fix: correct order of scheme pre-startup tasks

modules/store/src/lib/effects/tasks-processing/scheme-pre-run/pre-run-scheme.effect.ts

@@ -1,5 +1,5 @@
 import { Actions, concatLatestFrom, createEffect, ofType } from '@ngrx/effects';
-import { catchError, concatWith, filter, forkJoin, last, map, of, switchMap, tap, timeout } from 'rxjs';
+import { MonoTypeOperatorFunction, Observable, catchError, concatWith, filter, forkJoin, last, map, of, switchMap, timeout } from 'rxjs';
 import { inject } from '@angular/core';
 import { Store } from '@ngrx/store';
 import { APP_CONFIG, IAppConfig } from '@app/shared-misc';
@@ -16,6 +16,31 @@ import { HubServoCalibrationFacadeService } from '../../../hub-facades';
 import { IWidgetsReadTasksFactory, WIDGET_READ_TASKS_FACTORY } from './i-widgets-read-tasks-factory';
 import { createPreRunMotorPositionQueryTasks } from './create-pre-run-motor-position-query-tasks';
 
+function runTasksInParallel(
+    tasks: Array<Observable<unknown>>
+): MonoTypeOperatorFunction<unknown> {
+    if (tasks.length === 0) {
+        return (source) => source;
+    }
+
+    return (source) => source.pipe(
+        switchMap(() => forkJoin(tasks)),
+        last()
+    );
+}
+
+function runTasksSequentially(
+    tasks: Array<Observable<unknown>>
+): MonoTypeOperatorFunction<unknown> {
+    if (tasks.length === 0) {
+        return (source) => source;
+    }
+    return (source) => source.pipe(
+        concatWith(...tasks),
+        last()
+    );
+}
+
 export const PRE_RUN_SCHEME_EFFECT = createEffect((
     actions: Actions = inject(Actions),
     hubStorage: HubStorageService = inject(HubStorageService),
@@ -30,24 +55,18 @@ export const PRE_RUN_SCHEME_EFFECT = createEffect((
         map(([ , scheme ]) => scheme),
         filter((scheme): scheme is ControlSchemeModel => !!scheme),
         switchMap((scheme) => {
-            const combinedTasks = [
-                ...createPreRunSetAccelerationProfileTasks(scheme, hubStorage),
-                ...createPreRunSetDecelerationProfileTasks(scheme, hubStorage),
-                ...createWidgetReadTasks(scheme, store, widgetReadTaskFactory),
-                ...createPreRunMotorPositionQueryTasks(scheme, hubStorage, store)
-            ];
-            // TODO: move to Bindings module
-            const calibrationServoTasks = createPreRunServoCalibrationTasks(scheme, hubCalibrationFacade, store, appConfig);
-            if (combinedTasks.length + calibrationServoTasks.length === 0) {
-                return of(CONTROL_SCHEME_ACTIONS.schemeStarted({ name: scheme.name }));
-            }
-
-            return forkJoin(combinedTasks).pipe(
-                // We have to start calibration tasks after all other tasks are done to avoid race conditions with position queries.
-                // Also, somehow running calibration tasks in parallel causes issues with receiving port values.
-                // For now, we run them sequentially. TODO: investigate and fix the root cause.
-                calibrationServoTasks.length > 0 ? concatWith(...calibrationServoTasks) : tap(() => void 0),
-                last(),
+            return of(null).pipe(
+                // Calibration tasks are run sequentially bc of some issue with port value reading while calibrating in parralel
+                // TODO: investigate and fix the issue. Not a priority now.
+                runTasksSequentially(
+                    createPreRunServoCalibrationTasks(scheme, hubCalibrationFacade, store, appConfig)
+                ),
+                runTasksInParallel([
+                    ...createPreRunMotorPositionQueryTasks(scheme, hubStorage, store),
+                    ...createPreRunSetAccelerationProfileTasks(scheme, hubStorage),
+                    ...createPreRunSetDecelerationProfileTasks(scheme, hubStorage),
+                    ...createWidgetReadTasks(scheme, store, widgetReadTaskFactory),
+                ]),
                 timeout(appConfig.schemeStartStopTimeoutMs),
                 map(() => CONTROL_SCHEME_ACTIONS.schemeStarted({ name: scheme.name })),
                 catchError((e) => of(CONTROL_SCHEME_ACTIONS.schemeStartFailed({ reason: e })))