) {
-                result.referenceFrame = frame.referenceFrame;
-                result.localEditedPose = frame.pose;
-                result.geometry = frame.geometry;
-            }
-            else {
-                machineFrames[frame.name] = frame;
-            }
+    const frames = $derived.by(() => {
+        const result = {
+            ...machineFrames,
+            ...configFrames,
+            ...fragmentFrames,
+        };
+        // Remove frames that have just been deleted locally for optimistic updates
+        for (const name of configUnsetFrameNames) {
+            delete result[name];
         }
-    });
-    $effect.pre(() => {
-        for (const name of configUnsetFrames) {
-            delete machineFrames[name];
-        }
-    });
-    $effect.pre(() => {
-        for (const name of fragmentUnsetFrames) {
-            delete machineFrames[name];
+        // Remove frames that have been removed by fragment overrides
+        for (const name of fragmentUnsetFrameNames) {
+            delete result[name];
         }
+        return result;
     });
     const current = $derived.by(() => {
-        // eslint-disable-next-line @typescript-eslint/no-unused-vars
-        const _configFrames = configFrames;
-        // eslint-disable-next-line @typescript-eslint/no-unused-vars
-        const _fragmentFrames = fragmentFrames;
-        const results = Object.values(machineFrames);
+        const results = [];
+        for (const frame of Object.values(frames)) {
+            const resourceName = resourceByName.current[frame.referenceFrame];
+            const frameName = frame.referenceFrame ? frame.referenceFrame : 'Unnamed frame';
+            const color = resourceNameToColor(resourceName);
+            results.push(new WorldObject(frameName, frame.poseInObserverFrame?.pose, frame.poseInObserverFrame?.referenceFrame, frame.physicalObject, color ? { color } : undefined));
+        }
         updateUUIDs(results);
         return results;
     });

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.19.1",
+  "version": "0.19.2",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",