Config dash now changes variable names depending on what the firmware version of the connected ODrive is.

Wizard and Config dashes are now not displayed until an active connection has been established

GUI/src/App.vue

@@ -59,7 +59,6 @@ import Axis from "./components/Axis.vue";
 import Wizard from "./views/Wizard.vue"
 import * as socketio from "./comms/socketio";
 import { saveAs } from "file-saver";
-import ConfigDash from "./assets/dashboards/Config.json";
 import { v4 as uuidv4 } from "uuid";
 
 //let propSamplePeriod = 100; //sampling period for properties in ms
@@ -135,7 +134,6 @@ export default {
       setTimeout(() => {
         this.updateOdrives();
       }, 1000);
-
       //console.log("updating data...");
     },
     addDash() {
@@ -231,16 +229,6 @@ export default {
     this.$store.dispatch("setServerAddress", "http://127.0.0.1:5000");
     // connect to socketio on server for sampled data
     this.updateOdrives();
-    this.dashboards.push(ConfigDash);
-    // plots will have variables associated, add them to sampled variables list
-    for (const plot of ConfigDash.plots) {
-      console.log(plot);
-      for (const plotVar of plot.vars) {
-        console.log(plotVar);
-        //addsampledprop(path);
-        this.$store.commit("addSampledProperty", plotVar.path);
-      }
-    }
   },
 };
 </script>

GUI/src/assets/dashboards/Config_0_5_1.json

@@ -0,0 +1,97 @@
+{
+  "name": "Config",
+  "component": "Dashboard",
+  "id": "deadb33f",
+  "controls": [
+    {
+      "controlType": "CtrlNumeric",
+      "path": "odrives.odrive0.axis0.motor.config.current_lim"
+    },
+    {
+      "controlType": "CtrlNumeric",
+      "path": "odrives.odrive0.axis0.controller.config.vel_limit"
+    },
+    {
+      "controlType": "CtrlNumeric",
+      "path": "odrives.odrive0.config.brake_resistance"
+    },
+    {
+      "controlType": "CtrlNumeric",
+      "path": "odrives.odrive0.axis0.motor.config.pole_pairs"
+    },
+    {
+      "controlType": "CtrlNumeric",
+      "path": "odrives.odrive0.axis0.encoder.config.cpr"
+    },
+    {
+      "controlType": "CtrlSlider",
+      "path": "odrives.odrive0.axis0.controller.config.pos_gain"
+    },
+    {
+      "controlType": "CtrlSlider",
+      "path": "odrives.odrive0.axis0.controller.config.vel_gain"
+    },
+    {
+      "controlType": "CtrlSlider",
+      "path": "odrives.odrive0.axis0.controller.config.vel_integrator_gain"
+    },
+    {
+      "controlType": "CtrlFunction",
+      "path": "odrives.odrive0.axis0.clear_errors"
+    },
+    {
+      "controlType": "CtrlFunction",
+      "path": "odrives.odrive0.save_configuration"
+    }
+  ],
+  "actions": [
+    {
+      "id": "407aea0a-2b16-4d77-8043-2c43b27e4810",
+      "path": "odrives.odrive0.axis0.requested_state",
+      "val": 3
+    },
+    {
+      "id": "91b2c1b3-f1bb-4473-9e7a-dd89615cecc9",
+      "path": "odrives.odrive0.axis0.requested_state",
+      "val": 8
+    },
+    {
+      "id": "ad0ebe2a-a495-4e33-9cb8-b2ab17dc3a83",
+      "path": "odrives.odrive0.axis0.controller.input_pos",
+      "val": 0
+    },
+    {
+      "id": "d7abba09-b0aa-438a-8220-6126e467004e",
+      "path": "odrives.odrive0.axis0.controller.input_pos",
+      "val": 50000
+    }
+  ],
+  "plots": [
+    {
+      "name": "65a2768d-e61e-4dd5-bf80-dba153838f74",
+      "vars": [
+        {
+          "path": "odrives.odrive0.axis0.controller.input_pos",
+          "color": "#195bd7"
+        },
+        {
+          "path": "odrives.odrive0.axis0.encoder.pos_estimate",
+          "color": "#d6941a"
+        }
+      ]
+    },
+    {
+      "name": "d9ee2474-3e53-408f-9eab-1656342eb531",
+      "vars": [
+        {
+          "path": "odrives.odrive0.axis0.controller.vel_setpoint",
+          "color": "#195bd7"
+        },
+        {
+          "path": "odrives.odrive0.axis0.encoder.vel_estimate",
+          "color": "#d6941a"
+        }
+      ]
+    }
+  ]
+}

GUI/src/store.js

@@ -1,5 +1,7 @@
 import Vue from 'vue';
 import Vuex from 'vuex';
+import ConfigDashOld from "./assets/dashboards/Config_0_4_12.json";
+import ConfigDashNew from "./assets/dashboards/Config_0_5_1.json";
 const axios = require('axios');
 import * as socketio from "./comms/socketio";
 //import { v4 as uuidv4 } from "uuid";
@@ -19,10 +21,6 @@ export default new Vuex.Store({
                 name: "Start",
                 component: "Start",
             },
-            {
-                name: "Wizard",
-                component: "Wizard",
-            },
             //{ name: "Config", id: uuidv4(), component: "Dashboard", controls: [], actions: [], plots: [] }
         ],
         timeSampleStart: 0,
@@ -31,6 +29,7 @@ export default new Vuex.Store({
         newData: false,
         sampling: false,
         currentDash: "Start",
+        firstConn: false,
     },
     // mutations are functions that change the data
     mutations: {
@@ -39,6 +38,50 @@ export default new Vuex.Store({
         },
         setOdrives(state, odrives) {
             state.odrives = odrives;
+            if (state.firstConn == false) {
+                // first time we're getting odrive data, add correct config page
+                let ConfigDash;
+                if (state.odrives.odrive0.fw_version_minor.val == "5") {
+                    ConfigDash = ConfigDashNew;
+                }
+                else if (state.odrives.odrive0.fw_version_minor.val == "4") {
+                    ConfigDash = ConfigDashOld;
+                }
+                else {
+                    ConfigDash = ConfigDashNew;
+                }
+                state.dashboards.push({
+                    name: "Wizard",
+                    component: "Wizard",
+                });
+                state.dashboards.push(ConfigDash);
+                // plots will have variables associated, add them to sampled variables list
+                for (const plot of ConfigDash.plots) {
+                    console.log(plot);
+                    for (const plotVar of plot.vars) {
+                        console.log(plotVar);
+                        //addsampledprop(path);
+                        let path = plotVar.path;
+                        if (!(path in state.sampledProperties)) {
+                            let newPath = path.split('.');
+                            newPath.splice(0, 1);
+                            state.sampledProperties.push(newPath.join('.'));
+                            state.propSamples[newPath.join('.')] = [];
+                            console.log(state.propSamples);
+                        }
+                        for (const path of state.sampledProperties) {
+                            console.log(path);
+                        }
+                        socketio.sendEvent({
+                            type: 'sampledVarNames',
+                            data: {
+                                paths: state.sampledProperties
+                            }
+                        });
+                    }
+                }
+            }
+            state.firstConn = true;
         },
         setOdriveConfigs(state, odriveConfigs) {
             state.odriveConfigs = odriveConfigs;