feat(#210): support QUICKSTOP

feat(#212): set safety douts for current mode (if configured)
glowbuzzer · Jul 3, 2024 · 25b168a · 25b168a
1 parent 04bf995
commit 25b168a
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Showing 3 changed files with 54 additions and 50 deletions.
diff --git a/src/hooks.ts b/src/hooks.ts
@@ -101,19 +101,3 @@ export function useLoadedRobotPartsWithEmbeddedAssets(
 
     return loaded
 }
-
-export function useManualKeyswitch() {
-    const safety_inputs = useSafetyDigitalInputList()
-    const keyswitch_index = safety_inputs.findIndex(
-        c => c.type === DIN_SAFETY_TYPE.DIN_SAFETY_TYPE_KEYSWITCH
-    )
-    return useSafetyDigitalInputState(keyswitch_index)
-}
-
-export function useDeadman() {
-    const safety_inputs = useSafetyDigitalInputList()
-    const deadman_index = safety_inputs.findIndex(
-        c => c.type === DIN_SAFETY_TYPE.DIN_SAFETY_TYPE_DEAD_MAN
-    )
-    return useSafetyDigitalInputState(deadman_index)
-}
diff --git a/src/modes/InnoboticsJogTileWrapper.tsx b/src/modes/InnoboticsJogTileWrapper.tsx
@@ -3,18 +3,22 @@
  */
 
 import * as React from "react"
-import { useDeadman, useManualKeyswitch } from "@glowbuzzer/awlib"
-import { useConnection } from "@glowbuzzer/store"
+import {
+    ManualMode,
+    useAutoModeActiveInput,
+    useConnection,
+    useMotionEnabledInput
+} from "@glowbuzzer/store"
 import { DockTileDisabled, useGlowbuzzerMode, useOperationEnabled } from "@glowbuzzer/controls"
 
-function get_message(op: boolean, keyswitch: boolean, mode: string, deadman: boolean) {
+function get_message(op: boolean, autoMode: boolean, mode: ManualMode, deadman: boolean) {
     if (!op) {
         return "Operation Not Enabled"
     }
-    if (!keyswitch) {
-        return "Manual Keyswitch Not Engaged"
+    if (autoMode) {
+        return "Manual Mode Not Selected"
     }
-    if (mode !== "jog") {
+    if (mode !== ManualMode.JOG) {
         return "Jog Mode Not Selected"
     }
     if (!deadman) {
@@ -23,8 +27,8 @@ function get_message(op: boolean, keyswitch: boolean, mode: string, deadman: boo
 }
 
 export const InnoboticsJogTileWrapper = ({ children }) => {
-    const [{ actValue: keyswitch }] = useManualKeyswitch()
-    const [{ actValue: deadman }] = useDeadman()
+    const autoMode = useAutoModeActiveInput()
+    const motionAllowed = useMotionEnabledInput()
     const { connected } = useConnection()
     const op = useOperationEnabled()
     const { mode } = useGlowbuzzerMode()
@@ -33,7 +37,7 @@ export const InnoboticsJogTileWrapper = ({ children }) => {
         return <DockTileDisabled children={children} />
     }
 
-    const message = get_message(op, keyswitch, mode, deadman)
+    const message = get_message(op, autoMode, mode as ManualMode, motionAllowed)
     if (message) {
         return <DockTileDisabled children={children} content={message} />
     }

diff --git a/src/modes/InnoboticsModeProvider.tsx b/src/modes/InnoboticsModeProvider.tsx
@@ -3,44 +3,60 @@
  */
 
 import * as React from "react"
-import { GlowbuzzerModeProvider } from "@glowbuzzer/controls"
-import {
-    DIN_SAFETY_TYPE,
-    useSafetyDigitalInputList,
-    useSafetyDigitalInputState
-} from "@glowbuzzer/store"
+import { useEffect } from "react"
+import { GlowbuzzerModeContextType, GlowbuzzerModeProvider } from "@glowbuzzer/controls"
+import { ManualMode, useAutoModeActiveInput, useManualMode } from "@glowbuzzer/store"
 
 export const InnoboticsModeProvider = ({ children }) => {
-    const [requestedMode, setRequestedMode] = React.useState("auto")
-    const safety_inputs = useSafetyDigitalInputList()
-    const keyswitch_index = safety_inputs.findIndex(
-        c => c.type === DIN_SAFETY_TYPE.DIN_SAFETY_TYPE_KEYSWITCH
-    )
-    const switched = useSafetyDigitalInputState(keyswitch_index)
+    const autoModeEnabled = useAutoModeActiveInput()
+    const [manualMode, setManualMode] = useManualMode()
 
-    const mode = switched ? (requestedMode === "auto" ? "jog" : requestedMode) : "auto"
+    useEffect(() => {
+        // whenever we switch between auto/manual, ensure we revert to disabled mode
+        // (applies equally to auto and manual mode, even though this doesn't affect auto mode)
+        setManualMode(ManualMode.DISABLED)
+    }, [autoModeEnabled])
 
-    const context = {
+    function setMode(mode: ManualMode | "auto") {
+        if (mode === "auto") {
+            setManualMode(ManualMode.DISABLED)
+        } else {
+            setManualMode(mode)
+        }
+    }
+
+    const mode = autoModeEnabled ? "auto" : manualMode
+
+    const context: GlowbuzzerModeContextType = {
         mode,
-        setMode: setRequestedMode,
-        modes: {
-            auto: {
+        setMode,
+        modes: [
+            {
+                value: "auto",
                 name: "Auto",
-                disabled: switched
+                disabled: !autoModeEnabled
+            },
+            {
+                value: ManualMode.DISABLED,
+                name: "Disabled",
+                disabled: autoModeEnabled
             },
-            jog: {
+            {
+                value: ManualMode.JOG,
                 name: "Jog",
-                disabled: !switched
+                disabled: autoModeEnabled
             },
-            ["test-program"]: {
+            {
+                value: ManualMode.TEST_PROGRAM,
                 name: "Test Program",
-                disabled: !switched
+                disabled: autoModeEnabled
             },
-            ["hand-guided"]: {
+            {
+                value: ManualMode.HAND_GUIDED,
                 name: "Hand Guided",
-                disabled: !switched || keyswitch_index < 0
+                disabled: autoModeEnabled
             }
-        }
+        ]
     }
 
     return <GlowbuzzerModeProvider context={context}>{children}</GlowbuzzerModeProvider>