@wandelbots/wandelbots-js-react-components 4.2.0-pr.feat-JoggingPanelSupportForLinearAxis.514.bd93b8d → 4.2.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "4.2.0-pr.feat-JoggingPanelSupportForLinearAxis.514.bd93b8d",
+  "version": "4.2.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/jogging/{JoggingJointValueControl.tsx → JoggingJointRotationControl.tsx}

@@ -1,6 +1,5 @@
 import ChevronLeft from "@mui/icons-material/ChevronLeft"
 import ChevronRight from "@mui/icons-material/ChevronRight"
-import { radiansToDegrees } from "@wandelbots/nova-js"
 import { IconButton, Slider, Typography, useTheme } from "@mui/material"
 import Stack from "@mui/material/Stack"
 import throttle from "lodash-es/throttle"
@@ -10,29 +9,28 @@ import { useTranslation } from "react-i18next"
 import { externalizeComponent } from "../../externalizeComponent"
 import { useAnimationFrame } from "../utils/hooks"
 
-type JoggingJointValueControlProps = {
+type JoggingJointRotationControlProps = {
   startJogging: (direction: "-" | "+") => void
   stopJogging: () => void
-  lowerLimit?: number
-  upperLimit?: number
-  useDegree: boolean
-  getValue: () => number | undefined
+  lowerLimitDegs?: number
+  upperLimitDegs?: number
+  getValueDegs: () => number | undefined
+
   disabled?: boolean
 } & React.ComponentProps<typeof Stack>
 
 /** A input widget to control an individual joint */
-export const JoggingJointValueControl = externalizeComponent(
+export const JoggingJointRotationControl = externalizeComponent(
   observer(
     ({
-       startJogging,
-       stopJogging,
-       lowerLimit,
-       upperLimit,
-       useDegree,
-       getValue,
-       disabled,
-       ...rest
-     }: JoggingJointValueControlProps) => {
+      startJogging,
+      stopJogging,
+      lowerLimitDegs,
+      upperLimitDegs,
+      getValueDegs,
+      disabled,
+      ...rest
+    }: JoggingJointRotationControlProps) => {
       const { t } = useTranslation()
       const [currentValue, setCurrentValue] = useState<number | undefined>()
       const theme = useTheme()
@@ -57,18 +55,11 @@ export const JoggingJointValueControl = externalizeComponent(
       }))
 
       const updateValue = throttle(() => {
-        setCurrentValue(useDegree ? convertToDegree(getValue()) : getValue())
+        setCurrentValue(getValueDegs())
       }, 50)
 
       useAnimationFrame(updateValue)
 
-      function convertToDegree(value: number| undefined){
-        if (value == undefined){
-          return undefined;
-        }
-        return radiansToDegrees(value);
-      }
-
       function onPointerDownMinus(ev: React.PointerEvent) {
         // Stop right click from triggering jog
         if (ev.button === 0) state.startJogging("-")
@@ -99,20 +90,6 @@ export const JoggingJointValueControl = externalizeComponent(
           return output
         }
       }
-      function formatMm(value: number | undefined, precision = 1) {
-        if (value === undefined || isNaN(value)) return ""
-
-        const output = t("General.mm.variable", {
-          amount: value.toFixed(precision),
-        })
-
-        if (value > 0 && precision === 0) {
-          return `+${output}`
-        } else {
-          return output
-        }
-      }
-
 
       return (
         <Stack
@@ -161,8 +138,8 @@ export const JoggingJointValueControl = externalizeComponent(
               sx={{
                 pointerEvents: "none",
                 color:
-                theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
-                  ?.arrowColor,
+                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
+                    ?.arrowColor,
               }}
             />
           </IconButton>
@@ -194,14 +171,14 @@ export const JoggingJointValueControl = externalizeComponent(
                   : theme.palette.text.primary,
               }}
             >
-              {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}
+              {formatDegrees(currentValue)}
             </Typography>
 
             <Slider
               disabled
               aria-label="Joint position"
-              min={ useDegree ? convertToDegree(lowerLimit) : lowerLimit}
-              max={ useDegree ? convertToDegree(upperLimit) : upperLimit}
+              min={lowerLimitDegs}
+              max={upperLimitDegs}
               value={currentValue || 0}
               track={false}
               sx={{
@@ -229,15 +206,15 @@ export const JoggingJointValueControl = externalizeComponent(
                 },
               }}
               marks={
-                lowerLimit !== undefined &&
-                upperLimit !== undefined && [
+                lowerLimitDegs !== undefined &&
+                upperLimitDegs !== undefined && [
                   {
-                    value: (useDegree ? convertToDegree(lowerLimit) : lowerLimit) as number,
-                    label: useDegree ? formatDegrees(convertToDegree(lowerLimit),0) : formatMm(lowerLimit),
+                    value: lowerLimitDegs,
+                    label: formatDegrees(lowerLimitDegs, 0),
                   },
                   {
-                    value: (useDegree ? convertToDegree(upperLimit) : upperLimit) as number,
-                    label: useDegree ?  formatDegrees(convertToDegree(upperLimit),0) : formatMm(upperLimit),
+                    value: upperLimitDegs,
+                    label: formatDegrees(upperLimitDegs, 0),
                   },
                 ]
               }
@@ -259,8 +236,8 @@ export const JoggingJointValueControl = externalizeComponent(
               sx={{
                 pointerEvents: "none",
                 color:
-                theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
-                  ?.arrowColor,
+                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
+                    ?.arrowColor,
               }}
             />
           </IconButton>

package/src/components/jogging/JoggingJointTab.tsx

@@ -1,9 +1,10 @@
 import { Divider, Stack, Typography, useTheme } from "@mui/material"
+import { radiansToDegrees } from "@wandelbots/nova-js"
 import { observer } from "mobx-react-lite"
 import type { ReactNode } from "react"
 import { JoggingJointLimitDetector } from "./JoggingJointLimitDetector"
-import { JoggingJointValueControl } from "./JoggingJointValueControl"
-import { type JoggingStore, JointCategory } from "./JoggingStore"
+import { JoggingJointRotationControl } from "./JoggingJointRotationControl"
+import type { JoggingStore } from "./JoggingStore"
 import { JoggingVelocitySlider } from "./JoggingVelocitySlider"
 
 export const JoggingJointTab = observer(
@@ -11,22 +12,14 @@ export const JoggingJointTab = observer(
     const theme = useTheme()
     async function startJointJogging(opts: {
       joint: number
-      direction: "-" | "+",
+      direction: "-" | "+"
     }) {
       await store.activate()
 
       await store.jogger.rotateJoints({
         joint: opts.joint,
         direction: opts.direction,
-        velocityUnit:
-          store.jointCategory === JointCategory.PRISMATIC
-            ? "mm/s"
-            : "rad/s",
-        velocityValue:
-          store.jointCategory === JointCategory.PRISMATIC
-            ? store.translationVelocityMmPerSec
-            : store.rotationVelocityRadsPerSec,
-
+        velocityRadsPerSec: store.rotationVelocityRadsPerSec,
       })
     }
 
@@ -50,6 +43,14 @@ export const JoggingJointTab = observer(
               const jointLimits =
                 store.motionGroupDescription.operation_limits.auto_limits
                   ?.joints?.[joint.index]?.position
+              const lowerLimitDegs =
+                jointLimits?.lower_limit !== undefined
+                  ? radiansToDegrees(jointLimits.lower_limit)
+                  : undefined
+              const upperLimitDegs =
+                jointLimits?.upper_limit !== undefined
+                  ? radiansToDegrees(jointLimits.upper_limit)
+                  : undefined
 
               return (
                 <Stack
@@ -72,17 +73,16 @@ export const JoggingJointTab = observer(
                     </Typography>
                   )}
 
-                  <JoggingJointValueControl
+                  <JoggingJointRotationControl
                     disabled={store.isLocked}
-                    lowerLimit={jointLimits?.lower_limit}
-                    upperLimit={jointLimits?.upper_limit}
-                    useDegree={store.currentMotionType === "rotate"}
-                    getValue={() => {
+                    lowerLimitDegs={lowerLimitDegs}
+                    upperLimitDegs={upperLimitDegs}
+                    getValueDegs={() => {
                       const value =
                         store.jogger.motionStream.rapidlyChangingMotionState
                           .joint_position[joint.index]
                       return value !== undefined
-                        ? value
+                        ? radiansToDegrees(value)
                         : undefined
                     }}
                     startJogging={(direction: "-" | "+") =>

package/src/components/jogging/JoggingStore.ts

@@ -40,16 +40,8 @@ export type IncrementJogInProgress = {
   axis: JoggingAxis
 }
 
-export enum JointCategory {
-  REVOLUTE = "REVOLUTE",
-  PRISMATIC = "PRISMATIC",
-}
-
-type TabType = "cartesian" | "joint" | "debug";
-
-
 export class JoggingStore {
-  selectedTabId: TabType = "cartesian";
+  selectedTabId: "cartesian" | "joint" | "debug" = "cartesian"
 
   /**
    * State of the jogging panel. Starts as "inactive"
@@ -306,20 +298,18 @@ export class JoggingStore {
   }
 
   get tabs() {
-    const tempTabs : {id: TabType, label: string}[] = [{
-      id: "joint",
-      label: "Joints",
-    }] ;
-    if(this.isTcpCartesianMoveable){
-      tempTabs.unshift({
+    return [
+      {
         id: "cartesian",
-        label: "Cartesian",
-      })}
-
-    return tempTabs;
+        label: "cartesian",
+      },
+      {
+        id: "joint",
+        label: "joint",
+      },
+    ] as const
   }
 
-
   get incrementOptions() {
     return incrementOptions
   }
@@ -405,10 +395,8 @@ export class JoggingStore {
    */
   get currentMotionType() {
     if (
-      (
-        this.selectedTabId === "cartesian" &&
-        this.selectedCartesianMotionType === "translate"
-      ) || this.jointCategory === JointCategory.PRISMATIC
+      this.selectedTabId === "cartesian" &&
+      this.selectedCartesianMotionType === "translate"
     ) {
       return "translate"
     } else {
@@ -416,24 +404,6 @@ export class JoggingStore {
     }
   }
 
-
-  /*
-  * ToDo replace Hardcoded Models with an api requst that delivers the type (will become part of DH-Parameters)
-  *  Ticket already created
-  * */
-  get jointCategory(): JointCategory {
-    return this.motionGroupDescription.motion_group_model === "ABB_IRT710"
-      ? JointCategory.PRISMATIC
-      : JointCategory.REVOLUTE
-  }
-
-  get isTcpCartesianMoveable(): boolean{
-    if(this.motionGroupDescription.motion_group_model === "ABB_IRT710"){
-      return false;
-    }
-    return true;
-  }
-
   onTabChange(_event: React.SyntheticEvent, newValue: number) {
     const tab = this.tabs[newValue] || this.tabs[0]!
     this.selectedTabId = tab.id

package/src/core.ts

@@ -3,7 +3,7 @@ export * from "./components/AppHeader"
 export * from "./components/CycleTimer"
 export * from "./components/DataGrid"
 export * from "./components/jogging/JoggingCartesianAxisControl"
-export * from "./components/jogging/JoggingJointValueControl"
+export * from "./components/jogging/JoggingJointRotationControl"
 export * from "./components/jogging/JoggingPanel"
 export { JoggingStore } from "./components/jogging/JoggingStore"
 export * from "./components/jogging/PoseCartesianValues"
@@ -31,4 +31,3 @@ export * from "./lib/motionStateUpdate"
 export * from "./lib/MotionStreamConnection"
 export * from "./themes/themeTypes"
 export { createNovaMuiTheme } from "./themes/theming"
-

package/src/lib/JoggerConnection.test.ts

@@ -77,8 +77,7 @@ test("jog a robot somewhat", async () => {
   await jogger.rotateJoints({
     joint: 0,
     direction: "+",
-    velocityValue: 0.1,
-    velocityUnit: "rad/s",
+    velocityRadsPerSec: 0.1,
   })
 
   await delay(500)
@@ -95,8 +94,7 @@ test("jog a robot somewhat", async () => {
   await jogger.rotateJoints({
     joint: 0,
     direction: "-",
-    velocityValue: 0.1,
-    velocityUnit: "rad/s",
+    velocityRadsPerSec: 0.1,
   })
   await delay(500)
   await jogger.stop()

package/src/lib/JoggerConnection.ts

@@ -280,20 +280,16 @@ export class JoggerConnection {
    * Jogging: Start rotation of a single robot joint at the specified velocity
    */
   async rotateJoints({
-                       joint,
-                       direction,
-                       velocityValue,
-                       velocityUnit
-
+    joint,
+    direction,
+    velocityRadsPerSec,
   }: {
     /** Index of the joint to rotate */
     joint: number
     /** Direction of rotation ("+" or "-") */
     direction: "+" | "-"
-    /** Speed of the rotation, unit is currently unused, but i wanted it there to raise awareness that not everything here is rad/s*/
-    velocityValue: number
-    velocityUnit:  "mm/s" | "rad/s"
-
+    /** Speed of the rotation in radians per second */
+    velocityRadsPerSec: number
   }) {
     if (!this.joggingSocket || this.mode !== "jogging") {
       throw new Error(
@@ -304,7 +300,7 @@ export class JoggerConnection {
     const velocity = new Array(this.numJoints).fill(0)
 
     velocity[joint] =
-      direction === "-" ? - velocityValue : velocityValue
+      direction === "-" ? -velocityRadsPerSec : velocityRadsPerSec
 
     this.joggingSocket.sendJson({
       message_type: "JointVelocityRequest",

package/dist/components/jogging/JoggingJointValueControl.d.ts

@@ -1,16 +0,0 @@
-import Stack from "@mui/material/Stack";
-type JoggingJointValueControlProps = {
-    startJogging: (direction: "-" | "+") => void;
-    stopJogging: () => void;
-    lowerLimit?: number;
-    upperLimit?: number;
-    useDegree: boolean;
-    getValue: () => number | undefined;
-    disabled?: boolean;
-} & React.ComponentProps<typeof Stack>;
-/** A input widget to control an individual joint */
-export declare const JoggingJointValueControl: (({ startJogging, stopJogging, lowerLimit, upperLimit, useDegree, getValue, disabled, ...rest }: JoggingJointValueControlProps) => import("react/jsx-runtime").JSX.Element) & {
-    displayName: string;
-};
-export {};
-//# sourceMappingURL=JoggingJointValueControl.d.ts.map

package/dist/components/jogging/JoggingJointValueControl.d.ts.map

@@ -1 +0,0 @@
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