diff --git a/.eslintrc.js b/.eslintrc.js index 6016507..1d9129f 100644 --- a/.eslintrc.js +++ b/.eslintrc.js @@ -3,18 +3,16 @@ module.exports = { browser: true, es2021: true, }, - extends: ["airbnb", "eslint:recommended", "prettier"], + extends: ['airbnb', 'eslint:recommended', 'plugin:react/recommended', 'prettier'], parserOptions: { ecmaFeatures: { jsx: true, }, - ecmaVersion: 12, - sourceType: "module", + ecmaVersion: 'latest', + sourceType: 'module', }, - plugins: ["prettier"], rules: { - camelcase: "off", - "prettier/prettier": "error", - "import/no-extraneous-dependencies": ["error", { devDependencies: true }], + camelcase: 'off', + 'import/no-extraneous-dependencies': ['error', { devDependencies: true }], }, }; diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 0000000..88f3bfd --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,41 @@ +## Jira Link + +## Description + +Describe problems, if any, clearly and concisely. +Describe any changes that have been made in this pull request. + +## Type of Change + +- [ ] Bugfix +- [ ] Enhancement +- [ ] New feature +- [ ] Breaking change (fix or feature that would cause the existing functionality to not work as expected) + +## Screenshots + +### UI Changes + +_Add screenshot/gif/link to screencast (if the updates are visual)_ + +**BEFORE** + +_attach the file here..._ + +**AFTER** + +_attach the file here..._ + +## How Has This Been Tested? + +- [ ] New unit tests added. +- [ ] Manual tested. + +## Checklist + +- [ ] Using Branch Name Convention + - `feature/JIRA-ID-SHORT-DESCRIPTION` if has a JIRA ticket + - `enhancement/SHORT-DESCRIPTION` if has/has no JIRA ticket and contain enhancement + - `hotfix/SHORT-DESCRIPTION` if the change doesn't need to be tested (urgent) +- [ ] I have commented on my code, particularly in hard-to-understand areas. +- [ ] I have made the documentation for the corresponding changes. diff --git a/.gitignore b/.gitignore index 681c670..8605b66 100644 --- a/.gitignore +++ b/.gitignore @@ -12,3 +12,5 @@ npm-debug.log* !.npm* package-lock.json +envoy.yaml +.env diff --git a/env.example b/env.example new file mode 100644 index 0000000..a5ef770 --- /dev/null +++ b/env.example @@ -0,0 +1 @@ +VITE_GRPC_WEB_API_URL=http://localhost:8080 diff --git a/package-lock.json b/package-lock.json index 8c80353..da0adb0 100644 --- a/package-lock.json +++ b/package-lock.json @@ -9,85 +9,95 @@ "version": "0.1.0", "license": "MIT", "dependencies": { + "@emotion/react": "^11.11.4", + "@emotion/styled": "^11.11.5", "@material-ui/core": "^4.11.3", "@material-ui/data-grid": "*", "@material-ui/icons": "^4.11.2", - "kumo-app": "git://github.com/ichiro-its/kumo-app.git#v0.3.0", + "@material-ui/lab": "^4.0.0-alpha.61", + "@mui/lab": "^5.0.0-alpha.149", + "@originjs/vite-plugin-commonjs": "^1.0.3", + "@vitejs/plugin-react-refresh": "^1.3.6", + "google-protobuf": "^3.21.2", + "grpc-web": "^1.4.2", "mui-datatables": "^3.7.7", 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- "not op_mini all" - ], - "development": [ - "last 1 chrome version", - "last 1 firefox version", - "last 1 safari version" - ] + "react-dom": "^17.0.2", + "vite": "^2.8.6", + "vite-plugin-eslint": "^1.3.0" }, "devDependencies": { - "@vitejs/plugin-react-refresh": "^1.3.1", - "eslint": "^7.32.0", - "eslint-config-airbnb": "^18.2.1", - "eslint-config-prettier": "^8.3.0", - "eslint-plugin-import": "^2.24.1", - "eslint-plugin-jsx-a11y": "^6.4.1", - "eslint-plugin-prettier": "^3.4.1", - "eslint-plugin-react": "^7.24.0", - "eslint-plugin-react-hooks": "^4.2.0", - "prettier": "^2.3.2", - "vite": "^2.4.4" + "eslint": "^8.10.0", + "eslint-config-airbnb": "^19.0.4", + "eslint-config-prettier": "^8.4.0", + "eslint-plugin-import": "^2.25.4", + "eslint-plugin-jsx-a11y": "^6.5.1", + "eslint-plugin-prettier": "^4.0.0", + "eslint-plugin-react": "^7.29.2", + "eslint-plugin-react-hooks": "^4.3.0" } } diff --git a/src/App.jsx b/src/App.jsx index eb69160..3cb1975 100644 --- a/src/App.jsx +++ b/src/App.jsx @@ -1,18 +1,13 @@ -import React, { useState } from "react"; -import MuiAppBar from "@material-ui/core/AppBar"; -import MuiToolbar from "@material-ui/core/Toolbar"; -import MuiTypography from "@material-ui/core/Typography"; +import React, { useState, useMemo } from 'react'; -import { - BridgeProvider, - BridgeConnection, - LoggerProvider, - SessionProvider, -} from "kumo-app"; +import MuiAppBar from '@material-ui/core/AppBar'; +import MuiToolbar from '@material-ui/core/Toolbar'; +import MuiTypography from '@material-ui/core/Typography'; -import ActionManager from "./components/ActionManager"; -import ActionContext from "./context/ActionContext"; -import "./App.css"; +import ActionManager from './components/ActionManager'; +import LoggerProvider from './components/LoggerProvider'; +import ActionContext from './context/ActionContext'; +import './App.css'; function App() { const [actionsData, setActionsData] = useState([]); @@ -22,10 +17,12 @@ function App() { const [jointSelected, setJointSelected] = useState([]); const [currentAction, setCurrentAction] = useState({}); const [currentPose, setCurrentPose] = useState({}); + const GRPC_WEB_API_URL = import.meta.env.VITE_GRPC_WEB_API_URL; - return ( + return useMemo(() => (
+ + + Akushon App + + - - - - - - Akushon App - - - - - +
- ); + ), [GRPC_WEB_API_URL, + actionsData, + posesData, + jointPoseData, + jointRobotData, + jointSelected, + currentAction, + currentPose, + setActionsData, + setPosesData, + setJointPoseData, + setJointRobotData, + setJointSelected, + setCurrentAction, + setCurrentPose]); } export default App; diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index b9958af..1792ba8 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -1,105 +1,108 @@ -import AddIcon from "@material-ui/icons/Add"; -import ArrowBackIcon from "@material-ui/icons/ArrowBack"; -import ArrowUpwardIcon from "@material-ui/icons/ArrowUpward"; -import ArrowDownwardIcon from "@material-ui/icons/ArrowDownward"; -import { DataGrid } from "@material-ui/data-grid"; -import MuiTypography from "@material-ui/core/Typography"; -import { Button, Card, CardContent, Grid, TextField } from "@material-ui/core"; +import React, { useContext, useState } from 'react'; +import ArrowBackIcon from '@material-ui/icons/ArrowBack'; +import { DataGrid } from '@material-ui/data-grid'; +import MuiTypography from '@material-ui/core/Typography'; import { - ClientProvider, - NodeProvider, - PublisherProvider, - useLogger, -} from "kumo-app"; + Button, Card, CardContent, Grid, Switch, TextField, FormControlLabel +} from '@material-ui/core'; -import React, { useContext } from "react"; - -import ActionContext from "../context/ActionContext"; - -import SetTorquesButton from "./SetTorquesButton"; -import SetJointsButton from "./SetJointsButton"; -import GetActionsButton from "./GetActionsButton"; -import RunActionButton from "./RunActionButton"; -import SaveActionsButton from "./SaveActionsButton"; -import SetJointsOnCellEdit from "./SetJointsOnCellEdit"; -import SubscriptionCurrentJoints from "./SubscriptionCurrentJoints"; +import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; +import SetTorquesButton from './SetTorquesButton'; +import SetJointsButton from './SetJointsButton'; +import GetActionsButton from './GetActionsButton'; +import RunActionButton from './RunActionButton'; +import AddDataButton from './AddDataButton'; +import ManagePoseButton from './ManagePoseButton'; +import SaveActionsButton from './SaveActionsButton'; +import SetJointsOnCellEdit from './SetJointsOnCellEdit'; +import ReadJointsButton from './ReadJointsButton'; const actionColumns = [ { - field: "name", - headerName: "Name", + field: 'name', + headerName: 'Name', width: 160, sortable: false, }, { - field: "next", - headerName: "Next", + field: 'next', + headerName: 'Next', width: 90, sortable: false, }, { - field: "start_delay", - headerName: "Start Delay", + field: 'start_delay', + headerName: 'Start Delay', width: 75, sortable: false, }, { - field: "stop_delay", - headerName: "Stop Delay", + field: 'stop_delay', + headerName: 'Stop Delay', width: 75, sortable: false, }, { - field: "poses", - headerName: "Poses", + field: 'poses', + headerName: 'Poses', sortable: false, }, ]; const poseColumns = [ { - field: "name", - headerName: "Name", + field: 'name', + headerName: 'Name', width: 140, sortable: false, }, { - field: "speed", - headerName: "Speed", + field: 'time', + headerName: 'Time', + width: 100, + type: 'number', + sortable: false, + }, + { + field: 'speed', + headerName: 'Speed', width: 100, - type: "number", + type: 'number', sortable: false, }, { - field: "pause", - headerName: "Pause", + field: 'pause', + headerName: 'Pause', width: 100, - type: "number", + type: 'number', sortable: false, }, { - field: "joints", - headerName: "Joints", + field: 'joints', + headerName: 'Joints', sortable: false, }, ]; const jointPoseColumns = [ { - field: "id", - headerName: "Id", + field: 'id', + headerName: 'Id', width: 50, - type: "number", + type: 'number', sortable: false, editable: false, }, - { field: "name", headerName: "Name", width: 140, sortable: false }, { - field: "pose_pos", - headerName: "Pose Pos", + field: 'name', headerName: 'Name', width: 140, sortable: false, + }, + { + field: 'pose_pos', + headerName: 'Pose Pos', width: 100, - type: "number", + type: 'number', editable: true, sortable: false, }, @@ -143,21 +146,40 @@ function ActionManager() { setCurrentPose, } = useContext(ActionContext); - const logger = useLogger(); + const { showLog } = useContext(LoggerContext); + const [ checked, setChecked ] = useState(false); const handleClickedAction = (event) => { setCurrentAction(event.row); const currentPoses = actionsData[event.row.id].poses; setPosesData(currentPoses); setJointPoseData([]); + setChecked(event.row.time_based); }; + const handleClickedSwitch = (event) => { + if (Object.keys(currentAction).length !== 0) { + setChecked(event.target.checked); + const newAction = { + id: currentAction.id, + name: currentAction.name, + next: currentAction.next, + start_delay: currentAction.start_delay, + stop_delay: currentAction.stop_delay, + time_based: event.target.checked, + poses: currentAction.poses, + }; + updateActionsData(newAction); + } else { + showLog('Pick an action first!', 'error'); + } + } + const handleClickedPose = (event) => { setCurrentPose(posesData[event.row.id]); setJointPoseData([]); const currentPoses = posesData[event.row.id]; - const currentJointPoseData = []; Object.keys(jointIdList).forEach((key) => { @@ -182,6 +204,11 @@ function ActionManager() { }; const updatePosesData = (newPose) => { + if (currentPose.length === 0) { + showLog('Pick a pose first!', 'error'); + return; + } + setCurrentPose(newPose); const newPosesData = [ ...posesData.slice(0, newPose.id), @@ -196,6 +223,7 @@ function ActionManager() { next: currentAction.next, start_delay: currentAction.start_delay, stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, poses: newPosesData, }; updateActionsData(newAction); @@ -213,6 +241,7 @@ function ActionManager() { id: currentPose.id, name: currentPose.name, speed: currentPose.speed, + time: currentPose.time, pause: currentPose.pause, joints: newJointPoseData, }; @@ -221,6 +250,11 @@ function ActionManager() { const setJointRobotToPoseData = () => { if (jointRobotData.length !== 0) { + if (jointPoseData.length === 0) { + showLog('Pick an action first!', 'error'); + return; + } + const newJointPoseData = []; for (let i = 0; i < jointRobotData.length; i += 1) { newJointPoseData.push({ @@ -235,299 +269,265 @@ function ActionManager() { id: currentPose.id, name: currentPose.name, speed: currentPose.speed, + time: currentPose.time, pause: currentPose.pause, joints: jointRobotData, }; updatePosesData(newPose); } else { - logger.error("Joint robot data is empty!"); + showLog('No joint data to set.', 'warning') } }; return ( - - - - - -
- -
-
- - - - - - -
- - - - - Action -
- { - const newAction = { - id: currentAction.id, - name: event.target.value, - next: currentAction.next, - start_delay: currentAction.start_delay, - stop_delay: currentAction.stop_delay, - poses: currentAction.poses, - }; - updateActionsData(newAction); - }} - style={{ margin: 3, marginTop: 20, width: "60%" }} - InputLabelProps={{ - shrink: true, - }} - /> - { - const newAction = { - id: currentAction.id, - name: currentAction.name, - next: event.target.value, - start_delay: currentAction.start_delay, - stop_delay: currentAction.stop_delay, - poses: currentAction.poses, - }; - updateActionsData(newAction); - }} - style={{ margin: 3, marginTop: 20, width: "30%" }} - InputLabelProps={{ - shrink: true, - }} - /> -
-
- -
- -
- - - - - - -
- - - - - Pose + + + + +
+ +
+
+ + + +
+ + + + + Action +
{ - const newPose = { - id: currentPose.id, + const newAction = { + id: currentAction.id, name: event.target.value, - speed: currentPose.speed, - pause: currentPose.pause, - joints: currentPose.joints, + next: currentAction.next, + start_delay: currentAction.start_delay, + stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, + poses: currentAction.poses, }; - updatePosesData(newPose); + updateActionsData(newAction); }} - style={{ margin: 3, marginTop: 20, width: "40%" }} + style={{ margin: 3, marginTop: 20, width: '60%' }} InputLabelProps={{ shrink: true, }} /> { - const newPose = { - id: currentPose.id, - name: currentPose.name, - speed: event.target.value, - pause: currentPose.pause, - joints: currentPose.joints, + const newAction = { + id: currentAction.id, + name: currentAction.name, + next: event.target.value, + start_delay: currentAction.start_delay, + stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, + poses: currentAction.poses, }; - updatePosesData(newPose); + updateActionsData(newAction); }} - style={{ margin: 3, marginTop: 20, width: "25%" }} + style={{ margin: 3, marginTop: 20, width: '30%' }} InputLabelProps={{ shrink: true, }} /> - { - const newPose = { - id: currentPose.id, - name: currentPose.name, - speed: currentPose.speed, - pause: event.target.value, - joints: currentPose.joints, - }; - updatePosesData(newPose); - }} - style={{ margin: 3, marginTop: 20, width: "25%" }} - InputLabelProps={{ - shrink: true, - }} + } + label="Time-based" /> - - -
- - - - -
- - - -
- { - const index = jointPoseData.findIndex( - (joint) => joint.id === event.id - ); - const newJoints = { - id: jointPoseData[index].id, - name: jointPoseData[index].name, - pose_pos: event.value, +
+
+ +
+
+ + + + + +
+ + + + + Pose + { + const newPose = { + id: currentPose.id, + name: event.target.value, + speed: currentPose.speed, + time: currentPose.time, + pause: currentPose.pause, + joints: currentPose.joints, + }; + updatePosesData(newPose); + }} + style={{ margin: 3, marginTop: 20, width: '40%' }} + InputLabelProps={{ + shrink: true, + }} + /> + { + const newPose = { + id: currentPose.id, + name: currentPose.name, + time: Number(event.target.value), + speed: currentPose.speed, + pause: currentPose.pause, + joints: currentPose.joints, + }; + updatePosesData(newPose); + }} + style={{ margin: 3, marginTop: 20, width: '25%' }} + InputLabelProps={{ + shrink: true, + }} + /> + { + const newPose = { + id: currentPose.id, + name: currentPose.name, + speed: Number(event.target.value), + pause: currentPose.pause, + joints: currentPose.joints, + }; + updatePosesData(newPose); + }} + style={{ margin: 3, marginTop: 20, width: '25%' }} + InputLabelProps={{ + shrink: true, + }} + /> + { + const newPose = { + id: currentPose.id, + name: currentPose.name, + speed: currentPose.speed, + pause: Number(event.target.value), + time: currentPose.time, + joints: currentPose.joints, }; - updateJointPoseData(newJoints, index); + updatePosesData(newPose); + }} + style={{ margin: 3, marginTop: 20, width: '25%' }} + InputLabelProps={{ + shrink: true, }} - disableColumnMenu - rowsPerPageOptions={[]} /> -
-
- - - -
- - -
- - - - -
-
- - -
- + + +
+ +
- - - + + + ); } diff --git a/src/components/AddDataButton.jsx b/src/components/AddDataButton.jsx new file mode 100644 index 0000000..2b0d411 --- /dev/null +++ b/src/components/AddDataButton.jsx @@ -0,0 +1,116 @@ +import React, { useContext } from 'react'; +import PropTypes from 'prop-types'; + +import { Button } from '@material-ui/core'; +import AddIcon from '@material-ui/icons/Add'; + +import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; + +const jointIdList = { + right_shoulder_pitch: 1, + left_shoulder_pitch: 2, + right_shoulder_roll: 3, + left_shoulder_roll: 4, + right_elbow: 5, + left_elbow: 6, + right_hip_yaw: 7, + left_hip_yaw: 8, + right_hip_roll: 9, + left_hip_roll: 10, + right_hip_pitch: 11, + left_hip_pitch: 12, + right_knee: 13, + left_knee: 14, + right_ankle_pitch: 15, + left_ankle_pitch: 16, + right_ankle_roll: 17, + left_ankle_roll: 18, + neck_yaw: 19, + neck_pitch: 20, +}; + +function AddDataButton({ typeData }) { + const { + actionsData, posesData, setPosesData, setActionsData, currentPose, + } = useContext(ActionContext); + + const { showLog } = useContext(LoggerContext); + + const handleClick = () => { + if (typeData === 'action') { + if (actionsData.length === 0) { + showLog('Action data is empty!', 'error'); + return; + } + + const newJointPose = []; + Object.keys(jointIdList).forEach((index) => { + const jointId = jointIdList[index]; + newJointPose.push({ + id: jointId, + name: index, + pose_pos: 0, + }); + }); + + const newPose = { + id: 0, + name: 'New Pose', + pause: 0, + speed: 0, + joints: newJointPose, + }; + + const newAction = { + id: actionsData.length, + name: 'New Action', + next: '', + start_delay: 0, + stop_delay: 0, + poses: [newPose], + }; + + setActionsData((prevActionsData) => [...prevActionsData, newAction]); + + } else if (typeData === 'pose') { + if (posesData.length === 0) { + showLog('Pick an action first!', 'error'); + return; + } + const newPose = { + id: posesData.length, + name: 'New Pose', + pause: 0, + speed: 0, + joints: currentPose.joints, + }; + + setPosesData((prevPosesData) => [...prevPosesData, newPose]); + + } else { + console.error(`Unknown type data: ${typeData}`); + } + }; + + return ( + + ); +} + +AddDataButton.propTypes = { + typeData: PropTypes.string.isRequired, +}; + +export default AddDataButton; diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index 4ca9caf..bce4730 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -1,10 +1,10 @@ -import { Button, CircularProgress } from "@material-ui/core"; +import React, { useContext, useState } from 'react'; -import { useClient, useHandleProcess, useLogger } from "kumo-app"; +import { LoadingButton } from '@mui/lab'; -import React, { useContext } from "react"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; const jointIdList = { right_shoulder_pitch: 1, @@ -30,17 +30,21 @@ const jointIdList = { }; function GetActionsButton() { - const client = useClient(); - const logger = useLogger(); - const { setActionsData } = useContext(ActionContext); + const { setActionsData, GRPC_WEB_API_URL } = useContext(ActionContext); - const [calling, handleCall] = useHandleProcess(() => { - logger.info("Get actions now..."); - return client - .call({}) - .then((response) => { - logger.success(`Successfully get actions data`); - const jsonActionsData = JSON.parse(`${response.json}`); + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); + const request = new akushon_interfaces.Empty(); + + const [isLoading, setIsLoading] = useState(false); + + const handleCall = () => { + setIsLoading(true); + + client.getConfig(request, {}, (err, response) => { + if (err) { + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); + } else { + const jsonActionsData = JSON.parse(response); let idCounter = -1; const rawActions = []; @@ -63,6 +67,7 @@ function GetActionsButton() { name: rawPoses[i].name, speed: rawPoses[i].speed, pause: rawPoses[i].pause, + time: rawPoses[i].time, joints: jointsData, }); } @@ -71,27 +76,28 @@ function GetActionsButton() { name: jsonActionsData[key].name, start_delay: jsonActionsData[key].start_delay, stop_delay: jsonActionsData[key].stop_delay, + time_based: jsonActionsData[key].time_based, next: jsonActionsData[key].next, poses: fixedPoses, }); }); setActionsData(rawActions); - }) - .catch((err) => { - logger.error(`Failed to call data! ${err.message}.`); - }); - }, 500); + } + }); + + setIsLoading(false); + }; return ( - + Get Actions + ); } diff --git a/src/components/LoggerProvider.jsx b/src/components/LoggerProvider.jsx new file mode 100644 index 0000000..4cb5d70 --- /dev/null +++ b/src/components/LoggerProvider.jsx @@ -0,0 +1,49 @@ +import React, { useState } from 'react'; +import { Snackbar, SnackbarContent } from '@material-ui/core'; + +import LoggerContext from '../context/LoggerContext'; + +function LoggerProvider({ children }) { + const [message, setMessage] = useState(''); + const [severity, setSeverity] = useState('info'); + const [open, setOpen] = useState(false); + + const showLog = (msg, sev = 'info') => { + setMessage(msg); + setSeverity(sev); + setOpen(true); + }; + + const handleClose = () => { + setOpen(false); + }; + + const severityColor = { + info: 'blue', + success: 'green', + error: 'red', + warning: 'orange', + }; + + return ( + + { children } + + + + + ); +} + +export default LoggerProvider; diff --git a/src/components/ManagePoseButton.jsx b/src/components/ManagePoseButton.jsx new file mode 100644 index 0000000..03bb7f1 --- /dev/null +++ b/src/components/ManagePoseButton.jsx @@ -0,0 +1,95 @@ +import React, { useContext } from 'react'; +import PropTypes from 'prop-types'; + +import ArrowUpwardIcon from '@material-ui/icons/ArrowUpward'; +import ArrowDownwardIcon from '@material-ui/icons/ArrowDownward'; +import DeleteIcon from '@material-ui/icons/Delete'; +import { Button } from '@material-ui/core'; + +import ActionContext from '../context/ActionContext'; + +function ManagePoseButton({ typeButton }) { + const { currentPose, posesData, setPosesData } = useContext(ActionContext); + + const handleClick = () => { + if (currentPose.length === 0) { + alert('Please pick a pose first.'); + return; + } + + const index = posesData.findIndex((pose) => pose.id === currentPose.id); + if (typeButton === 'UP') { + if (index === 0) { + return; + } + + const newPosesData = [ + ...posesData.slice(0, index - 1), + posesData[index], + posesData[index - 1], + ...posesData.slice(index + 1), + ]; + + newPosesData[index].id = index; + newPosesData[index - 1].id = index - 1; + + setPosesData(newPosesData); + } else if (typeButton === 'DOWN') { + if (index === posesData.length - 1) { + return; + } + + const newPosesData = [ + ...posesData.slice(0, index), + posesData[index + 1], + posesData[index], + ...posesData.slice(index + 2), + ]; + + newPosesData[index].id = index; + newPosesData[index + 1].id = index + 1; + + setPosesData(newPosesData); + } else if (typeButton === 'DELETE') { + const newPosesData = [ + ...posesData.slice(0, index), + ...posesData.slice(index + 1), + ]; + + for (let i = 0; i < newPosesData.length; i += 1) { + newPosesData[i].id = i; + } + + setPosesData(newPosesData); + } else { + console.error(`Unknown type button: ${typeButton}`); + } + }; + + let icon; + if (typeButton === 'UP') { + icon = ; + } else if (typeButton === 'DOWN') { + icon = ; + } else { + icon = ; + } + + return ( + + ); +} + +ManagePoseButton.propTypes = { + typeButton: PropTypes.string.isRequired, +}; + +export default ManagePoseButton; diff --git a/src/components/ReadJointsButton.jsx b/src/components/ReadJointsButton.jsx new file mode 100644 index 0000000..5f50004 --- /dev/null +++ b/src/components/ReadJointsButton.jsx @@ -0,0 +1,83 @@ +import React, { useState, useContext, useEffect } from 'react'; +import { LoadingButton } from '@mui/lab'; + +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; + +import ActionContext from '../context/ActionContext'; + +const jointIdList = { + 1: "right_shoulder_pitch", + 2: "left_shoulder_pitch", + 3: "right_shoulder_roll", + 4: "left_shoulder_roll", + 5: "right_elbow", + 6: "left_elbow", + 7: "right_hip_yaw", + 8: "left_hip_yaw", + 9: "right_hip_roll", + 10: "left_hip_roll", + 11: "right_hip_pitch", + 12: "left_hip_pitch", + 13: "right_knee", + 14: "left_knee", + 15: "right_ankle_pitch", + 16: "left_ankle_pitch", + 17: "right_ankle_roll", + 18: "left_ankle_roll", + 19: "neck_yaw", + 20: "neck_pitch" +}; + +function ReadJointsButton() { + const { setJointRobotData, jointRobotData, GRPC_WEB_API_URL } = useContext(ActionContext); + + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); + const request = new akushon_interfaces.Empty(); + + const [currentJoints, setCurrentJoints] = useState([]); + const [isLoading, setIsLoading] = useState(false); + + const handleCall = () => { + setIsLoading(true); + + client.subscribeCurrentJoints(request, {}, (err, response) => { + if (err) { + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); + } else { + setCurrentJoints(JSON.parse(response)); + } + }); + + setIsLoading(false); + }; + + useEffect(() => { + const newJointRobotData = []; + console.log (currentJoints); + for (let i = 0; i < currentJoints.length; i += 1) { + newJointRobotData.push({ + id: parseInt(currentJoints[i].id, 10), + name: jointIdList[i + 1], + pose_pos: parseFloat(currentJoints[i].position), + status: true, + }); + } + + const sortedJointRobotData = newJointRobotData.slice().sort((a, b) => a.id - b.id); + + setJointRobotData(sortedJointRobotData); + }, [currentJoints]); + + return ( + + Read Joints + + ); +} + +export default ReadJointsButton; diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 82d7c3e..a34354c 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -1,68 +1,102 @@ -import { Button, CircularProgress } from "@material-ui/core"; +import React, { useContext, useState } from 'react'; -import { usePublisher, useHandleProcess, useLogger } from "kumo-app"; +import { LoadingButton } from '@mui/lab'; -import React, { useContext } from "react"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; function RunActionButton() { - const publisher = usePublisher(); - const logger = useLogger(); + const { actionsData, currentAction, GRPC_WEB_API_URL } = useContext(ActionContext); + const { showLog } = useContext(LoggerContext); - const { currentAction } = useContext(ActionContext); + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); + const message = new akushon_interfaces.ConfigRunAction(); - const [publishing, handlePublish] = useHandleProcess(() => { - const fixedPoses = []; - const rawPoses = currentAction.poses; + const [isLoading, setIsLoading] = useState(false); + const handlePublish = () => { if (Object.keys(currentAction).length === 0) { - logger.warn(`No current action selected.`); - return publisher; + showLog('No action selected.', 'warning'); + return client; + } + + setIsLoading(true); + const fixedPoses = []; + const rawPoses = []; + + let currentActionTemp = currentAction; + while (currentActionTemp.next !== "") { + rawPoses.push(currentActionTemp.poses); + let i; + for (i = 0; i < actionsData.length; i += 1) { + if (actionsData[i].name === currentActionTemp.next) { + currentActionTemp = actionsData[i]; + break; + } + } + + if (i === actionsData.length) { + showLog(`Next action [${currentActionTemp.next}] not found!`, 'error'); + setIsLoading(false); + return; + } } + rawPoses.push(currentActionTemp.poses); + for (let i = 0; i < rawPoses.length; i += 1) { - const jointsData = {}; - for (let j = 0; j < rawPoses[i].joints.length; j += 1) { - jointsData[rawPoses[i].joints[j].name] = rawPoses[i].joints[j].pose_pos; + const rawPose = rawPoses[i]; + for (let j = 0; j < rawPose.length; j += 1) { + const jointsData = {}; + for (let k = 0; k < rawPose[j].joints.length; k += 1) { + jointsData[rawPose[j].joints[k].name] = rawPose[j].joints[k].pose_pos; + } + fixedPoses.push({ + name: rawPose[j].name, + pause: rawPose[j].pause, + speed: rawPose[j].speed, + time: rawPose[j].time, + joints: jointsData, + }); } - fixedPoses.push({ - name: rawPoses[i].name, - pause: rawPoses[i].pause, - speed: rawPoses[i].speed, - joints: jointsData, - }); } + const rawAction = { name: currentAction.name, next: currentAction.next, start_delay: currentAction.start_delay, stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, poses: fixedPoses, }; - const control_type = 1; - const action_name = "akushon_app_action"; const json = JSON.stringify(rawAction); - return publisher - .publish({ control_type, action_name, json }) - .then(() => { - logger.success(`Successfully publish actions data to run action.`); - }) - .catch((err) => { - logger.error(`Failed to publish data! ${err.message}.`); - }); - }, 500); + + message.setControlType(1); + message.setActionName(currentAction.name); + message.setJsonAction(json); + + client.runAction(message, {}, (err) => { + if (err) { + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); + } + }); + + setIsLoading(false); + return null; + }; return ( - + Play Action + ); } diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index 7d2a266..d4b859c 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -1,18 +1,27 @@ -import { Button, CircularProgress } from "@material-ui/core"; +import React, { useContext, useState } from 'react'; -import { useClient, useHandleProcess, useLogger } from "kumo-app"; +import { LoadingButton } from '@mui/lab'; -import React, { useContext } from "react"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; function SaveActionsButton() { - const client = useClient(); - const logger = useLogger(); + const { actionsData, GRPC_WEB_API_URL } = useContext(ActionContext); + const { showLog } = useContext(LoggerContext); - const { actionsData } = useContext(ActionContext); + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); + const message = new akushon_interfaces.ConfigActions(); - const [calling, handleCall] = useHandleProcess(() => { + const [isLoading, setIsLoading] = useState(false); + + const handleCall = () => { + if (actionsData.length === 0) { + showLog('Action data is empty!', 'error'); + return; + } + setIsLoading(true); const jsonActionsData = actionsData; const rawActions = {}; Object.keys(jsonActionsData).forEach((key) => { @@ -21,13 +30,13 @@ function SaveActionsButton() { for (let i = 0; i < rawPoses.length; i += 1) { const jointsData = {}; for (let j = 0; j < rawPoses[i].joints.length; j += 1) { - jointsData[rawPoses[i].joints[j].name] = - rawPoses[i].joints[j].pose_pos; + jointsData[rawPoses[i].joints[j].name] = rawPoses[i].joints[j].pose_pos; } fixedPoses.push({ name: rawPoses[i].name, pause: parseFloat(rawPoses[i].pause), speed: parseFloat(rawPoses[i].speed), + time: parseFloat(rawPoses[i].time), joints: jointsData, }); } @@ -36,42 +45,41 @@ function SaveActionsButton() { next: jsonActionsData[key].next, start_delay: jsonActionsData[key].start_delay, stop_delay: jsonActionsData[key].stop_delay, + time_based: jsonActionsData[key].time_based, poses: fixedPoses, }; rawActions[jsonActionsData[key].name.toLowerCase()] = action; }); const json = JSON.stringify(rawActions); - if (actionsData.length === 0) { - logger.warn(`No actions data. Call the actions data first.`); - return client; - } - return client - .call({ json }) - .then((response) => { - logger.success( - `Successfully send actions data with status ${response.status}.` - ); - }) - .catch((err) => { - logger.error(`Failed to send data! ${err.message}.`); - }); - }, 500); + + message.setJsonActions(json); + + client.saveConfig(message, {}, (err) => { + if (err) { + showLog('Failed to save data!', 'error'); + } else { + showLog('Successfully saved actions data', 'success'); + } + }); + + setIsLoading(false); + }; return ( - + Save + ); } diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index 9beb2c1..1deb10b 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -1,33 +1,36 @@ -import ArrowForwardIcon from "@material-ui/icons/ArrowForward"; -import PlayArrowIcon from "@material-ui/icons/PlayArrow"; -import PropTypes from "prop-types"; -import { Button, CircularProgress } from "@material-ui/core"; +import React, { useContext, useState } from 'react'; -import { useHandleProcess, useLogger, usePublisher } from "kumo-app"; +import ArrowForwardIcon from '@material-ui/icons/ArrowForward'; +import PlayArrowIcon from '@material-ui/icons/PlayArrow'; +import PropTypes from 'prop-types'; +import LoadingButton from '@mui/lab/LoadingButton'; -import React, { useContext } from "react"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; function SetJointsButton(props) { + const { setJointRobotData, jointPoseData, GRPC_WEB_API_URL } = useContext(ActionContext); + + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); + const message = new akushon_interfaces.SetJointsData(); + const { typeButton } = props; - const publisher = usePublisher(); - const logger = useLogger(); - const { setJointRobotData, jointPoseData } = useContext(ActionContext); + const [isLoading, setIsLoading] = useState(false); - const [publishing, handlePublish] = useHandleProcess(() => { + const handlePublish = () => { + setIsLoading(true); const joints = []; - if (typeButton === "to_robot") { - logger.info(`Change the joint robot data...`); + if (typeButton === 'to_robot') { const newJointRobotData = []; for (let i = 0; i < jointPoseData.length; i += 1) { newJointRobotData.push({ id: jointPoseData[i].id, name: jointPoseData[i].name, pose_pos: jointPoseData[i].pose_pos, - status: "ON", + status: 'ON', }); } setJointRobotData(newJointRobotData); @@ -41,29 +44,30 @@ function SetJointsButton(props) { } const control_type = 3; + const joints_action = (JSON.stringify({joints})); - return publisher - .publish({ control_type, joints }) - .then(() => { - logger.success(`Successfully publish set joints.`); - }) - .catch((err) => { - logger.error(`Failed to publish set joints data! ${err.message}.`); - }); - }, 500); + message.setJointsActions(joints_action); + message.setControlType(control_type); + + client.publishSetJoints(message, {}, (err) => { + if (err) { + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); + } + }); + + setIsLoading(false); + }; return ( - + loading={isLoading} + /> ); } diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index ec33205..00dc1db 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -1,37 +1,43 @@ -import { useHandleProcess, useLogger, usePublisher } from "kumo-app"; -import { DataGrid } from "@material-ui/data-grid"; +import React, { useContext } from 'react'; -import React, { useContext } from "react"; +import { DataGrid } from '@material-ui/data-grid'; -import ActionContext from "../context/ActionContext"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; + +import ActionContext from '../context/ActionContext'; const jointRobotColumns = [ { - field: "id", - headerName: "Id", + field: 'id', + headerName: 'Id', width: 50, - type: "number", + type: 'number', sortable: false, editable: false, }, - { field: "name", headerName: "Name", width: 140, sortable: false }, { - field: "pose_pos", - headerName: "Robot Pos", + field: 'name', headerName: 'Name', width: 140, sortable: false, + }, + { + field: 'pose_pos', + headerName: 'Robot Pos', width: 100, - type: "number", + type: 'number', editable: true, sortable: false, }, - { field: "status", headerName: "Status", width: 140, sortable: false }, + { + field: 'status', headerName: 'Status', width: 140, sortable: false, + }, ]; function SetJointsOnCellEdit() { - const publisher = usePublisher(); - const logger = useLogger(); + const { + setJointRobotData, jointRobotData, setJointSelected, GRPC_WEB_API_URL, + } = useContext(ActionContext); - const { setJointRobotData, jointRobotData, setJointSelected } = - useContext(ActionContext); + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); + const message = new akushon_interfaces.SetJointsData(); const updateJointRobotData = (newJoints, index) => { const newJointRobotData = [ @@ -42,7 +48,7 @@ function SetJointsOnCellEdit() { setJointRobotData(newJointRobotData); }; - const [publishing, handlePublish] = useHandleProcess(() => { + const handlePublish = () => { const joints = []; for (let i = 0; i < jointRobotData.length; i += 1) { @@ -52,21 +58,17 @@ function SetJointsOnCellEdit() { }); } - const control_type = 3; + const json = JSON.stringify({joints}); - if (publishing) { - logger.info("Publishing..."); - } + message.setControlType(3); + message.setJointsActions(json); - return publisher - .publish({ control_type, joints }) - .then(() => { - logger.success(`Successfully publish set joints directly to robot.`); - }) - .catch((err) => { - logger.error(`Failed to publish set joints robot! ${err.message}.`); - }); - }, 500); + client.publishSetJoints(message, {}, (err) => { + if (err) { + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); + } + }); + }; return ( { const index = jointRobotData.findIndex( - (joint) => joint.id === event.id + (joint) => joint.id === event.id, ); const newJoints = { id: jointRobotData[index].id, diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index 9ba7773..8c84b07 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -1,19 +1,23 @@ -import { Button, CircularProgress, Grid } from "@material-ui/core"; -import WbIncandescentRoundedIcon from "@material-ui/icons/WbIncandescentRounded"; -import WbIncandescentOutlinedIcon from "@material-ui/icons/WbIncandescentOutlined"; +import React, { useState, useContext, useEffect } from 'react'; -import { useHandleProcess, useLogger, usePublisher } from "kumo-app"; +import { Button, CircularProgress, Grid } from '@material-ui/core'; +import WbIncandescentRoundedIcon from '@material-ui/icons/WbIncandescentRounded'; +import WbIncandescentOutlinedIcon from '@material-ui/icons/WbIncandescentOutlined'; -import React, { useState, useContext, useEffect } from "react"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; function SetTorquesButton() { - const publisher = usePublisher(); - const logger = useLogger(); + const { + jointSelected, setJointRobotData, jointRobotData, GRPC_WEB_API_URL, + } = useContext(ActionContext); - const { jointSelected, setJointRobotData, jointRobotData } = - useContext(ActionContext); + const { showLog} = useContext(LoggerContext); + + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); + const message = new akushon_interfaces.SetTorquesData(); let newJointRobotData = jointRobotData; const [isTorquesEnabled, setIsTorquesEnabled] = useState(true); @@ -21,25 +25,23 @@ function SetTorquesButton() { const [onTorquesClicked, setOnTorquesClicked] = useState(false); const [offTorquesClicked, setOffTorquesClicked] = useState(false); - const [publishing, handlePublish] = useHandleProcess(() => { - const ids = jointSelected; + const handlePublish = () => { + const id = jointSelected; const torque_enable = isTorquesEnabled; setOffTorquesClicked(false); setOnTorquesClicked(false); - if (ids.length === 0) { - logger.warn( - `No selected joints. Select some joint first to be set on/off.` - ); - return publisher; + if (id.length === 0) { + showLog('No joint selected!', 'warning'); + return; } - for (let i = 0; i < ids.length; i += 1) { - const index = jointRobotData.findIndex((joint) => joint.id === ids[i]); + for (let i = 0; i < id.length; i += 1) { + const index = jointRobotData.findIndex((joint) => joint.id === id[i]); const newJoint = { id: jointRobotData[index].id, name: jointRobotData[index].name, pose_pos: jointRobotData[index].pose_pos, - status: torque_enable ? "ON" : "OFF", + status: torque_enable ? 'ON' : 'OFF', }; newJointRobotData = [ ...newJointRobotData.slice(0, index), @@ -49,18 +51,17 @@ function SetTorquesButton() { } setJointRobotData(newJointRobotData); - if (publishing) { - logger.info(`Set torques ${torque_enable}, ids: ${ids}...`); - } - return publisher - .publish({ ids, torque_enable }) - .then(() => { - logger.success(`Successfully publish set torques.`); - }) - .catch((err) => { - logger.error(`Failed to publish set torques data! ${err.message}.`); - }); - }, 500); + const ids_message = (JSON.stringify({id})); + + message.setIds(ids_message); + message.setTorqueEnable(torque_enable); + + client.setTorques(message, {}, (err) => { + if (err) { + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); + } + }); + }; useEffect(() => { handlePublish(); @@ -86,21 +87,21 @@ function SetTorquesButton() { style={{ marginLeft: 20 }} onClick={handleOnTorquesClicked} color="primary" - variant={onTorquesClicked ? "outlined" : "contained"} + variant={onTorquesClicked ? 'outlined' : 'contained'} startIcon={} > - {onTorquesClicked ? : "ON"} + {onTorquesClicked ? : 'ON'} diff --git a/src/components/SubscriptionCurrentJoints.jsx b/src/components/SubscriptionCurrentJoints.jsx deleted file mode 100644 index ae43eac..0000000 --- a/src/components/SubscriptionCurrentJoints.jsx +++ /dev/null @@ -1,82 +0,0 @@ -import { SubscriptionProvider } from "kumo-app"; - -import React, { useContext, useState, useEffect } from "react"; - -import ActionContext from "../context/ActionContext"; - -const jointIdList = { - right_shoulder_pitch: 1, - left_shoulder_pitch: 2, - right_shoulder_roll: 3, - left_shoulder_roll: 4, - right_elbow: 5, - left_elbow: 6, - right_hip_yaw: 7, - left_hip_yaw: 8, - right_hip_roll: 9, - left_hip_roll: 10, - right_hip_pitch: 11, - left_hip_pitch: 12, - right_knee: 13, - left_knee: 14, - right_ankle_pitch: 15, - left_ankle_pitch: 16, - right_ankle_roll: 17, - left_ankle_roll: 18, - neck_yaw: 19, - neck_pitch: 20, -}; - -function SubscriptionCurrentJoints() { - const [currentJoints, setCurrentJoints] = useState([]); - const { setJointRobotData, jointRobotData } = useContext(ActionContext); - - const subscriptionCallback = (message) => { - setCurrentJoints((prevCurrentJoints) => { - let jointChangeCounter = 0; - prevCurrentJoints.forEach((joint, index) => { - if (message.joints[index].position === joint.position) { - jointChangeCounter += 1; - } - }); - - if (jointChangeCounter !== message.joints.length) { - return message.joints; - } - - return prevCurrentJoints; - }); - }; - - useEffect(() => { - if (jointRobotData.length !== 0) { - setJointRobotData((oldJointRobotData) => { - const newJointRobotData = []; - for (let i = 0; i < oldJointRobotData.length; i += 1) { - const index = currentJoints.findIndex( - (joint) => joint.id === oldJointRobotData[i].id - ); - newJointRobotData.push({ - id: oldJointRobotData[i].id, - name: Object.keys(jointIdList).find( - (key) => jointIdList[key] === currentJoints[index].id - ), - pose_pos: currentJoints[index].position, - status: oldJointRobotData[i].status, // todo(finesaaa) : need to be check - }); - } - return newJointRobotData; - }); - } - }, [currentJoints]); - - return ( - - ); -} - -export default SubscriptionCurrentJoints; diff --git a/src/context/ActionContext.jsx b/src/context/ActionContext.jsx index c08d325..d9d0c71 100644 --- a/src/context/ActionContext.jsx +++ b/src/context/ActionContext.jsx @@ -1,4 +1,4 @@ -import { createContext } from "react"; +import { createContext } from 'react'; const ActionContext = createContext(); diff --git a/src/context/LoggerContext.jsx b/src/context/LoggerContext.jsx new file mode 100644 index 0000000..5eee70e --- /dev/null +++ b/src/context/LoggerContext.jsx @@ -0,0 +1,5 @@ +import { createContext } from 'react'; + +const LoggerContext = createContext(); + +export default LoggerContext; diff --git a/src/main.jsx b/src/main.jsx index 846ed2c..f452ad2 100644 --- a/src/main.jsx +++ b/src/main.jsx @@ -1,11 +1,11 @@ -import React from "react"; -import ReactDOM from "react-dom"; -import "./index.css"; -import App from "./App"; +import React from 'react'; +import ReactDOM from 'react-dom'; +import './index.css'; +import App from './App'; ReactDOM.render( , - document.getElementById("root") + document.getElementById('root'), ); diff --git a/src/proto/akushon_grpc_web_pb.js b/src/proto/akushon_grpc_web_pb.js new file mode 100644 index 0000000..74fff69 --- /dev/null +++ b/src/proto/akushon_grpc_web_pb.js @@ -0,0 +1,444 @@ +/** + * @fileoverview gRPC-Web generated client stub for akushon_interfaces.proto + * @enhanceable + * @public + */ + +// Code generated by protoc-gen-grpc-web. DO NOT EDIT. +// versions: +// protoc-gen-grpc-web v1.4.2 +// protoc v4.23.4 +// source: akushon.proto + +/* eslint-disable */ +// @ts-nocheck + + + +const grpc = {}; +grpc.web = require('grpc-web'); + +const proto = {}; +proto.akushon_interfaces = {}; +proto.akushon_interfaces.proto = require('./akushon_pb.js'); + +/** + * @param {string} hostname + * @param {?Object} credentials + * @param {?grpc.web.ClientOptions} options + * @constructor + * @struct + * @final + */ +proto.akushon_interfaces.proto.ConfigClient = + function(hostname, credentials, options) { + if (!options) options = {}; + options.format = 'text'; + + /** + * @private @const {!grpc.web.GrpcWebClientBase} The client + */ + this.client_ = new grpc.web.GrpcWebClientBase(options); + + /** + * @private @const {string} The hostname + */ + this.hostname_ = hostname.replace(/\/+$/, ''); + +}; + + +/** + * @param {string} hostname + * @param {?Object} credentials + * @param {?grpc.web.ClientOptions} options + * @constructor + * @struct + * @final + */ +proto.akushon_interfaces.proto.ConfigPromiseClient = + function(hostname, credentials, options) { + if (!options) options = {}; + options.format = 'text'; + + /** + * @private @const {!grpc.web.GrpcWebClientBase} The client + */ + this.client_ = new grpc.web.GrpcWebClientBase(options); + + /** + * @private @const {string} The hostname + */ + this.hostname_ = hostname.replace(/\/+$/, ''); + +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.Empty, + * !proto.akushon_interfaces.proto.ConfigActions>} + */ +const methodDescriptor_Config_GetConfig = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/GetConfig', + grpc.web.MethodType.UNARY, + proto.akushon_interfaces.proto.Empty, + proto.akushon_interfaces.proto.ConfigActions, + /** + * @param {!proto.akushon_interfaces.proto.Empty} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.akushon_interfaces.proto.ConfigActions.deserializeBinary +); + + +/** + * @param {!proto.akushon_interfaces.proto.Empty} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.akushon_interfaces.proto.ConfigActions)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.akushon_interfaces.proto.ConfigClient.prototype.getConfig = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/akushon_interfaces.proto.Config/GetConfig', + request, + metadata || {}, + methodDescriptor_Config_GetConfig, + callback); +}; + + +/** + * @param {!proto.akushon_interfaces.proto.Empty} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.getConfig = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/akushon_interfaces.proto.Config/GetConfig', + request, + metadata || {}, + methodDescriptor_Config_GetConfig); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.ConfigActions, + * !proto.akushon_interfaces.proto.Empty>} + */ +const methodDescriptor_Config_SaveConfig = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/SaveConfig', + grpc.web.MethodType.UNARY, + proto.akushon_interfaces.proto.ConfigActions, + proto.akushon_interfaces.proto.Empty, + /** + * @param {!proto.akushon_interfaces.proto.ConfigActions} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.akushon_interfaces.proto.Empty.deserializeBinary +); + + +/** + * @param {!proto.akushon_interfaces.proto.ConfigActions} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.akushon_interfaces.proto.Empty)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.akushon_interfaces.proto.ConfigClient.prototype.saveConfig = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/akushon_interfaces.proto.Config/SaveConfig', + request, + metadata || {}, + methodDescriptor_Config_SaveConfig, + callback); +}; + + +/** + * @param {!proto.akushon_interfaces.proto.ConfigActions} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.saveConfig = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/akushon_interfaces.proto.Config/SaveConfig', + request, + metadata || {}, + methodDescriptor_Config_SaveConfig); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.SetJointsData, + * !proto.akushon_interfaces.proto.Empty>} + */ +const methodDescriptor_Config_PublishSetJoints = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/PublishSetJoints', + grpc.web.MethodType.UNARY, + proto.akushon_interfaces.proto.SetJointsData, + proto.akushon_interfaces.proto.Empty, + /** + * @param {!proto.akushon_interfaces.proto.SetJointsData} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.akushon_interfaces.proto.Empty.deserializeBinary +); + + +/** + * @param {!proto.akushon_interfaces.proto.SetJointsData} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.akushon_interfaces.proto.Empty)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.akushon_interfaces.proto.ConfigClient.prototype.publishSetJoints = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/akushon_interfaces.proto.Config/PublishSetJoints', + request, + metadata || {}, + methodDescriptor_Config_PublishSetJoints, + callback); +}; + + +/** + * @param {!proto.akushon_interfaces.proto.SetJointsData} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.publishSetJoints = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/akushon_interfaces.proto.Config/PublishSetJoints', + request, + metadata || {}, + methodDescriptor_Config_PublishSetJoints); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.ConfigRunAction, + * !proto.akushon_interfaces.proto.Empty>} + */ +const methodDescriptor_Config_RunAction = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/RunAction', + grpc.web.MethodType.UNARY, + proto.akushon_interfaces.proto.ConfigRunAction, + proto.akushon_interfaces.proto.Empty, + /** + * @param {!proto.akushon_interfaces.proto.ConfigRunAction} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.akushon_interfaces.proto.Empty.deserializeBinary +); + + +/** + * @param {!proto.akushon_interfaces.proto.ConfigRunAction} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.akushon_interfaces.proto.Empty)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.akushon_interfaces.proto.ConfigClient.prototype.runAction = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/akushon_interfaces.proto.Config/RunAction', + request, + metadata || {}, + methodDescriptor_Config_RunAction, + callback); +}; + + +/** + * @param {!proto.akushon_interfaces.proto.ConfigRunAction} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.runAction = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/akushon_interfaces.proto.Config/RunAction', + request, + metadata || {}, + methodDescriptor_Config_RunAction); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.SetTorquesData, + * !proto.akushon_interfaces.proto.Empty>} + */ +const methodDescriptor_Config_SetTorques = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/SetTorques', + grpc.web.MethodType.UNARY, + proto.akushon_interfaces.proto.SetTorquesData, + proto.akushon_interfaces.proto.Empty, + /** + * @param {!proto.akushon_interfaces.proto.SetTorquesData} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.akushon_interfaces.proto.Empty.deserializeBinary +); + + +/** + * @param {!proto.akushon_interfaces.proto.SetTorquesData} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.akushon_interfaces.proto.Empty)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.akushon_interfaces.proto.ConfigClient.prototype.setTorques = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/akushon_interfaces.proto.Config/SetTorques', + request, + metadata || {}, + methodDescriptor_Config_SetTorques, + callback); +}; + + +/** + * @param {!proto.akushon_interfaces.proto.SetTorquesData} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.setTorques = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/akushon_interfaces.proto.Config/SetTorques', + request, + metadata || {}, + methodDescriptor_Config_SetTorques); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.Empty, + * !proto.akushon_interfaces.proto.CurrentJoints>} + */ +const methodDescriptor_Config_SubscribeCurrentJoints = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/SubscribeCurrentJoints', + grpc.web.MethodType.UNARY, + proto.akushon_interfaces.proto.Empty, + proto.akushon_interfaces.proto.CurrentJoints, + /** + * @param {!proto.akushon_interfaces.proto.Empty} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.akushon_interfaces.proto.CurrentJoints.deserializeBinary +); + + +/** + * @param {!proto.akushon_interfaces.proto.Empty} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.akushon_interfaces.proto.CurrentJoints)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.akushon_interfaces.proto.ConfigClient.prototype.subscribeCurrentJoints = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/akushon_interfaces.proto.Config/SubscribeCurrentJoints', + request, + metadata || {}, + methodDescriptor_Config_SubscribeCurrentJoints, + callback); +}; + + +/** + * @param {!proto.akushon_interfaces.proto.Empty} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.subscribeCurrentJoints = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/akushon_interfaces.proto.Config/SubscribeCurrentJoints', + request, + metadata || {}, + methodDescriptor_Config_SubscribeCurrentJoints); +}; + + +export default proto.akushon_interfaces.proto; + diff --git a/src/proto/akushon_pb.js b/src/proto/akushon_pb.js new file mode 100644 index 0000000..c3f1690 --- /dev/null +++ b/src/proto/akushon_pb.js @@ -0,0 +1,1026 @@ +// source: akushon.proto +/** + * @fileoverview + * @enhanceable + * @suppress {missingRequire} reports error on implicit type usages. + * @suppress {messageConventions} JS Compiler reports an error if a variable or + * field starts with 'MSG_' and isn't a translatable message. + * @public + */ +// GENERATED CODE -- DO NOT EDIT! +/* eslint-disable */ +// @ts-nocheck + +var jspb = require('google-protobuf'); +var goog = jspb; +var global = + (typeof globalThis !== 'undefined' && globalThis) || + (typeof window !== 'undefined' && window) || + (typeof global !== 'undefined' && global) || + (typeof self !== 'undefined' && self) || + (function () { return this; }).call(null) || + Function('return this')(); + +goog.exportSymbol('proto.akushon_interfaces.proto.ConfigActions', null, global); +goog.exportSymbol('proto.akushon_interfaces.proto.ConfigRunAction', null, global); +goog.exportSymbol('proto.akushon_interfaces.proto.CurrentJoints', null, global); +goog.exportSymbol('proto.akushon_interfaces.proto.Empty', null, global); +goog.exportSymbol('proto.akushon_interfaces.proto.SetJointsData', null, global); +goog.exportSymbol('proto.akushon_interfaces.proto.SetTorquesData', null, global); +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.akushon_interfaces.proto.Empty = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, null, null); +}; +goog.inherits(proto.akushon_interfaces.proto.Empty, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.akushon_interfaces.proto.Empty.displayName = 'proto.akushon_interfaces.proto.Empty'; +} +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.akushon_interfaces.proto.ConfigActions = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, null, null); +}; +goog.inherits(proto.akushon_interfaces.proto.ConfigActions, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.akushon_interfaces.proto.ConfigActions.displayName = 'proto.akushon_interfaces.proto.ConfigActions'; +} +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.akushon_interfaces.proto.SetJointsData = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, null, null); +}; +goog.inherits(proto.akushon_interfaces.proto.SetJointsData, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.akushon_interfaces.proto.SetJointsData.displayName = 'proto.akushon_interfaces.proto.SetJointsData'; +} +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.akushon_interfaces.proto.ConfigRunAction = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, null, null); +}; +goog.inherits(proto.akushon_interfaces.proto.ConfigRunAction, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.akushon_interfaces.proto.ConfigRunAction.displayName = 'proto.akushon_interfaces.proto.ConfigRunAction'; +} +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.akushon_interfaces.proto.SetTorquesData = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, null, null); +}; +goog.inherits(proto.akushon_interfaces.proto.SetTorquesData, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.akushon_interfaces.proto.SetTorquesData.displayName = 'proto.akushon_interfaces.proto.SetTorquesData'; +} +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.akushon_interfaces.proto.CurrentJoints = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, null, null); +}; +goog.inherits(proto.akushon_interfaces.proto.CurrentJoints, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.akushon_interfaces.proto.CurrentJoints.displayName = 'proto.akushon_interfaces.proto.CurrentJoints'; +} + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.akushon_interfaces.proto.Empty.prototype.toObject = function(opt_includeInstance) { + return proto.akushon_interfaces.proto.Empty.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.akushon_interfaces.proto.Empty} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.Empty.toObject = function(includeInstance, msg) { + var f, obj = { + + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.akushon_interfaces.proto.Empty} + */ +proto.akushon_interfaces.proto.Empty.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.akushon_interfaces.proto.Empty; + return proto.akushon_interfaces.proto.Empty.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.akushon_interfaces.proto.Empty} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.akushon_interfaces.proto.Empty} + */ +proto.akushon_interfaces.proto.Empty.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.akushon_interfaces.proto.Empty.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.akushon_interfaces.proto.Empty.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.akushon_interfaces.proto.Empty} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.Empty.serializeBinaryToWriter = function(message, writer) { + var f = undefined; +}; + + + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.akushon_interfaces.proto.ConfigActions.prototype.toObject = function(opt_includeInstance) { + return proto.akushon_interfaces.proto.ConfigActions.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.akushon_interfaces.proto.ConfigActions} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.ConfigActions.toObject = function(includeInstance, msg) { + var f, obj = { + jsonActions: jspb.Message.getFieldWithDefault(msg, 1, "") + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.akushon_interfaces.proto.ConfigActions} + */ +proto.akushon_interfaces.proto.ConfigActions.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.akushon_interfaces.proto.ConfigActions; + return proto.akushon_interfaces.proto.ConfigActions.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.akushon_interfaces.proto.ConfigActions} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.akushon_interfaces.proto.ConfigActions} + */ +proto.akushon_interfaces.proto.ConfigActions.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + case 1: + var value = /** @type {string} */ (reader.readString()); + msg.setJsonActions(value); + break; + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.akushon_interfaces.proto.ConfigActions.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.akushon_interfaces.proto.ConfigActions.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.akushon_interfaces.proto.ConfigActions} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.ConfigActions.serializeBinaryToWriter = function(message, writer) { + var f = undefined; + f = message.getJsonActions(); + if (f.length > 0) { + writer.writeString( + 1, + f + ); + } +}; + + +/** + * optional string json_actions = 1; + * @return {string} + */ +proto.akushon_interfaces.proto.ConfigActions.prototype.getJsonActions = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, "")); +}; + + +/** + * @param {string} value + * @return {!proto.akushon_interfaces.proto.ConfigActions} returns this + */ +proto.akushon_interfaces.proto.ConfigActions.prototype.setJsonActions = function(value) { + return jspb.Message.setProto3StringField(this, 1, value); +}; + + + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.akushon_interfaces.proto.SetJointsData.prototype.toObject = function(opt_includeInstance) { + return proto.akushon_interfaces.proto.SetJointsData.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.akushon_interfaces.proto.SetJointsData} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.SetJointsData.toObject = function(includeInstance, msg) { + var f, obj = { + controlType: jspb.Message.getFieldWithDefault(msg, 1, 0), + jointsActions: jspb.Message.getFieldWithDefault(msg, 2, "") + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.akushon_interfaces.proto.SetJointsData} + */ +proto.akushon_interfaces.proto.SetJointsData.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.akushon_interfaces.proto.SetJointsData; + return proto.akushon_interfaces.proto.SetJointsData.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.akushon_interfaces.proto.SetJointsData} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.akushon_interfaces.proto.SetJointsData} + */ +proto.akushon_interfaces.proto.SetJointsData.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + case 1: + var value = /** @type {number} */ (reader.readInt32()); + msg.setControlType(value); + break; + case 2: + var value = /** @type {string} */ (reader.readString()); + msg.setJointsActions(value); + break; + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.akushon_interfaces.proto.SetJointsData.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.akushon_interfaces.proto.SetJointsData.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.akushon_interfaces.proto.SetJointsData} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.SetJointsData.serializeBinaryToWriter = function(message, writer) { + var f = undefined; + f = message.getControlType(); + if (f !== 0) { + writer.writeInt32( + 1, + f + ); + } + f = message.getJointsActions(); + if (f.length > 0) { + writer.writeString( + 2, + f + ); + } +}; + + +/** + * optional int32 control_type = 1; + * @return {number} + */ +proto.akushon_interfaces.proto.SetJointsData.prototype.getControlType = function() { + return /** @type {number} */ (jspb.Message.getFieldWithDefault(this, 1, 0)); +}; + + +/** + * @param {number} value + * @return {!proto.akushon_interfaces.proto.SetJointsData} returns this + */ +proto.akushon_interfaces.proto.SetJointsData.prototype.setControlType = function(value) { + return jspb.Message.setProto3IntField(this, 1, value); +}; + + +/** + * optional string joints_actions = 2; + * @return {string} + */ +proto.akushon_interfaces.proto.SetJointsData.prototype.getJointsActions = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 2, "")); +}; + + +/** + * @param {string} value + * @return {!proto.akushon_interfaces.proto.SetJointsData} returns this + */ +proto.akushon_interfaces.proto.SetJointsData.prototype.setJointsActions = function(value) { + return jspb.Message.setProto3StringField(this, 2, value); +}; + + + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.toObject = function(opt_includeInstance) { + return proto.akushon_interfaces.proto.ConfigRunAction.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.akushon_interfaces.proto.ConfigRunAction} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.ConfigRunAction.toObject = function(includeInstance, msg) { + var f, obj = { + controlType: jspb.Message.getFieldWithDefault(msg, 1, 0), + actionName: jspb.Message.getFieldWithDefault(msg, 2, ""), + jsonAction: jspb.Message.getFieldWithDefault(msg, 3, "") + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.akushon_interfaces.proto.ConfigRunAction} + */ +proto.akushon_interfaces.proto.ConfigRunAction.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.akushon_interfaces.proto.ConfigRunAction; + return proto.akushon_interfaces.proto.ConfigRunAction.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.akushon_interfaces.proto.ConfigRunAction} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.akushon_interfaces.proto.ConfigRunAction} + */ +proto.akushon_interfaces.proto.ConfigRunAction.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + case 1: + var value = /** @type {number} */ (reader.readInt32()); + msg.setControlType(value); + break; + case 2: + var value = /** @type {string} */ (reader.readString()); + msg.setActionName(value); + break; + case 3: + var value = /** @type {string} */ (reader.readString()); + msg.setJsonAction(value); + break; + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.akushon_interfaces.proto.ConfigRunAction.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.akushon_interfaces.proto.ConfigRunAction} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.ConfigRunAction.serializeBinaryToWriter = function(message, writer) { + var f = undefined; + f = message.getControlType(); + if (f !== 0) { + writer.writeInt32( + 1, + f + ); + } + f = message.getActionName(); + if (f.length > 0) { + writer.writeString( + 2, + f + ); + } + f = message.getJsonAction(); + if (f.length > 0) { + writer.writeString( + 3, + f + ); + } +}; + + +/** + * optional int32 control_type = 1; + * @return {number} + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.getControlType = function() { + return /** @type {number} */ (jspb.Message.getFieldWithDefault(this, 1, 0)); +}; + + +/** + * @param {number} value + * @return {!proto.akushon_interfaces.proto.ConfigRunAction} returns this + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.setControlType = function(value) { + return jspb.Message.setProto3IntField(this, 1, value); +}; + + +/** + * optional string action_name = 2; + * @return {string} + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.getActionName = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 2, "")); +}; + + +/** + * @param {string} value + * @return {!proto.akushon_interfaces.proto.ConfigRunAction} returns this + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.setActionName = function(value) { + return jspb.Message.setProto3StringField(this, 2, value); +}; + + +/** + * optional string json_action = 3; + * @return {string} + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.getJsonAction = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 3, "")); +}; + + +/** + * @param {string} value + * @return {!proto.akushon_interfaces.proto.ConfigRunAction} returns this + */ +proto.akushon_interfaces.proto.ConfigRunAction.prototype.setJsonAction = function(value) { + return jspb.Message.setProto3StringField(this, 3, value); +}; + + + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.akushon_interfaces.proto.SetTorquesData.prototype.toObject = function(opt_includeInstance) { + return proto.akushon_interfaces.proto.SetTorquesData.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.akushon_interfaces.proto.SetTorquesData} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.SetTorquesData.toObject = function(includeInstance, msg) { + var f, obj = { + ids: jspb.Message.getFieldWithDefault(msg, 1, ""), + torqueEnable: jspb.Message.getBooleanFieldWithDefault(msg, 2, false) + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.akushon_interfaces.proto.SetTorquesData} + */ +proto.akushon_interfaces.proto.SetTorquesData.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.akushon_interfaces.proto.SetTorquesData; + return proto.akushon_interfaces.proto.SetTorquesData.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.akushon_interfaces.proto.SetTorquesData} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.akushon_interfaces.proto.SetTorquesData} + */ +proto.akushon_interfaces.proto.SetTorquesData.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + case 1: + var value = /** @type {string} */ (reader.readString()); + msg.setIds(value); + break; + case 2: + var value = /** @type {boolean} */ (reader.readBool()); + msg.setTorqueEnable(value); + break; + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.akushon_interfaces.proto.SetTorquesData.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.akushon_interfaces.proto.SetTorquesData.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.akushon_interfaces.proto.SetTorquesData} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.SetTorquesData.serializeBinaryToWriter = function(message, writer) { + var f = undefined; + f = message.getIds(); + if (f.length > 0) { + writer.writeString( + 1, + f + ); + } + f = message.getTorqueEnable(); + if (f) { + writer.writeBool( + 2, + f + ); + } +}; + + +/** + * optional string ids = 1; + * @return {string} + */ +proto.akushon_interfaces.proto.SetTorquesData.prototype.getIds = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, "")); +}; + + +/** + * @param {string} value + * @return {!proto.akushon_interfaces.proto.SetTorquesData} returns this + */ +proto.akushon_interfaces.proto.SetTorquesData.prototype.setIds = function(value) { + return jspb.Message.setProto3StringField(this, 1, value); +}; + + +/** + * optional bool torque_enable = 2; + * @return {boolean} + */ +proto.akushon_interfaces.proto.SetTorquesData.prototype.getTorqueEnable = function() { + return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 2, false)); +}; + + +/** + * @param {boolean} value + * @return {!proto.akushon_interfaces.proto.SetTorquesData} returns this + */ +proto.akushon_interfaces.proto.SetTorquesData.prototype.setTorqueEnable = function(value) { + return jspb.Message.setProto3BooleanField(this, 2, value); +}; + + + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.akushon_interfaces.proto.CurrentJoints.prototype.toObject = function(opt_includeInstance) { + return proto.akushon_interfaces.proto.CurrentJoints.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.akushon_interfaces.proto.CurrentJoints} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.CurrentJoints.toObject = function(includeInstance, msg) { + var f, obj = { + msgJoints: jspb.Message.getFieldWithDefault(msg, 1, "") + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.akushon_interfaces.proto.CurrentJoints} + */ +proto.akushon_interfaces.proto.CurrentJoints.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.akushon_interfaces.proto.CurrentJoints; + return proto.akushon_interfaces.proto.CurrentJoints.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.akushon_interfaces.proto.CurrentJoints} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.akushon_interfaces.proto.CurrentJoints} + */ +proto.akushon_interfaces.proto.CurrentJoints.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + case 1: + var value = /** @type {string} */ (reader.readString()); + msg.setMsgJoints(value); + break; + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.akushon_interfaces.proto.CurrentJoints.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.akushon_interfaces.proto.CurrentJoints.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.akushon_interfaces.proto.CurrentJoints} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.akushon_interfaces.proto.CurrentJoints.serializeBinaryToWriter = function(message, writer) { + var f = undefined; + f = message.getMsgJoints(); + if (f.length > 0) { + writer.writeString( + 1, + f + ); + } +}; + + +/** + * optional string msg_joints = 1; + * @return {string} + */ +proto.akushon_interfaces.proto.CurrentJoints.prototype.getMsgJoints = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, "")); +}; + + +/** + * @param {string} value + * @return {!proto.akushon_interfaces.proto.CurrentJoints} returns this + */ +proto.akushon_interfaces.proto.CurrentJoints.prototype.setMsgJoints = function(value) { + return jspb.Message.setProto3StringField(this, 1, value); +}; + +export default proto.akushon_interfaces.proto; diff --git a/vite.config.js b/vite.config.js index 5cc3d61..ac4635a 100644 --- a/vite.config.js +++ b/vite.config.js @@ -1,7 +1,7 @@ import { defineConfig } from 'vite'; import reactRefresh from '@vitejs/plugin-react-refresh'; -import eslintPlugin from 'vite-plugin-eslint'; +import { viteCommonjs } from '@originjs/vite-plugin-commonjs'; export default defineConfig({ - plugins: [reactRefresh(), eslintPlugin()], + plugins: [reactRefresh(), viteCommonjs()], });