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Fix UI orientation (#4)

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* Correctly send connection info to UI

* Fix orientation detection in UI
This commit is contained in:
Johnathon Slightham
2026-03-10 14:06:52 -04:00
committed by GitHub
parent 780e2ceae7
commit eca875a791
1 changed files with 42 additions and 6 deletions
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48
src/libcontrol.cpp
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@@ -8,6 +8,7 @@
#include <shared_mutex>
#include <system_error>
#include <thread>
#include <unordered_set>
#include "flatbuffers_generated/SensorMessage_generated.h"
#include "spdlog/spdlog.h"
@@ -62,12 +63,47 @@ std::vector<Flatbuffers::ModuleConnectionInstance> RobotController::getConnectio
std::shared_lock module_lock(m_module_lock);
std::shared_lock conn_lock(m_connection_lock);
for (auto const &[_, value] : m_connection_map) {
for (const auto conn : value) {
if (m_id_to_module.contains(conn.from_module_id) &&
m_id_to_module.contains(conn.to_module_id)) {
out.push_back(conn);
for (auto const &[from_id, conns] : m_connection_map) {
for (const auto &conn : conns) {
if (!m_id_to_module.contains(conn.from_module_id) ||
!m_id_to_module.contains(conn.to_module_id)) {
continue;
}
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;
}
uint8_t to_socket = 0;
bool found_inverse = false;
uint16_t orientation = conn.orientation;
for (const auto &reverse_conn : m_connection_map.at(conn.to_module_id)) {
if (reverse_conn.to_module_id == conn.from_module_id) {
to_socket = reverse_conn.from_socket;
found_inverse = true;
if (reverse_conn.orientation != Orientation_Deg0) {
orientation = reverse_conn.orientation;
}
break;
}
}
if (!found_inverse) {
spdlog::warn("Found inverse module, could not find inverse connection, {}",
conn.to_module_id);
continue;
}
spdlog::info("Adding module connection, {} to {}", conn.from_module_id,
conn.to_module_id);
out.push_back(
Flatbuffers::ModuleConnectionInstance{.from_module_id = conn.from_module_id,
.to_module_id = conn.to_module_id,
.from_socket = conn.from_socket,
.to_socket = to_socket,
.orientation = (Orientation)orientation});
}
}
return out;
@@ -142,7 +178,7 @@ void RobotController::metadata_loop() {
std::unique_lock conn_lock(m_connection_lock);
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) {
conns.push_back(Flatbuffers::ModuleConnectionInstance{
.from_module_id = metadata->module_id(),