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core: frontend: do not update motors when blueos is not in focus #2243

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merged 2 commits into from
Jan 23, 2024
Merged

core: frontend: do not update motors when blueos is not in focus #2243

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89a4359
core: frontend: disable motor test when the page is out of focus
Williangalvani Dec 12, 2023
3656647
core: frontend: tweak arming/disarming logic
Williangalvani Dec 12, 2023
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38 changes: 34 additions & 4 deletions core/frontend/src/components/vehiclesetup/PwmSetup.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,11 @@
<vehicle-viewer :highlight="highlight" :transparent="true" :autorotate="false" />
</v-card>
<v-card class="mt-3">
<v-overlay :value="!has_focus">
<div class="text-h4 py-12 px-12">
Motor test is disabled when the page is out of focus
</div>
</v-overlay>
<v-simple-table
dense
>
Expand All @@ -20,7 +25,7 @@
</th>
<th>
<v-switch
v-model="is_armed"
v-model="desired_armed_state"
:loading="desired_armed_state !== (is_armed) ? 'warning' : null"
:disabled="!is_manual"
class="mx-1 flex-grow-0"
Expand Down Expand Up @@ -188,6 +193,8 @@ export default Vue.extend({
motor_writer_interval: undefined as undefined | number,
desired_armed_state: false,
arming_timeout: undefined as number | undefined,
has_focus: true,
motors_zeroed: false,
}
},
computed: {
Expand Down Expand Up @@ -326,13 +333,29 @@ export default Vue.extend({
this.motor_writer_interval = setInterval(this.write_motors, 100)
mavlink.setMessageRefreshRate({ messageName: 'SERVO_OUTPUT_RAW', refreshRate: 10 })
this.desired_armed_state = this.is_armed
this.installListeners()
},
beforeDestroy() {
clearInterval(this.motor_zeroer_interval)
clearInterval(this.motor_writer_interval)
mavlink.setMessageRefreshRate({ messageName: 'SERVO_OUTPUT_RAW', refreshRate: 1 })
this.uninstallListeners()
},
methods: {
focusListener() {
this.has_focus = true
},
blurListener() {
this.has_focus = false
},
installListeners() {
window.addEventListener('focus', this.focusListener)
window.addEventListener('blur', this.blurListener)
},
uninstallListeners() {
window.removeEventListener('focus', this.focusListener)
window.removeEventListener('blur', this.blurListener)
},
styleForMotorBar(value: number): string {
const percent = (value - 1500) / 10
const left = percent < 0 ? 50 + percent : 50
Expand All @@ -350,16 +373,24 @@ export default Vue.extend({
},
printParam,
zero_motors() {
if (!this.has_focus && this.motors_zeroed) {
return
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This is a case where we should be safe to run if out of focus no ?

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I'd prefer to stop completely in case the user is trying to do something else.
We need to check if rover has a decent motor test timeout, actually.

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But this is zero_motors.. isn't this supposed to be the safest way than letting a undefined state ?

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we don't want to interfere if the user is using another software. we should probably send one zero_motors and then stop completely

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Can we have a comment explaining that ? This is not clear from the code.

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Can we have a comment explaining that ? This is not clear from the code.

the code wasn't doing it before. I added a boolean to keep track of it.

}
for (const motor of this.available_motors) {
this.motor_targets[motor.target] = 1500
}
this.motors_zeroed = true
},
async write_motors() {
if (!this.has_focus) {
return
}
if (this.is_armed && this.desired_armed_state) {
for (const [motor, value] of Object.entries(this.motor_targets)) {
this.doMotorTest(parseInt(motor, 10), value)
}
}
this.motors_zeroed = false
},
restart_motor_zeroer() {
clearInterval(this.motor_zeroer_interval)
Expand All @@ -384,10 +415,9 @@ export default Vue.extend({
console.warn('Disarming failed!')
}, 5000)
},
arm_disarm_switch_change(): void {
this.desired_armed_state = !this.is_armed
arm_disarm_switch_change(should_arm: boolean): void {
// eslint-disable-next-line no-unused-expressions
this.is_armed ? this.disarm() : this.arm()
should_arm ? this.arm() : this.disarm()
},
armDisarm(arm: boolean, force: boolean): void {
mavlink2rest.sendMessage(
Expand Down