@wandelbots/wandelbots-js-react-components 5.2.0-pr.fix-RB-3135-dhparam-type-check.571.bb107d7 → 5.2.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.2.0-pr.fix-RB-3135-dhparam-type-check.571.bb107d7",
+  "version": "5.2.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/jogging/JoggingJointTab.tsx

@@ -3,9 +3,8 @@ import { observer } from "mobx-react-lite"
 import type { ReactNode } from "react"
 import { JoggingJointLimitDetector } from "./JoggingJointLimitDetector"
 import { JoggingJointValueControl } from "./JoggingJointValueControl"
-import { type JoggingStore } from "./JoggingStore"
+import { type JoggingStore, JointCategory } from "./JoggingStore"
 import { JoggingVelocitySlider } from "./JoggingVelocitySlider"
-import { JointTypeEnum } from "@wandelbots/nova-js/v2"
 
 export const JoggingJointTab = observer(
   ({ store, children }: { store: JoggingStore; children: ReactNode }) => {
@@ -20,11 +19,11 @@ export const JoggingJointTab = observer(
         joint: opts.joint,
         direction: opts.direction,
         velocityUnit:
-          store.jointType === JointTypeEnum.PrismaticJoint
+          store.jointCategory === JointCategory.PRISMATIC
             ? "mm/s"
             : "rad/s",
         velocityValue:
-          store.jointType === JointTypeEnum.PrismaticJoint
+          store.jointCategory === JointCategory.PRISMATIC
             ? store.translationVelocityMmPerSec
             : store.rotationVelocityRadsPerSec,
 
@@ -47,7 +46,7 @@ export const JoggingJointTab = observer(
         <JoggingVelocitySlider
           store={store}
           useDegree={
-            store.jointType === JointTypeEnum.RevoluteJoint
+            store.jointCategory === JointCategory.REVOLUTE
           }
         />
 
@@ -97,7 +96,7 @@ export const JoggingJointTab = observer(
                     lowerLimit={jointLimits?.lower_limit}
                     upperLimit={jointLimits?.upper_limit}
                     useDegree={
-                      store.jointType === JointTypeEnum.RevoluteJoint
+                      store.jointCategory === JointCategory.REVOLUTE
                     }
 
                     getValue={() => {

package/src/components/jogging/JoggingStore.ts

@@ -1,11 +1,8 @@
 import { tryParseJson } from "@wandelbots/nova-js"
-import {
-  type CoordinateSystem,
-  type DHParameter,
-  type MotionGroupDescription,
-  type RobotTcp,
-  type KinematicModel,
-  JointTypeEnum,
+import type {
+  CoordinateSystem,
+  MotionGroupDescription,
+  RobotTcp,
 } from "@wandelbots/nova-js/v2"
 import { countBy } from "lodash-es"
 import keyBy from "lodash-es/keyBy"
@@ -43,12 +40,30 @@ export type IncrementJogInProgress = {
   axis: JoggingAxis
 }
 
+export enum JointCategory {
+  REVOLUTE = "REVOLUTE",
+  PRISMATIC = "PRISMATIC",
+}
+
 type TabType = "cartesian" | "joint" | "debug";
 export type CartesianMotionType = "translate" | "rotate"
 
 export class JoggingStore {
   selectedTabId: TabType = "cartesian";
 
+  /**
+   * State of the jogging panel. Starts as "inactive"
+   */
+  activationState: "inactive" | "loading" | "active" = "inactive"
+
+  /**
+   * If an error occurred connecting to the jogging websocket
+   */
+  activationError: unknown | null = null
+
+  /** To avoid activation race conditions */
+  activationCounter: number = 0
+
   /** Locks to prevent UI interactions during certain operations */
   locks = new Set<string>()
 
@@ -130,19 +145,6 @@ export class JoggingStore {
 
   disposers: IReactionDisposer[] = []
 
-  dhParameters: DHParameter[] = []
-
-  /**
-   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered
-   */
-  inverseSolver: string | null | undefined = undefined
-
-  /**
-   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs
-   * should be rendered by the JoggingPanel component.
-   */
-  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint
-
   /**
    * Load a jogging store with the relevant data it needs
    * from the backend
@@ -165,10 +167,6 @@ export class JoggingStore {
       ),
     ])
 
-    const kinematicModel: KinematicModel = await nova.api.motionGroupModels.getMotionGroupKinematicModel(
-      description.motion_group_model,
-    )
-
     const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({
       id,
       readable_name: tcp.name,
@@ -176,7 +174,7 @@ export class JoggingStore {
       orientation: tcp.pose.orientation as Vector3Simple,
     }))
 
-    return new JoggingStore(jogger, coordinatesystems || [], description, tcps, kinematicModel)
+    return new JoggingStore(jogger, coordinatesystems || [], description, tcps)
   }
 
   constructor(
@@ -184,7 +182,6 @@ export class JoggingStore {
     readonly coordSystems: CoordinateSystem[],
     readonly motionGroupDescription: MotionGroupDescription,
     readonly tcps: RobotTcp[],
-    readonly kinematicModel: KinematicModel,
   ) {
     // TODO workaround for default coord system on backend having a canonical id
     // of empty string. Can remove when fixed on API side
@@ -196,10 +193,6 @@ export class JoggingStore {
     }
     this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || "world"
     this.selectedTcpId = tcps[0]?.id || ""
-    this.inverseSolver = this.kinematicModel.inverse_solver
-    this.jointType =
-      motionGroupDescription?.dh_parameters?.[0]?.type ??
-      JointTypeEnum.RevoluteJoint
 
     // Make all properties observable and actions auto-bound
     makeAutoObservable(this, {}, { autoBind: true })
@@ -313,25 +306,17 @@ export class JoggingStore {
   }
 
   get tabs() {
-    const tempTabs: { id: TabType; label: string }[] = [
-      {
-        id: "joint",
-        label: "Joints",
-      },
-    ]
-    // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )
-    // do not show the cartesia tab when the solver is null this means, it cannot get jogged cartesian
-    if (
-      this.inverseSolver === undefined ||
-      this.inverseSolver !== null
-    ) {
+    const tempTabs : {id: TabType, label: string}[] = [{
+      id: "joint",
+      label: "Joints",
+    }] ;
+    if(this.isTcpCartesianMoveable){
       tempTabs.unshift({
         id: "cartesian",
         label: "Cartesian",
-      })
-    }
+      })}
 
-    return tempTabs
+    return tempTabs;
   }
 
 
@@ -363,6 +348,10 @@ export class JoggingStore {
     return keyBy(this.coordSystems, (cs) => cs.coordinate_system)
   }
 
+  get selectedCoordSystem() {
+    return this.coordSystemsById[this.selectedCoordSystemId]
+  }
+
   /**
    * The id of the coordinate system to use for jogging.
    * If in tool orientation, this is set to "tool", not the
@@ -412,6 +401,24 @@ export class JoggingStore {
       : this.maxTranslationVelocityMmPerSec
   }
 
+
+  /*
+  * ToDo replace Hardcoded Models with an api request 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
@@ -437,7 +444,7 @@ export class JoggingStore {
     this.incrementJogInProgress = incrementJog
   }
 
-  setVelocityFromSlider(velocity: number, useDegree: boolean) {
+  setVelocityFromSlider(velocity: number,useDegree : boolean ) {
     if (useDegree) {
       this.rotationVelocityDegPerSec = velocity
     } else {

package/src/components/robots/MotionGroupVisualizer.tsx

@@ -25,6 +25,10 @@ export const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> = exter
 
   /**
    * Sets the joint type according to delivered dh parameter type
+   *
+   * TODO as soon as V2 api migration is done, the setting of the default RevoluteJoint value should be
+   *  deleted, cause the type property is expected to be always delivered. It is not the case in the V1 at the
+   *  moment.
    */
   useEffect(() => {
     if (dhParameters.length) {