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Fix orientation detection in UI

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This commit is contained in:
Johnathon Slightham
2026-03-10 14:04:51 -04:00
parent d400235cb9
commit 8f60788865
1 changed files with 12 additions and 2 deletions
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14
src/libcontrol.cpp
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@@ -71,29 +71,39 @@ std::vector<Flatbuffers::ModuleConnectionInstance> RobotController::getConnectio
} }
if (!m_connection_map.contains(conn.to_module_id)) { if (!m_connection_map.contains(conn.to_module_id)) {
spdlog::warn("Could not find to module id in connection map {}", conn.to_module_id);
continue; continue;
} }
uint8_t to_socket = 0; uint8_t to_socket = 0;
bool found_inverse = false; bool found_inverse = false;
uint16_t orientation = conn.orientation;
for (const auto &reverse_conn : m_connection_map.at(conn.to_module_id)) { for (const auto &reverse_conn : m_connection_map.at(conn.to_module_id)) {
if (reverse_conn.to_module_id == conn.from_module_id) { if (reverse_conn.to_module_id == conn.from_module_id) {
to_socket = reverse_conn.from_socket; to_socket = reverse_conn.from_socket;
found_inverse = true; found_inverse = true;
if (reverse_conn.orientation != Orientation_Deg0) {
orientation = reverse_conn.orientation;
}
break; break;
} }
} }
if (!found_inverse) { if (!found_inverse) {
spdlog::warn("Found inverse module, could not find inverse connection, {}",
conn.to_module_id);
continue; continue;
} }
spdlog::info("Adding module connection, {} to {}", conn.from_module_id,
conn.to_module_id);
out.push_back( out.push_back(
Flatbuffers::ModuleConnectionInstance{.from_module_id = conn.from_module_id, Flatbuffers::ModuleConnectionInstance{.from_module_id = conn.from_module_id,
.to_module_id = conn.to_module_id, .to_module_id = conn.to_module_id,
.from_socket = conn.from_socket, .from_socket = conn.from_socket,
.to_socket = to_socket, .to_socket = to_socket,
.orientation = conn.orientation}); .orientation = (Orientation)orientation});
} }
} }
return out; return out;
@@ -168,7 +178,7 @@ void RobotController::metadata_loop() {
std::unique_lock conn_lock(m_connection_lock); std::unique_lock conn_lock(m_connection_lock);
std::vector<Flatbuffers::ModuleConnectionInstance> conns; std::vector<Flatbuffers::ModuleConnectionInstance> conns;
for (uint8_t i = 1; i < NUM_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_CHANNELS; i++) {
if (metadata->channel_to_module()->Get(i) > 0) { if (metadata->channel_to_module()->Get(i) > 0) {
conns.push_back(Flatbuffers::ModuleConnectionInstance{ conns.push_back(Flatbuffers::ModuleConnectionInstance{
.from_module_id = metadata->module_id(), .from_module_id = metadata->module_id(),