@wandelbots/wandelbots-js-react-components 2.54.5-pr.feat-upgrade-safety-bar-to-v2.405.34adcc0 → 2.54.5-pr.feat-jogging-blocked.406.6849777

package/dist/lib/JoggerConnection.d.ts

@@ -32,6 +32,7 @@ export declare class JoggerConnection {
     tcp: string;
     orientation: JoggerOrientation;
     onError?: (err: unknown) => void;
+    onBlocked?: () => void;
     /**
      * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
      *
@@ -93,7 +94,7 @@ export declare class JoggerConnection {
      * axis, either rotating or translating relative to the TCP.
      * Promise resolves only after the motion has completed.
      */
-    runIncrementalCartesianMotion({ currentTcpPose, currentJoints, coordSystemId, velocityInRelevantUnits, axis, direction, motion, }: {
+    runIncrementalCartesianMotion({ currentTcpPose, currentJoints, velocityInRelevantUnits, axis, direction, motion, }: {
         currentTcpPose: Pose;
         currentJoints: Vector3Simple;
         coordSystemId: string;

package/dist/lib/JoggerConnection.d.ts.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "2.54.5-pr.feat-upgrade-safety-bar-to-v2.405.34adcc0",
+  "version": "2.54.5-pr.feat-jogging-blocked.406.6849777",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/jogging/JoggingBlocked.tsx

@@ -0,0 +1,37 @@
+import { Alert, AlertTitle, Backdrop, Button, Stack } from "@mui/material"
+import { observer } from "mobx-react-lite"
+import { useTranslation } from "react-i18next"
+import { type JoggingStore } from "./JoggingStore"
+
+export const JoggingBlocked = observer(({ store }: { store: JoggingStore }) => {
+  const { t } = useTranslation()
+
+  return (
+    <Backdrop
+      open={true}
+      sx={{
+        position: "absolute",
+        zIndex: (theme) => theme.zIndex.drawer + 1,
+        color: "#fff",
+        background: "rgba(15, 15, 15, 0.78)",
+        justifyContent: "flex-start",
+        alignItems: "flex-start",
+      }}
+    >
+      <Stack sx={{ m: 2, width: "100%" }}>
+        <Alert severity="error" sx={{ mb: 2 }}>
+          <AlertTitle>{t("Jogging.Blocked.ti")}</AlertTitle>
+          {t("Jogging.Blocked.lb")}
+        </Alert>
+
+        <Button
+          variant="contained"
+          color="error"
+          onClick={() => store.unblock()}
+        >
+          {t("Jogging.Blocked.Reenable.bt")}
+        </Button>
+      </Stack>
+    </Backdrop>
+  )
+})

package/src/components/jogging/JoggingPanel.tsx

@@ -10,6 +10,7 @@ import { useTranslation } from "react-i18next"
 import { externalizeComponent } from "../../externalizeComponent"
 import { JoggerConnection } from "../../lib/JoggerConnection"
 import { LoadingCover } from "../LoadingCover"
+import { JoggingBlocked } from "./JoggingBlocked"
 import { JoggingCartesianTab } from "./JoggingCartesianTab"
 import { JoggingJointTab } from "./JoggingJointTab"
 import { JoggingStore } from "./JoggingStore"
@@ -182,7 +183,6 @@ const JoggingPanelInner = observer(
             )
           })}
         </Tabs>
-
         {/* Current tab content */}
         <Stack
           flexGrow={1}
@@ -191,6 +191,8 @@ const JoggingPanelInner = observer(
         >
           {renderTabContent()}
         </Stack>
+        {/* Overlay when jogging connection is blocked */}
+        {!store.blocked && <JoggingBlocked store={store} />}
       </Stack>
     )
   },

package/src/components/jogging/JoggingStore.ts

@@ -59,6 +59,9 @@ export class JoggingStore {
   /** Locks to prevent UI interactions during certain operations */
   locks = new Set<string>()
 
+  /** Block jogging UI interactions when connection is taken by another jogger */
+  blocked: boolean = false
+
   /**
    * Id of selected coordinate system from among those defined on the API side
    */
@@ -183,13 +186,21 @@ export class JoggingStore {
     this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || "world"
     this.selectedTcpId = tcps[0]?.id || ""
 
+    // Make all properties observable and actions auto-bound
     makeAutoObservable(this, {}, { autoBind: true })
 
+    // Register blocked watching
+    this.jogger.onBlocked = () => {
+      this.block()
+    }
+
     // Load user settings from local storage if available
     this.loadFromLocalStorage()
 
     // Automatically save user settings to local storage when save changes
     this.disposers.push(autorun(() => this.saveToLocalStorage()))
+
+    // Assign joggingStore to window
     ;(window as any).joggingStore = this
   }
 
@@ -438,6 +449,17 @@ export class JoggingStore {
     this.locks.delete(id)
   }
 
+  block() {
+    this.blocked = true
+  }
+
+  unblock() {
+    this.blocked = false
+    if (this.jogger.mode === "jogging") {
+      this.jogger.initializeJoggingWebsocket()
+    }
+  }
+
   /** Lock the UI until the given async callback resolves */
   async withMotionLock(fn: () => Promise<void>) {
     const lockId = uniqueId()

package/src/components/safetyBar/SafetyBar.tsx

@@ -1,5 +1,8 @@
 import { Divider, Stack, type PopoverOrigin } from "@mui/material"
-import type { OperationMode, SafetyStateType } from "@wandelbots/nova-js/v2"
+import type {
+  RobotControllerStateOperationModeEnum,
+  RobotControllerStateSafetyStateEnum,
+} from "@wandelbots/nova-js/v1"
 import { observer } from "mobx-react-lite"
 import { externalizeComponent } from "../../externalizeComponent"
 import { ControllerTypeIndicator } from "./ControllerTypeIndicator"
@@ -9,8 +12,8 @@ import { SafetyStateIndicator } from "./SafetyStateIndicator"
 export interface SafetyBarProps {
   isVirtual: boolean
   motionGroupId: string
-  operationMode: OperationMode
-  safetyState: SafetyStateType
+  operationMode: RobotControllerStateOperationModeEnum
+  safetyState: RobotControllerStateSafetyStateEnum
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact?: boolean

package/src/i18n/locales/de/translations.json

@@ -4,6 +4,9 @@
   "Jogging.Velocity.lb": "Geschwindigkeit",
   "General.degree.variable": "{{amount}}°",
   "General.mm.variable": "{{amount}} mm",
+  "Jogging.Blocked.ti": "Verbindung blockiert",
+  "Jogging.Blocked.lb": "Ein anderer Client kontrolliert das Jogging.",
+  "Jogging.Blocked.Reenable.bt": "Wiederherstellen",
   "Jogging.Cartesian.MotionType.lb": "Bewegungstyp",
   "Jogging.Cartesian.Translation.bt": "Translation",
   "Jogging.Cartesian.Rotation.bt": "Rotation",

package/src/i18n/locales/en/translations.json

@@ -4,6 +4,9 @@
   "Jogging.Velocity.lb": "Velocity",
   "General.degree.variable": "{{amount}}°",
   "General.mm.variable": "{{amount}} mm",
+  "Jogging.Blocked.ti": "Connection blocked",
+  "Jogging.Blocked.lb": "Another client is currently controlling the jogging.",
+  "Jogging.Blocked.Reenable.bt": "Restore Panel",
   "Jogging.Cartesian.MotionType.lb": "Motion type",
   "Jogging.Cartesian.Translation.bt": "Translation",
   "Jogging.Cartesian.Rotation.bt": "Rotation",

package/src/lib/JoggerConnection.ts

@@ -66,6 +66,7 @@ export class JoggerConnection {
   // coordinateSystem?: string
   orientation: JoggerOrientation
   onError?: (err: unknown) => void
+  onBlocked?: () => void
 
   /**
    * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
@@ -248,12 +249,18 @@ export class JoggerConnection {
           return
         }
 
-        if (
-          (data && "error" in data) ||
-          data?.result?.kind === "MOTION_ERROR"
-        ) {
+        if (data?.result?.kind === "MOTION_ERROR") {
           clearTimeout(connectionFailedTimeout)
-          if (this.onError) {
+          if (
+            this.onBlocked &&
+            data?.result?.message.includes(
+              `Movement request rejected. Another client is currently executing a 'Jogging' motion!`,
+            )
+          ) {
+            this.joggingSocket?.dispose()
+            this.onBlocked()
+            return
+          } else if (this.onError) {
             this.onError(ev.data)
           } else {
             reject(new Error(ev.data))
@@ -370,7 +377,7 @@ export class JoggerConnection {
   async runIncrementalCartesianMotion({
     currentTcpPose,
     currentJoints,
-    coordSystemId,
+    // coordSystemId,
     velocityInRelevantUnits,
     axis,
     direction,
@@ -625,6 +632,16 @@ export class JoggerConnection {
         )
       }
 
+      if (
+        this.onBlocked &&
+        data.result.message.includes(
+          `Movement request rejected. Another client is currently executing a 'Jogging' motion!`,
+        )
+      ) {
+        this.onBlocked()
+        return
+      }
+
       if (data.result.kind === "INITIALIZE_RECEIVED") {
         messageInitializeMovementResponse(data.result)
       } else if (data.result.kind === "START_RECEIVED") {