fix: Jogging websocket is now only open when mouse is inside panel

wandelbotsgmbh · Aug 19, 2024 · 1612b15 · 1612b15
1 parent 70e3315
commit 1612b15
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Showing 2 changed files with 53 additions and 7 deletions.
diff --git a/src/components/jogging/JoggingCartesianTab.tsx b/src/components/jogging/JoggingCartesianTab.tsx
@@ -18,6 +18,7 @@ import { JoggingVelocitySlider } from "./JoggingVelocitySlider"
 import { useReaction } from "../utils/hooks"
 import { JoggingCartesianValues } from "./JoggingCartesianValues"
 import { JoggingJointLimitDetector } from "./JoggingJointLimitDetector"
+import { useEffect } from "react"
 
 type JoggingCartesianOpts = {
   axis: "x" | "y" | "z"
@@ -49,6 +50,31 @@ export const JoggingCartesianTab = observer(
       { fireImmediately: true } as any,
     )
 
+    useEffect(() => {
+      // Start in increment mode with no websockets open
+      store.jogger.setJoggingMode("increment")
+
+      window.addEventListener("blur", disconnectJogger)
+
+      return () => {
+        window.removeEventListener("blur", disconnectJogger)
+      }
+    }, [])
+
+    async function connectJogger() {
+      store.jogger.setJoggingMode(
+        store.selectedDiscreteIncrement ? "increment" : "cartesian",
+        {
+          tcpId: store.selectedTcpId,
+          coordSystemId: store.selectedCoordSystemId,
+        },
+      )
+    }
+
+    async function disconnectJogger() {
+      store.jogger.setJoggingMode("increment")
+    }
+
     async function runIncrementalCartesianJog(
       opts: JoggingCartesianOpts,
       increment: DiscreteIncrementOption,
@@ -85,6 +111,8 @@ export const JoggingCartesianTab = observer(
     async function startCartesianJogging(opts: JoggingCartesianOpts) {
       if (store.isLocked) return
 
+      connectJogger()
+
       if (store.selectedDiscreteIncrement) {
         return runIncrementalCartesianJog(opts, store.selectedDiscreteIncrement)
       }
@@ -143,7 +171,7 @@ export const JoggingCartesianTab = observer(
     }
 
     return (
-      <Stack>
+      <Stack onMouseEnter={connectJogger} onMouseLeave={disconnectJogger}>
         {/* Show Wandelscript string for the current coords */}
         <JoggingCartesianValues store={store} />
 

diff --git a/src/components/jogging/JoggingJointTab.tsx b/src/components/jogging/JoggingJointTab.tsx
@@ -5,9 +5,29 @@ import type { JoggingStore } from "./JoggingStore"
 import { JoggingVelocitySlider } from "./JoggingVelocitySlider"
 import { JoggingJointRotationControl } from "./JoggingJointRotationControl"
 import { JoggingJointValues } from "./JoggingJointValues"
+import { useEffect } from "react"
 
 export const JoggingJointTab = observer(
-  ({ store }: { store: JoggingStore; }) => {
+  ({ store }: { store: JoggingStore }) => {
+    useEffect(() => {
+      // Start in increment mode with no websockets open
+      store.jogger.setJoggingMode("increment")
+
+      window.addEventListener("blur", disconnectJogger)
+
+      return () => {
+        window.removeEventListener("blur", disconnectJogger)
+      }
+    }, [])
+
+    async function connectJogger() {
+      store.jogger.setJoggingMode("joint")
+    }
+
+    async function disconnectJogger() {
+      store.jogger.setJoggingMode("increment")
+    }
+
     async function startJointJogging(opts: {
       joint: number
       direction: "-" | "+"
@@ -22,16 +42,14 @@ export const JoggingJointTab = observer(
     async function stopJointJogging() {
       await store.jogger.stop()
     }
-  
+
     return (
-      <Stack>
+      <Stack onMouseEnter={connectJogger} onMouseLeave={disconnectJogger}>
         <JoggingJointValues store={store} />
         <Stack>
           {store.jogger.motionStream.joints.map((joint) => {
             const jointLimits =
-              store.motionGroupSpec.mechanical_joint_limits?.[
-                joint.index
-              ]
+              store.motionGroupSpec.mechanical_joint_limits?.[joint.index]
             const lowerLimitDegs =
               jointLimits?.lower_limit !== undefined
                 ? radiansToDegrees(jointLimits.lower_limit)