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feat: reset telemetry state after disconnect

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to avoid the model continuing to move when the robot disconnects while in motion
This commit is contained in:
Youwen Wu 2024-03-02 12:02:18 -08:00
parent 650c322d53
commit 0ab4d5cf4b
1 changed files with 21 additions and 22 deletions
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43
client/src/lib/utils/initializeTelemetry.ts
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@ -1,5 +1,5 @@
import { telemetryStore } from "../stores/telemetryStore";
import { listen } from "@tauri-apps/api/event";
import { telemetryStore } from '../stores/telemetryStore'
import { listen } from '@tauri-apps/api/event'
/**
* Connects to sockets and subscribes to specified topics to receive telemetry data.
@ -10,9 +10,9 @@ import { listen } from "@tauri-apps/api/event";
*/
const onUpdate = (data: TelemetryData) => {
telemetryStore.update(data);
telemetryStore.update(data)
// console.log(data)
};
}
export const initializeTelemetry = async (
topics: TelemetryTopics,
@ -21,28 +21,27 @@ export const initializeTelemetry = async (
// Make sure refreshRate is valid
if (!Number.isInteger(refreshRate) || refreshRate < 1) {
throw new Error(
"refreshRate must be an integer greater than or equal to 1."
);
'refreshRate must be an integer greater than or equal to 1.'
)
}
const unlistenStatus = await listen("telemetry_status", (event) => {
if (event.payload === "connected") {
telemetryStore.set("connected", true);
} else if (event.payload === "disconnected") {
telemetryStore.set("connected", false);
const unlistenStatus = await listen('telemetry_status', event => {
if (event.payload === 'connected') {
telemetryStore.set('connected', true)
} else if (event.payload === 'disconnected') {
telemetryStore.reset()
}
});
})
const unlistenTelemetry = await listen("telemetry_data", (event) => {
const data = JSON.parse(event.payload as string);
// console.log(JSON.parse)
telemetryStore.set(data["topic_name"], data["data"]);
});
const unlistenTelemetry = await listen('telemetry_data', event => {
const data = JSON.parse(event.payload as string)
telemetryStore.set(data['topic_name'], data['data'])
})
const unlistenAll = () => {
unlistenStatus();
unlistenTelemetry();
};
unlistenStatus()
unlistenTelemetry()
}
return unlistenAll;
};
return unlistenAll
}