Server has better exception handling, axis objects actually fetch updated error values instead of cached ones, numeric controls and actions now accept valid math as inputs like '12e-2+4/(2**2)'

GUI/server/odrive_server.py

@@ -140,22 +140,25 @@ def postVal(odrives, keyList, value, argType):
     # expect a list of keys in the form of ["key1", "key2", "keyN"]
     # "key1" will be "odriveN"
     # like this: postVal(odrives, ["odrive0","axis0","config","calibration_lockin","accel"], 17.0)
-    index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
+    try:
+        index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
 
-    RO = odrives[index]
-    for key in keyList:
-        RO = RO._remote_attributes[key]
-    if argType == "number":
-        RO.set_value(float(value))
-    elif argType == "boolean":
-        RO.set_value(value == "true")
-    else:
-        pass # dont support that type yet
+        RO = odrives[index]
+        for key in keyList:
+            RO = RO._remote_attributes[key]
+        if argType == "number":
+            RO.set_value(float(value))
+        elif argType == "boolean":
+            RO.set_value(value == "true")
+        else:
+            pass # dont support that type yet
+    except:
+        print("exception in postVal")
 
 def getVal(odrives, keyList):
-    index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
-    RO = odrives[index]
     try:
+        index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
+        RO = odrives[index]
         for key in keyList:
             RO = RO._remote_attributes[key]
         if isinstance(RO, fibre.remote_object.RemoteObject):
@@ -163,6 +166,7 @@ def getVal(odrives, keyList):
         else:
             return RO.get_value()
     except:
+        print("exception in getVal")
         return 0
 
 def getSampledData(vars):
@@ -176,15 +180,15 @@ def getSampledData(vars):
     return samples
 
 def callFunc(odrives, keyList):
-    index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
-    RO = odrives[index]
-    for key in keyList:
-        RO = RO._remote_attributes[key]
-    if isinstance(RO, fibre.remote_object.RemoteFunction):
-        try:
+    try:
+        index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
+        RO = odrives[index]
+        for key in keyList:
+            RO = RO._remote_attributes[key]
+        if isinstance(RO, fibre.remote_object.RemoteFunction):
             RO.__call__()
-        except:
-            print("fcn call failed")
+    except:
+        print("fcn call failed")
 
 if __name__ == "__main__":
     # sleep to allow time for background.js to register event callbacks for stdout,stderr

GUI/src/components/Axis.vue

@@ -26,7 +26,7 @@
 <script>
 import odriveEnums from "../assets/odriveEnums.json";
 import clearErrors from "./clearErrors.vue";
-import { getVal } from "../lib/odrive_utils";
+import { getVal, fetchParam } from "../lib/odrive_utils";
 
 const axisErrors = {
   0x00000000: "AXIS_ERROR_NONE",
@@ -82,16 +82,13 @@ let encoderErrors = {
 };
 
 let controllerErrors = {
-  0x00000000: "ENCODER_ERROR_NONE",
-  0x00000001: "ENCODER_ERROR_UNSTABLE_GAIN",
-  0x00000002: "ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH",
-  0x00000004: "ENCODER_ERROR_NO_RESPONSE",
-  0x00000008: "ENCODER_ERROR_UNSUPPORTED_ENCODER_MODE",
-  0x00000010: "ENCODER_ERROR_ILLEGAL_HALL_STATE",
-  0x00000020: "ENCODER_ERROR_INDEX_NOT_FOUND_YET",
-  0x00000040: "ENCODER_ERROR_ABS_SPI_TIMEOUT",
-  0x00000080: "ENCODER_ERROR_ABS_SPI_COM_FAIL",
-  0x00000100: "ENCODER_ERROR_ABS_SPI_NOT_READY",
+  0x00000000: "CONTROLLER_ERROR_NONE",
+  0x00000001: "CONTROLLER_ERROR_OVERSPEED",
+  0x00000002: "CONTROLLER_ERROR_INVALID_INPUT_MODE",
+  0x00000004: "CONTROLLER_ERROR_UNSTABLE_GAIN",
+  0x00000008: "CONTROLLER_ERROR_INVALID_MIRROR_AXIS",
+  0x00000010: "CONTROLLER_ERROR_INVALID_LOAD_ENCODER",
+  0x00000020: "CONTROLLER_ERROR_INVALID_ESTIMATE",
 };
 
 export default {
@@ -241,6 +238,10 @@ export default {
   created() {
     // set up timeout loop for grabbing axis error values
     let update = () => {
+      fetchParam(this.axis + ".error");
+      fetchParam(this.axis + '.motor.error');
+      fetchParam(this.axis + '.controller.error');
+      fetchParam(this.axis + '.encoder.error');
       this.axisErr = getVal(this.axis + '.error');
       this.motorErr = getVal(this.axis + '.motor.error');
       this.controllerErr = getVal(this.axis + '.controller.error');

GUI/src/components/actions/Action.vue

@@ -3,7 +3,7 @@
     <button class="close-button" @click=deleteAction>X</button>
     <span class="ctrlName">{{path}}:</span>
     <div class="right">
-      <input type="number" v-on:change="newVal" :placeholder="initVal"/>
+      <input v-on:change="newVal" :placeholder="initVal"/>
       <button class="action-button close-button" @click="putVal">Go</button>
     </div>
   </div>
@@ -32,16 +32,24 @@ export default {
   },
   methods: {
     newVal: function (e) {
-      this.value = parseFloat(e.target.value);
-      // emit a signal - signal needs to float all the way up to Dash
-      // set value of dash.actions.id.val to this.value
-      // this way, action values will be kept when dashes are imported or exported
-      //this.$emit('set-action-val', {id: this.id, val: this.value});
+      let input = e.target.value;
+      let allowedChars = "0123456789eE/*-+.()";
+      let send = true;
+      for (const c of input) {
+        if (!allowedChars.includes(c)) {
+          send = false;
+        }
+      }
+      if (send) {
+        this.value = eval(input);
+        console.log("input = " + input + ", val = " + this.value);
+      }
       this.$store.commit("setActionVal", {dashID: this.dashID, actionID: this.id, val: this.value});
     },
     putVal: function () {
       let keys = this.path.split(".");
       keys.shift();
+      console.log('path = ' + keys.join('.') + ", val = " + this.value);
       putVal(keys.join('.'), this.value);
     },
     deleteAction: function() {

GUI/src/components/controls/CtrlNumeric.vue

@@ -4,7 +4,7 @@
     <span class="ctrlName">{{name}}:</span>
     <div class="right">
       <span class="ctrlVal">{{value}}</span>
-      <input v-if="writeAccess" type="number" v-on:change="putVal" />
+      <input v-if="writeAccess" v-on:change="putVal" />
     </div>
   </div>
 </template>
@@ -41,7 +41,17 @@ export default {
     putVal: function (e) {
       let keys = this.path.split('.');
       keys.shift();
-      putVal(keys.join('.'), parseFloat(e.target.value));
+      let input = e.target.value;
+      let allowedChars = "0123456789eE/*-+.()";
+      let send = true;
+      for (const c of input) {
+        if (!allowedChars.includes(c)) {
+          send = false;
+        }
+      }
+      if (send) {
+        putVal(keys.join('.'), eval(input));
+      }
     },
     deleteCtrl: function() {
       // commit a mutation in the store with the relevant information

GUI/src/lib/odrive_utils.js

@@ -23,6 +23,13 @@ export function getReadonly(path) {
     return getParam(path + '.readonly');
 }
 
+export function fetchParam(path) {
+    socketio.sendEvent({
+        type: "getProperty",
+        data: {path: path},
+    });
+}
+
 export function putVal(path, value) {
     socketio.sendEvent({
         type: "setProperty",