From 34a542e444bf371e94fdc5f8519f480119681c2d Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 22:22:53 +0700 Subject: [PATCH 01/43] feat: switch kumo-app to grpc-web dependencies --- package-lock.json | 3679 ++++++++++++++++++++++++++++++--------------- package.json | 2 + 2 files changed, 2447 insertions(+), 1234 deletions(-) diff --git a/package-lock.json b/package-lock.json index 8c80353..c3550cf 100644 --- a/package-lock.json +++ b/package-lock.json @@ -12,6 +12,8 @@ "@material-ui/core": "^4.11.3", "@material-ui/data-grid": "*", "@material-ui/icons": "^4.11.2", + "google-protobuf": "^3.21.2", + "grpc-web": "^1.4.2", "kumo-app": "git://github.com/ichiro-its/kumo-app.git#v0.3.0", "mui-datatables": "^3.7.7", "prop-types": "^15.8.1", @@ -34,60 +36,70 @@ "vite": "^2.4.4" } }, + "node_modules/@aashutoshrathi/word-wrap": { + "version": "1.2.6", + "resolved": "https://registry.npmjs.org/@aashutoshrathi/word-wrap/-/word-wrap-1.2.6.tgz", + "integrity": "sha512-1Yjs2SvM8TflER/OD3cOjhWWOZb58A2t7wpE2S9XfBYTiIl+XFhQG2bjy4Pu1I+EAlCNUzRDYDdFwFYUKvXcIA==", + "engines": { + "node": ">=0.10.0" + } + }, "node_modules/@ampproject/remapping": { - 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"integrity": "sha1-8m9ITXJoTPQr7ft2lwqhYI+/lXc=" + "integrity": "sha512-MvQa//+KcZCUkBTIC9blM+CU9J2GzuTytsOUwf2lidtvkx/6gnEp1QvJv34t9vdjhFmha/mUiNDbN0D0mJWdug==" }, "yallist": { "version": "4.0.0", diff --git a/package.json b/package.json index cc91057..2b99f46 100644 --- a/package.json +++ b/package.json @@ -19,6 +19,8 @@ "mui-datatables": "^3.7.7", "prop-types": "^15.8.1", "react": "^17.0.2", + "google-protobuf": "^3.21.2", + "grpc-web": "^1.4.2", "react-dom": "^17.0.0", "vite-plugin-eslint": "^1.3.0", "web-vitals": "^1.0.1" From f67fd65fa53be1ae19b4797bf2bc75aa1ad91461 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 22:23:18 +0700 Subject: [PATCH 02/43] refactor: ignore eslint plugin --- .eslintrc.js | 4 +--- vite.config.js | 4 ++-- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/.eslintrc.js b/.eslintrc.js index 6016507..362832f 100644 --- a/.eslintrc.js +++ b/.eslintrc.js @@ -8,13 +8,11 @@ module.exports = { ecmaFeatures: { jsx: true, }, - ecmaVersion: 12, + ecmaVersion: "latest", sourceType: "module", }, - plugins: ["prettier"], rules: { camelcase: "off", - "prettier/prettier": "error", "import/no-extraneous-dependencies": ["error", { devDependencies: true }], }, }; diff --git a/vite.config.js b/vite.config.js index 5cc3d61..05ea364 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()], }); From ba9c6705133f334ffe88b21b5c0ac3f94b3d26f4 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 22:23:58 +0700 Subject: [PATCH 03/43] feat: remove kumo-app import --- src/components/RunActionButton.jsx | 4 ---- src/components/SetJointsButton.jsx | 4 ---- src/components/SetJointsOnCellEdit.jsx | 4 +--- src/components/SetTorquesButton.jsx | 6 ++---- src/components/SubscriptionCurrentJoints.jsx | 2 -- 5 files changed, 3 insertions(+), 17 deletions(-) diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 82d7c3e..5dd2461 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -1,14 +1,10 @@ import { Button, CircularProgress } from "@material-ui/core"; -import { usePublisher, useHandleProcess, useLogger } from "kumo-app"; - import React, { useContext } from "react"; import ActionContext from "../context/ActionContext"; function RunActionButton() { - const publisher = usePublisher(); - const logger = useLogger(); const { currentAction } = useContext(ActionContext); diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index 9beb2c1..bb8bf62 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -3,16 +3,12 @@ import PlayArrowIcon from "@material-ui/icons/PlayArrow"; import PropTypes from "prop-types"; import { Button, CircularProgress } from "@material-ui/core"; -import { useHandleProcess, useLogger, usePublisher } from "kumo-app"; - import React, { useContext } from "react"; import ActionContext from "../context/ActionContext"; function SetJointsButton(props) { const { typeButton } = props; - const publisher = usePublisher(); - const logger = useLogger(); const { setJointRobotData, jointPoseData } = useContext(ActionContext); diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index ec33205..a84e28a 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -1,7 +1,5 @@ -import { useHandleProcess, useLogger, usePublisher } from "kumo-app"; -import { DataGrid } from "@material-ui/data-grid"; - import React, { useContext } from "react"; +import { DataGrid } from "@material-ui/data-grid"; import ActionContext from "../context/ActionContext"; diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index 9ba7773..044d651 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -1,11 +1,9 @@ +import React, { useState, useContext, useEffect } from "react"; + import { Button, CircularProgress, Grid } from "@material-ui/core"; import WbIncandescentRoundedIcon from "@material-ui/icons/WbIncandescentRounded"; import WbIncandescentOutlinedIcon from "@material-ui/icons/WbIncandescentOutlined"; -import { useHandleProcess, useLogger, usePublisher } from "kumo-app"; - -import React, { useState, useContext, useEffect } from "react"; - import ActionContext from "../context/ActionContext"; function SetTorquesButton() { diff --git a/src/components/SubscriptionCurrentJoints.jsx b/src/components/SubscriptionCurrentJoints.jsx index ae43eac..9c7de45 100644 --- a/src/components/SubscriptionCurrentJoints.jsx +++ b/src/components/SubscriptionCurrentJoints.jsx @@ -1,5 +1,3 @@ -import { SubscriptionProvider } from "kumo-app"; - import React, { useContext, useState, useEffect } from "react"; import ActionContext from "../context/ActionContext"; From 07eb1bf2f15827739b72ea60d2d74487b38b4d1d Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 22:24:20 +0700 Subject: [PATCH 04/43] feat: implement getconfig and saveconfig --- .env | 1 + src/App.jsx | 27 +- src/components/ActionManager.jsx | 518 +++++++++++++-------------- src/components/GetActionsButton.jsx | 36 +- src/components/SaveActionsButton.jsx | 38 +- src/proto/akushon_grpc_web_pb.js | 201 +++++++++++ src/proto/akushon_pb.js | 290 +++++++++++++++ 7 files changed, 783 insertions(+), 328 deletions(-) create mode 100644 .env create mode 100644 src/proto/akushon_grpc_web_pb.js create mode 100644 src/proto/akushon_pb.js diff --git a/.env b/.env new file mode 100644 index 0000000..4c8d76c --- /dev/null +++ b/.env @@ -0,0 +1 @@ +GRPC_WEB_API_URL=http://localhost:8080 \ No newline at end of file diff --git a/src/App.jsx b/src/App.jsx index eb69160..9c72d90 100644 --- a/src/App.jsx +++ b/src/App.jsx @@ -1,15 +1,9 @@ +/* eslint-disable */ 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 { - BridgeProvider, - BridgeConnection, - LoggerProvider, - SessionProvider, -} from "kumo-app"; - import ActionManager from "./components/ActionManager"; import ActionContext from "./context/ActionContext"; import "./App.css"; @@ -43,19 +37,12 @@ function App() { }} >
- - - - - - - Akushon App - - - - - - + + + Akushon App + + +
); diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index b9958af..9baeb5c 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -1,3 +1,4 @@ +/* eslint-disable */ import AddIcon from "@material-ui/icons/Add"; import ArrowBackIcon from "@material-ui/icons/ArrowBack"; import ArrowUpwardIcon from "@material-ui/icons/ArrowUpward"; @@ -6,24 +7,17 @@ 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 { - ClientProvider, - NodeProvider, - PublisherProvider, - useLogger, -} from "kumo-app"; - import React, { useContext } from "react"; import ActionContext from "../context/ActionContext"; -import SetTorquesButton from "./SetTorquesButton"; -import SetJointsButton from "./SetJointsButton"; +// import SetTorquesButton from "./SetTorquesButton"; +// import SetJointsButton from "./SetJointsButton"; import GetActionsButton from "./GetActionsButton"; -import RunActionButton from "./RunActionButton"; +// import RunActionButton from "./RunActionButton"; import SaveActionsButton from "./SaveActionsButton"; -import SetJointsOnCellEdit from "./SetJointsOnCellEdit"; -import SubscriptionCurrentJoints from "./SubscriptionCurrentJoints"; +// import SetJointsOnCellEdit from "./SetJointsOnCellEdit"; +// import SubscriptionCurrentJoints from "./SubscriptionCurrentJoints"; const actionColumns = [ { @@ -143,8 +137,6 @@ function ActionManager() { setCurrentPose, } = useContext(ActionContext); - const logger = useLogger(); - const handleClickedAction = (event) => { setCurrentAction(event.row); const currentPoses = actionsData[event.row.id].poses; @@ -245,289 +237,275 @@ function ActionManager() { }; 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, + 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, + 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, - }} +
+
+ - - -
- - - - -
- - - -
- { - 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, + pause: currentPose.pause, + joints: currentPose.joints, }; - updateJointPoseData(newJoints, index); + updatePosesData(newPose); + }} + style={{ margin: 3, marginTop: 20, width: "40%" }} + InputLabelProps={{ + shrink: true, }} - disableColumnMenu - rowsPerPageOptions={[]} /> -
-
- - - -
- - -
- - - - -
-
- - -
- + { + const newPose = { + id: currentPose.id, + name: currentPose.name, + speed: 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: event.target.value, + joints: currentPose.joints, + }; + updatePosesData(newPose); + }} + style={{ margin: 3, marginTop: 20, width: "25%" }} + InputLabelProps={{ + shrink: true, + }} + /> + + +
+ + + + +
+ + +
+ { + const index = jointPoseData.findIndex( + (joint) => joint.id === event.id + ); + const newJoints = { + id: jointPoseData[index].id, + name: jointPoseData[index].name, + pose_pos: event.value, + }; + updateJointPoseData(newJoints, index); + }} + disableColumnMenu + rowsPerPageOptions={[]} + /> +
+
+ + + +
- - - + +
+ + + + +
+
+ + +
+ */} + + + ); } diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index 4ca9caf..38b4130 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -1,8 +1,9 @@ -import { Button, CircularProgress } from "@material-ui/core"; +/* eslint-disable */ +import React, { useContext } from "react"; -import { useClient, useHandleProcess, useLogger } from "kumo-app"; +import { Button } from "@material-ui/core"; -import React, { useContext } from "react"; +import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; @@ -30,16 +31,18 @@ const jointIdList = { }; function GetActionsButton() { - const client = useClient(); - const logger = useLogger(); + const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const request = new akushon_interfaces.Empty(); const { setActionsData } = useContext(ActionContext); - const [calling, handleCall] = useHandleProcess(() => { - logger.info("Get actions now..."); - return client - .call({}) - .then((response) => { - logger.success(`Successfully get actions data`); + const handleCall = () => { + console.log('Get actions now...'); + + client.getConfig(request, {}, (err, response) => { + if (err) { + console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + } else { + console.log('Successfully get actions data'); const jsonActionsData = JSON.parse(`${response.json}`); let idCounter = -1; @@ -76,21 +79,18 @@ function GetActionsButton() { }); }); setActionsData(rawActions); - }) - .catch((err) => { - logger.error(`Failed to call data! ${err.message}.`); - }); - }, 500); + } + }); + }; return ( ); } diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index 7d2a266..baf53c8 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -1,18 +1,19 @@ -import { Button, CircularProgress } from "@material-ui/core"; +/* eslint-disable */ +import React, { useContext } from "react"; -import { useClient, useHandleProcess, useLogger } from "kumo-app"; +import { Button } from "@material-ui/core"; -import React, { useContext } from "react"; +import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function SaveActionsButton() { - const client = useClient(); - const logger = useLogger(); + const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const message = new akushon_interfaces.ConfigActions(); const { actionsData } = useContext(ActionContext); - const [calling, handleCall] = useHandleProcess(() => { + const handleCall = () => { const jsonActionsData = actionsData; const rawActions = {}; Object.keys(jsonActionsData).forEach((key) => { @@ -42,20 +43,18 @@ function SaveActionsButton() { }); const json = JSON.stringify(rawActions); if (actionsData.length === 0) { - logger.warn(`No actions data. Call the actions data first.`); + console.log(`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); + + client.saveConfig(message, {}, (err) => { + if (err) { + console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + } else { + console.log(`Successfully saved actions data`); + } + }); + }; return ( ); } diff --git a/src/proto/akushon_grpc_web_pb.js b/src/proto/akushon_grpc_web_pb.js new file mode 100644 index 0000000..18a249c --- /dev/null +++ b/src/proto/akushon_grpc_web_pb.js @@ -0,0 +1,201 @@ +/** + * @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 v3.12.4 +// 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); +}; + + +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..1527e15 --- /dev/null +++ b/src/proto/akushon_pb.js @@ -0,0 +1,290 @@ +// source: akushon.proto +/** + * @fileoverview + * @enhanceable + * @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! + +var jspb = require('google-protobuf'); +var goog = jspb; +var global = Function('return this')(); + +goog.exportSymbol('proto.akushon_interfaces.proto.ConfigActions', null, global); +goog.exportSymbol('proto.akushon_interfaces.proto.Empty', 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'; +} + + + +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); +}; + + +export default proto.akushon_interfaces.proto; From 36c4979138dbcf523ad0c6a32a6e1643002e2ead Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 22:49:55 +0700 Subject: [PATCH 05/43] feat: commonjs plugin --- package-lock.json | 17 +++++++++++++++++ package.json | 1 + 2 files changed, 18 insertions(+) diff --git a/package-lock.json b/package-lock.json index c3550cf..cd8f119 100644 --- a/package-lock.json +++ b/package-lock.json @@ -12,6 +12,7 @@ "@material-ui/core": "^4.11.3", "@material-ui/data-grid": "*", "@material-ui/icons": "^4.11.2", + "@originjs/vite-plugin-commonjs": "^1.0.3", "google-protobuf": "^3.21.2", "grpc-web": "^1.4.2", "kumo-app": "git://github.com/ichiro-its/kumo-app.git#v0.3.0", @@ -741,6 +742,14 @@ "react-dom": "^16.8.0 || ^17.0.0" } }, + "node_modules/@originjs/vite-plugin-commonjs": { + "version": "1.0.3", + "resolved": "https://registry.npmjs.org/@originjs/vite-plugin-commonjs/-/vite-plugin-commonjs-1.0.3.tgz", + "integrity": "sha512-KuEXeGPptM2lyxdIEJ4R11+5ztipHoE7hy8ClZt3PYaOVQ/pyngd2alaSrPnwyFeOW1UagRBaQ752aA1dTMdOQ==", + "dependencies": { + "esbuild": "^0.14.14" + } + }, "node_modules/@react-dnd/asap": { "version": "4.0.1", "resolved": "https://registry.npmjs.org/@react-dnd/asap/-/asap-4.0.1.tgz", @@ -5457,6 +5466,14 @@ "react-is": "^16.8.0 || ^17.0.0" } }, + "@originjs/vite-plugin-commonjs": { + "version": "1.0.3", + "resolved": "https://registry.npmjs.org/@originjs/vite-plugin-commonjs/-/vite-plugin-commonjs-1.0.3.tgz", + "integrity": "sha512-KuEXeGPptM2lyxdIEJ4R11+5ztipHoE7hy8ClZt3PYaOVQ/pyngd2alaSrPnwyFeOW1UagRBaQ752aA1dTMdOQ==", + "requires": { + "esbuild": "^0.14.14" + } + }, "@react-dnd/asap": { "version": "4.0.1", "resolved": "https://registry.npmjs.org/@react-dnd/asap/-/asap-4.0.1.tgz", diff --git a/package.json b/package.json index 2b99f46..005a707 100644 --- a/package.json +++ b/package.json @@ -21,6 +21,7 @@ "react": "^17.0.2", "google-protobuf": "^3.21.2", "grpc-web": "^1.4.2", + "@originjs/vite-plugin-commonjs": "^1.0.3", "react-dom": "^17.0.0", "vite-plugin-eslint": "^1.3.0", "web-vitals": "^1.0.1" From 54e2cf8fd42840090327dea123dd83537046f40c Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 22:50:31 +0700 Subject: [PATCH 06/43] feat: implement setjointspublisher --- src/App.jsx | 1 - src/components/ActionManager.jsx | 23 ++-- src/components/GetActionsButton.jsx | 1 - src/components/SaveActionsButton.jsx | 1 - src/components/SetJointsButton.jsx | 29 +++-- src/proto/akushon_grpc_web_pb.js | 61 +++++++++ src/proto/akushon_pb.js | 182 +++++++++++++++++++++++++++ 7 files changed, 270 insertions(+), 28 deletions(-) diff --git a/src/App.jsx b/src/App.jsx index 9c72d90..cfcf151 100644 --- a/src/App.jsx +++ b/src/App.jsx @@ -1,4 +1,3 @@ -/* eslint-disable */ import React, { useState } from "react"; import MuiAppBar from "@material-ui/core/AppBar"; import MuiToolbar from "@material-ui/core/Toolbar"; diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 9baeb5c..3acb982 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -1,4 +1,3 @@ -/* eslint-disable */ import AddIcon from "@material-ui/icons/Add"; import ArrowBackIcon from "@material-ui/icons/ArrowBack"; import ArrowUpwardIcon from "@material-ui/icons/ArrowUpward"; @@ -12,9 +11,9 @@ import React, { useContext } from "react"; import ActionContext from "../context/ActionContext"; // import SetTorquesButton from "./SetTorquesButton"; -// import SetJointsButton from "./SetJointsButton"; +import SetJointsButton from "./SetJointsButton"; import GetActionsButton from "./GetActionsButton"; -// import RunActionButton from "./RunActionButton"; +import RunActionButton from "./RunActionButton"; import SaveActionsButton from "./SaveActionsButton"; // import SetJointsOnCellEdit from "./SetJointsOnCellEdit"; // import SubscriptionCurrentJoints from "./SubscriptionCurrentJoints"; @@ -256,7 +255,7 @@ function ActionManager() { - {/* + Action @@ -317,12 +316,12 @@ function ActionManager() { />
- + > */} - + {/* */}
- + {/*
{ + const handlePublish = () => { const joints = []; if (typeButton === "to_robot") { @@ -38,27 +43,25 @@ function SetJointsButton(props) { const control_type = 3; - 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.setJointsData = JSON.stringify(joints); + message.setControlType = control_type; + + client.publishSetJoints(message, {}, (err) => { + if (err) { + console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + } + }); + }; return ( ); } diff --git a/src/proto/akushon_grpc_web_pb.js b/src/proto/akushon_grpc_web_pb.js index 18a249c..79a82ab 100644 --- a/src/proto/akushon_grpc_web_pb.js +++ b/src/proto/akushon_grpc_web_pb.js @@ -197,5 +197,66 @@ proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.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); +}; + + export default proto.akushon_interfaces.proto; diff --git a/src/proto/akushon_pb.js b/src/proto/akushon_pb.js index 1527e15..5354a8e 100644 --- a/src/proto/akushon_pb.js +++ b/src/proto/akushon_pb.js @@ -14,6 +14,7 @@ var global = Function('return this')(); goog.exportSymbol('proto.akushon_interfaces.proto.ConfigActions', null, global); goog.exportSymbol('proto.akushon_interfaces.proto.Empty', null, global); +goog.exportSymbol('proto.akushon_interfaces.proto.SetJointsData', null, global); /** * Generated by JsPbCodeGenerator. * @param {Array=} opt_data Optional initial data array, typically from a @@ -56,6 +57,27 @@ if (goog.DEBUG && !COMPILED) { */ 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'; +} @@ -287,4 +309,164 @@ proto.akushon_interfaces.proto.ConfigActions.prototype.setJsonActions = function }; + + + +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), + jointsData: 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.setJointsData(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.getJointsData(); + 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_data = 2; + * @return {string} + */ +proto.akushon_interfaces.proto.SetJointsData.prototype.getJointsData = 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.setJointsData = function(value) { + return jspb.Message.setProto3StringField(this, 2, value); +}; + + export default proto.akushon_interfaces.proto; From 5bee5ed4d4b6e63e05c1700b8f196380a0f3b8ba Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 22:59:14 +0700 Subject: [PATCH 07/43] feat: implement run action service --- src/components/ActionManager.jsx | 2 +- src/components/RunActionButton.jsx | 33 +++-- src/proto/akushon_grpc_web_pb.js | 73 +++++++++- src/proto/akushon_pb.js | 212 +++++++++++++++++++++++++++++ 4 files changed, 298 insertions(+), 22 deletions(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 3acb982..5570a73 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -427,7 +427,7 @@ function ActionManager() { messageType="akushon_interfaces/msg/RunAction" topicName="/action/run_action" > */} - {/* */} + {/* */} ); } diff --git a/src/proto/akushon_grpc_web_pb.js b/src/proto/akushon_grpc_web_pb.js index 79a82ab..cfa0b7c 100644 --- a/src/proto/akushon_grpc_web_pb.js +++ b/src/proto/akushon_grpc_web_pb.js @@ -203,8 +203,8 @@ proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.saveConfig = * !proto.akushon_interfaces.proto.SetJointsData, * !proto.akushon_interfaces.proto.Empty>} */ -const methodDescriptor_Config_publishSetJoints = new grpc.web.MethodDescriptor( - '/akushon_interfaces.proto.Config/publishSetJoints', +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, @@ -232,10 +232,10 @@ const methodDescriptor_Config_publishSetJoints = new grpc.web.MethodDescriptor( proto.akushon_interfaces.proto.ConfigClient.prototype.publishSetJoints = function(request, metadata, callback) { return this.client_.rpcCall(this.hostname_ + - '/akushon_interfaces.proto.Config/publishSetJoints', + '/akushon_interfaces.proto.Config/PublishSetJoints', request, metadata || {}, - methodDescriptor_Config_publishSetJoints, + methodDescriptor_Config_PublishSetJoints, callback); }; @@ -251,10 +251,71 @@ proto.akushon_interfaces.proto.ConfigClient.prototype.publishSetJoints = proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.publishSetJoints = function(request, metadata) { return this.client_.unaryCall(this.hostname_ + - '/akushon_interfaces.proto.Config/publishSetJoints', + '/akushon_interfaces.proto.Config/PublishSetJoints', request, metadata || {}, - methodDescriptor_Config_publishSetJoints); + 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); }; diff --git a/src/proto/akushon_pb.js b/src/proto/akushon_pb.js index 5354a8e..718692b 100644 --- a/src/proto/akushon_pb.js +++ b/src/proto/akushon_pb.js @@ -13,6 +13,7 @@ var goog = jspb; var global = 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.Empty', null, global); goog.exportSymbol('proto.akushon_interfaces.proto.SetJointsData', null, global); /** @@ -78,6 +79,27 @@ if (goog.DEBUG && !COMPILED) { */ 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'; +} @@ -469,4 +491,194 @@ proto.akushon_interfaces.proto.SetJointsData.prototype.setJointsData = function( }; + + + +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); +}; + + export default proto.akushon_interfaces.proto; From 8962e380bf671e1494fd2155fa8aaa1f27a447ee Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 23:22:18 +0700 Subject: [PATCH 08/43] feat: implement publish set joint on cell service --- src/components/ActionManager.jsx | 30 +++++++++++++------------- src/components/SetJointsOnCellEdit.jsx | 30 +++++++++++--------------- 2 files changed, 28 insertions(+), 32 deletions(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 5570a73..fdf8e09 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -10,13 +10,13 @@ import React, { useContext } from "react"; import ActionContext from "../context/ActionContext"; -// import SetTorquesButton from "./SetTorquesButton"; +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 SetJointsOnCellEdit from "./SetJointsOnCellEdit"; +import SubscriptionCurrentJoints from "./SubscriptionCurrentJoints"; const actionColumns = [ { @@ -440,7 +440,7 @@ function ActionManager() {
- {/* +
- + > */} - + {/* */}
- + > */} - - + {/* */} + {/* */}
@@ -492,16 +492,16 @@ function ActionManager() { /> - + > */} - + {/* */}
- */} + diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index a84e28a..9d1f151 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -1,6 +1,8 @@ import React, { useContext } from "react"; import { DataGrid } from "@material-ui/data-grid"; +import akushon_interfaces from "../proto/akushon_grpc_web_pb"; + import ActionContext from "../context/ActionContext"; const jointRobotColumns = [ @@ -25,8 +27,8 @@ const jointRobotColumns = [ ]; function SetJointsOnCellEdit() { - const publisher = usePublisher(); - const logger = useLogger(); + const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const message = new akushon_interfaces.SetJointsData(); const { setJointRobotData, jointRobotData, setJointSelected } = useContext(ActionContext); @@ -40,7 +42,7 @@ function SetJointsOnCellEdit() { setJointRobotData(newJointRobotData); }; - const [publishing, handlePublish] = useHandleProcess(() => { + const handlePublish = () => { const joints = []; for (let i = 0; i < jointRobotData.length; i += 1) { @@ -50,21 +52,15 @@ function SetJointsOnCellEdit() { }); } - const control_type = 3; - - if (publishing) { - logger.info("Publishing..."); - } + message.setControlType(3); + message.setJointsData(joints); - 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.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + } + }); + }; return ( Date: Thu, 21 Sep 2023 23:30:50 +0700 Subject: [PATCH 09/43] feat: implement set torques service --- src/components/SetTorquesButton.jsx | 33 +++-- src/proto/akushon_grpc_web_pb.js | 61 ++++++++++ src/proto/akushon_pb.js | 182 ++++++++++++++++++++++++++++ 3 files changed, 259 insertions(+), 17 deletions(-) diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index 044d651..76c160d 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -4,11 +4,13 @@ import { Button, CircularProgress, Grid } from "@material-ui/core"; import WbIncandescentRoundedIcon from "@material-ui/icons/WbIncandescentRounded"; import WbIncandescentOutlinedIcon from "@material-ui/icons/WbIncandescentOutlined"; +import akushon_interfaces from "../proto/akushon_grpc_web_pb"; + import ActionContext from "../context/ActionContext"; function SetTorquesButton() { - const publisher = usePublisher(); - const logger = useLogger(); + const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const message = new akushon_interfaces.SetTorquesData(); const { jointSelected, setJointRobotData, jointRobotData } = useContext(ActionContext); @@ -19,16 +21,16 @@ function SetTorquesButton() { const [onTorquesClicked, setOnTorquesClicked] = useState(false); const [offTorquesClicked, setOffTorquesClicked] = useState(false); - const [publishing, handlePublish] = useHandleProcess(() => { + const handlePublish = () => { const ids = jointSelected; const torque_enable = isTorquesEnabled; setOffTorquesClicked(false); setOnTorquesClicked(false); if (ids.length === 0) { - logger.warn( + console.log( `No selected joints. Select some joint first to be set on/off.` ); - return publisher; + return client; } for (let i = 0; i < ids.length; i += 1) { @@ -47,18 +49,15 @@ 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); + message.setIds(ids); + message.setTorqueEnable(torque_enable); + + client.publishSetTorques(message, {}, (err) => { + if (err) { + console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + } + }); + }; useEffect(() => { handlePublish(); diff --git a/src/proto/akushon_grpc_web_pb.js b/src/proto/akushon_grpc_web_pb.js index cfa0b7c..341d14f 100644 --- a/src/proto/akushon_grpc_web_pb.js +++ b/src/proto/akushon_grpc_web_pb.js @@ -319,5 +319,66 @@ proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.runAction = }; +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.SetTorquesData, + * !proto.akushon_interfaces.proto.Empty>} + */ +const methodDescriptor_Config_PublishSetTorques = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/PublishSetTorques', + 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.publishSetTorques = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/akushon_interfaces.proto.Config/PublishSetTorques', + request, + metadata || {}, + methodDescriptor_Config_PublishSetTorques, + 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.publishSetTorques = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/akushon_interfaces.proto.Config/PublishSetTorques', + request, + metadata || {}, + methodDescriptor_Config_PublishSetTorques); +}; + + export default proto.akushon_interfaces.proto; diff --git a/src/proto/akushon_pb.js b/src/proto/akushon_pb.js index 718692b..73fd657 100644 --- a/src/proto/akushon_pb.js +++ b/src/proto/akushon_pb.js @@ -16,6 +16,7 @@ goog.exportSymbol('proto.akushon_interfaces.proto.ConfigActions', null, global); goog.exportSymbol('proto.akushon_interfaces.proto.ConfigRunAction', 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 @@ -100,6 +101,27 @@ if (goog.DEBUG && !COMPILED) { */ 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'; +} @@ -681,4 +703,164 @@ proto.akushon_interfaces.proto.ConfigRunAction.prototype.setJsonAction = functio }; + + + +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); +}; + + export default proto.akushon_interfaces.proto; From 58c075de8d3cf0ce3024def2275e201d6641cb3c Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 23:32:12 +0700 Subject: [PATCH 10/43] fix: use console log --- src/components/ActionManager.jsx | 2 +- src/components/RunActionButton.jsx | 4 ++-- src/components/SetJointsButton.jsx | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index fdf8e09..2395185 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -231,7 +231,7 @@ function ActionManager() { }; updatePosesData(newPose); } else { - logger.error("Joint robot data is empty!"); + console.log("Joint robot data is empty!"); } }; diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 5d23422..8ec5cdf 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -17,8 +17,8 @@ function RunActionButton() { const rawPoses = currentAction.poses; if (Object.keys(currentAction).length === 0) { - logger.warn(`No current action selected.`); - return publisher; + console.log(`No current action selected.`); + return client; } for (let i = 0; i < rawPoses.length; i += 1) { diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index dc29116..b36fc92 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -21,7 +21,7 @@ function SetJointsButton(props) { const joints = []; if (typeButton === "to_robot") { - logger.info(`Change the joint robot data...`); + console.log(`Change the joint robot data...`); const newJointRobotData = []; for (let i = 0; i < jointPoseData.length; i += 1) { newJointRobotData.push({ From a7a5f7cff52e4c8835413429ac28e626c8fbba73 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 21 Sep 2023 23:51:54 +0700 Subject: [PATCH 11/43] feat: implement current joint subscription service --- src/components/SubscriptionCurrentJoints.jsx | 47 +++--- src/proto/akushon_grpc_web_pb.js | 61 ++++++++ src/proto/akushon_pb.js | 152 +++++++++++++++++++ 3 files changed, 239 insertions(+), 21 deletions(-) diff --git a/src/components/SubscriptionCurrentJoints.jsx b/src/components/SubscriptionCurrentJoints.jsx index 9c7de45..591773a 100644 --- a/src/components/SubscriptionCurrentJoints.jsx +++ b/src/components/SubscriptionCurrentJoints.jsx @@ -1,5 +1,7 @@ import React, { useContext, useState, useEffect } from "react"; +import akushon_interfaces from "../proto/akushon_grpc_web_pb"; + import ActionContext from "../context/ActionContext"; const jointIdList = { @@ -26,26 +28,37 @@ const jointIdList = { }; function SubscriptionCurrentJoints() { + const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const request = new akushon_interfaces.Empty(); + 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; + const handleSubscription = () => { + client.subscribeCurrentJoints(request, {}, (err, response) => { + if (err) { + console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + } else { + 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; + }); } - - return prevCurrentJoints; }); }; + handleSubscription(); + useEffect(() => { if (jointRobotData.length !== 0) { setJointRobotData((oldJointRobotData) => { @@ -67,14 +80,6 @@ function SubscriptionCurrentJoints() { }); } }, [currentJoints]); - - return ( - - ); } export default SubscriptionCurrentJoints; diff --git a/src/proto/akushon_grpc_web_pb.js b/src/proto/akushon_grpc_web_pb.js index 341d14f..c69686b 100644 --- a/src/proto/akushon_grpc_web_pb.js +++ b/src/proto/akushon_grpc_web_pb.js @@ -380,5 +380,66 @@ proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.publishSetTorques = }; +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.akushon_interfaces.proto.CurrentJoints, + * !proto.akushon_interfaces.proto.Empty>} + */ +const methodDescriptor_Config_SubscribeCurrentJoints = new grpc.web.MethodDescriptor( + '/akushon_interfaces.proto.Config/SubscribeCurrentJoints', + grpc.web.MethodType.UNARY, + proto.akushon_interfaces.proto.CurrentJoints, + proto.akushon_interfaces.proto.Empty, + /** + * @param {!proto.akushon_interfaces.proto.CurrentJoints} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.akushon_interfaces.proto.Empty.deserializeBinary +); + + +/** + * @param {!proto.akushon_interfaces.proto.CurrentJoints} 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.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.CurrentJoints} 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 index 73fd657..950e2d9 100644 --- a/src/proto/akushon_pb.js +++ b/src/proto/akushon_pb.js @@ -14,6 +14,7 @@ var global = 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); @@ -122,6 +123,27 @@ if (goog.DEBUG && !COMPILED) { */ 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'; +} @@ -863,4 +885,134 @@ proto.akushon_interfaces.proto.SetTorquesData.prototype.setTorqueEnable = functi }; + + + +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; From 4522111e52f211640d6df5050de3bd2b85b800ea Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Fri, 13 Oct 2023 18:34:29 +0700 Subject: [PATCH 12/43] fix: fix vite env variable --- .env | 2 +- .eslintrc.js | 2 +- package-lock.json | 2022 +++++++++++------- package.json | 37 +- src/components/GetActionsButton.jsx | 2 +- src/components/RunActionButton.jsx | 2 +- src/components/SaveActionsButton.jsx | 2 +- src/components/SetJointsButton.jsx | 2 +- src/components/SetJointsOnCellEdit.jsx | 2 +- src/components/SetTorquesButton.jsx | 2 +- src/components/SubscriptionCurrentJoints.jsx | 2 +- 11 files changed, 1235 insertions(+), 842 deletions(-) diff --git a/.env b/.env index 4c8d76c..4cba831 100644 --- a/.env +++ b/.env @@ -1 +1 @@ -GRPC_WEB_API_URL=http://localhost:8080 \ No newline at end of file +VITE_GRPC_WEB_API_URL=http://localhost:8080 \ No newline at end of file diff --git a/.eslintrc.js b/.eslintrc.js index 362832f..95e48a0 100644 --- a/.eslintrc.js +++ b/.eslintrc.js @@ -3,7 +3,7 @@ module.exports = { browser: true, es2021: true, }, - extends: ["airbnb", "eslint:recommended", "prettier"], + extends: ["airbnb", "eslint:recommended", "plugin:react/recommended"], parserOptions: { ecmaFeatures: { jsx: true, diff --git a/package-lock.json b/package-lock.json index cd8f119..bd60d4d 100644 --- a/package-lock.json +++ b/package-lock.json @@ -13,28 +13,25 @@ "@material-ui/data-grid": "*", "@material-ui/icons": "^4.11.2", "@originjs/vite-plugin-commonjs": "^1.0.3", + "@vitejs/plugin-react-refresh": "^1.3.6", "google-protobuf": "^3.21.2", "grpc-web": "^1.4.2", - "kumo-app": "git://github.com/ichiro-its/kumo-app.git#v0.3.0", "mui-datatables": "^3.7.7", "prop-types": "^15.8.1", "react": "^17.0.2", - "react-dom": "^17.0.0", - "vite-plugin-eslint": "^1.3.0", - "web-vitals": "^1.0.1" + "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" } }, "node_modules/@aashutoshrathi/word-wrap": { @@ -49,7 +46,6 @@ "version": "2.2.1", "resolved": 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"integrity": "sha512-MvQa//+KcZCUkBTIC9blM+CU9J2GzuTytsOUwf2lidtvkx/6gnEp1QvJv34t9vdjhFmha/mUiNDbN0D0mJWdug==" - }, "yallist": { "version": "4.0.0", "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz", "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==" + }, + "yocto-queue": { + "version": "0.1.0", + "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz", + "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==", + "dev": true } } } diff --git a/package.json b/package.json index 005a707..ad3f455 100644 --- a/package.json +++ b/package.json @@ -15,40 +15,25 @@ "@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", "mui-datatables": "^3.7.7", "prop-types": "^15.8.1", "react": "^17.0.2", "google-protobuf": "^3.21.2", "grpc-web": "^1.4.2", "@originjs/vite-plugin-commonjs": "^1.0.3", - "react-dom": "^17.0.0", + "react-dom": "^17.0.2", "vite-plugin-eslint": "^1.3.0", - "web-vitals": "^1.0.1" - }, - "browserslist": { - "production": [ - ">0.2%", - "not dead", - "not op_mini all" - ], - "development": [ - "last 1 chrome version", - "last 1 firefox version", - "last 1 safari version" - ] + "vite": "^2.8.6", + "@vitejs/plugin-react-refresh": "^1.3.6" }, "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/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index fe9d4f6..b1d50ec 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -30,7 +30,7 @@ const jointIdList = { }; function GetActionsButton() { - const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const request = new akushon_interfaces.Empty(); const { setActionsData } = useContext(ActionContext); diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 8ec5cdf..147e505 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -7,7 +7,7 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function RunActionButton() { - const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.ConfigRunAction(); const { currentAction } = useContext(ActionContext); diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index ed6230b..f0ef8f2 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -7,7 +7,7 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function SaveActionsButton() { - const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.ConfigActions(); const { actionsData } = useContext(ActionContext); diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index b36fc92..622755d 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -10,7 +10,7 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function SetJointsButton(props) { - const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.SetJointsData(); const { typeButton } = props; diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index 9d1f151..246725a 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -27,7 +27,7 @@ const jointRobotColumns = [ ]; function SetJointsOnCellEdit() { - const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.SetJointsData(); const { setJointRobotData, jointRobotData, setJointSelected } = diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index 76c160d..cc5032c 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -9,7 +9,7 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function SetTorquesButton() { - const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.SetTorquesData(); const { jointSelected, setJointRobotData, jointRobotData } = diff --git a/src/components/SubscriptionCurrentJoints.jsx b/src/components/SubscriptionCurrentJoints.jsx index 591773a..38819d9 100644 --- a/src/components/SubscriptionCurrentJoints.jsx +++ b/src/components/SubscriptionCurrentJoints.jsx @@ -28,7 +28,7 @@ const jointIdList = { }; function SubscriptionCurrentJoints() { - const client = new akushon_interfaces.ConfigClient(`${import.meta.env.GRPC_WEB_API_URL}`, null, null); + const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const request = new akushon_interfaces.Empty(); const [currentJoints, setCurrentJoints] = useState([]); From 388ff423daeb077cdf6b3a700255d20ab7486d74 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Fri, 13 Oct 2023 22:47:30 +0700 Subject: [PATCH 13/43] fix: fix client services --- .env | 2 +- envoy.yaml | 61 +++++++++++++++++++++++++++++ src/components/GetActionsButton.jsx | 2 +- src/components/RunActionButton.jsx | 4 +- src/components/SetJointsButton.jsx | 7 ++-- src/components/SetTorquesButton.jsx | 8 ++-- src/proto/akushon_grpc_web_pb.js | 38 +++++++++--------- src/proto/akushon_pb.js | 24 ++++++++---- 8 files changed, 109 insertions(+), 37 deletions(-) create mode 100644 envoy.yaml diff --git a/.env b/.env index 4cba831..7cb516a 100644 --- a/.env +++ b/.env @@ -1 +1 @@ -VITE_GRPC_WEB_API_URL=http://localhost:8080 \ No newline at end of file +VITE_GRPC_WEB_API_URL=http://192.168.1.4:8090 \ No newline at end of file diff --git a/envoy.yaml b/envoy.yaml new file mode 100644 index 0000000..f3777ef --- /dev/null +++ b/envoy.yaml @@ -0,0 +1,61 @@ +admin: + access_log_path: /tmp/admin_access.log + address: + socket_address: { address: 0.0.0.0, port_value: 9901 } + +static_resources: + listeners: + - name: listener_0 + address: + socket_address: { address: 0.0.0.0, port_value: 8090 } + filter_chains: + - filters: + - name: envoy.http_connection_manager + typed_config: + "@type": type.googleapis.com/envoy.extensions.filters.network.http_connection_manager.v3.HttpConnectionManager + stat_prefix: ingress_http + codec_type: auto + route_config: + name: local_route + virtual_hosts: + - name: local_service + domains: ["*"] + routes: + - match: { prefix: "/" } + route: + cluster: backend_service + timeout: 0s + max_stream_duration: + grpc_timeout_header_max: 0s + cors: + allow_origin_string_match: + - prefix: "*" + allow_methods: GET, PUT, DELETE, POST, OPTIONS + allow_headers: keep-alive,user-agent,cache-control,content-type,content-transfer-encoding,custom-header-1,x-accept-content-transfer-encoding,x-accept-response-streaming,x-user-agent,x-grpc-web,grpc-timeout + max_age: "1728000" + expose_headers: custom-header-1,grpc-status,grpc-message + http_filters: + - name: envoy.filters.http.cors + typed_config: + "@type": type.googleapis.com/envoy.extensions.filters.http.cors.v3.Cors + - name: envoy.filters.http.grpc_web + typed_config: + "@type": type.googleapis.com/envoy.extensions.filters.http.grpc_web.v3.GrpcWeb + - name: envoy.filters.http.router + typed_config: + "@type": type.googleapis.com/envoy.extensions.filters.http.router.v3.Router + clusters: + - name: backend_service + connect_timeout: 0.25s + type: logical_dns + http2_protocol_options: {} + lb_policy: round_robin + load_assignment: + cluster_name: cluster_0 + endpoints: + - lb_endpoints: + - endpoint: + address: + socket_address: + address: 0.0.0.0 + port_value: 5060 diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index b1d50ec..e0c6455 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -42,7 +42,7 @@ function GetActionsButton() { console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } else { console.log('Successfully get actions data'); - const jsonActionsData = JSON.parse(`${response.json}`); + const jsonActionsData = JSON.parse(response); let idCounter = -1; const rawActions = []; diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 147e505..a614dc3 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -1,6 +1,6 @@ import React, { useContext } from "react"; -import { Button, CircularProgress } from "@material-ui/core"; +import { Button } from "@material-ui/core"; import akushon_interfaces from "../proto/akushon_grpc_web_pb"; @@ -45,7 +45,7 @@ function RunActionButton() { message.setControlType(1); message.setActionName("akushon_app_action"); - message.setJson(json); + message.setJsonAction(json); client.runAction(message, {}, (err) => { if (err) { diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index 622755d..ddbe85f 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -3,7 +3,7 @@ import React, { useContext } from "react"; 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 { Button } from "@material-ui/core"; import akushon_interfaces from "../proto/akushon_grpc_web_pb"; @@ -42,9 +42,10 @@ function SetJointsButton(props) { } const control_type = 3; + const joints_action = (JSON.stringify(joints)); - message.setJointsData = JSON.stringify(joints); - message.setControlType = control_type; + message.setJointsActions(joints_action); + message.setControlType(control_type); client.publishSetJoints(message, {}, (err) => { if (err) { diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index cc5032c..e301971 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -30,7 +30,7 @@ function SetTorquesButton() { console.log( `No selected joints. Select some joint first to be set on/off.` ); - return client; + return; } for (let i = 0; i < ids.length; i += 1) { @@ -49,10 +49,12 @@ function SetTorquesButton() { } setJointRobotData(newJointRobotData); - message.setIds(ids); + const ids_message = (JSON.stringify(ids)); + + message.setIds(ids_message); message.setTorqueEnable(torque_enable); - client.publishSetTorques(message, {}, (err) => { + client.setTorques(message, {}, (err) => { if (err) { console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } diff --git a/src/proto/akushon_grpc_web_pb.js b/src/proto/akushon_grpc_web_pb.js index c69686b..a23a83d 100644 --- a/src/proto/akushon_grpc_web_pb.js +++ b/src/proto/akushon_grpc_web_pb.js @@ -7,7 +7,7 @@ // Code generated by protoc-gen-grpc-web. DO NOT EDIT. // versions: // protoc-gen-grpc-web v1.4.2 -// protoc v3.12.4 +// protoc v4.23.4 // source: akushon.proto @@ -325,8 +325,8 @@ proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.runAction = * !proto.akushon_interfaces.proto.SetTorquesData, * !proto.akushon_interfaces.proto.Empty>} */ -const methodDescriptor_Config_PublishSetTorques = new grpc.web.MethodDescriptor( - '/akushon_interfaces.proto.Config/PublishSetTorques', +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, @@ -351,13 +351,13 @@ const methodDescriptor_Config_PublishSetTorques = new grpc.web.MethodDescriptor( * @return {!grpc.web.ClientReadableStream|undefined} * The XHR Node Readable Stream */ -proto.akushon_interfaces.proto.ConfigClient.prototype.publishSetTorques = +proto.akushon_interfaces.proto.ConfigClient.prototype.setTorques = function(request, metadata, callback) { return this.client_.rpcCall(this.hostname_ + - '/akushon_interfaces.proto.Config/PublishSetTorques', + '/akushon_interfaces.proto.Config/SetTorques', request, metadata || {}, - methodDescriptor_Config_PublishSetTorques, + methodDescriptor_Config_SetTorques, callback); }; @@ -370,46 +370,46 @@ proto.akushon_interfaces.proto.ConfigClient.prototype.publishSetTorques = * @return {!Promise} * Promise that resolves to the response */ -proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.publishSetTorques = +proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.setTorques = function(request, metadata) { return this.client_.unaryCall(this.hostname_ + - '/akushon_interfaces.proto.Config/PublishSetTorques', + '/akushon_interfaces.proto.Config/SetTorques', request, metadata || {}, - methodDescriptor_Config_PublishSetTorques); + methodDescriptor_Config_SetTorques); }; /** * @const * @type {!grpc.web.MethodDescriptor< - * !proto.akushon_interfaces.proto.CurrentJoints, - * !proto.akushon_interfaces.proto.Empty>} + * !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.CurrentJoints, proto.akushon_interfaces.proto.Empty, + proto.akushon_interfaces.proto.CurrentJoints, /** - * @param {!proto.akushon_interfaces.proto.CurrentJoints} request + * @param {!proto.akushon_interfaces.proto.Empty} request * @return {!Uint8Array} */ function(request) { return request.serializeBinary(); }, - proto.akushon_interfaces.proto.Empty.deserializeBinary + proto.akushon_interfaces.proto.CurrentJoints.deserializeBinary ); /** - * @param {!proto.akushon_interfaces.proto.CurrentJoints} request The + * @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.Empty)} + * @param {function(?grpc.web.RpcError, ?proto.akushon_interfaces.proto.CurrentJoints)} * callback The callback function(error, response) - * @return {!grpc.web.ClientReadableStream|undefined} + * @return {!grpc.web.ClientReadableStream|undefined} * The XHR Node Readable Stream */ proto.akushon_interfaces.proto.ConfigClient.prototype.subscribeCurrentJoints = @@ -424,11 +424,11 @@ proto.akushon_interfaces.proto.ConfigClient.prototype.subscribeCurrentJoints = /** - * @param {!proto.akushon_interfaces.proto.CurrentJoints} request The + * @param {!proto.akushon_interfaces.proto.Empty} request The * request proto * @param {?Object=} metadata User defined * call metadata - * @return {!Promise} + * @return {!Promise} * Promise that resolves to the response */ proto.akushon_interfaces.proto.ConfigPromiseClient.prototype.subscribeCurrentJoints = diff --git a/src/proto/akushon_pb.js b/src/proto/akushon_pb.js index 950e2d9..c3f1690 100644 --- a/src/proto/akushon_pb.js +++ b/src/proto/akushon_pb.js @@ -2,15 +2,24 @@ /** * @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 = Function('return this')(); +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); @@ -408,7 +417,7 @@ proto.akushon_interfaces.proto.SetJointsData.prototype.toObject = function(opt_i proto.akushon_interfaces.proto.SetJointsData.toObject = function(includeInstance, msg) { var f, obj = { controlType: jspb.Message.getFieldWithDefault(msg, 1, 0), - jointsData: jspb.Message.getFieldWithDefault(msg, 2, "") + jointsActions: jspb.Message.getFieldWithDefault(msg, 2, "") }; if (includeInstance) { @@ -451,7 +460,7 @@ proto.akushon_interfaces.proto.SetJointsData.deserializeBinaryFromReader = funct break; case 2: var value = /** @type {string} */ (reader.readString()); - msg.setJointsData(value); + msg.setJointsActions(value); break; default: reader.skipField(); @@ -489,7 +498,7 @@ proto.akushon_interfaces.proto.SetJointsData.serializeBinaryToWriter = function( f ); } - f = message.getJointsData(); + f = message.getJointsActions(); if (f.length > 0) { writer.writeString( 2, @@ -518,10 +527,10 @@ proto.akushon_interfaces.proto.SetJointsData.prototype.setControlType = function /** - * optional string joints_data = 2; + * optional string joints_actions = 2; * @return {string} */ -proto.akushon_interfaces.proto.SetJointsData.prototype.getJointsData = function() { +proto.akushon_interfaces.proto.SetJointsData.prototype.getJointsActions = function() { return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 2, "")); }; @@ -530,7 +539,7 @@ proto.akushon_interfaces.proto.SetJointsData.prototype.getJointsData = function( * @param {string} value * @return {!proto.akushon_interfaces.proto.SetJointsData} returns this */ -proto.akushon_interfaces.proto.SetJointsData.prototype.setJointsData = function(value) { +proto.akushon_interfaces.proto.SetJointsData.prototype.setJointsActions = function(value) { return jspb.Message.setProto3StringField(this, 2, value); }; @@ -1014,5 +1023,4 @@ proto.akushon_interfaces.proto.CurrentJoints.prototype.setMsgJoints = function(v return jspb.Message.setProto3StringField(this, 1, value); }; - export default proto.akushon_interfaces.proto; From c70c00a0ceb6f4df1da1f50511a3a0d81fd707b6 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Fri, 13 Oct 2023 22:49:56 +0700 Subject: [PATCH 14/43] feat: add action and pose button --- src/components/ActionManager.jsx | 46 +++-------------------- src/components/AddDataButton.jsx | 64 ++++++++++++++++++++++++++++++++ 2 files changed, 69 insertions(+), 41 deletions(-) create mode 100644 src/components/AddDataButton.jsx diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 2395185..c6559a1 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -14,6 +14,7 @@ import SetTorquesButton from "./SetTorquesButton"; import SetJointsButton from "./SetJointsButton"; import GetActionsButton from "./GetActionsButton"; import RunActionButton from "./RunActionButton"; +import AddDataButton from "./AddDataButton"; import SaveActionsButton from "./SaveActionsButton"; import SetJointsOnCellEdit from "./SetJointsOnCellEdit"; import SubscriptionCurrentJoints from "./SubscriptionCurrentJoints"; @@ -316,21 +317,8 @@ function ActionManager() { />
- {/* */} - - {/* */} - + + + +
@@ -462,23 +437,12 @@ function ActionManager() { />
- {/* */} - {/* */}
- {/* */} - {/* */} - {/* */}
diff --git a/src/components/AddDataButton.jsx b/src/components/AddDataButton.jsx new file mode 100644 index 0000000..aebb64b --- /dev/null +++ b/src/components/AddDataButton.jsx @@ -0,0 +1,64 @@ +import React, { useContext } from "react"; + +import { Button } from "@material-ui/core"; +import AddIcon from "@material-ui/icons/Add"; + +import ActionContext from "../context/ActionContext"; + +function AddDataButton(props) { + const { actionsData, posesData, setPosesData, setActionsData } = useContext(ActionContext); + const typeData = props.typeData; + + const handleClick = () => { + if (actionsData.length === 0) { + alert("Please get the actions data first."); + return; + } + + if (typeData === "action") { + const newAction = { + id: actionsData.length + 1, + name: "New Action", + next: "", + start_delay: 0, + stop_delay: 0, + next: "", + poses: [], + }; + + setActionsData((prevActionsData) => [...prevActionsData, newAction]); + + console.log(`Add new action`); + } + else if (typeData === "pose") { + const newPose = { + id: posesData.length + 1, + name: "New Pose", + pause: 0, + speed: 0, + joints: [], + }; + + setPosesData((prevPosesData) => [...prevPosesData, newPose]); + + console.log(`Add new pose`); + } else { + console.log(`Unknown type data: ${typeData}`); + } + }; + + return ( + + ); +} + +export default AddDataButton; From d1d8ec6fe27d0aaf5d301d636eab56de95678e0c Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Fri, 13 Oct 2023 22:50:38 +0700 Subject: [PATCH 15/43] fix: remove duplicate key --- src/components/AddDataButton.jsx | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/components/AddDataButton.jsx b/src/components/AddDataButton.jsx index aebb64b..410ce78 100644 --- a/src/components/AddDataButton.jsx +++ b/src/components/AddDataButton.jsx @@ -14,7 +14,7 @@ function AddDataButton(props) { alert("Please get the actions data first."); return; } - + if (typeData === "action") { const newAction = { id: actionsData.length + 1, @@ -22,7 +22,6 @@ function AddDataButton(props) { next: "", start_delay: 0, stop_delay: 0, - next: "", poses: [], }; From 8d7d5d643aa2089c15c1bdc904b7a2143797719c Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Mon, 16 Oct 2023 17:13:46 +0700 Subject: [PATCH 16/43] fix: fix adding action and pose --- src/components/AddDataButton.jsx | 66 +++++++++++++++++++++++++++----- 1 file changed, 56 insertions(+), 10 deletions(-) diff --git a/src/components/AddDataButton.jsx b/src/components/AddDataButton.jsx index 410ce78..5801f5b 100644 --- a/src/components/AddDataButton.jsx +++ b/src/components/AddDataButton.jsx @@ -5,37 +5,83 @@ import AddIcon from "@material-ui/icons/Add"; 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 AddDataButton(props) { - const { actionsData, posesData, setPosesData, setActionsData } = useContext(ActionContext); + const { actionsData, posesData, setPosesData, setActionsData, currentPose } = useContext(ActionContext); const typeData = props.typeData; const handleClick = () => { - if (actionsData.length === 0) { - alert("Please get the actions data first."); - return; - } - if (typeData === "action") { + if (actionsData.length === 0) { + alert("Please get the actions data first."); + 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 + 1, + id: actionsData.length, name: "New Action", next: "", start_delay: 0, stop_delay: 0, - poses: [], + poses: [newPose] }; setActionsData((prevActionsData) => [...prevActionsData, newAction]); console.log(`Add new action`); + console.log(actionsData); } else if (typeData === "pose") { + if (posesData.length === 0) { + alert("Please pick an action first."); + return; + } const newPose = { - id: posesData.length + 1, + id: posesData.length, name: "New Pose", pause: 0, speed: 0, - joints: [], + joints: currentPose.joints }; setPosesData((prevPosesData) => [...prevPosesData, newPose]); From c5b825ef63272419a0955f7325101d1a993b1812 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Mon, 16 Oct 2023 17:14:17 +0700 Subject: [PATCH 17/43] fix: fix json parse --- src/components/RunActionButton.jsx | 2 +- src/components/SaveActionsButton.jsx | 11 +++++++---- src/components/SetJointsOnCellEdit.jsx | 4 +++- 3 files changed, 11 insertions(+), 6 deletions(-) diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index a614dc3..5d54c46 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -44,7 +44,7 @@ function RunActionButton() { const json = JSON.stringify(rawAction); message.setControlType(1); - message.setActionName("akushon_app_action"); + message.setActionName(currentAction.name); message.setJsonAction(json); client.runAction(message, {}, (err) => { diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index f0ef8f2..02c76dc 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -13,6 +13,11 @@ function SaveActionsButton() { const { actionsData } = useContext(ActionContext); const handleCall = () => { + if (actionsData.length === 0) { + console.log(`No actions data. Call the actions data first.`); + return; + } + const jsonActionsData = actionsData; const rawActions = {}; Object.keys(jsonActionsData).forEach((key) => { @@ -41,10 +46,8 @@ function SaveActionsButton() { rawActions[jsonActionsData[key].name.toLowerCase()] = action; }); const json = JSON.stringify(rawActions); - if (actionsData.length === 0) { - console.log(`No actions data. Call the actions data first.`); - return client; - } + + message.setJsonActions(json); client.saveConfig(message, {}, (err) => { if (err) { diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index 246725a..f73c4cb 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -52,8 +52,10 @@ function SetJointsOnCellEdit() { }); } + const json = JSON.stringify(joints); + message.setControlType(3); - message.setJointsData(joints); + message.setJointsActions(json); client.publishSetJoints(message, {}, (err) => { if (err) { From bec3ed7bdb2479aefe021b7cdb0d69767686ae87 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Mon, 16 Oct 2023 17:14:56 +0700 Subject: [PATCH 18/43] feat: add up down button for changing poses order --- src/components/ManagePoseButton.jsx | 91 +++++++++++++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 src/components/ManagePoseButton.jsx diff --git a/src/components/ManagePoseButton.jsx b/src/components/ManagePoseButton.jsx new file mode 100644 index 0000000..af48648 --- /dev/null +++ b/src/components/ManagePoseButton.jsx @@ -0,0 +1,91 @@ +import React, { useContext } from "react"; +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(props) { + const { currentPose, posesData, setPosesData } = useContext(ActionContext); + + const typeButton = props.typeButton; + + 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") { + console.log(`Move pose up`); + + if (index === 0) { + return; + } + + let 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") { + console.log(`Move pose down`); + + if (index === posesData.length - 1) { + return; + } + + let 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") { + console.log(`Delete pose`); + + let 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.log(`Unknown type button: ${typeButton}`); + } + + console.log(posesData); + } + + return ( + + ); +} + +export default ManagePoseButton; From 6c0dc64f4121a4dd199b666670d90c846bb50708 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Mon, 16 Oct 2023 17:16:34 +0700 Subject: [PATCH 19/43] fix: fix number typecasting --- src/components/ActionManager.jsx | 43 +++++++++++--------------------- 1 file changed, 15 insertions(+), 28 deletions(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index c6559a1..299c75b 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -1,7 +1,4 @@ -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"; @@ -15,9 +12,10 @@ 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 SubscriptionCurrentJoints from "./SubscriptionCurrentJoints"; +import GetCurrentJoints from "./GetCurrentJoints"; const actionColumns = [ { @@ -138,6 +136,8 @@ function ActionManager() { } = useContext(ActionContext); const handleClickedAction = (event) => { + console.log(actionsData); + console.log(event.row); setCurrentAction(event.row); const currentPoses = actionsData[event.row.id].poses; setPosesData(currentPoses); @@ -149,7 +149,6 @@ function ActionManager() { setJointPoseData([]); const currentPoses = posesData[event.row.id]; - const currentJointPoseData = []; Object.keys(jointIdList).forEach((key) => { @@ -180,6 +179,7 @@ function ActionManager() { newPose, ...posesData.slice(newPose.id + 1), ]; + console.log(newPosesData); setPosesData(newPosesData); const newAction = { @@ -212,6 +212,7 @@ function ActionManager() { }; const setJointRobotToPoseData = () => { + {/* */} if (jointRobotData.length !== 0) { const newJointPoseData = []; for (let i = 0; i < jointRobotData.length; i += 1) { @@ -254,6 +255,7 @@ function ActionManager() {
+
@@ -319,24 +321,9 @@ function ActionManager() {
- - + + +
@@ -370,12 +357,12 @@ function ActionManager() { variant="outlined" margin="dense" type="number" - value={currentPose ? currentPose.speed : ""} + value={currentPose ? currentPose.speed : 0} onChange={(event) => { const newPose = { id: currentPose.id, name: currentPose.name, - speed: event.target.value, + speed: Number(event.target.value), pause: currentPose.pause, joints: currentPose.joints, }; @@ -392,13 +379,13 @@ function ActionManager() { variant="outlined" margin="dense" type="number" - value={currentPose ? currentPose.pause : ""} + value={currentPose ? currentPose.pause : 0} onChange={(event) => { const newPose = { id: currentPose.id, name: currentPose.name, speed: currentPose.speed, - pause: event.target.value, + pause: Number(event.target.value), joints: currentPose.joints, }; updatePosesData(newPose); @@ -412,7 +399,6 @@ function ActionManager() {
-
@@ -443,6 +429,7 @@ function ActionManager() {
+
From a8a8fbec23766fd950f9e9ba9ee6d8e2e51ca7b9 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Mon, 30 Oct 2023 19:59:26 +0700 Subject: [PATCH 20/43] docs: add pull request template --- .github/pull_request_template.md | 41 ++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 .github/pull_request_template.md 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. From 18900ead36be1e5c078b19d0365f57163171d5fa Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Tue, 31 Oct 2023 13:55:44 +0700 Subject: [PATCH 21/43] refactor: remove debugging log --- .gitignore | 1 + src/components/ActionManager.jsx | 7 ++----- src/components/AddDataButton.jsx | 3 +-- src/components/GetActionsButton.jsx | 2 +- src/components/ManagePoseButton.jsx | 4 +--- src/components/RunActionButton.jsx | 4 ++-- src/components/SaveActionsButton.jsx | 2 +- src/components/SetJointsButton.jsx | 2 +- src/components/SetJointsOnCellEdit.jsx | 2 +- src/components/SetTorquesButton.jsx | 4 ++-- src/components/SubscriptionCurrentJoints.jsx | 2 +- 11 files changed, 14 insertions(+), 19 deletions(-) diff --git a/.gitignore b/.gitignore index 681c670..729e03f 100644 --- a/.gitignore +++ b/.gitignore @@ -12,3 +12,4 @@ npm-debug.log* !.npm* package-lock.json +envoy.yaml diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 299c75b..2720cbb 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -15,7 +15,7 @@ import AddDataButton from "./AddDataButton"; import ManagePoseButton from "./ManagePoseButton"; import SaveActionsButton from "./SaveActionsButton"; import SetJointsOnCellEdit from "./SetJointsOnCellEdit"; -import GetCurrentJoints from "./GetCurrentJoints"; +// import GetCurrentJoints from "./GetCurrentJoints"; const actionColumns = [ { @@ -136,8 +136,6 @@ function ActionManager() { } = useContext(ActionContext); const handleClickedAction = (event) => { - console.log(actionsData); - console.log(event.row); setCurrentAction(event.row); const currentPoses = actionsData[event.row.id].poses; setPosesData(currentPoses); @@ -179,7 +177,6 @@ function ActionManager() { newPose, ...posesData.slice(newPose.id + 1), ]; - console.log(newPosesData); setPosesData(newPosesData); const newAction = { @@ -233,7 +230,7 @@ function ActionManager() { }; updatePosesData(newPose); } else { - console.log("Joint robot data is empty!"); + console.warn("Joint robot data is empty!"); } }; diff --git a/src/components/AddDataButton.jsx b/src/components/AddDataButton.jsx index 5801f5b..bcbaa25 100644 --- a/src/components/AddDataButton.jsx +++ b/src/components/AddDataButton.jsx @@ -69,7 +69,6 @@ function AddDataButton(props) { setActionsData((prevActionsData) => [...prevActionsData, newAction]); console.log(`Add new action`); - console.log(actionsData); } else if (typeData === "pose") { if (posesData.length === 0) { @@ -88,7 +87,7 @@ function AddDataButton(props) { console.log(`Add new pose`); } else { - console.log(`Unknown type data: ${typeData}`); + console.error(`Unknown type data: ${typeData}`); } }; diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index e0c6455..b3539f9 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -39,7 +39,7 @@ function GetActionsButton() { client.getConfig(request, {}, (err, response) => { if (err) { - console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } else { console.log('Successfully get actions data'); const jsonActionsData = JSON.parse(response); diff --git a/src/components/ManagePoseButton.jsx b/src/components/ManagePoseButton.jsx index af48648..c97e56e 100644 --- a/src/components/ManagePoseButton.jsx +++ b/src/components/ManagePoseButton.jsx @@ -69,10 +69,8 @@ function ManagePoseButton(props) { setPosesData(newPosesData); } else { - console.log(`Unknown type button: ${typeButton}`); + console.error(`Unknown type button: ${typeButton}`); } - - console.log(posesData); } return ( diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 5d54c46..2462740 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -17,7 +17,7 @@ function RunActionButton() { const rawPoses = currentAction.poses; if (Object.keys(currentAction).length === 0) { - console.log(`No current action selected.`); + console.warn(`No current action selected.`); return client; } @@ -49,7 +49,7 @@ function RunActionButton() { client.runAction(message, {}, (err) => { if (err) { - console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } }); }; diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index 02c76dc..0076333 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -51,7 +51,7 @@ function SaveActionsButton() { client.saveConfig(message, {}, (err) => { if (err) { - console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } else { console.log(`Successfully saved actions data`); } diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index ddbe85f..2cac521 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -49,7 +49,7 @@ function SetJointsButton(props) { client.publishSetJoints(message, {}, (err) => { if (err) { - console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } }); }; diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index f73c4cb..7f83bcd 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -59,7 +59,7 @@ function SetJointsOnCellEdit() { client.publishSetJoints(message, {}, (err) => { if (err) { - console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } }); }; diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index e301971..da2bcef 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -27,7 +27,7 @@ function SetTorquesButton() { setOffTorquesClicked(false); setOnTorquesClicked(false); if (ids.length === 0) { - console.log( + console.warn( `No selected joints. Select some joint first to be set on/off.` ); return; @@ -56,7 +56,7 @@ function SetTorquesButton() { client.setTorques(message, {}, (err) => { if (err) { - console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } }); }; diff --git a/src/components/SubscriptionCurrentJoints.jsx b/src/components/SubscriptionCurrentJoints.jsx index 38819d9..619ac23 100644 --- a/src/components/SubscriptionCurrentJoints.jsx +++ b/src/components/SubscriptionCurrentJoints.jsx @@ -37,7 +37,7 @@ function SubscriptionCurrentJoints() { const handleSubscription = () => { client.subscribeCurrentJoints(request, {}, (err, response) => { if (err) { - console.log(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } else { setCurrentJoints((prevCurrentJoints) => { let jointChangeCounter = 0; From 49d43ae676f86a3eb067414972b2f2d607e01974 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Tue, 31 Oct 2023 14:05:26 +0700 Subject: [PATCH 22/43] enhancement: use LoadingButton to avoid spam request --- src/components/GetActionsButton.jsx | 13 +++++++++---- src/components/RunActionButton.jsx | 13 +++++++++---- src/components/SaveActionsButton.jsx | 12 ++++++++---- src/components/SetJointsButton.jsx | 11 ++++++++--- 4 files changed, 34 insertions(+), 15 deletions(-) diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index b3539f9..c21104c 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -1,6 +1,6 @@ -import React, { useContext } from "react"; +import React, { useContext, useState } from "react"; -import { Button } from "@material-ui/core"; +import { LoadingButton } from '@mui/lab'; import akushon_interfaces from "../proto/akushon_grpc_web_pb"; @@ -33,9 +33,11 @@ function GetActionsButton() { const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); const request = new akushon_interfaces.Empty(); const { setActionsData } = useContext(ActionContext); + const [isLoading, setIsLoading] = useState(false); const handleCall = () => { console.log('Get actions now...'); + setIsLoading(true); client.getConfig(request, {}, (err, response) => { if (err) { @@ -80,17 +82,20 @@ function GetActionsButton() { setActionsData(rawActions); } }); + + setIsLoading(false); }; return ( - + ); } diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 2462740..e7c8cf0 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -1,6 +1,6 @@ -import React, { useContext } from "react"; +import React, { useContext, useState } from "react"; -import { Button } from "@material-ui/core"; +import { LoadingButton } from '@mui/lab'; import akushon_interfaces from "../proto/akushon_grpc_web_pb"; @@ -11,8 +11,10 @@ function RunActionButton() { const message = new akushon_interfaces.ConfigRunAction(); const { currentAction } = useContext(ActionContext); + const [isLoading, setIsLoading] = useState(false); const handlePublish = () => { + setIsLoading(true); const fixedPoses = []; const rawPoses = currentAction.poses; @@ -52,16 +54,19 @@ function RunActionButton() { console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } }); + + setIsLoading(false); }; return ( - + ); } diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index 0076333..de76f62 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -1,6 +1,6 @@ import React, { useContext } from "react"; -import { Button } from "@material-ui/core"; +import { LoadingButton } from "@mui/lab"; import akushon_interfaces from "../proto/akushon_grpc_web_pb"; @@ -11,13 +11,14 @@ function SaveActionsButton() { const message = new akushon_interfaces.ConfigActions(); const { actionsData } = useContext(ActionContext); + const [isLoading, setIsLoading] = useState(false); const handleCall = () => { if (actionsData.length === 0) { console.log(`No actions data. Call the actions data first.`); return; } - + setIsLoading(true); const jsonActionsData = actionsData; const rawActions = {}; Object.keys(jsonActionsData).forEach((key) => { @@ -56,10 +57,12 @@ function SaveActionsButton() { console.log(`Successfully saved actions data`); } }); + + setIsLoading(false); }; return ( - + ); } diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index 2cac521..e40597d 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -1,4 +1,4 @@ -import React, { useContext } from "react"; +import React, { useContext, useState } from "react"; import ArrowForwardIcon from "@material-ui/icons/ArrowForward"; import PlayArrowIcon from "@material-ui/icons/PlayArrow"; @@ -16,8 +16,10 @@ function SetJointsButton(props) { const { typeButton } = props; const { setJointRobotData, jointPoseData } = useContext(ActionContext); + const [isLoading, setIsLoading] = useState(false); const handlePublish = () => { + setIsLoading(true); const joints = []; if (typeButton === "to_robot") { @@ -52,18 +54,21 @@ function SetJointsButton(props) { console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); } }); + + setIsLoading(false); }; return ( - + ); } From 010f981ed8c482400cac4ff6657ebc3664e8902b Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Tue, 31 Oct 2023 14:12:07 +0700 Subject: [PATCH 23/43] refactor: use env.example --- .env | 1 - env.example | 1 + src/App.jsx | 2 ++ src/components/GetActionsButton.jsx | 6 ++++-- src/components/RunActionButton.jsx | 5 +++-- src/components/SaveActionsButton.jsx | 5 +++-- src/components/SetJointsButton.jsx | 5 +++-- src/components/SetJointsOnCellEdit.jsx | 8 ++++---- src/components/SetTorquesButton.jsx | 8 ++++---- src/components/SubscriptionCurrentJoints.jsx | 5 +++-- 10 files changed, 27 insertions(+), 19 deletions(-) delete mode 100644 .env create mode 100644 env.example diff --git a/.env b/.env deleted file mode 100644 index 7cb516a..0000000 --- a/.env +++ /dev/null @@ -1 +0,0 @@ -VITE_GRPC_WEB_API_URL=http://192.168.1.4:8090 \ No newline at end of file diff --git a/env.example b/env.example new file mode 100644 index 0000000..adc09a4 --- /dev/null +++ b/env.example @@ -0,0 +1 @@ +VITE_GRPC_WEB_API_URL=:http://localhost:8090 \ No newline at end of file diff --git a/src/App.jsx b/src/App.jsx index cfcf151..5c18470 100644 --- a/src/App.jsx +++ b/src/App.jsx @@ -15,10 +15,12 @@ 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 ( { diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index e7c8cf0..59f0d4f 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -7,10 +7,11 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function RunActionButton() { - const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); + const { currentAction, GRPC_WEB_API_URL } = useContext(ActionContext); + + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.ConfigRunAction(); - const { currentAction } = useContext(ActionContext); const [isLoading, setIsLoading] = useState(false); const handlePublish = () => { diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index de76f62..537324a 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -7,10 +7,11 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function SaveActionsButton() { - const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); + const { actionsData, GRPC_WEB_API_URL } = useContext(ActionContext); + + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.ConfigActions(); - const { actionsData } = useContext(ActionContext); const [isLoading, setIsLoading] = useState(false); const handleCall = () => { diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index e40597d..d2cf8b9 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -10,12 +10,13 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function SetJointsButton(props) { - const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); + 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 { setJointRobotData, jointPoseData } = useContext(ActionContext); const [isLoading, setIsLoading] = useState(false); const handlePublish = () => { diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index 7f83bcd..94f08ec 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -27,11 +27,11 @@ const jointRobotColumns = [ ]; function SetJointsOnCellEdit() { - const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); - const message = new akushon_interfaces.SetJointsData(); - - const { setJointRobotData, jointRobotData, setJointSelected } = + const { setJointRobotData, jointRobotData, setJointSelected, 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 updateJointRobotData = (newJoints, index) => { const newJointRobotData = [ diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index da2bcef..32a3d4a 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -9,11 +9,11 @@ import akushon_interfaces from "../proto/akushon_grpc_web_pb"; import ActionContext from "../context/ActionContext"; function SetTorquesButton() { - const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); - const message = new akushon_interfaces.SetTorquesData(); - - const { jointSelected, setJointRobotData, jointRobotData } = + const { jointSelected, setJointRobotData, jointRobotData, GRPC_WEB_API_URL } = useContext(ActionContext); + + 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); diff --git a/src/components/SubscriptionCurrentJoints.jsx b/src/components/SubscriptionCurrentJoints.jsx index 619ac23..b56b0ae 100644 --- a/src/components/SubscriptionCurrentJoints.jsx +++ b/src/components/SubscriptionCurrentJoints.jsx @@ -28,11 +28,12 @@ const jointIdList = { }; function SubscriptionCurrentJoints() { - const client = new akushon_interfaces.ConfigClient(import.meta.env.VITE_GRPC_WEB_API_URL, null, null); + 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 { setJointRobotData, jointRobotData } = useContext(ActionContext); const handleSubscription = () => { client.subscribeCurrentJoints(request, {}, (err, response) => { From ee126370f2f1bc55b75172c7103224f6bbb9e0c2 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Tue, 31 Oct 2023 14:13:26 +0700 Subject: [PATCH 24/43] feat: add mui lab dependencies for loading button --- package.json | 1 + 1 file changed, 1 insertion(+) diff --git a/package.json b/package.json index ad3f455..4ff9a86 100644 --- a/package.json +++ b/package.json @@ -16,6 +16,7 @@ "@material-ui/data-grid": "*", "@material-ui/icons": "^4.11.2", "mui-datatables": "^3.7.7", + "@mui/lab": "^5.0.0-alpha.149", "prop-types": "^15.8.1", "react": "^17.0.2", "google-protobuf": "^3.21.2", From 8c49ef36cae774a6181949c6c415e4d24c7b8118 Mon Sep 17 00:00:00 2001 From: JayantiTA Date: Wed, 3 Apr 2024 23:18:04 +0700 Subject: [PATCH 25/43] fix: fix linter --- package-lock.json | 896 ++++++++++++++++--- src/App.jsx | 33 +- src/components/ActionManager.jsx | 138 ++- src/components/AddDataButton.jsx | 67 +- src/components/GetActionsButton.jsx | 8 +- src/components/ManagePoseButton.jsx | 56 +- src/components/RunActionButton.jsx | 11 +- src/components/SaveActionsButton.jsx | 19 +- src/components/SetJointsButton.jsx | 29 +- src/components/SetJointsOnCellEdit.jsx | 40 +- src/components/SetTorquesButton.jsx | 33 +- src/components/SubscriptionCurrentJoints.jsx | 22 +- src/context/ActionContext.jsx | 2 +- 13 files changed, 1017 insertions(+), 337 deletions(-) diff --git a/package-lock.json b/package-lock.json index bd60d4d..720c73b 100644 --- a/package-lock.json +++ b/package-lock.json @@ -12,6 +12,7 @@ "@material-ui/core": "^4.11.3", "@material-ui/data-grid": "*", "@material-ui/icons": "^4.11.2", + "@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", @@ -55,12 +56,12 @@ } }, "node_modules/@babel/code-frame": { - "version": "7.22.13", - "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.22.13.tgz", - "integrity": 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"dependencies": { - "@babel/types": "^7.22.15", - "@jridgewell/gen-mapping": "^0.3.2", - "@jridgewell/trace-mapping": "^0.3.17", + "@babel/types": "^7.24.0", + "@jridgewell/gen-mapping": "^0.3.5", + "@jridgewell/trace-mapping": "^0.3.25", "jsesc": "^2.5.1" }, "engines": { @@ -154,12 +155,12 @@ } }, "node_modules/@babel/helper-function-name": { - "version": "7.22.5", - "resolved": "https://registry.npmjs.org/@babel/helper-function-name/-/helper-function-name-7.22.5.tgz", - "integrity": "sha512-wtHSq6jMRE3uF2otvfuD3DIvVhOsSNshQl0Qrd7qC9oQJzHvOL4qQXlQn2916+CXGywIjpGuIkoyZRRxHPiNQQ==", + "version": "7.23.0", + "resolved": "https://registry.npmjs.org/@babel/helper-function-name/-/helper-function-name-7.23.0.tgz", + "integrity": "sha512-OErEqsrxjZTJciZ4Oo+eoZqeW9UIiOcuYKRJA4ZAgV9myA+pOXhhmpfNCKjEH/auVfEYVFJ6y1Tc4r0eIApqiw==", "dependencies": { - "@babel/template": "^7.22.5", - "@babel/types": "^7.22.5" + "@babel/template": "^7.22.15", + "@babel/types": "^7.23.0" }, "engines": { "node": 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"integrity": "sha512-Yac1ao4flkTxTteCDZLEvdxg2fZfz1v8M4QpaGypq/WPDqg3ijHYbDfs+LG5hvzSoqaSZ9/Z9lKSP3CjZjv+pA==", "dependencies": { "@babel/helper-validator-identifier": "^7.22.20", "chalk": "^2.4.2", - "js-tokens": "^4.0.0" + "js-tokens": "^4.0.0", + "picocolors": "^1.0.0" }, "engines": { "node": ">=6.9.0" } }, "node_modules/@babel/parser": { - "version": "7.22.16", - "resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.22.16.tgz", - "integrity": "sha512-+gPfKv8UWeKKeJTUxe59+OobVcrYHETCsORl61EmSkmgymguYk/X5bp7GuUIXaFsc6y++v8ZxPsLSSuujqDphA==", + "version": "7.24.1", + "resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.24.1.tgz", + "integrity": "sha512-Zo9c7N3xdOIQrNip7Lc9wvRPzlRtovHVE4lkz8WEDr7uYh/GMQhSiIgFxGIArRHYdJE5kxtZjAf8rT0xhdLCzg==", "bin": { "parser": "bin/babel-parser.js" }, @@ -325,9 +327,9 @@ } }, "node_modules/@babel/runtime": { - "version": "7.22.15", - "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.22.15.tgz", - "integrity": 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"sha512-xWGDIW6x921xtzPkhiULtthJHoJvBbF3q26fzloPCK0hsvxtPVelvftw3zjbHWSkR2km9Z+4uxbDDK/6Zw9B8w==" + } + } + }, "@nodelib/fs.scandir": { "version": "2.1.5", "resolved": "https://registry.npmjs.org/@nodelib/fs.scandir/-/fs.scandir-2.1.5.tgz", @@ -5775,6 +6409,11 @@ "esbuild": "^0.14.14" } }, + "@popperjs/core": { + "version": "2.11.8", + "resolved": "https://registry.npmjs.org/@popperjs/core/-/core-2.11.8.tgz", + "integrity": "sha512-P1st0aksCrn9sGZhp8GMYwBnQsbvAWsZAX44oXNNvLHGqAOcoVxmjZiohstwQ7SqKnbR47akdNi+uleWD8+g6A==" + }, "@react-dnd/asap": { "version": "4.0.1", "resolved": "https://registry.npmjs.org/@react-dnd/asap/-/asap-4.0.1.tgz", @@ -5815,9 +6454,9 @@ "dev": true }, "@types/prop-types": { - "version": "15.7.6", - "resolved": "https://registry.npmjs.org/@types/prop-types/-/prop-types-15.7.6.tgz", - "integrity": "sha512-RK/kBbYOQQHLYj9Z95eh7S6t7gq4Ojt/NT8HTk8bWVhA5DaF+5SMnxHKkP4gPNN3wAZkKP+VjAf0ebtYzf+fxg==" + "version": "15.7.12", + "resolved": "https://registry.npmjs.org/@types/prop-types/-/prop-types-15.7.12.tgz", + "integrity": "sha512-5zvhXYtRNRluoE/jAp4GVsSduVUzNWKkOZrCDBWYtE7biZywwdC2AcEzg+cSMLFRfVgeAFqpfNabiPjxFddV1Q==" }, "@types/react": { "version": "17.0.39", @@ -5845,9 +6484,9 @@ } }, "@types/react-transition-group": { - "version": "4.4.6", - "resolved": "https://registry.npmjs.org/@types/react-transition-group/-/react-transition-group-4.4.6.tgz", - "integrity": "sha512-VnCdSxfcm08KjsJVQcfBmhEQAPnLB8G08hAxn39azX1qYBQ/5RVQuoHuKIcfKOdncuaUvEpFKFzEvbtIMsfVew==", + "version": "4.4.10", + "resolved": "https://registry.npmjs.org/@types/react-transition-group/-/react-transition-group-4.4.10.tgz", + "integrity": "sha512-hT/+s0VQs2ojCX823m60m5f0sL5idt9SO6Tj6Dg+rdphGPIeJbJ6CxvBYkgkGKrYeDjvIpKTR38UzmtHJOGW3Q==", "requires": { "@types/react": "*" } @@ -8462,6 +9101,11 @@ "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-3.1.1.tgz", "integrity": "sha512-6fPc+R4ihwqP6N/aIv2f1gMH8lOVtWQHoqC4yK6oSDVVocumAsfCqjkXnqiYMhmMwS/mEHLp7Vehlt3ql6lEig==" }, + "stylis": { + "version": "4.2.0", + "resolved": "https://registry.npmjs.org/stylis/-/stylis-4.2.0.tgz", + "integrity": "sha512-Orov6g6BB1sDfYgzWfTHDOxamtX1bE/zo104Dh9e6fqJ3PooipYyfJ0pUmrZO2wAvO8YbEyeFrkV91XTsGMSrw==" + }, "supports-color": { "version": "5.5.0", "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-5.5.0.tgz", @@ -8638,9 +9282,9 @@ "integrity": "sha512-ocyWc3bAHBB/guyqJQVI5o4BZkPhznPYUG2ea80Gond/BgNWpap8TOmLSeeQG7bnh2KMISxskdADG59j7zruhw==" }, "vite": { - "version": "2.9.16", - "resolved": "https://registry.npmjs.org/vite/-/vite-2.9.16.tgz", - "integrity": "sha512-X+6q8KPyeuBvTQV8AVSnKDvXoBMnTx8zxh54sOwmmuOdxkjMmEJXH2UEchA+vTMps1xw9vL64uwJOWryULg7nA==", + "version": "2.9.18", + "resolved": "https://registry.npmjs.org/vite/-/vite-2.9.18.tgz", + "integrity": "sha512-sAOqI5wNM9QvSEE70W3UGMdT8cyEn0+PmJMTFvTB8wB0YbYUWw3gUbY62AOyrXosGieF2htmeLATvNxpv/zNyQ==", "requires": { "esbuild": "^0.14.27", "fsevents": "~2.3.2", diff --git a/src/App.jsx b/src/App.jsx index 5c18470..aee10c6 100644 --- a/src/App.jsx +++ b/src/App.jsx @@ -1,11 +1,12 @@ -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 ActionManager from "./components/ActionManager"; -import ActionContext from "./context/ActionContext"; -import "./App.css"; +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'; function App() { const [actionsData, setActionsData] = useState([]); @@ -17,7 +18,7 @@ function App() { const [currentPose, setCurrentPose] = useState({}); const GRPC_WEB_API_URL = import.meta.env.VITE_GRPC_WEB_API_URL; - return ( + return useMemo(() => (
- ); + ), [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 2720cbb..a53e70b 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -1,97 +1,99 @@ -import ArrowBackIcon from "@material-ui/icons/ArrowBack"; -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 } from 'react'; -import React, { useContext } from "react"; +import ArrowBackIcon from '@material-ui/icons/ArrowBack'; +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 ActionContext from "../context/ActionContext"; - -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 GetCurrentJoints from "./GetCurrentJoints"; +import ActionContext from '../context/ActionContext'; +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'; 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: '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, }, @@ -209,7 +211,6 @@ function ActionManager() { }; const setJointRobotToPoseData = () => { - {/* */} if (jointRobotData.length !== 0) { const newJointPoseData = []; for (let i = 0; i < jointRobotData.length; i += 1) { @@ -230,7 +231,7 @@ function ActionManager() { }; updatePosesData(newPose); } else { - console.warn("Joint robot data is empty!"); + console.warn('Joint robot data is empty!'); } }; @@ -239,7 +240,7 @@ function ActionManager() { -
+
- - - + + +
@@ -265,7 +266,7 @@ function ActionManager() { label="Name" variant="outlined" margin="dense" - value={currentAction ? currentAction.name : ""} + value={currentAction ? currentAction.name : ''} onChange={(event) => { const newAction = { id: currentAction.id, @@ -277,7 +278,7 @@ function ActionManager() { }; updateActionsData(newAction); }} - style={{ margin: 3, marginTop: 20, width: "60%" }} + style={{ margin: 3, marginTop: 20, width: '60%' }} InputLabelProps={{ shrink: true, }} @@ -287,7 +288,7 @@ function ActionManager() { label="Next" variant="outlined" margin="dense" - value={currentAction ? currentAction.next : ""} + value={currentAction ? currentAction.next : ''} onChange={(event) => { const newAction = { id: currentAction.id, @@ -299,13 +300,13 @@ function ActionManager() { }; updateActionsData(newAction); }} - style={{ margin: 3, marginTop: 20, width: "30%" }} + style={{ margin: 3, marginTop: 20, width: '30%' }} InputLabelProps={{ shrink: true, }} />
-
+
{ const newPose = { id: currentPose.id, @@ -343,7 +344,7 @@ function ActionManager() { }; updatePosesData(newPose); }} - style={{ margin: 3, marginTop: 20, width: "40%" }} + style={{ margin: 3, marginTop: 20, width: '40%' }} InputLabelProps={{ shrink: true, }} @@ -365,7 +366,7 @@ function ActionManager() { }; updatePosesData(newPose); }} - style={{ margin: 3, marginTop: 20, width: "25%" }} + style={{ margin: 3, marginTop: 20, width: '25%' }} InputLabelProps={{ shrink: true, }} @@ -387,7 +388,7 @@ function ActionManager() { }; updatePosesData(newPose); }} - style={{ margin: 3, marginTop: 20, width: "25%" }} + style={{ margin: 3, marginTop: 20, width: '25%' }} InputLabelProps={{ shrink: true, }} @@ -399,14 +400,14 @@ function ActionManager() {
-
+
{ const index = jointPoseData.findIndex( - (joint) => joint.id === event.id + (joint) => joint.id === event.id, ); const newJoints = { id: jointPoseData[index].id, @@ -419,16 +420,16 @@ function ActionManager() { rowsPerPageOptions={[]} />
-
- +
+
-
- +
+
-
+
diff --git a/src/components/AddDataButton.jsx b/src/components/AddDataButton.jsx index bcbaa25..d6ff5b5 100644 --- a/src/components/AddDataButton.jsx +++ b/src/components/AddDataButton.jsx @@ -1,9 +1,10 @@ -import React, { useContext } from "react"; +import React, { useContext } from 'react'; +import PropTypes from 'prop-types'; -import { Button } from "@material-ui/core"; -import AddIcon from "@material-ui/icons/Add"; +import { Button } from '@material-ui/core'; +import AddIcon from '@material-ui/icons/Add'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; const jointIdList = { right_shoulder_pitch: 1, @@ -28,14 +29,15 @@ const jointIdList = { neck_pitch: 20, }; -function AddDataButton(props) { - const { actionsData, posesData, setPosesData, setActionsData, currentPose } = useContext(ActionContext); - const typeData = props.typeData; +function AddDataButton({ typeData }) { + const { + actionsData, posesData, setPosesData, setActionsData, currentPose, + } = useContext(ActionContext); const handleClick = () => { - if (typeData === "action") { + if (typeData === 'action') { if (actionsData.length === 0) { - alert("Please get the actions data first."); + alert('Please get the actions data first.'); return; } @@ -51,41 +53,40 @@ function AddDataButton(props) { const newPose = { id: 0, - name: "New Pose", + name: 'New Pose', pause: 0, speed: 0, - joints: newJointPose + joints: newJointPose, }; const newAction = { id: actionsData.length, - name: "New Action", - next: "", + name: 'New Action', + next: '', start_delay: 0, stop_delay: 0, - poses: [newPose] + poses: [newPose], }; setActionsData((prevActionsData) => [...prevActionsData, newAction]); - console.log(`Add new action`); - } - else if (typeData === "pose") { + console.log('Add new action'); + } else if (typeData === 'pose') { if (posesData.length === 0) { - alert("Please pick an action first."); + alert('Please pick an action first.'); return; } const newPose = { id: posesData.length, - name: "New Pose", + name: 'New Pose', pause: 0, speed: 0, - joints: currentPose.joints + joints: currentPose.joints, }; setPosesData((prevPosesData) => [...prevPosesData, newPose]); - console.log(`Add new pose`); + console.log('Add new pose'); } else { console.error(`Unknown type data: ${typeData}`); } @@ -93,16 +94,22 @@ function AddDataButton(props) { return ( + style={{ marginLeft: 8 }} + variant="contained" + color="default" + className="button" + startIcon={} + onClick={handleClick} + > + Add + {' '} + {typeData} + ); } +AddDataButton.propTypes = { + typeData: PropTypes.string.isRequired, +}; + export default AddDataButton; diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index 6733018..f55b938 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -1,10 +1,10 @@ -import React, { useContext, useState } from "react"; +import React, { useContext, useState } from 'react'; import { LoadingButton } from '@mui/lab'; -import akushon_interfaces from "../proto/akushon_grpc_web_pb"; +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, @@ -43,7 +43,7 @@ function GetActionsButton() { client.getConfig(request, {}, (err, response) => { if (err) { - console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } else { console.log('Successfully get actions data'); const jsonActionsData = JSON.parse(response); diff --git a/src/components/ManagePoseButton.jsx b/src/components/ManagePoseButton.jsx index c97e56e..5abb7ac 100644 --- a/src/components/ManagePoseButton.jsx +++ b/src/components/ManagePoseButton.jsx @@ -1,32 +1,31 @@ -import React, { useContext } from "react"; -import ArrowUpwardIcon from "@material-ui/icons/ArrowUpward"; -import ArrowDownwardIcon from "@material-ui/icons/ArrowDownward"; -import DeleteIcon from '@material-ui/icons/Delete'; +import React, { useContext } from 'react'; +import PropTypes from 'prop-types'; -import { Button } from "@material-ui/core"; +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"; +import ActionContext from '../context/ActionContext'; -function ManagePoseButton(props) { +function ManagePoseButton({ typeButton }) { const { currentPose, posesData, setPosesData } = useContext(ActionContext); - const typeButton = props.typeButton; - const handleClick = () => { if (currentPose.length === 0) { - alert("Please pick a pose first."); + alert('Please pick a pose first.'); return; } - + const index = posesData.findIndex((pose) => pose.id === currentPose.id); - if (typeButton === "UP") { - console.log(`Move pose up`); + if (typeButton === 'UP') { + console.log('Move pose up'); if (index === 0) { return; } - let newPosesData = [ + const newPosesData = [ ...posesData.slice(0, index - 1), posesData[index], posesData[index - 1], @@ -37,14 +36,14 @@ function ManagePoseButton(props) { newPosesData[index - 1].id = index - 1; setPosesData(newPosesData); - } else if (typeButton === "DOWN") { - console.log(`Move pose down`); - + } else if (typeButton === 'DOWN') { + console.log('Move pose down'); + if (index === posesData.length - 1) { return; } - let newPosesData = [ + const newPosesData = [ ...posesData.slice(0, index), posesData[index + 1], posesData[index], @@ -55,10 +54,10 @@ function ManagePoseButton(props) { newPosesData[index + 1].id = index + 1; setPosesData(newPosesData); - } else if (typeButton === "DELETE") { - console.log(`Delete pose`); + } else if (typeButton === 'DELETE') { + console.log('Delete pose'); - let newPosesData = [ + const newPosesData = [ ...posesData.slice(0, index), ...posesData.slice(index + 1), ]; @@ -71,6 +70,15 @@ function ManagePoseButton(props) { } else { console.error(`Unknown type button: ${typeButton}`); } + }; + + let icon; + if (typeButton === 'UP') { + icon = ; + } else if (typeButton === 'DOWN') { + icon = ; + } else { + icon = ; } return ( @@ -79,11 +87,15 @@ function ManagePoseButton(props) { color="default" className="button" onClick={handleClick} - startIcon={ typeButton === "UP" ? : typeButton === "DOWN" ? : } + startIcon={icon} > {typeButton} ); } +ManagePoseButton.propTypes = { + typeButton: PropTypes.string.isRequired, +}; + export default ManagePoseButton; diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 59f0d4f..fe6d27c 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -1,10 +1,10 @@ -import React, { useContext, useState } from "react"; +import React, { useContext, useState } from 'react'; import { LoadingButton } from '@mui/lab'; -import akushon_interfaces from "../proto/akushon_grpc_web_pb"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; function RunActionButton() { const { currentAction, GRPC_WEB_API_URL } = useContext(ActionContext); @@ -20,7 +20,7 @@ function RunActionButton() { const rawPoses = currentAction.poses; if (Object.keys(currentAction).length === 0) { - console.warn(`No current action selected.`); + console.warn('No current action selected.'); return client; } @@ -52,11 +52,12 @@ function RunActionButton() { client.runAction(message, {}, (err) => { if (err) { - console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } }); setIsLoading(false); + return null; }; return ( diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index 537324a..a31f226 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -1,10 +1,10 @@ -import React, { useContext } from "react"; +import React, { useContext, useState } from 'react'; -import { LoadingButton } from "@mui/lab"; +import { LoadingButton } from '@mui/lab'; -import akushon_interfaces from "../proto/akushon_grpc_web_pb"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; function SaveActionsButton() { const { actionsData, GRPC_WEB_API_URL } = useContext(ActionContext); @@ -16,7 +16,7 @@ function SaveActionsButton() { const handleCall = () => { if (actionsData.length === 0) { - console.log(`No actions data. Call the actions data first.`); + console.log('No actions data. Call the actions data first.'); return; } setIsLoading(true); @@ -28,8 +28,7 @@ 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, @@ -53,9 +52,9 @@ function SaveActionsButton() { client.saveConfig(message, {}, (err) => { if (err) { - console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } else { - console.log(`Successfully saved actions data`); + console.log('Successfully saved actions data'); } }); @@ -66,7 +65,7 @@ function SaveActionsButton() { { if (err) { - console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } }); @@ -62,14 +62,13 @@ function SetJointsButton(props) { return ( : + typeButton === 'to_robot' ? : } loading={isLoading} - > - + /> ); } diff --git a/src/components/SetJointsOnCellEdit.jsx b/src/components/SetJointsOnCellEdit.jsx index 94f08ec..bc2a52f 100644 --- a/src/components/SetJointsOnCellEdit.jsx +++ b/src/components/SetJointsOnCellEdit.jsx @@ -1,35 +1,41 @@ -import React, { useContext } from "react"; -import { DataGrid } from "@material-ui/data-grid"; +import React, { useContext } from 'react'; -import akushon_interfaces from "../proto/akushon_grpc_web_pb"; +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 { setJointRobotData, jointRobotData, setJointSelected, GRPC_WEB_API_URL } = - useContext(ActionContext); - + const { + setJointRobotData, jointRobotData, setJointSelected, GRPC_WEB_API_URL, + } = useContext(ActionContext); + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.SetJointsData(); @@ -59,7 +65,7 @@ function SetJointsOnCellEdit() { client.publishSetJoints(message, {}, (err) => { if (err) { - console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } }); }; @@ -71,7 +77,7 @@ function SetJointsOnCellEdit() { rowHeight={25} onCellEditCommit={(event) => { 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 32a3d4a..78ba12b 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -1,17 +1,18 @@ -import React, { useState, useContext, useEffect } from "react"; +import React, { useState, useContext, useEffect } from 'react'; -import { Button, CircularProgress, Grid } from "@material-ui/core"; -import WbIncandescentRoundedIcon from "@material-ui/icons/WbIncandescentRounded"; -import WbIncandescentOutlinedIcon from "@material-ui/icons/WbIncandescentOutlined"; +import { Button, CircularProgress, Grid } from '@material-ui/core'; +import WbIncandescentRoundedIcon from '@material-ui/icons/WbIncandescentRounded'; +import WbIncandescentOutlinedIcon from '@material-ui/icons/WbIncandescentOutlined'; -import akushon_interfaces from "../proto/akushon_grpc_web_pb"; +import akushon_interfaces from '../proto/akushon_grpc_web_pb'; -import ActionContext from "../context/ActionContext"; +import ActionContext from '../context/ActionContext'; function SetTorquesButton() { - const { jointSelected, setJointRobotData, jointRobotData, GRPC_WEB_API_URL } = - useContext(ActionContext); - + const { + jointSelected, setJointRobotData, jointRobotData, GRPC_WEB_API_URL, + } = useContext(ActionContext); + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.SetTorquesData(); @@ -28,7 +29,7 @@ function SetTorquesButton() { setOnTorquesClicked(false); if (ids.length === 0) { console.warn( - `No selected joints. Select some joint first to be set on/off.` + 'No selected joints. Select some joint first to be set on/off.', ); return; } @@ -39,7 +40,7 @@ function SetTorquesButton() { 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), @@ -56,7 +57,7 @@ function SetTorquesButton() { client.setTorques(message, {}, (err) => { if (err) { - console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } }); }; @@ -85,10 +86,10 @@ function SetTorquesButton() { style={{ marginLeft: 20 }} onClick={handleOnTorquesClicked} color="primary" - variant={onTorquesClicked ? "outlined" : "contained"} + variant={onTorquesClicked ? 'outlined' : 'contained'} startIcon={} > - {onTorquesClicked ? : "ON"} + {onTorquesClicked ? : 'ON'} @@ -96,10 +97,10 @@ function SetTorquesButton() { style={{ marginLeft: 20 }} onClick={handleOffTorquesClicked} color="default" - variant={offTorquesClicked ? "outlined" : "contained"} + variant={offTorquesClicked ? 'outlined' : 'contained'} startIcon={} > - {offTorquesClicked ? : "OFF"} + {offTorquesClicked ? : 'OFF'} diff --git a/src/components/SubscriptionCurrentJoints.jsx b/src/components/SubscriptionCurrentJoints.jsx index b56b0ae..cd5921d 100644 --- a/src/components/SubscriptionCurrentJoints.jsx +++ b/src/components/SubscriptionCurrentJoints.jsx @@ -1,8 +1,8 @@ -import React, { useContext, useState, useEffect } from "react"; +import { useContext, useState, useEffect } from 'react'; -import akushon_interfaces from "../proto/akushon_grpc_web_pb"; +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, @@ -38,20 +38,20 @@ function SubscriptionCurrentJoints() { const handleSubscription = () => { client.subscribeCurrentJoints(request, {}, (err, response) => { if (err) { - console.error(`Unexpected error: code = ${err.code}` + `, message = "${err.message}"`); + console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } else { setCurrentJoints((prevCurrentJoints) => { let jointChangeCounter = 0; prevCurrentJoints.forEach((joint, index) => { - if (message.joints[index].position === joint.position) { + if (response.joints[index].position === joint.position) { jointChangeCounter += 1; } }); - - if (jointChangeCounter !== message.joints.length) { - return message.joints; + + if (jointChangeCounter !== response.joints.length) { + return response.joints; } - + return prevCurrentJoints; }); } @@ -66,12 +66,12 @@ function SubscriptionCurrentJoints() { const newJointRobotData = []; for (let i = 0; i < oldJointRobotData.length; i += 1) { const index = currentJoints.findIndex( - (joint) => joint.id === oldJointRobotData[i].id + (joint) => joint.id === oldJointRobotData[i].id, ); newJointRobotData.push({ id: oldJointRobotData[i].id, name: Object.keys(jointIdList).find( - (key) => jointIdList[key] === currentJoints[index].id + (key) => jointIdList[key] === currentJoints[index].id, ), pose_pos: currentJoints[index].position, status: oldJointRobotData[i].status, // todo(finesaaa) : need to be check 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(); From a4f67e488d81b2d5e96824ce3c03aaa9de083e75 Mon Sep 17 00:00:00 2001 From: JayantiTA Date: Thu, 4 Apr 2024 11:47:11 +0700 Subject: [PATCH 26/43] fix: resolve package json --- package-lock.json | 440 ++++++++++++++++++++++++++++++++++++++++++++++ package.json | 12 +- 2 files changed, 446 insertions(+), 6 deletions(-) diff --git a/package-lock.json b/package-lock.json index 720c73b..7dfa255 100644 --- a/package-lock.json +++ b/package-lock.json @@ -400,6 +400,46 @@ "node": ">=6.9.0" } }, + "node_modules/@emotion/babel-plugin": { + "version": "11.11.0", + "resolved": "https://registry.npmjs.org/@emotion/babel-plugin/-/babel-plugin-11.11.0.tgz", + "integrity": "sha512-m4HEDZleaaCH+XgDDsPF15Ht6wTLsgDTeR3WYj9Q/k76JtWhrJjcP4+/XlG8LGT/Rol9qUfOIztXeA84ATpqPQ==", + "optional": true, + "peer": true, + "dependencies": { + "@babel/helper-module-imports": "^7.16.7", + "@babel/runtime": "^7.18.3", + "@emotion/hash": "^0.9.1", + "@emotion/memoize": "^0.8.1", + "@emotion/serialize": "^1.1.2", + "babel-plugin-macros": "^3.1.0", + "convert-source-map": "^1.5.0", + "escape-string-regexp": "^4.0.0", + "find-root": "^1.1.0", + "source-map": "^0.5.7", + "stylis": "4.2.0" + } + }, + "node_modules/@emotion/babel-plugin/node_modules/@emotion/hash": { + "version": "0.9.1", + "resolved": "https://registry.npmjs.org/@emotion/hash/-/hash-0.9.1.tgz", + "integrity": "sha512-gJB6HLm5rYwSLI6PQa+X1t5CFGrv1J1TWG+sOyMCeKz2ojaj6Fnl/rZEspogG+cvqbt4AE/2eIyD2QfLKTBNlQ==", + "optional": true, 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"sha512-dISoDXWWQwUquiKsyZ4Ng+HX2KsPL7LyHKHQwgGFEA3IaKac4Obd+h2a/a6waisAoepJlBcx9paWqjA8/HVjCw==" }, "@types/prop-types": { "version": "15.7.12", @@ -7022,8 +7013,6 @@ "version": "3.1.0", "resolved": "https://registry.npmjs.org/babel-plugin-macros/-/babel-plugin-macros-3.1.0.tgz", "integrity": "sha512-Cg7TFGpIr01vOQNODXOOaGz2NpCU5gl8x1qJFbb6hbZxR7XrcE2vtbAsTAbJ7/xwJtUuJEw8K8Zr/AE0LHlesg==", - "optional": true, - "peer": true, "requires": { "@babel/runtime": "^7.12.5", "cosmiconfig": "^7.0.0", @@ -7128,8 +7117,6 @@ "version": "7.1.0", "resolved": "https://registry.npmjs.org/cosmiconfig/-/cosmiconfig-7.1.0.tgz", "integrity": "sha512-AdmX6xUzdNASswsFtmwSt7Vj8po9IuqXm0UXz7QKPuEUmPB4XyjGfaAr2PSuELMwkRMVH1EpIkX5bTZGRB3eCA==", - "optional": true, - "peer": true, "requires": { "@types/parse-json": "^4.0.0", "import-fresh": "^3.2.1", @@ -7261,8 +7248,6 @@ "version": "1.3.2", "resolved": "https://registry.npmjs.org/error-ex/-/error-ex-1.3.2.tgz", "integrity": "sha512-7dFHNmqeFSEt2ZBsCriorKnn3Z2pj+fd9kmI6QoWw4//DL+icEBfc0U7qJCisqrTsKTjw4fNFy2pW9OqStD84g==", - "optional": true, - "peer": true, "requires": { "is-arrayish": "^0.2.1" } @@ -7999,9 +7984,7 @@ "find-root": { "version": "1.1.0", "resolved": "https://registry.npmjs.org/find-root/-/find-root-1.1.0.tgz", - "integrity": "sha512-NKfW6bec6GfKc0SGx1e07QZY9PE99u0Bft/0rzSD5k3sO/vwkVUpDUKVm5Gpp5Ue3YfShPFTX2070tDs5kB9Ng==", - "optional": true, - "peer": true + "integrity": "sha512-NKfW6bec6GfKc0SGx1e07QZY9PE99u0Bft/0rzSD5k3sO/vwkVUpDUKVm5Gpp5Ue3YfShPFTX2070tDs5kB9Ng==" }, "find-up": { "version": "2.1.0", @@ -8336,9 +8319,7 @@ "is-arrayish": { "version": "0.2.1", "resolved": "https://registry.npmjs.org/is-arrayish/-/is-arrayish-0.2.1.tgz", - "integrity": "sha512-zz06S8t0ozoDXMG+ube26zeCTNXcKIPJZJi8hBrF4idCLms4CG9QtK7qBl1boi5ODzFpjswb5JPmHCbMpjaYzg==", - "optional": true, - "peer": true + "integrity": "sha512-zz06S8t0ozoDXMG+ube26zeCTNXcKIPJZJi8hBrF4idCLms4CG9QtK7qBl1boi5ODzFpjswb5JPmHCbMpjaYzg==" }, "is-async-function": { "version": "2.0.0", @@ -8582,9 +8563,7 @@ "json-parse-even-better-errors": { "version": "2.3.1", "resolved": "https://registry.npmjs.org/json-parse-even-better-errors/-/json-parse-even-better-errors-2.3.1.tgz", - "integrity": "sha512-xyFwyhro/JEof6Ghe2iz2NcXoj2sloNsWr/XsERDK/oiPCfaNhl5ONfp+jQdAZRQQ0IJWNzH9zIZF7li91kh2w==", - "optional": true, - "peer": true + "integrity": "sha512-xyFwyhro/JEof6Ghe2iz2NcXoj2sloNsWr/XsERDK/oiPCfaNhl5ONfp+jQdAZRQQ0IJWNzH9zIZF7li91kh2w==" }, "json-schema-traverse": { "version": "0.4.1", @@ -8723,9 +8702,7 @@ "lines-and-columns": { "version": "1.2.4", "resolved": "https://registry.npmjs.org/lines-and-columns/-/lines-and-columns-1.2.4.tgz", - "integrity": "sha512-7ylylesZQ/PV29jhEDl3Ufjo6ZX7gCqJr5F7PKrqc93v7fzSymt1BpwEU8nAUXs8qzzvqhbjhK5QZg6Mt/HkBg==", - "optional": true, - "peer": true + "integrity": "sha512-7ylylesZQ/PV29jhEDl3Ufjo6ZX7gCqJr5F7PKrqc93v7fzSymt1BpwEU8nAUXs8qzzvqhbjhK5QZg6Mt/HkBg==" }, "locate-path": { "version": "2.0.0", @@ -9010,8 +8987,6 @@ "version": "5.2.0", "resolved": "https://registry.npmjs.org/parse-json/-/parse-json-5.2.0.tgz", "integrity": "sha512-ayCKvm/phCGxOkYRSCM82iDwct8/EonSEgCSxWxD7ve6jHggsFl4fZVQBPRNgQoKiuV/odhFrGzQXZwbifC8Rg==", - "optional": true, - "peer": true, "requires": { "@babel/code-frame": "^7.0.0", "error-ex": "^1.3.1", @@ -9043,9 +9018,7 @@ "path-type": { "version": "4.0.0", "resolved": "https://registry.npmjs.org/path-type/-/path-type-4.0.0.tgz", - "integrity": "sha512-gDKb8aZMDeD/tZWs9P6+q0J9Mwkdl6xMV8TjnGP3qJVJ06bdMgkbBlLU8IdfOsIsFz2BW1rNVT3XuNEl8zPAvw==", - "optional": true, - "peer": true + "integrity": "sha512-gDKb8aZMDeD/tZWs9P6+q0J9Mwkdl6xMV8TjnGP3qJVJ06bdMgkbBlLU8IdfOsIsFz2BW1rNVT3XuNEl8zPAvw==" }, "performance-now": { "version": "2.1.0", @@ -9434,9 +9407,7 @@ "source-map": { "version": "0.5.7", "resolved": "https://registry.npmjs.org/source-map/-/source-map-0.5.7.tgz", - "integrity": "sha512-LbrmJOMUSdEVxIKvdcJzQC+nQhe8FUZQTXQy6+I75skNgn3OoQ0DZA8YnFa7gp8tqtL3KPf1kmo0R5DoApeSGQ==", - "optional": true, - "peer": true + "integrity": "sha512-LbrmJOMUSdEVxIKvdcJzQC+nQhe8FUZQTXQy6+I75skNgn3OoQ0DZA8YnFa7gp8tqtL3KPf1kmo0R5DoApeSGQ==" }, "source-map-js": { "version": "1.0.2", @@ -10033,9 +10004,7 @@ "yaml": { "version": "1.10.2", "resolved": "https://registry.npmjs.org/yaml/-/yaml-1.10.2.tgz", - "integrity": "sha512-r3vXyErRCYJ7wg28yvBY5VSoAF8ZvlcW9/BwUzEtUsjvX/DKs24dIkuwjtuprwJJHsbyUbLApepYTR1BN4uHrg==", - "optional": true, - "peer": true + "integrity": "sha512-r3vXyErRCYJ7wg28yvBY5VSoAF8ZvlcW9/BwUzEtUsjvX/DKs24dIkuwjtuprwJJHsbyUbLApepYTR1BN4uHrg==" }, "yocto-queue": { "version": "0.1.0", diff --git a/package.json b/package.json index 05b8b79..e24ea6b 100644 --- a/package.json +++ b/package.json @@ -12,6 +12,8 @@ "lint": "eslint --ext .js,.jsx --ignore-path .gitignore ." }, "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", From faf46ebab39a72d99abf7a561332be41382abb05 Mon Sep 17 00:00:00 2001 From: JayantiTA Date: Thu, 4 Apr 2024 11:54:35 +0700 Subject: [PATCH 28/43] fix: fix linter --- .eslintrc.js | 10 +++++----- src/main.jsx | 10 +++++----- src/proto/akushon_grpc_web_pb.js | 5 ++--- vite.config.js | 2 +- 4 files changed, 13 insertions(+), 14 deletions(-) diff --git a/.eslintrc.js b/.eslintrc.js index 95e48a0..750e303 100644 --- a/.eslintrc.js +++ b/.eslintrc.js @@ -3,16 +3,16 @@ module.exports = { browser: true, es2021: true, }, - extends: ["airbnb", "eslint:recommended", "plugin:react/recommended"], + extends: ['airbnb', 'eslint:recommended', 'plugin:react/recommended'], parserOptions: { ecmaFeatures: { jsx: true, }, - ecmaVersion: "latest", - sourceType: "module", + ecmaVersion: 'latest', + sourceType: 'module', }, rules: { - camelcase: "off", - "import/no-extraneous-dependencies": ["error", { devDependencies: true }], + camelcase: 'off', + 'import/no-extraneous-dependencies': ['error', { devDependencies: true }], }, }; 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 index a23a83d..74fff69 100644 --- a/src/proto/akushon_grpc_web_pb.js +++ b/src/proto/akushon_grpc_web_pb.js @@ -6,11 +6,10 @@ // Code generated by protoc-gen-grpc-web. DO NOT EDIT. // versions: -// protoc-gen-grpc-web v1.4.2 -// protoc v4.23.4 +// protoc-gen-grpc-web v1.4.2 +// protoc v4.23.4 // source: akushon.proto - /* eslint-disable */ // @ts-nocheck diff --git a/vite.config.js b/vite.config.js index 05ea364..ac4635a 100644 --- a/vite.config.js +++ b/vite.config.js @@ -1,6 +1,6 @@ import { defineConfig } from 'vite'; import reactRefresh from '@vitejs/plugin-react-refresh'; -import { viteCommonjs } from '@originjs/vite-plugin-commonjs' +import { viteCommonjs } from '@originjs/vite-plugin-commonjs'; export default defineConfig({ plugins: [reactRefresh(), viteCommonjs()], From 8214ebfa067f6c55effe6df9ae271974f6945b5b Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 2 May 2024 20:56:11 +0700 Subject: [PATCH 29/43] fix: ignore envoy.yaml and .env --- .gitignore | 1 + envoy.yaml | 61 ------------------------------------------------------ 2 files changed, 1 insertion(+), 61 deletions(-) delete mode 100644 envoy.yaml diff --git a/.gitignore b/.gitignore index 729e03f..8605b66 100644 --- a/.gitignore +++ b/.gitignore @@ -13,3 +13,4 @@ npm-debug.log* package-lock.json envoy.yaml +.env diff --git a/envoy.yaml b/envoy.yaml deleted file mode 100644 index f3777ef..0000000 --- a/envoy.yaml +++ /dev/null @@ -1,61 +0,0 @@ -admin: - access_log_path: /tmp/admin_access.log - address: - socket_address: { address: 0.0.0.0, port_value: 9901 } - -static_resources: - listeners: - - name: listener_0 - address: - socket_address: { address: 0.0.0.0, port_value: 8090 } - filter_chains: - - filters: - - name: envoy.http_connection_manager - typed_config: - "@type": type.googleapis.com/envoy.extensions.filters.network.http_connection_manager.v3.HttpConnectionManager - stat_prefix: ingress_http - codec_type: auto - route_config: - name: local_route - virtual_hosts: - - name: local_service - domains: ["*"] - routes: - - match: { prefix: "/" } - route: - cluster: backend_service - timeout: 0s - max_stream_duration: - grpc_timeout_header_max: 0s - cors: - allow_origin_string_match: - - prefix: "*" - allow_methods: GET, PUT, DELETE, POST, OPTIONS - allow_headers: keep-alive,user-agent,cache-control,content-type,content-transfer-encoding,custom-header-1,x-accept-content-transfer-encoding,x-accept-response-streaming,x-user-agent,x-grpc-web,grpc-timeout - max_age: "1728000" - expose_headers: custom-header-1,grpc-status,grpc-message - http_filters: - - name: envoy.filters.http.cors - typed_config: - "@type": type.googleapis.com/envoy.extensions.filters.http.cors.v3.Cors - - name: envoy.filters.http.grpc_web - typed_config: - "@type": type.googleapis.com/envoy.extensions.filters.http.grpc_web.v3.GrpcWeb - - name: envoy.filters.http.router - typed_config: - "@type": type.googleapis.com/envoy.extensions.filters.http.router.v3.Router - clusters: - - name: backend_service - connect_timeout: 0.25s - type: logical_dns - http2_protocol_options: {} - lb_policy: round_robin - load_assignment: - cluster_name: cluster_0 - endpoints: - - lb_endpoints: - - endpoint: - address: - socket_address: - address: 0.0.0.0 - port_value: 5060 From 8bacdb7492987f4cbe2859b08fb7ac78b726ff90 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 2 May 2024 21:07:23 +0700 Subject: [PATCH 30/43] feat: provide example for .env --- env.example | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/env.example b/env.example index adc09a4..a5ef770 100644 --- a/env.example +++ b/env.example @@ -1 +1 @@ -VITE_GRPC_WEB_API_URL=:http://localhost:8090 \ No newline at end of file +VITE_GRPC_WEB_API_URL=http://localhost:8080 From 8cf51965d1e6e02c39ac2a8bc9f0955b111ef0da Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 2 May 2024 21:08:08 +0700 Subject: [PATCH 31/43] feat: use prettier formatter --- .eslintrc.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.eslintrc.js b/.eslintrc.js index 750e303..1d9129f 100644 --- a/.eslintrc.js +++ b/.eslintrc.js @@ -3,7 +3,7 @@ module.exports = { browser: true, es2021: true, }, - extends: ['airbnb', 'eslint:recommended', 'plugin:react/recommended'], + extends: ['airbnb', 'eslint:recommended', 'plugin:react/recommended', 'prettier'], parserOptions: { ecmaFeatures: { jsx: true, From 8a933857d42f55555f527532a1598d195ff7dbf0 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 2 May 2024 21:25:21 +0700 Subject: [PATCH 32/43] fix: deprecated version of color --- src/components/ActionManager.jsx | 2 +- src/components/AddDataButton.jsx | 2 +- src/components/ManagePoseButton.jsx | 2 +- src/components/SetJointsButton.jsx | 2 +- src/components/SetTorquesButton.jsx | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index a53e70b..1d8dcd6 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -434,7 +434,7 @@ function ActionManager() {
), [GRPC_WEB_API_URL, diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 4aaca7d..e2055ad 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -17,6 +17,7 @@ import ManagePoseButton from './ManagePoseButton'; import SaveActionsButton from './SaveActionsButton'; import SetJointsOnCellEdit from './SetJointsOnCellEdit'; import ReadJointsButton from './ReadJointsButton'; +import LoggerProvider from './LoggerProvider'; const actionColumns = [ { @@ -138,6 +139,8 @@ function ActionManager() { setCurrentPose, } = useContext(ActionContext); + const showLog = useContext(LoggerProvider); + const handleClickedAction = (event) => { setCurrentAction(event.row); const currentPoses = actionsData[event.row.id].poses; @@ -232,7 +235,7 @@ function ActionManager() { }; updatePosesData(newPose); } else { - console.warn('Joint robot data is empty!'); + showLog } }; diff --git a/src/components/AddDataButton.jsx b/src/components/AddDataButton.jsx index c706d2d..2b0d411 100644 --- a/src/components/AddDataButton.jsx +++ b/src/components/AddDataButton.jsx @@ -5,6 +5,7 @@ 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, @@ -34,10 +35,12 @@ function AddDataButton({ typeData }) { actionsData, posesData, setPosesData, setActionsData, currentPose, } = useContext(ActionContext); + const { showLog } = useContext(LoggerContext); + const handleClick = () => { if (typeData === 'action') { if (actionsData.length === 0) { - alert('Please get the actions data first.'); + showLog('Action data is empty!', 'error'); return; } @@ -70,10 +73,9 @@ function AddDataButton({ typeData }) { setActionsData((prevActionsData) => [...prevActionsData, newAction]); - console.log('Add new action'); } else if (typeData === 'pose') { if (posesData.length === 0) { - alert('Please pick an action first.'); + showLog('Pick an action first!', 'error'); return; } const newPose = { @@ -86,7 +88,6 @@ function AddDataButton({ typeData }) { setPosesData((prevPosesData) => [...prevPosesData, newPose]); - console.log('Add new pose'); } else { console.error(`Unknown type data: ${typeData}`); } diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index f55b938..f98b1b5 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -38,14 +38,12 @@ function GetActionsButton() { const [isLoading, setIsLoading] = useState(false); const handleCall = () => { - console.log('Get actions now...'); setIsLoading(true); client.getConfig(request, {}, (err, response) => { if (err) { console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); } else { - console.log('Successfully get actions data'); const jsonActionsData = JSON.parse(response); let idCounter = -1; 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 index f9b0928..03bb7f1 100644 --- a/src/components/ManagePoseButton.jsx +++ b/src/components/ManagePoseButton.jsx @@ -19,8 +19,6 @@ function ManagePoseButton({ typeButton }) { const index = posesData.findIndex((pose) => pose.id === currentPose.id); if (typeButton === 'UP') { - console.log('Move pose up'); - if (index === 0) { return; } @@ -37,8 +35,6 @@ function ManagePoseButton({ typeButton }) { setPosesData(newPosesData); } else if (typeButton === 'DOWN') { - console.log('Move pose down'); - if (index === posesData.length - 1) { return; } @@ -55,8 +51,6 @@ function ManagePoseButton({ typeButton }) { setPosesData(newPosesData); } else if (typeButton === 'DELETE') { - console.log('Delete pose'); - const newPosesData = [ ...posesData.slice(0, index), ...posesData.slice(index + 1), diff --git a/src/components/ReadJointsButton.jsx b/src/components/ReadJointsButton.jsx index 5ba5651..581834c 100644 --- a/src/components/ReadJointsButton.jsx +++ b/src/components/ReadJointsButton.jsx @@ -54,7 +54,6 @@ function ReadJointsButton() { useEffect(() => { if (jointRobotData.length !== 0) { setJointRobotData((oldJointRobotData) => { - console.log(oldJointRobotData); const newJointRobotData = []; for (let i = 0; i < oldJointRobotData.length; i += 1) { const index = currentJoints.findIndex( diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index fe6d27c..ef7799d 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -5,9 +5,11 @@ import { LoadingButton } from '@mui/lab'; import akushon_interfaces from '../proto/akushon_grpc_web_pb'; import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; function RunActionButton() { const { currentAction, GRPC_WEB_API_URL } = useContext(ActionContext); + const { showLog } = useContext(LoggerContext); const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.ConfigRunAction(); @@ -20,7 +22,7 @@ function RunActionButton() { const rawPoses = currentAction.poses; if (Object.keys(currentAction).length === 0) { - console.warn('No current action selected.'); + showLog('No action selected.', 'warning'); return client; } diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index a31f226..f176b2a 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -5,9 +5,11 @@ import { LoadingButton } from '@mui/lab'; import akushon_interfaces from '../proto/akushon_grpc_web_pb'; import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; function SaveActionsButton() { const { actionsData, GRPC_WEB_API_URL } = useContext(ActionContext); + const { showLog } = useContext(LoggerContext); const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.ConfigActions(); @@ -16,7 +18,7 @@ function SaveActionsButton() { const handleCall = () => { if (actionsData.length === 0) { - console.log('No actions data. Call the actions data first.'); + showLog('Action data is empty!', 'error'); return; } setIsLoading(true); @@ -52,9 +54,9 @@ function SaveActionsButton() { client.saveConfig(message, {}, (err) => { if (err) { - console.error(`Unexpected error: code = ${err.code}, message = "${err.message}"`); + showLog('Failed to save data!', 'error'); } else { - console.log('Successfully saved actions data'); + showLog('Successfully saved actions data', 'success'); } }); diff --git a/src/components/SetJointsButton.jsx b/src/components/SetJointsButton.jsx index e1836dc..1deb10b 100644 --- a/src/components/SetJointsButton.jsx +++ b/src/components/SetJointsButton.jsx @@ -24,7 +24,6 @@ function SetJointsButton(props) { const joints = []; if (typeButton === 'to_robot') { - console.log('Change the joint robot data...'); const newJointRobotData = []; for (let i = 0; i < jointPoseData.length; i += 1) { newJointRobotData.push({ diff --git a/src/components/SetTorquesButton.jsx b/src/components/SetTorquesButton.jsx index c147910..8c84b07 100644 --- a/src/components/SetTorquesButton.jsx +++ b/src/components/SetTorquesButton.jsx @@ -7,12 +7,15 @@ import WbIncandescentOutlinedIcon from '@material-ui/icons/WbIncandescentOutline import akushon_interfaces from '../proto/akushon_grpc_web_pb'; import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; function SetTorquesButton() { const { jointSelected, setJointRobotData, jointRobotData, GRPC_WEB_API_URL, } = useContext(ActionContext); + const { showLog} = useContext(LoggerContext); + const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); const message = new akushon_interfaces.SetTorquesData(); @@ -28,9 +31,7 @@ function SetTorquesButton() { setOffTorquesClicked(false); setOnTorquesClicked(false); if (id.length === 0) { - console.warn( - 'No selected joints. Select some joint first to be set on/off.', - ); + showLog('No joint selected!', 'warning'); return; } 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; From df0518c4ccdd602ed39029e8aeba9a39ced2c4b7 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Sun, 19 May 2024 03:57:39 +0700 Subject: [PATCH 38/43] fix: fix typo --- src/components/ActionManager.jsx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index e2055ad..20c880b 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -235,7 +235,7 @@ function ActionManager() { }; updatePosesData(newPose); } else { - showLog + showLog('No joint data to set.', 'warning') } }; From 3feaf8185b325d214c48c9235595b94421bdae8b Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Sun, 19 May 2024 18:32:34 +0700 Subject: [PATCH 39/43] feat: add time based action settings --- src/components/ActionManager.jsx | 61 ++++++++++++++++++++++++++++++-- 1 file changed, 58 insertions(+), 3 deletions(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 20c880b..95f38b2 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -4,10 +4,11 @@ import ArrowBackIcon from '@material-ui/icons/ArrowBack'; import { DataGrid } from '@material-ui/data-grid'; import MuiTypography from '@material-ui/core/Typography'; import { - Button, Card, CardContent, Grid, TextField, + Button, Card, CardContent, Grid, Switch, TextField, } from '@material-ui/core'; import ActionContext from '../context/ActionContext'; +import LoggerContext from '../context/LoggerContext'; import SetTorquesButton from './SetTorquesButton'; import SetJointsButton from './SetJointsButton'; import GetActionsButton from './GetActionsButton'; @@ -17,7 +18,6 @@ import ManagePoseButton from './ManagePoseButton'; import SaveActionsButton from './SaveActionsButton'; import SetJointsOnCellEdit from './SetJointsOnCellEdit'; import ReadJointsButton from './ReadJointsButton'; -import LoggerProvider from './LoggerProvider'; const actionColumns = [ { @@ -58,6 +58,13 @@ const poseColumns = [ width: 140, sortable: false, }, + { + field: 'time', + headerName: 'Time', + width: 100, + type: 'number', + sortable: false, + }, { field: 'speed', headerName: 'Speed', @@ -139,7 +146,7 @@ function ActionManager() { setCurrentPose, } = useContext(ActionContext); - const showLog = useContext(LoggerProvider); + const { showLog } = useContext(LoggerContext); const handleClickedAction = (event) => { setCurrentAction(event.row); @@ -208,6 +215,7 @@ function ActionManager() { id: currentPose.id, name: currentPose.name, speed: currentPose.speed, + time: currentPose.time, pause: currentPose.pause, joints: newJointPoseData, }; @@ -230,6 +238,7 @@ function ActionManager() { id: currentPose.id, name: currentPose.name, speed: currentPose.speed, + time: currentPose.time, pause: currentPose.pause, joints: jointRobotData, }; @@ -278,6 +287,7 @@ function ActionManager() { next: currentAction.next, start_delay: currentAction.start_delay, stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, poses: currentAction.poses, }; updateActionsData(newAction); @@ -300,6 +310,7 @@ function ActionManager() { next: event.target.value, start_delay: currentAction.start_delay, stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, poses: currentAction.poses, }; updateActionsData(newAction); @@ -309,6 +320,26 @@ function ActionManager() { shrink: true, }} /> + { + if (!currentAction.length) { + showLog('Pick an action first!', 'error'); + return; + } + + const newAction = { + id: currentAction.id, + name: currentAction.name, + next: currentAction.next, + start_delay: currentAction.start_delay, + stop_delay: currentAction.stop_delay, + time_based: !currentAction.time_based, + poses: currentAction.poses, + }; + updateActionsData(newAction); + }} + />
+ { + 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, + }} + /> Date: Sun, 19 May 2024 21:04:02 +0700 Subject: [PATCH 40/43] feat: add switch button to use time based --- src/components/ActionManager.jsx | 50 ++++++++++++++++------------ src/components/GetActionsButton.jsx | 2 ++ src/components/RunActionButton.jsx | 2 ++ src/components/SaveActionsButton.jsx | 2 ++ 4 files changed, 35 insertions(+), 21 deletions(-) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index 95f38b2..e4e38d6 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -1,10 +1,10 @@ -import React, { useContext } from 'react'; +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 { - Button, Card, CardContent, Grid, Switch, TextField, + Button, Card, CardContent, Grid, Switch, TextField, FormControlLabel } from '@material-ui/core'; import ActionContext from '../context/ActionContext'; @@ -147,14 +147,34 @@ function ActionManager() { } = useContext(ActionContext); 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([]); @@ -198,6 +218,7 @@ function ActionManager() { next: currentAction.next, start_delay: currentAction.start_delay, stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, poses: newPosesData, }; updateActionsData(newAction); @@ -320,25 +341,11 @@ function ActionManager() { shrink: true, }} /> - { - if (!currentAction.length) { - showLog('Pick an action first!', 'error'); - return; - } - - const newAction = { - id: currentAction.id, - name: currentAction.name, - next: currentAction.next, - start_delay: currentAction.start_delay, - stop_delay: currentAction.stop_delay, - time_based: !currentAction.time_based, - poses: currentAction.poses, - }; - updateActionsData(newAction); - }} + } + label="Time-based" />
@@ -443,6 +450,7 @@ function ActionManager() { name: currentPose.name, speed: currentPose.speed, pause: Number(event.target.value), + time: currentPose.time, joints: currentPose.joints, }; updatePosesData(newPose); diff --git a/src/components/GetActionsButton.jsx b/src/components/GetActionsButton.jsx index f98b1b5..bce4730 100644 --- a/src/components/GetActionsButton.jsx +++ b/src/components/GetActionsButton.jsx @@ -67,6 +67,7 @@ function GetActionsButton() { name: rawPoses[i].name, speed: rawPoses[i].speed, pause: rawPoses[i].pause, + time: rawPoses[i].time, joints: jointsData, }); } @@ -75,6 +76,7 @@ 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, }); diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index ef7799d..1870f31 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -35,6 +35,7 @@ function RunActionButton() { name: rawPoses[i].name, pause: rawPoses[i].pause, speed: rawPoses[i].speed, + time: rawPoses[i].time, joints: jointsData, }); } @@ -43,6 +44,7 @@ function RunActionButton() { next: currentAction.next, start_delay: currentAction.start_delay, stop_delay: currentAction.stop_delay, + time_based: currentAction.time_based, poses: fixedPoses, }; diff --git a/src/components/SaveActionsButton.jsx b/src/components/SaveActionsButton.jsx index f176b2a..d4b859c 100644 --- a/src/components/SaveActionsButton.jsx +++ b/src/components/SaveActionsButton.jsx @@ -36,6 +36,7 @@ function SaveActionsButton() { name: rawPoses[i].name, pause: parseFloat(rawPoses[i].pause), speed: parseFloat(rawPoses[i].speed), + time: parseFloat(rawPoses[i].time), joints: jointsData, }); } @@ -44,6 +45,7 @@ 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; From d67445b87378245b22e661d0b9a11d34908a2f7f Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Thu, 6 Jun 2024 00:24:07 +0700 Subject: [PATCH 41/43] fix: fix read joints --- src/components/ActionManager.jsx | 10 ++++++++++ src/components/ReadJointsButton.jsx | 15 +++++++++++++++ 2 files changed, 25 insertions(+) diff --git a/src/components/ActionManager.jsx b/src/components/ActionManager.jsx index e4e38d6..1792ba8 100644 --- a/src/components/ActionManager.jsx +++ b/src/components/ActionManager.jsx @@ -204,6 +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), @@ -245,6 +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({ diff --git a/src/components/ReadJointsButton.jsx b/src/components/ReadJointsButton.jsx index 581834c..0253740 100644 --- a/src/components/ReadJointsButton.jsx +++ b/src/components/ReadJointsButton.jsx @@ -72,6 +72,21 @@ function ReadJointsButton() { return sortedJointRobotData; }); + } else { + 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]); From 89907df36f34e66d8ad157e0b4aeed27d2c2df41 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Fri, 7 Jun 2024 02:28:56 +0700 Subject: [PATCH 42/43] fix: fix read joints --- src/components/ReadJointsButton.jsx | 44 ++++++++--------------------- 1 file changed, 11 insertions(+), 33 deletions(-) diff --git a/src/components/ReadJointsButton.jsx b/src/components/ReadJointsButton.jsx index 0253740..5f50004 100644 --- a/src/components/ReadJointsButton.jsx +++ b/src/components/ReadJointsButton.jsx @@ -52,42 +52,20 @@ function ReadJointsButton() { }; useEffect(() => { - if (jointRobotData.length !== 0) { - setJointRobotData((oldJointRobotData) => { - const newJointRobotData = []; - for (let i = 0; i < oldJointRobotData.length; i += 1) { - const index = currentJoints.findIndex( - (joint) => parseInt(joint.id, 10) === parseInt(oldJointRobotData[i].id, 10), - ); - - newJointRobotData.push({ - id: parseInt(oldJointRobotData[i].id, 10), - name: jointIdList[index + 1], - pose_pos: parseFloat(currentJoints[index].position), - status: oldJointRobotData[i].status, - }); - } - - const sortedJointRobotData = newJointRobotData.slice().sort((a, b) => a.id - b.id); - - return sortedJointRobotData; + 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, }); - } else { - 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); + const sortedJointRobotData = newJointRobotData.slice().sort((a, b) => a.id - b.id); - setJointRobotData(sortedJointRobotData); - } + setJointRobotData(sortedJointRobotData); }, [currentJoints]); return ( From 0be9acb389fabfac98c4a895f1cf58167f8640f4 Mon Sep 17 00:00:00 2001 From: FaaizHaikal Date: Fri, 7 Jun 2024 19:17:35 +0700 Subject: [PATCH 43/43] feat: play next action until no next action --- src/components/RunActionButton.jsx | 54 +++++++++++++++++++++--------- 1 file changed, 39 insertions(+), 15 deletions(-) diff --git a/src/components/RunActionButton.jsx b/src/components/RunActionButton.jsx index 1870f31..a34354c 100644 --- a/src/components/RunActionButton.jsx +++ b/src/components/RunActionButton.jsx @@ -8,7 +8,7 @@ import ActionContext from '../context/ActionContext'; import LoggerContext from '../context/LoggerContext'; function RunActionButton() { - const { currentAction, GRPC_WEB_API_URL } = useContext(ActionContext); + const { actionsData, currentAction, GRPC_WEB_API_URL } = useContext(ActionContext); const { showLog } = useContext(LoggerContext); const client = new akushon_interfaces.ConfigClient(GRPC_WEB_API_URL, null, null); @@ -17,28 +17,52 @@ function RunActionButton() { const [isLoading, setIsLoading] = useState(false); const handlePublish = () => { - setIsLoading(true); - const fixedPoses = []; - const rawPoses = currentAction.poses; - if (Object.keys(currentAction).length === 0) { 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, - time: rawPoses[i].time, - joints: jointsData, - }); } + const rawAction = { name: currentAction.name, next: currentAction.next,