From 4b48a355b4cc1bae3eadf3dfb4a84f2266e3bcf6 Mon Sep 17 00:00:00 2001
From: PAJohnson <tahumask@gmail.com>
Date: Tue, 19 Jan 2021 00:03:31 -0500
Subject: [PATCH] [GUI] More fixes to use libfibre with the GUI

---
 GUI/package-lock.json                       |  6 ++---
 GUI/server/odrive_server.py                 | 26 +++++++++------------
 GUI/src/assets/odriveEnums.json             |  5 ++++
 GUI/src/components/controls/CtrlNumeric.vue |  1 -
 4 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/GUI/package-lock.json b/GUI/package-lock.json
index 960126a3..a2b44c5a 100644
--- a/GUI/package-lock.json
+++ b/GUI/package-lock.json
@@ -3810,9 +3810,9 @@
       }
     },
     "caniuse-lite": {
-      "version": "1.0.30001094",
-      "resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30001094.tgz",
-      "integrity": "sha512-ufHZNtMaDEuRBpTbqD93tIQnngmJ+oBknjvr0IbFympSdtFpAUFmNv4mVKbb53qltxFx0nK3iy32S9AqkLzUNA==",
+      "version": "1.0.30001178",
+      "resolved": "https://registry.npmjs.org/caniuse-lite/-/caniuse-lite-1.0.30001178.tgz",
+      "integrity": "sha512-VtdZLC0vsXykKni8Uztx45xynytOi71Ufx9T8kHptSw9AL4dpqailUJJHavttuzUe1KYuBYtChiWv+BAb7mPmQ==",
       "dev": true
     },
     "case-sensitive-paths-webpack-plugin": {
diff --git a/GUI/server/odrive_server.py b/GUI/server/odrive_server.py
index a567f2ad..528bff32 100644
--- a/GUI/server/odrive_server.py
+++ b/GUI/server/odrive_server.py
@@ -194,8 +194,9 @@ def dictFromRO(RO):
             returnDict[key[1:-9]] = {"val": val,
                                "readonly": not hasattr(v, 'exchange'),
                                "type": _type}
-        elif not key.startswith('_') and isinstance(v, fibre.libfibre.RemoteFunction):
+        elif not key.startswith('_') and hasattr(v, '__call__'):
             # this is a function - do nothing for now.
+            print('found a function!',key)
             returnDict[key] = "function"
 
     return returnDict
@@ -205,7 +206,6 @@ def postVal(odrives, keyList, value, argType):
     # "key1" will be "odriveN"
     # like this: postVal(odrives, ["odrive0","axis0","config","calibration_lockin","accel"], 17.0)
     try:
-        #index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
         odrv = keyList.pop(0)
         RO = odrives[odrv]
         keyList[-1] = '_' + keyList[-1] + '_property'
@@ -229,21 +229,17 @@ def postVal(odrives, keyList, value, argType):
 
 def getVal(odrives, keyList):
     try:
-        #index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
         odrv = keyList.pop(0)
         RO = odrives[odrv]
         keyList[-1] = '_' + keyList[-1] + '_property'
         for key in keyList:
             RO = getattr(RO, key)
-        if isinstance(RO, fibre.libfibre.RemoteObject):
-            return dictFromRO(RO)
-        else:
-            retVal = RO.read()
-            if retVal == math.inf:
-                retVal = "Infinity"
-            elif retVal == -math.inf:
-                retVal = "-Infinity"
-            return retVal
+        retVal = RO.read()
+        if retVal == math.inf:
+            retVal = "Infinity"
+        elif retVal == -math.inf:
+            retVal = "-Infinity"
+        return retVal
     except fibre.ObjectLostError:
         handle_disconnect(odrv)
     except Exception as ex:
@@ -266,10 +262,10 @@ def callFunc(odrives, keyList):
         odrv = keyList.pop(0)
         RO = odrives[odrv]
         for key in keyList:
-            RO = RO._remote_attributes[key]
-        if isinstance(RO, fibre.remote_object.RemoteFunction):
+            RO = getattr(RO, key)
+        if hasattr(RO, '__call__'):
             RO.__call__()
-    except fibre.protocol.ChannelBrokenException:
+    except fibre.ObjectLostError:
         handle_disconnect(odrv)
     except:
         print("fcn call failed")
diff --git a/GUI/src/assets/odriveEnums.json b/GUI/src/assets/odriveEnums.json
index cd849cb7..d24d6959 100644
--- a/GUI/src/assets/odriveEnums.json
+++ b/GUI/src/assets/odriveEnums.json
@@ -15,6 +15,10 @@
     "GPIO_MODE_ENC2": 13,
     "GPIO_MODE_MECH_BRAKE": 14,
     "GPIO_MODE_STATUS": 15,
+    "STREAM_PROTOCOL_TYPE_FIBRE": 0,
+    "STREAM_PROTOCOL_TYPE_ASCII": 1,
+    "STREAM_PROTOCOL_TYPE_STDOUT": 2,
+    "STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT": 3,
     "PROTOCOL_SIMPLE": 1,
     "AXIS_STATE_UNDEFINED": 0,
     "AXIS_STATE_IDLE": 1,
@@ -49,6 +53,7 @@
     "INPUT_MODE_TRAP_TRAJ": 5,
     "INPUT_MODE_TORQUE_RAMP": 6,
     "INPUT_MODE_MIRROR": 7,
+    "INPUT_MODE_TUNING": 8,
     "MOTOR_TYPE_HIGH_CURRENT": 0,
     "MOTOR_TYPE_GIMBAL": 2,
     "MOTOR_TYPE_ACIM": 3,
diff --git a/GUI/src/components/controls/CtrlNumeric.vue b/GUI/src/components/controls/CtrlNumeric.vue
index ee2fa7be..fa7f3894 100644
--- a/GUI/src/components/controls/CtrlNumeric.vue
+++ b/GUI/src/components/controls/CtrlNumeric.vue
@@ -27,7 +27,6 @@ export default {
       let keys = this.path.split('.');
       keys.shift();
       let val = getVal(keys.join('.'));
-      console.log(val + ' ' + typeof val);
       return numberDisplay(val);
     },
     name: function () {