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CIRC 0.5 updates: stale indicators, disable go, and reset all #49

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Merged
codeflight1 merged 2 commits into from
Jul 14, 2026
Merged

CIRC 0.5 updates: stale indicators, disable go, and reset all #49

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a8f52b6
CIRC 0.5 updates: stale indicators, disable go, and reset all
codeflight1 Jul 13, 2026
ca19f7a
copilot suggestions
codeflight1 Jul 13, 2026
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4 changes: 2 additions & 2 deletions src/components/panels/ArmControlPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -373,7 +373,7 @@ const ArmControlPanel: React.FC = () => {
/>
</label>

<button onClick={handleGo} disabled={!selectedPose}>
<button onClick={handleGo} disabled={!selectedPose || armState !== 'Idle'}>
Go
</button>

Expand Down Expand Up @@ -539,4 +539,4 @@ const ArmControlPanel: React.FC = () => {
);
};

export default ArmControlPanel;
export default ArmControlPanel;
42 changes: 39 additions & 3 deletions src/components/panels/MotorStatusPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ type MotorStatus = {
velocity: number;
output_current: number;
active_errors: number;
remaining: number;
};

const MOTORS = {
Expand Down Expand Up @@ -121,6 +122,12 @@ const MotorStatusPanel: React.FC = () => {
);
};

const handleResetAll = () => {
(Object.entries(MOTORS) as [MotorKey, typeof MOTORS[MotorKey]][]).forEach(
([key, { topic }]) => handleResetErrors(key, topic),
);
};
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useEffect(() => {
if (!ros) return;

Expand All @@ -140,7 +147,8 @@ const MotorStatusPanel: React.FC = () => {
[key]: {
velocity: msg.velocity,
output_current: msg.output_current,
active_errors: msg.active_errors
active_errors: msg.active_errors,
remaining: 2
},
}));
};
Expand All @@ -152,8 +160,30 @@ const MotorStatusPanel: React.FC = () => {
return () => unsubscribers.forEach(unsub => unsub());
}, [ros]);

useEffect(() => {
const interval = window.setInterval(() => {
setMotorStats(prev => {
const next = { ...prev };
(Object.keys(prev) as MotorKey[]).forEach(key => {
const stat = prev[key];
if (!stat) return;
next[key] = { ...stat, remaining: stat.remaining - 0.1 };
});
return next;
});
}, 100);

return () => window.clearInterval(interval);
}, []);
return (
<div className="motor-panel">
<button
className="reset-button"
disabled={!ros}
onClick={handleResetAll}
>
Reset All
</button>
<table className="motor-table">
<thead>
<tr>
Expand All @@ -169,18 +199,24 @@ const MotorStatusPanel: React.FC = () => {
([key, { label, topic }]) => {
const stat = motorStats[key];
var errorStr = '-';
var color = "#6c757d";
if (stat) {
var errNames: string[] = [];
Object.keys(MotorError).forEach((key: string) => { if (stat.active_errors & MotorError[key]) errNames.push(key) })
errorStr = errNames.length ? errNames.join(', ') : "NONE";
color = errNames.length ? "#ef4444" : "#22c55e";
if (stat.remaining < 0) {
errorStr = "STALE";
color = "#ffc107";
}
}

return (
<tr key={key}>
<td>{label}</td>
<td>{stat && Number.isFinite(stat.velocity) ? stat.velocity.toFixed(2) : '-'}</td>
<td>{stat && Number.isFinite(stat.output_current) ? `${stat.output_current.toFixed(2)}A` : '-'}</td>
<td><span className="status-led" style={{ backgroundColor: errorStr == "NONE" ? "#22c55e" : "#ef4444" }}/><span style={{ paddingLeft: "8px" }}>{errorStr}</span></td>
<td><span className="status-led" style={{ backgroundColor: color }}/><span style={{ paddingLeft: "8px" }}>{errorStr}</span></td>
<td>
<button
className="reset-button"
Expand Down Expand Up @@ -262,4 +298,4 @@ const MotorStatusPanel: React.FC = () => {
);
};

export default MotorStatusPanel;
export default MotorStatusPanel;
28 changes: 21 additions & 7 deletions src/components/panels/NodeStatusPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ const NodeStatusPanel: React.FC = () => {
const { ros } = useROS();

const [nodes, setNodes] = useState<Map<string, NodeInfo>>(new Map());
const [staleTime, setStaleTime] = useState<number>(0);

useEffect(() => {
if (!ros) return;
Expand Down Expand Up @@ -49,6 +50,7 @@ const NodeStatusPanel: React.FC = () => {

return updated;
});
setStaleTime(2);
} catch (e) {
console.error('Failed to parse node list:', e);
}
Expand All @@ -61,10 +63,20 @@ const NodeStatusPanel: React.FC = () => {
};
}, [ros]);

useEffect(() => {
const interval = window.setInterval(() => {
setStaleTime(prev => Math.max(-1, prev - 0.1));
}, 100);

return () => window.clearInterval(interval);
}, []);

const sortedNodes = Array.from(nodes.entries()).sort(([a], [b]) =>
a.localeCompare(b)
);

const stale = staleTime < 0;

return (
<div className="node-panel">
<table className="node-table">
Expand All @@ -89,15 +101,17 @@ const NodeStatusPanel: React.FC = () => {
<span
className="status-led"
style={{
backgroundColor: info.online
? '#22c55e'
: offline
? '#ef4444'
: '#6b7280',
backgroundColor: stale
? '#ffc107'
: info.online
? '#22c55e'
: offline
? '#ef4444'
: '#6b7280',
}}
/>
<span style={{ paddingLeft: 8 }}>
{info.online ? 'Online' : offline ? 'Offline' : 'Unknown'}
{stale ? 'Stale' : info.online ? 'Online' : offline ? 'Offline' : 'Unknown'}
</span>
</td>

Expand Down Expand Up @@ -154,4 +168,4 @@ const NodeStatusPanel: React.FC = () => {
);
};

export default NodeStatusPanel;
export default NodeStatusPanel;
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