@wandelbots/wandelbots-js-react-components 1.13.3 → 1.13.4

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "1.13.3",
+  "version": "1.13.4",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/jogging/JoggingCartesianTab.tsx

@@ -63,7 +63,7 @@ export const JoggingCartesianTab = observer(
 
     async function connectJogger() {
       store.jogger.setJoggingMode(
-        store.selectedDiscreteIncrement ? "increment" : "cartesian",
+        store.activeDiscreteIncrement ? "increment" : "cartesian",
         {
           tcpId: store.selectedTcpId,
           coordSystemId: store.activeCoordSystemId,
@@ -113,8 +113,8 @@ export const JoggingCartesianTab = observer(
 
       connectJogger()
 
-      if (store.selectedDiscreteIncrement) {
-        return runIncrementalCartesianJog(opts, store.selectedDiscreteIncrement)
+      if (store.activeDiscreteIncrement) {
+        return runIncrementalCartesianJog(opts, store.activeDiscreteIncrement)
       }
 
       if (opts.motionType === "translate") {
@@ -135,7 +135,7 @@ export const JoggingCartesianTab = observer(
     async function stopJogging() {
       if (store.isLocked) return
 
-      if (store.selectedDiscreteIncrement) {
+      if (store.activeDiscreteIncrement) {
         return
       }
 

package/src/components/jogging/JoggingOptions.tsx

@@ -117,7 +117,7 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
           <InputLabel id="jogging-increment-select">{"Increment"}</InputLabel>
           <Select
             labelId="jogging-increment-select"
-            value={store.selectedIncrementId}
+            value={store.activeDiscreteIncrement?.id || "continuous"}
             onChange={(event) => {
               store.setSelectedIncrementId(
                 event.target.value as IncrementOptionId,
@@ -129,13 +129,15 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
               {t("Jogging.Increment.Continuous.dd")}
             </MenuItem>
 
-            {store.discreteIncrementOptions.map((inc) => (
-              <MenuItem key={inc.id} value={inc.id}>
-                {store.currentMotionType === "translate"
-                  ? `${inc.mm}mm`
-                  : `${inc.degrees}°`}
-              </MenuItem>
-            ))}
+            {store.selectedOrientation === "tool"
+              ? null
+              : store.discreteIncrementOptions.map((inc) => (
+                  <MenuItem key={inc.id} value={inc.id}>
+                    {store.currentMotionType === "translate"
+                      ? `${inc.mm}mm`
+                      : `${inc.degrees}°`}
+                  </MenuItem>
+                ))}
           </Select>
         </Stack>
       </Stack>

package/src/components/jogging/JoggingPanel.tsx

@@ -70,7 +70,7 @@ export const JoggingPanel = externalizeComponent(
         currentTab,
         selectedTcpId,
         activeCoordSystemId,
-        selectedDiscreteIncrement,
+        activeDiscreteIncrement,
       } = state.joggingStore
 
       if (currentTab.id !== "cartesian" && currentTab.id !== "joint") return
@@ -80,7 +80,7 @@ export const JoggingPanel = externalizeComponent(
         coordSystemId: activeCoordSystemId,
       }
 
-      if (selectedDiscreteIncrement && currentTab.id === "cartesian") {
+      if (activeDiscreteIncrement && currentTab.id === "cartesian") {
         state.joggingStore.jogger.setJoggingMode(
           "increment",
           cartesianJoggingOpts,
@@ -95,7 +95,7 @@ export const JoggingPanel = externalizeComponent(
       state.joggingStore?.currentTab,
       state.joggingStore?.selectedTcpId,
       state.joggingStore?.activeCoordSystemId,
-      state.joggingStore?.selectedDiscreteIncrement,
+      state.joggingStore?.activeDiscreteIncrement,
     ])
 
     if (!state.joggingStore || state.loadingError) {

package/src/components/jogging/JoggingStore.tsx

@@ -251,10 +251,10 @@ export class JoggingStore {
     return keyBy(this.tcps, (tcp) => tcp.id)
   }
 
-  get selectedDiscreteIncrement() {
-    return discreteIncrementOptions.find(
-      (d) => d.id === this.selectedIncrementId,
-    )
+  get activeDiscreteIncrement() {
+    return this.selectedOrientation === "tool"
+      ? undefined
+      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)
   }
 
   /** The selected rotation velocity converted to radians per second */