Skip to content

frontend: require local arming before motor tests #4098

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Daniiiil1 wants to merge 1 commit into
base: master
Choose a base branch
from
+27 −8
Open

frontend: require local arming before motor tests #4098

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
35 changes: 27 additions & 8 deletions core/frontend/src/components/vehiclesetup/PwmSetup.vue
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@
thumb-label
color="primary"
track-color="primary"
:disabled="!is_armed || !is_manual"
:disabled="!can_run_motor_test"
@mouseup="restart_motor_zeroer()"
@mousedown="pause_motor_zeroer()"
/>
Expand Down Expand Up @@ -225,6 +225,7 @@ export default Vue.extend({
motor_zeroer_interval: undefined as undefined | number,
motor_writer_interval: undefined as undefined | number,
desired_armed_state: false,
armed_by_this_page: false,
has_focus: true,
motors_zeroed: false,
// These two change from firmware to firmware...
Expand Down Expand Up @@ -361,10 +362,15 @@ export default Vue.extend({

return false
},
can_run_motor_test(): boolean {
return this.is_armed && this.armed_by_this_page && this.is_manual
},
arm_disarm_switch_label(): string {
let label = `${this.is_armed ? 'Armed' : 'Disarmed'}`
if (!this.is_manual) {
label += ' - Vehicle needs to be in Manual Mode'
} else if (this.is_armed && !this.armed_by_this_page) {
label += ' externally - re-arm here to enable motor test'
}
return label
},
Expand Down Expand Up @@ -410,9 +416,12 @@ export default Vue.extend({
},
},
watch: {
is_armed() {
is_armed(armed: boolean) {
// To reflect changed made from other sources like from GCSs
this.desired_armed_state = this.is_armed
this.desired_armed_state = armed
if (!armed) {
this.armed_by_this_page = false
}
},
is_rover() {
this.updateReversionValues()
Expand Down Expand Up @@ -527,7 +536,7 @@ export default Vue.extend({
if (!this.has_focus) {
return
}
if (this.is_armed && this.desired_armed_state && this.is_manual) {
if (this.can_run_motor_test && this.desired_armed_state) {
for (const [motor, value] of Object.entries(this.motor_target_with_reversion)) {
doMotorTest(parseInt(motor, 10), value)
}
Expand All @@ -542,12 +551,22 @@ export default Vue.extend({
clearInterval(this.motor_zeroer_interval)
},
arm() {
armDisarm(true, true).catch(() => {
this.desired_armed_state = this.is_armed
console.warn('Arming failed!')
})
this.armed_by_this_page = false
if (this.is_armed) {
this.desired_armed_state = true
return
}
armDisarm(true, true)
.then(() => {
this.armed_by_this_page = true
})
.catch(() => {
this.desired_armed_state = this.is_armed
console.warn('Arming failed!')
})
},
disarm() {
this.armed_by_this_page = false
armDisarm(false, true).catch(() => {
this.desired_armed_state = this.is_armed
console.warn('Disarming failed!')
Expand Down