refactor location_data check

webpack/app.tsx

@@ -17,7 +17,7 @@ import {
 import { HotKeys } from "./hotkeys";
 import { ControlsPopup } from "./controls_popup";
 import { Content } from "./constants";
-import { catchErrors } from "./util";
+import { catchErrors, validBotLocationData } from "./util";
 import { Session } from "./session";
 import { BooleanSetting } from "./session_keys";
 import { getPathArray } from "./history";
@@ -101,6 +101,7 @@ export class App extends React.Component<AppProps, {}> {
   render() {
     const syncLoaded = this.isLoaded;
     const currentPage = getPathArray()[2];
+    const { location_data, mcu_params } = this.props.bot.hardware;
     return <div className="app">
       <HotKeys dispatch={this.props.dispatch} />
       <NavBar
@@ -118,8 +119,8 @@ export class App extends React.Component<AppProps, {}> {
         <ControlsPopup
           dispatch={this.props.dispatch}
           axisInversion={this.props.axisInversion}
-          botPosition={this.props.bot.hardware.location_data.position}
-          mcuParams={this.props.bot.hardware.mcu_params} />}
+          botPosition={validBotLocationData(location_data).position}
+          mcuParams={mcu_params} />}
     </div>;
   }
 }

webpack/controls/jog_buttons.tsx

@@ -3,10 +3,12 @@ import { DirectionButton } from "./direction_button";
 import { homeAll } from "../devices/actions";
 import { JogMovementControlsProps } from "./interfaces";
 import { getDevice } from "../device";
+import { validBotLocationData } from "../util";
 
 export class JogButtons extends React.Component<JogMovementControlsProps, {}> {
   render() {
-    const { mcu_params } = this.props.bot.hardware;
+    const { location_data, mcu_params } = this.props.bot.hardware;
+    const botLocationData = validBotLocationData(location_data);
     const directionAxesProps = {
       x: {
         isInverted: this.props.x_axis_inverted,
@@ -15,7 +17,7 @@ export class JogButtons extends React.Component<JogMovementControlsProps, {}> {
         axisLength: (mcu_params.movement_axis_nr_steps_x || 0)
           / (mcu_params.movement_step_per_mm_x || 1),
         negativeOnly: !!mcu_params.movement_home_up_x,
-        position: this.props.bot.hardware.location_data.position.x
+        position: botLocationData.position.x
       },
       y: {
         isInverted: this.props.y_axis_inverted,
@@ -24,7 +26,7 @@ export class JogButtons extends React.Component<JogMovementControlsProps, {}> {
         axisLength: (mcu_params.movement_axis_nr_steps_y || 0)
           / (mcu_params.movement_step_per_mm_y || 1),
         negativeOnly: !!mcu_params.movement_home_up_y,
-        position: this.props.bot.hardware.location_data.position.y
+        position: botLocationData.position.y
       },
       z: {
         isInverted: this.props.z_axis_inverted,
@@ -33,7 +35,7 @@ export class JogButtons extends React.Component<JogMovementControlsProps, {}> {
         axisLength: (mcu_params.movement_axis_nr_steps_z || 0)
           / (mcu_params.movement_step_per_mm_z || 1),
         negativeOnly: !!mcu_params.movement_home_up_z,
-        position: this.props.bot.hardware.location_data.position.z
+        position: botLocationData.position.z
       },
     };
     return <table className="jog-table" style={{ border: 0 }}>

webpack/controls/move.tsx

@@ -9,12 +9,12 @@ import { StepSizeSelector } from "./step_size_selector";
 import { MustBeOnline } from "../devices/must_be_online";
 import { ToolTips } from "../constants";
 import { MoveProps, EncoderDisplay } from "./interfaces";
-import { Xyz, BotLocationData } from "../devices/interfaces";
+import { Xyz } from "../devices/interfaces";
 import { Popover, Position } from "@blueprintjs/core";
 import { AxisDisplayGroup } from "./axis_display_group";
 import { Session } from "../session";
 import { INVERSION_MAPPING, ENCODER_MAPPING } from "../devices/reducer";
-import { minFwVersionCheck } from "../util";
+import { minFwVersionCheck, validBotLocationData } from "../util";
 
 export class Move extends React.Component<MoveProps, {}> {
 
@@ -26,27 +26,23 @@ export class Move extends React.Component<MoveProps, {}> {
     (name: EncoderDisplay) => () => Session.invertBool(ENCODER_MAPPING[name]);
 
   render() {
-    const { firmware_version } = this.props.bot.hardware.informational_settings;
-    const { x_axis_inverted, y_axis_inverted, z_axis_inverted } = this.props;
-    const { raw_encoders, scaled_encoders } = this.props;
-    const xBtnColor = x_axis_inverted ? "green" : "red";
-    const yBtnColor = y_axis_inverted ? "green" : "red";
-    const zBtnColor = z_axis_inverted ? "green" : "red";
-    const rawBtnColor = raw_encoders ? "green" : "red";
-    const scaledBtnColor = scaled_encoders ? "green" : "red";
-    let locationData: BotLocationData;
-    if (this.props.bot.hardware.location_data) {
-      locationData = this.props.bot.hardware.location_data;
-    } else {
-      locationData = {
-        position: { x: undefined, y: undefined, z: undefined },
-        raw_encoders: { x: undefined, y: undefined, z: undefined },
-        scaled_encoders: { x: undefined, y: undefined, z: undefined },
-      };
-    }
+    const { location_data, informational_settings } = this.props.bot.hardware;
+    const { firmware_version } = informational_settings;
+    const { x_axis_inverted, y_axis_inverted, z_axis_inverted,
+      raw_encoders, scaled_encoders } = this.props;
+
+    const btnColor = (flag: boolean) => { return flag ? "green" : "red"; };
+    const xBtnColor = btnColor(x_axis_inverted);
+    const yBtnColor = btnColor(y_axis_inverted);
+    const zBtnColor = btnColor(z_axis_inverted);
+    const rawBtnColor = btnColor(raw_encoders);
+    const scaledBtnColor = btnColor(scaled_encoders);
+
+    const locationData = validBotLocationData(location_data);
     const motor_coordinates = locationData.position;
     const raw_encoders_data = locationData.raw_encoders;
     const scaled_encoders_data = locationData.scaled_encoders;
+
     const scaled_encoder_label =
       minFwVersionCheck(firmware_version, "5.0.5")
         ? "Scaled Encoder (mm)"

webpack/farm_designer/plants/move_to.tsx

@@ -9,11 +9,13 @@ import { history } from "../../history";
 import { AxisInputBox } from "../../controls/axis_input_box";
 import { isNumber } from "lodash";
 import { Actions } from "../../constants";
+import { validBotLocationData } from "../../util/util";
 
 export function mapStateToProps(props: Everything) {
   return {
     chosenLocation: props.resources.consumers.farm_designer.chosenLocation,
-    currentBotLocation: props.bot.hardware.location_data.position,
+    currentBotLocation:
+      validBotLocationData(props.bot.hardware.location_data).position,
     dispatch: props.dispatch,
   };
 }

webpack/farm_designer/state_to_props.ts

@@ -6,10 +6,10 @@ import {
   joinToolsAndSlot,
   selectAllPeripherals
 } from "../resources/selectors";
-import { BotLocationData, StepsPerMmXY } from "../devices/interfaces";
+import { StepsPerMmXY } from "../devices/interfaces";
 import { isNumber } from "lodash";
 import * as _ from "lodash";
-import { minFwVersionCheck } from "../util";
+import { minFwVersionCheck, validBotLocationData } from "../util";
 
 export function mapStateToProps(props: Everything) {
 
@@ -21,17 +21,6 @@ export function mapStateToProps(props: Everything) {
   const { plantUUID } = props.resources.consumers.farm_designer.hoveredPlant;
   const hoveredPlant = plants.filter(x => x.uuid === plantUUID)[0];
 
-  const getBotLocationData = (): BotLocationData => {
-    if (props.bot.hardware.location_data) {
-      return props.bot.hardware.location_data;
-    }
-    return {
-      position: { x: undefined, y: undefined, z: undefined },
-      scaled_encoders: { x: undefined, y: undefined, z: undefined },
-      raw_encoders: { x: undefined, y: undefined, z: undefined },
-    };
-  };
-
   function stepsPerMmXY(): StepsPerMmXY {
     const {
       mcu_params, configuration, informational_settings
@@ -72,7 +61,7 @@ export function mapStateToProps(props: Everything) {
     toolSlots: joinToolsAndSlot(props.resources.index),
     hoveredPlant,
     plants,
-    botLocationData: getBotLocationData(),
+    botLocationData: validBotLocationData(props.bot.hardware.location_data),
     botMcuParams: props.bot.hardware.mcu_params,
     stepsPerMmXY: stepsPerMmXY(),
     peripherals,

webpack/tools/state_to_props.ts

@@ -13,7 +13,7 @@ import {
 } from "../resources/tagged_resources";
 import { edit } from "../api/crud";
 import { DropDownItem, NULL_CHOICE } from "../ui/index";
-import { BotPosition } from "../devices/interfaces";
+import { validBotLocationData } from "../util";
 
 export function mapStateToProps(props: Everything): Props {
   const toolSlots = selectAllToolSlotPointers(props.resources.index);
@@ -67,13 +67,6 @@ export function mapStateToProps(props: Everything): Props {
       dispatch(edit(t, { tool_id }));
     };
 
-  const getBotPosition = (): BotPosition => {
-    if (props.bot.hardware.location_data) {
-      return props.bot.hardware.location_data.position;
-    }
-    return { x: undefined, y: undefined, z: undefined };
-  };
-
   return {
     toolSlots,
     tools,
@@ -84,7 +77,7 @@ export function mapStateToProps(props: Everything): Props {
     changeToolSlot,
     isActive,
     dispatch: _.noop,
-    botPosition: getBotPosition()
+    botPosition: validBotLocationData(props.bot.hardware.location_data).position
   };
 
 }

webpack/util/__tests__/util_test.ts

@@ -1,5 +1,6 @@
 import * as Util from "../util";
 import { times } from "lodash";
+import { validBotLocationData } from "../index";
 describe("util", () => {
   describe("safeStringFetch", () => {
     const data = {
@@ -153,4 +154,15 @@ describe("util", () => {
     });
   });
 
+  describe("validBotLocationData()", () => {
+    it("returns valid location_data object", () => {
+      const result = validBotLocationData(undefined);
+      expect(result).toEqual({
+        position: { x: undefined, y: undefined, z: undefined },
+        scaled_encoders: { x: undefined, y: undefined, z: undefined },
+        raw_encoders: { x: undefined, y: undefined, z: undefined }
+      });
+    });
+  });
+
 });

webpack/util/util.ts

@@ -6,6 +6,7 @@ import { box } from "boxed_value";
 import { TaggedResource } from "../resources/tagged_resources";
 import { AxiosResponse } from "axios";
 import { history } from "../history";
+import { BotLocationData } from "../devices/interfaces";
 
 // http://stackoverflow.com/a/901144/1064917
 // Grab a query string param by name, because react-router-redux doesn't
@@ -213,3 +214,15 @@ export function scrollToBottom(elementId: string) {
   // Wait for the new element height and scroll to the bottom.
   setTimeout(() => elToScroll.scrollTo(0, elToScroll.scrollHeight), 1);
 }
+
+export function validBotLocationData(
+  botLocationData: BotLocationData | undefined): BotLocationData {
+  if (botLocationData) {
+    return botLocationData;
+  }
+  return {
+    position: { x: undefined, y: undefined, z: undefined },
+    scaled_encoders: { x: undefined, y: undefined, z: undefined },
+    raw_encoders: { x: undefined, y: undefined, z: undefined },
+  };
+}