From 0ec763bdb433979eae86a8dcbadfc222ddcf0e8a Mon Sep 17 00:00:00 2001
From: PAJohnson <pajohns4@ncsu.edu>
Date: Sat, 26 Sep 2020 23:04:05 -0400
Subject: [PATCH] Axis error work again now, fixed top level .gitignore

---
 .gitignore                  |  6 ++++++
 GUI/README.md               |  2 +-
 GUI/server/odrive_server.py |  4 +++-
 GUI/src/App.vue             |  2 +-
 GUI/src/components/Axis.vue | 39 +++++++++++++++++++++++++++----------
 GUI/src/store.js            |  2 --
 6 files changed, 40 insertions(+), 15 deletions(-)

diff --git a/.gitignore b/.gitignore
index 66a8990f..cbbbfd24 100644
--- a/.gitignore
+++ b/.gitignore
@@ -61,3 +61,9 @@ ODrive\.files
 ODrive\.includes
 
 Firmware/Tests/bin/
+
+# Electron-builder output
+GUI/dist_electron
+
+# Node Modules
+GUI/node_modules
diff --git a/GUI/README.md b/GUI/README.md
index 58c7b6d5..6849cc57 100644
--- a/GUI/README.md
+++ b/GUI/README.md
@@ -1,6 +1,6 @@
 # odrive_gui
 
-Python requirements: `pip install python-socketio eventlet odrive`
+Python requirements: `pip install flask flask_socketio flask_cors odrive`
 
 If the default odrive python package is not desired, the path to the modules can be passed as command line arguments.
 
diff --git a/GUI/server/odrive_server.py b/GUI/server/odrive_server.py
index 5d03c604..d0fa533b 100644
--- a/GUI/server/odrive_server.py
+++ b/GUI/server/odrive_server.py
@@ -20,7 +20,7 @@ app.config.update(
     SESSION_COOKIE_SAMESITE='None'
 )
 CORS(app, support_credentials=True)
-socketio = SocketIO(app, cors_allowed_origins="*")
+socketio = SocketIO(app, cors_allowed_origins="*", async_mode = "threading")
 
 def get_all_odrives():
     globals()['odrives'] = []
@@ -98,6 +98,8 @@ def set_property(message):
     globals()['inUse'] = True
     print("From setProperty event handler: " + str(message))
     postVal(globals()['odrives'], message["path"].split('.'), message["val"], message["type"])
+    val = getVal(globals()['odrives'], message["path"].split('.'))
+    emit('ODriveProperty', json.dumps({"path": message["path"], "val": val}))
     globals()['inUse'] = False
 
 @socketio.on('callFunction')
diff --git a/GUI/src/App.vue b/GUI/src/App.vue
index 94693e3f..4b1f98d8 100644
--- a/GUI/src/App.vue
+++ b/GUI/src/App.vue
@@ -61,7 +61,7 @@
       <Axis
         v-for="axis in axes"
         :key="axis.name"
-        :axis="axis"
+        :axis="axis.name"
         :odrives="odrives"
       ></Axis>
     </div>
diff --git a/GUI/src/components/Axis.vue b/GUI/src/components/Axis.vue
index acbaab1c..73509d0c 100644
--- a/GUI/src/components/Axis.vue
+++ b/GUI/src/components/Axis.vue
@@ -4,9 +4,9 @@
     @click.self="showError = !showError;"
     :class="{ noError: !error, error: error}"
   >
-    {{ axis.name }}
+    {{ axis }}
     <div v-show="showError" class="error-popup card" @click.self="showError = !showError">
-      <clear-errors :data="{axis: axis.name.split('.')[1]}"/>
+      <clear-errors :data="{axis: axis.split('.')[1]}"/>
       axis:
       <span :class="{ noError: !axisError, error: axisError}">{{axisErrorMsg}}</span>
       <br />motor:
@@ -26,6 +26,7 @@
 <script>
 import odriveEnums from "../assets/odriveEnums.json";
 import clearErrors from "./clearErrors.vue";
+import { getVal } from "../odrive_utils.js";
 
 const axisErrors = {
   0x00000000: "AXIS_ERROR_NONE",
@@ -102,12 +103,16 @@ export default {
   data() {
     return {
       showError: false,
+      axisErr: undefined,
+      motorErr: undefined,
+      controllerErr: undefined,
+      encoderErr: undefined,
     };
   },
   computed: {
     axisErrorMsg() {
       let retMsg = "none";
-      let errCode = parseInt(this.axis.ref.error.val);
+      let errCode = this.axisErr;
 
       if (this.$store.state.currentDash == "Wizard") {
         errCode &= ~odriveEnums.AXIS_ERROR_MOTOR_FAILED;
@@ -133,7 +138,7 @@ export default {
     },
     motorErrorMsg() {
       let retMsg = "none";
-      let errCode = parseInt(this.axis.ref.motor.error.val);
+      let errCode = this.motorErr;
 
       if (this.$store.state.currentDash == "Wizard") {
         errCode &= ~odriveEnums.MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE;
@@ -158,7 +163,7 @@ export default {
     },
     encoderErrorMsg() {
       let retMsg = "none";
-      let errCode = parseInt(this.axis.ref.encoder.error.val);
+      let errCode = this.encoderErr;
 
       if (this.$store.state.currentDash == "Wizard") {
         errCode &= ~odriveEnums.ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH;
@@ -183,7 +188,7 @@ export default {
     },
     controllerErrorMsg() {
       let retMsg = "none";
-      let errCode = parseInt(this.axis.ref.controller.error.val);
+      let errCode = this.controllerErr;
 
       if (errCode != 0) {
         // we got an error!
@@ -202,7 +207,7 @@ export default {
       return retMsg;
     },
     axisError() {
-      let errCode = parseInt(this.axis.ref.error.val)
+      let errCode = this.axisErr;
       if (this.$store.state.currentDash == "Wizard") {
         errCode &= ~odriveEnums.AXIS_ERROR_MOTOR_FAILED;
         errCode &= ~odriveEnums.AXIS_ERROR_ENCODER_FAILED;
@@ -210,7 +215,7 @@ export default {
       return errCode != 0;
     },
     motorError() {
-      let errCode = parseInt(this.axis.ref.motor.error.val);
+      let errCode = this.motorErr;
       if (this.$store.state.currentDash == "Wizard") {
         errCode &= ~odriveEnums.MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE;
         errCode &= ~odriveEnums.MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE;
@@ -218,7 +223,7 @@ export default {
       return errCode != 0;
     },
     encoderError() {
-      let errCode = parseInt(this.axis.ref.encoder.error.val);
+      let errCode = this.encoderErr;
       if (this.$store.state.currentDash == "Wizard") {
         errCode &= ~odriveEnums.ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH;
         errCode &= ~odriveEnums.ENCODER_ERROR_NO_RESPONSE;
@@ -226,13 +231,27 @@ export default {
       return errCode != 0;
     },
     controllerError() {
-      let errCode = parseInt(this.axis.ref.controller.error.val);
+      let errCode = this.controllerErr;
       return errCode != 0;
     },
     error() {
       return this.axisError || this.motorError || this.encoderError || this.controllerError;
     },
   },
+  created() {
+    // set up timeout loop for grabbing axis error values
+    let update = () => {
+      this.axisErr = getVal(this.axis + '.error');
+      this.motorErr = getVal(this.axis + '.motor.error');
+      this.controllerErr = getVal(this.axis + '.controller.error');
+      this.encoderErr = getVal(this.axis + '.encoder.error');
+      setTimeout(update, 1000);
+    }
+    update();
+    console.log(this.axis);
+    console.log(this.axisErr);
+    console.log(this.motorErr);
+  }
 };
 </script>
 
diff --git a/GUI/src/store.js b/GUI/src/store.js
index 134ca9ca..de0ef06a 100644
--- a/GUI/src/store.js
+++ b/GUI/src/store.js
@@ -272,13 +272,11 @@ export default new Vuex.Store({
                 if ('axis0' in context.state.odrives[odrive]) {
                     axes.push({
                         name: `${odrive}.axis0`,
-                        ref: context.state.odrives[odrive]['axis0']
                     });
                 }
                 if ('axis1' in context.state.odrives[odrive]) {
                     axes.push({
                         name: `${odrive}.axis1`,
-                        ref: context.state.odrives[odrive]['axis1']
                     });
                 }
             }