From aa819895d31deeda494ab5f22e4213752e509d7a Mon Sep 17 00:00:00 2001
From: PAJohnson <pajohns4@ncsu.edu>
Date: Fri, 25 Sep 2020 20:28:07 -0400
Subject: [PATCH] Basic support for units

---
 GUI/src/assets/dashboards/Config_0_5_1.json   |  2 +-
 .../components/wizard/choices/wizardBrake.vue | 15 +++++-
 .../components/wizard/choices/wizardMisc.vue  | 15 +++++-
 .../components/wizard/choices/wizardMotor.vue | 12 +++--
 GUI/src/odrive_utils.js                       | 50 +++++++++++++++++++
 GUI/src/views/Dashboard.vue                   |  1 +
 GUI/src/views/Start.vue                       |  7 +--
 7 files changed, 90 insertions(+), 12 deletions(-)

diff --git a/GUI/src/assets/dashboards/Config_0_5_1.json b/GUI/src/assets/dashboards/Config_0_5_1.json
index 595b8db0..a26dff16 100644
--- a/GUI/src/assets/dashboards/Config_0_5_1.json
+++ b/GUI/src/assets/dashboards/Config_0_5_1.json
@@ -63,7 +63,7 @@
     {
       "id": "d7abba09-b0aa-438a-8220-6126e467004e",
       "path": "odrives.odrive0.axis0.controller.input_pos",
-      "val": 50000
+      "val": 10
     }
   ],
   "plots": [
diff --git a/GUI/src/components/wizard/choices/wizardBrake.vue b/GUI/src/components/wizard/choices/wizardBrake.vue
index 6921f766..998e4e93 100644
--- a/GUI/src/components/wizard/choices/wizardBrake.vue
+++ b/GUI/src/components/wizard/choices/wizardBrake.vue
@@ -3,12 +3,14 @@
     <div class="left">
       <span>Brake resistor value =</span>
       <input type="number" v-on:change="setBR" placeholder="Change Me!" />
-      <span> Ohms</span>
+      <span class="unit"> [{{unit}}] </span>
     </div>
   </div>
 </template>
 
 <script>
+import { getUnit } from '../../../odrive_utils.js';
+
 export default {
   name: "wizardBrake",
   props: {
@@ -20,6 +22,13 @@ export default {
       brake_resistance: undefined,
     };
   },
+  computed: {
+    unit() {
+      // goal is to return "Ohms" from odriveUnits
+      let path = "odrive0.config.brake_resistance";
+      return getUnit(this.$store.state.odrives.odrive0,path);
+    },
+  },
   methods: {
     setBR(e) {
       console.log("from setBR " + e.target.value);
@@ -68,4 +77,8 @@ input::-webkit-inner-spin-button {
 input[type="number"] {
   -moz-appearance: textfield; /* Firefox */
 }
+
+.unit {
+  font-family: "Roboto Mono", monospace;
+}
 </style>
\ No newline at end of file
diff --git a/GUI/src/components/wizard/choices/wizardMisc.vue b/GUI/src/components/wizard/choices/wizardMisc.vue
index d10a64ac..084504da 100644
--- a/GUI/src/components/wizard/choices/wizardMisc.vue
+++ b/GUI/src/components/wizard/choices/wizardMisc.vue
@@ -3,16 +3,18 @@
     <div class="left">
       <span>Motor Velocity Limit =</span>
       <input type="number" v-on:change="setVelocityLimit" :placeholder="velocityLimit" />
+      <span class="unit">[{{velUnit}}]</span>
     </div>
     <div class="left">
       <span>Motor Current Limit =</span>
       <input type="number" v-on:change="setCurrentLimit" :placeholder="currentLimit" />
+      <span class="unit">[Amps]</span>
     </div>
   </div>
 </template>
 
 <script>
-import { getVal } from "../../../odrive_utils.js"
+import { getVal, getUnit } from "../../../odrive_utils.js"
 
 export default {
   name: "wizardMisc",
@@ -37,6 +39,10 @@ export default {
       let path = "odrive0." + this.data.axis + ".motor.config.current_lim";
       return parseFloat(getVal(path));
     },
+    velUnit() {
+      let path = "odrive0." + this.data.axis + ".controller.config.vel_limit";
+      return getUnit(this.$store.state.odrives.odrive0,path)
+    },
   },
   methods: {
     sendConfig() {
@@ -102,7 +108,7 @@ export default {
   margin: 2rem;
 }
 .left {
-  margin-left: auto;
+  margin-right: auto;
 }
 
 input {
@@ -136,4 +142,9 @@ input[type="number"] {
 .name {
   text-align: center;
 }
+
+.unit {
+  font-family: "Roboto Mono", monospace;
+
+}
 </style>
\ No newline at end of file
diff --git a/GUI/src/components/wizard/choices/wizardMotor.vue b/GUI/src/components/wizard/choices/wizardMotor.vue
index 86466769..809f3c39 100644
--- a/GUI/src/components/wizard/choices/wizardMotor.vue
+++ b/GUI/src/components/wizard/choices/wizardMotor.vue
@@ -10,11 +10,13 @@
     </div>
     <div class="left">
       <span>Phase Resistance =</span>
-      <span>{{" " + resistance}} R</span>
+      <span>{{" " + resistance}}</span>
+      <span class="unit">[Ohms]</span>
     </div>
     <div class="left">
       <span>Phase Inductace =</span>
-      <span>{{" " + inductance}} H</span>
+      <span>{{" " + inductance}}</span>
+      <span class="unit">[Henries]</span>
     </div>
     <span class="name">Other Motor</span>
   </div>
@@ -159,7 +161,7 @@ export default {
   margin: 2rem;
 }
 .left {
-  margin-left: auto;
+  margin-right: auto;
 }
 
 .name {
@@ -189,4 +191,8 @@ input[type="number"] {
 .name {
   text-align: center;
 }
+
+.unit {
+  font-family: "Roboto Mono", monospace;
+}
 </style>
\ No newline at end of file
diff --git a/GUI/src/odrive_utils.js b/GUI/src/odrive_utils.js
index 85773491..c57798a6 100644
--- a/GUI/src/odrive_utils.js
+++ b/GUI/src/odrive_utils.js
@@ -64,4 +64,54 @@ export function callFcn(path, args) {
         null,
         request
     );
+}
+
+export function odriveMinorVersion(odrive) {
+    // given an odrive object, return the minor version
+    return odrive.fw_version_minor.val;
+}
+
+export function getUnit(odrive, path) {
+    let unit = undefined;
+    for ( const key of Object.keys(odriveUnits[odriveMinorVersion(odrive)]) ) {
+        if (path.includes(key)) {
+          unit = odriveUnits[odriveMinorVersion(odrive)][key];
+        }
+    }
+    return unit;
+}
+
+// standins for wizard and gui unit displays
+// TODO - convert between odrive api units and user-defined units like degrees and rpm
+export let odriveUnits = {
+    "4": {
+        "config.brake_resistance": "ohms",
+        "controller.pos_setpoint": "counts",
+        "controller.vel_setpoint": "counts/s",
+        "controller.current_setpoint": "amps",
+        "controller.config.vel_limit": "counts/s",
+        "controller.config.vel_ramp_rate": "counts/s^2",
+        "encoder.pos_estimate": "counts",
+        "encoder.vel_estimate": "counts/s",
+        "trap_traj.config.vel_limit": "counts/s",
+        "trap_traj.config.accel_limit": "counts/s^2",
+        "trap_traj.config.decel_limit": "counts/s^2",
+        "motor.config.phase_resistance": "ohms",
+        "motor.config.phase_inductance": "henries",
+    },
+    "5": {
+        "config.brake_resistance": "ohms",
+        "controller.input_pos": "turns",
+        "controller.input_vel": "turns/s",
+        "controller.current_setpoint": "amps",
+        "controller.config.vel_limit": "turns/s",
+        "controller.config.vel_ramp_rate": "turns/s^2",
+        "encoder.pos_estimate": "turns",
+        "encoder.vel_estimate": "turns/s",
+        "trap_traj.config.vel_limit": "turns/s",
+        "trap_traj.config.accel_limit": "turns/s^2",
+        "trap_traj.config.decel_limit": "turns/s^2",
+        "motor.config.phase_resistance": "ohms",
+        "motor.config.phase_inductance": "henries",
+    }
 }
\ No newline at end of file
diff --git a/GUI/src/views/Dashboard.vue b/GUI/src/views/Dashboard.vue
index 0617ed3e..2f1af6b7 100644
--- a/GUI/src/views/Dashboard.vue
+++ b/GUI/src/views/Dashboard.vue
@@ -413,6 +413,7 @@ export default {
 .controls {
   flex-grow: 1;
   border-right: 1px solid lightgrey;
+  overflow-y: scroll;
 }
 
 .add-button {
diff --git a/GUI/src/views/Start.vue b/GUI/src/views/Start.vue
index 1de0dfbd..2530b3bf 100644
--- a/GUI/src/views/Start.vue
+++ b/GUI/src/views/Start.vue
@@ -9,7 +9,7 @@
     <div class="connected-container">
       <input type="text" :class="{ notConnected: notConnected, connected: connected}" v-on:change="setUrl" :value="serverAddress">
     </div>
-    <button class="show-msg-button" @click="showServerMessages = !showServerMessages;">Having Trouble? Click here for debug output</button>
+    <button class="show-msg-button" @click="showServerMessages = !showServerMessages;">Having trouble? Click here for debug output</button>
     <div class="server-msgs" v-if="showServerMessages">
       <div class="server-msg" v-for="(msg, index) in serverMessages" :key="msg + index">{{msg}}</div>
     </div>
@@ -109,10 +109,7 @@ input:focus {
   border: none;
   background-color: var(--bg-color);
   margin-top: 0.5rem;
-}
-
-.server-msgs {
-  margin-top: 2rem;
+  cursor: pointer;
 }
 
 .server-msg {