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fix: proper servo manual range result handling #535

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merged 2 commits into from
Mar 12, 2024
Merged

fix: proper servo manual range result handling #535

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34a22a0
fix: proper servo manual range result handling
nvsukhanov Mar 12, 2024
8ed6561
Merge branch 'main' into fix-servo-manual-range
nvsukhanov Mar 12, 2024
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2 changes: 1 addition & 1 deletion modules/bindings/src/lib/servo/servo-binding-edit.component.html
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@
/>
<button mat-icon-button
matSuffix
[disabled]="(canRequestPortValue$ | async) !== true"
[disabled]="(canRequestPortValue$ | async) !== true || !isCenterPositionReceived"
[title]="'controlScheme.servoBinding.readServoRangeFromPort' | transloco"
(click)="onServoRangeReadRequest()"
>
Expand Down
47 changes: 28 additions & 19 deletions modules/bindings/src/lib/servo/servo-binding-edit.component.ts
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
import { ChangeDetectionStrategy, ChangeDetectorRef, Component, OnDestroy } from '@angular/core';
import { MOTOR_LIMITS, PortModeName } from 'rxpoweredup';
import { PortModeName } from 'rxpoweredup';
import { TranslocoPipe } from '@ngneat/transloco';
import { MatButtonModule } from '@angular/material/button';
import { MatIconModule } from '@angular/material/icon';
Expand All @@ -11,7 +11,7 @@ import { MatInputModule } from '@angular/material/input';
import { ReactiveFormsModule } from '@angular/forms';
import { concatLatestFrom } from '@ngrx/effects';
import { AsyncPipe } from '@angular/common';
import { ControlSchemeBindingType, ValidationErrorsL10nMap, ValidationMessagesDirective } from '@app/shared-misc';
import { ControlSchemeBindingType, ValidationErrorsL10nMap, ValidationMessagesDirective, transformRelativeDegToAbsoluteDeg } from '@app/shared-misc';
import { HideOnSmallScreenDirective, ToggleControlComponent } from '@app/shared-ui';
import {
ATTACHED_IO_PROPS_SELECTORS,
Expand Down Expand Up @@ -89,6 +89,8 @@ export class ServoBindingEditComponent implements IBindingsDetailsEditComponent<

private portRequestSubscription?: Subscription;

private centerReadPositionResult: number | null = null;

constructor(
private readonly cd: ChangeDetectorRef,
private readonly store: Store,
Expand All @@ -111,6 +113,10 @@ export class ServoBindingEditComponent implements IBindingsDetailsEditComponent<
return this._servoCcwBindingComponentData;
}

public get isCenterPositionReceived(): boolean {
return this.centerReadPositionResult !== null;
}

public get canCalibrate$(): Observable<boolean> {
return this._canCalibrate$.pipe(
combineLatestWith(this._isCalibrating$),
Expand All @@ -130,15 +136,23 @@ export class ServoBindingEditComponent implements IBindingsDetailsEditComponent<
if (!this._form || this._form.controls.hubId.value === null || this._form.controls.portId.value === null) {
return;
}
const hubId = this._form.controls.hubId.value;
const portId = this._form.controls.portId.value;
this.centerReadPositionResult = null;

this.portRequestSubscription?.unsubscribe();
this.portRequestSubscription = this.hubFacade.getMotorAbsolutePosition(
this.portRequestSubscription = this.hubFacade.getMotorPosition(
this._form.controls.hubId.value,
this._form.controls.portId.value
).pipe(
concatLatestFrom(() => this.store.select(ATTACHED_IO_PROPS_SELECTORS.selectMotorEncoderOffset({ hubId, portId }))),
take(1)
).subscribe((result: number) => {
if (this._form && this._form.controls.aposCenter.value !== result) {
this._form.controls.aposCenter.setValue(result);
).subscribe(([position, offset]) => {
// we temporarily store the result to use it later in the range read request
this.centerReadPositionResult = position;
const absolutePosition = transformRelativeDegToAbsoluteDeg(position - offset);
if (this._form && this._form.controls.aposCenter.value !== absolutePosition) {
this._form.controls.aposCenter.setValue(absolutePosition);
this._form.controls.aposCenter.markAsDirty();
this._form.controls.aposCenter.markAsTouched();
this._form.updateValueAndValidity();
Expand All @@ -154,25 +168,20 @@ export class ServoBindingEditComponent implements IBindingsDetailsEditComponent<
) {
return;
}
const hubId = this._form.controls.hubId.value;
const portId = this._form.controls.portId.value;
const formAbsoluteCenterPosition = this._form.controls.aposCenter.value;

this.portRequestSubscription?.unsubscribe();
this.portRequestSubscription = this.hubFacade.getMotorPosition(
this._form.controls.hubId.value,
this._form.controls.portId.value
).pipe(
concatLatestFrom(() => this.store.select(ATTACHED_IO_PROPS_SELECTORS.selectMotorEncoderOffset({ hubId, portId }))),
take(1)
).subscribe(([currentPosition, offset]) => {
const formCenterPosition = formAbsoluteCenterPosition - offset;
const halfArcLength = currentPosition < formCenterPosition
? formCenterPosition - currentPosition
: currentPosition - formCenterPosition;
const arcLength = halfArcLength * 2;
const cappedArcLength = Math.min(MOTOR_LIMITS.maxServoDegreesRange, Math.max(-MOTOR_LIMITS.maxServoDegreesRange, arcLength));
if (this._form && halfArcLength !== this._form.controls.range.value) {
).subscribe((currentPosition) => {
if (this.centerReadPositionResult === null) {
return;
}
const arcLength = Math.abs(currentPosition - this.centerReadPositionResult) * 2;
const cappedArcLength = Math.min(this.formBuilder.servoMaxRange, Math.max(this.formBuilder.servoMinRange, arcLength));
if (this._form && cappedArcLength !== this._form.controls.range.value) {
this._form.controls.range.setValue(cappedArcLength);
this._form.controls.range.markAsDirty();
this._form.controls.range.markAsTouched();
Expand Down Expand Up @@ -272,7 +281,7 @@ export class ServoBindingEditComponent implements IBindingsDetailsEditComponent<
return this.store.select(BINDING_EDIT_COMMON_SELECTORS.canRequestPortValue({
hubId: form.controls.hubId.value,
portId: form.controls.portId.value,
portModeName: PortModeName.absolutePosition
portModeName: PortModeName.position
}));
})
);
Expand Down
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