897 enabledisable gripper from gripper page

gcs/src/components/config/gripper.jsx

@@ -26,8 +26,11 @@ import { IconInfoCircle } from "@tabler/icons-react"
 import { useDispatch, useSelector } from "react-redux"
 import {
   emitGetGripperConfig,
+  emitGetGripperEnabled,
   emitSetGripper,
   emitSetGripperConfigParam,
+  emitSetGripperDisabled,
+  emitSetGripperEnabled,
   selectGetGripperEnabled,
   selectGripperConfig,
   selectRefreshingGripperConfigData,
@@ -126,13 +129,25 @@ export default function Gripper() {
     }
 
     dispatch(emitSetState("config.gripper"))
-    dispatch(emitGetGripperConfig())
-  }, [connected, dispatch])
+
+    dispatch(emitGetGripperEnabled())
+    if (getGripperEnabled) {
+      dispatch(emitGetGripperConfig())
+    }
+  }, [connected, dispatch, getGripperEnabled])
 
   function setGripper(action) {
     dispatch(emitSetGripper(action))
   }
 
+  const toggleGripperEnabled = () => {
+    if (getGripperEnabled) {
+      dispatch(emitSetGripperDisabled())
+    } else {
+      dispatch(emitSetGripperEnabled())
+    }
+  }
+
   const debouncedUpdate = useDebouncedCallback((param_id, value) => {
     dispatch(emitSetGripperConfigParam({ param_id, value }))
   }, 500)
@@ -141,6 +156,10 @@ export default function Gripper() {
     return (
       <div className="flex flex-col gap-4 mx-4">
         <p>Gripper is not enabled.</p>
+
+        <Button w={"30%"} onClick={toggleGripperEnabled} color={"green"}>
+          Enable Gripper
+        </Button>
       </div>
     )
   }
@@ -152,14 +171,20 @@ export default function Gripper() {
         zIndex={1000}
         overlayProps={{ blur: 2 }}
       />
-      <div className="flex flex-row gap-2">
-        <Button onClick={() => setGripper("release")} color={"red"}>
-          Release Gripper
-        </Button>
-        <Button onClick={() => setGripper("grab")} color={"red"}>
-          Grab Gripper
+      <div className="flex flex-col gap-2 w-1/3">
+        <Button onClick={() => toggleGripperEnabled()} color={"red"}>
+          Disable Gripper
         </Button>
+        <div className="flex flex-row gap-2">
+          <Button w="100%" onClick={() => setGripper("release")} color={"blue"}>
+            Release Gripper
+          </Button>
+          <Button w="100%" onClick={() => setGripper("grab")} color={"blue"}>
+            Grab Gripper
+          </Button>
+        </div>
       </div>
+
       <div className="flex flex-col gap-2">
         {params.map((param) => (
           <div key={param.param_id} className="flex flex-row justify-between">

gcs/src/config.jsx

@@ -21,26 +21,18 @@ import NoDroneConnected from "./components/noDroneConnected"
 // Redux
 import { useDispatch, useSelector } from "react-redux"
 import Ftp from "./components/config/ftp"
-import {
-  emitGetGripperEnabled,
-  selectActiveTab,
-  selectGetGripperEnabled,
-  setActiveTab,
-} from "./redux/slices/configSlice"
+import { selectActiveTab, setActiveTab } from "./redux/slices/configSlice"
 import { selectConnectedToDrone } from "./redux/slices/droneConnectionSlice"
 
 export default function Config() {
   const dispatch = useDispatch()
   const connected = useSelector(selectConnectedToDrone)
-  const getGripperEnabled = useSelector(selectGetGripperEnabled)
   const activeTab = useSelector(selectActiveTab)
   const paddingTop = "mt-4"
 
   useEffect(() => {
     if (!connected) {
       dispatch(setActiveTab(null))
-    } else {
-      dispatch(emitGetGripperEnabled())
     }
   }, [connected])
 
@@ -57,9 +49,7 @@ export default function Config() {
             onChange={(newTab) => dispatch(setActiveTab(newTab))}
           >
             <Tabs.List>
-              <Tabs.Tab value="gripper" disabled={!getGripperEnabled}>
-                Gripper
-              </Tabs.Tab>
+              <Tabs.Tab value="gripper">Gripper</Tabs.Tab>
               <Tabs.Tab value="motor_test">Motor Test</Tabs.Tab>
               <Tabs.Tab value="rc_calibration">RC Calibration</Tabs.Tab>
               <Tabs.Tab value="flightmodes">Flight modes</Tabs.Tab>

gcs/src/redux/middleware/emitters.js

@@ -11,6 +11,8 @@ import {
   emitSetFlightModeChannel,
   emitSetGripper,
   emitSetGripperConfigParam,
+  emitSetGripperDisabled,
+  emitSetGripperEnabled,
   emitSetRcConfigParam,
   emitTestAllMotors,
   emitTestMotorSequence,
@@ -333,6 +335,14 @@ export function handleEmitters(socket, store, action) {
       emitter: emitGetGripperEnabled,
       callback: () => socket.socket.emit("get_gripper_enabled"),
     },
+    {
+      emitter: emitSetGripperEnabled,
+      callback: () => socket.socket.emit("set_gripper_enabled"),
+    },
+    {
+      emitter: emitSetGripperDisabled,
+      callback: () => socket.socket.emit("set_gripper_disabled"),
+    },
     {
       emitter: emitGetGripperConfig,
       callback: () => {

gcs/src/redux/middleware/socketMiddleware.js

@@ -46,6 +46,7 @@ import {
 import SocketFactory from "../../helpers/socket"
 import {
   emitGetFlightModeConfig,
+  emitGetGripperConfig,
   setChannelsConfig,
   setCurrentPwmValue,
   setFlightModeChannel,
@@ -187,6 +188,8 @@ const MissionSpecificSocketEvents = Object.freeze({
 
 const ConfigSpecificSocketEvents = Object.freeze({
   onGripperEnabled: "is_gripper_enabled",
+  onSetGripperEnabledResult: "set_gripper_enabled_result",
+  onSetGripperDisabledResult: "set_gripper_disabled_result",
   onSetGripperResult: "set_gripper_result",
   onGripperConfig: "gripper_config",
   setGripperParamResult: "set_gripper_param_result",
@@ -1081,6 +1084,31 @@ const socketMiddleware = (store) => {
           },
         )
 
+        socket.socket.on(
+          ConfigSpecificSocketEvents.onSetGripperEnabledResult,
+          (result) => {
+            if (result.success) {
+              store.dispatch(setGetGripperEnabled(true))
+              store.dispatch(emitGetGripperConfig())
+              showSuccessNotification(result.message)
+            } else {
+              showErrorNotification(result.message)
+            }
+          },
+        )
+
+        socket.socket.on(
+          ConfigSpecificSocketEvents.onSetGripperDisabledResult,
+          (result) => {
+            if (result.success) {
+              store.dispatch(setGetGripperEnabled(false))
+              showSuccessNotification(result.message)
+            } else {
+              showErrorNotification(result.message)
+            }
+          },
+        )
+
         socket.socket.on(
           ConfigSpecificSocketEvents.onSetGripperResult,
           (msg) => {

gcs/src/redux/slices/configSlice.js

@@ -148,6 +148,8 @@ const configSlice = createSlice({
 
     // Emits
     emitGetGripperEnabled: () => {},
+    emitSetGripperEnabled: () => {},
+    emitSetGripperDisabled: () => {},
     emitGetGripperConfig: () => {},
     emitSetGripperConfigParam: () => {},
     emitGetFlightModeConfig: () => {},
@@ -207,6 +209,8 @@ export const {
   setRadioCalibrationModalOpen,
 
   emitGetGripperEnabled,
+  emitSetGripperEnabled,
+  emitSetGripperDisabled,
   emitGetGripperConfig,
   emitSetGripperConfigParam,
   emitGetFlightModeConfig,

radio/app/controllers/gripperController.py

@@ -160,6 +160,40 @@ def setGripper(self, action: str) -> Response:
         finally:
             self.drone.release_message_type("COMMAND_ACK", self.controller_id)
 
+    def enableGripper(self) -> Response:
+        """
+        Enable the gripper
+        """
+
+        success = self.drone.paramsController.setParam(
+            "GRIP_ENABLE", 1, mavutil.mavlink.MAV_PARAM_TYPE_UINT8
+        )
+
+        if success:
+            return {"success": True, "message": "Enabled gripper"}
+        else:
+            return {
+                "success": False,
+                "message": "Failed to enable gripper",
+            }
+
+    def disableGripper(self) -> Response:
+        """
+        Disable the gripper
+        """
+
+        success = self.drone.paramsController.setParam(
+            "GRIP_ENABLE", 0, mavutil.mavlink.MAV_PARAM_TYPE_UINT8
+        )
+
+        if success:
+            return {"success": True, "message": "Disabled gripper"}
+        else:
+            return {
+                "success": False,
+                "message": "Failed to disable gripper",
+            }
+
     def getConfig(self) -> dict:
         """
         Get the current gripper config from cached parameters.

radio/app/endpoints/gripper.py

@@ -18,6 +18,46 @@ def getGripperEnabled() -> None:
     socketio.emit("is_gripper_enabled", enabled)
 
 
+@socketio.on("set_gripper_enabled")
+def setGripperEnabled() -> None:
+    """
+    Enables the gripper
+    """
+
+    if not droneStatus.drone:
+        droneErrorCb("You must be connected to the drone to access the gripper.")
+        logger.warning("Attempted to set gripper enabled when drone is None.")
+        return
+
+    if droneStatus.state != "config.gripper":
+        droneErrorCb("You must be on the gripper page to enable the gripper")
+        logger.warning("Attempted to set gripper enabled not on gripper page")
+        return
+
+    result = droneStatus.drone.gripperController.enableGripper()
+    socketio.emit("set_gripper_enabled_result", result)
+
+
+@socketio.on("set_gripper_disabled")
+def setGripperDisabled() -> None:
+    """
+    Disable the gripper
+    """
+
+    if not droneStatus.drone:
+        droneErrorCb("You must be connected to the drone to access the gripper.")
+        logger.warning("Attempted to set gripper disabled when drone is None.")
+        return
+
+    if droneStatus.state != "config.gripper":
+        droneErrorCb("You must be on the gripper page to disable the gripper")
+        logger.warning("Attempted to set gripper disabled not on gripper page")
+        return
+
+    result = droneStatus.drone.gripperController.disableGripper()
+    socketio.emit("set_gripper_disabled_result", result)
+
+
 @socketio.on("set_gripper")
 def setGripper(action: str) -> None:
     """
@@ -67,6 +107,12 @@ def getGripperConfig() -> None:
         droneErrorCb("get the gripper config")
         return
 
+    # Refresh gripper params from drone, if there's no cache
+    if droneStatus.drone.gripperController.getEnabled() and (
+        not bool(droneStatus.drone.gripperController.params)
+    ):
+        droneStatus.drone.gripperController.getGripperParams()
+
     gripper_config = droneStatus.drone.gripperController.getConfig()
 
     socketio.emit(

radio/app/endpoints/simulation.py

@@ -265,7 +265,7 @@ def log_worker(result: dict):
 
 
 def validate_ports(
-    ports: Optional[list[dict[str, Any]]]
+    ports: Optional[list[dict[str, Any]]],
 ) -> Tuple[dict[str, str], Optional[int]]:
     """
     Construct the validated port mappings and primary host port

radio/tests/test_gripper.py

@@ -108,3 +108,19 @@ def test_gripperDisabled(socketio_client: SocketIOTestClient, droneStatus) -> No
         "success": False,
         "message": "Gripper is not enabled",
     }
+
+
+@falcon_test()
+def test_setGripperEnabled(socketio_client: SocketIOTestClient) -> None:
+    assert send_and_receive("set_gripper_enabled") == {
+        "success": True,
+        "message": "Enabled gripper",
+    }
+
+
+@falcon_test()
+def test_setGripperDisabled(socketio_client: SocketIOTestClient) -> None:
+    assert send_and_receive("set_gripper_disabled") == {
+        "success": True,
+        "message": "Disabled gripper",
+    }