fix(app): handle dtwiz after estop #16168
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The estop system is now checked a little better: - When the estop is detected as engaged, we poll it a lot more frequently so the buttons are more responsive - When we hit the software interlock to disengage the estop, we use the result immediately instead of waiting for a poll, which makes the result nice and snappy - When we see a run get an error, or a maintenance run fail, we invalidate the estop query, so we don't have a weird lag between the run failing with an estop error and the estop modal later popping up
I don't know whether this was the react-router update, or whether this has always just been broken, but this useRoute for sure was not handling any _subroutes_ below /devices/:robotName, just that route itself, so you would never see the estop modal if you were, shall we say, looking at a run.
If there was an estop, we need to update the position estimators of everything, and to do that we need to go reactivate them. Closes RQA-3103
sfoster1
changed the title
mjhuff
approved these changes
Sep 3, 2024
| const deviceRouteMatch = useMatch('/devices/:robotName') | ||
| const params = deviceRouteMatch?.params as DesktopRouteParams | ||
| const robotName = params?.robotName | ||
| const deviceRouteMatch = useMatch('/devices/:robotName/*') |
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Super funny/weird change between RR versions.
It looks like this is the only place in the app we use useMatch.
| const { data: estopStatus } = useEstopQuery({ | ||
| refetchInterval: ESTOP_REFETCH_INTERVAL_MS, | ||
| refetchInterval: estopEngaged | ||
| ? ESTOP_CURRENTLY_ENGAGED_REFETCH_INTERVAL_MS |
| }) | ||
| console.log(`estop status: ${estopStatus?.data.status}`) |
| }, | ||
| onError: (error: any) => { | ||
| setIsResuming(false) | ||
| console.log(error) |
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Overview
Fixes some issues around estop and drop tip. Specifically,
Closes RQA-3103, RQA-3133
Test Plan and Hands on Testing