From 79e0be007e21af82bcb15c08e57862207beec0f9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?PROFERIS=20-=20Mi=C2=B3osz=20Stocki?=
 <milosz.stocki@proferis.pl>
Date: Thu, 9 Jul 2026 13:39:40 +0200
Subject: [PATCH] Implement motion timeout. #21

---
 web/js/motion.js | 29 +++++++++++++++++++++++------
 1 file changed, 23 insertions(+), 6 deletions(-)

diff --git a/web/js/motion.js b/web/js/motion.js
index 68994d9..1c9dbe8 100644
--- a/web/js/motion.js
+++ b/web/js/motion.js
@@ -6,13 +6,22 @@ import { MotionEffects } from './motion-effects.js';
 
 const CONFIG = {
   SEGMENT_SIZE_MM: 25, // Maximum distance between waypoints to prevent out-of-bounds joint-space arcs
-  BLEND_THRESHOLD_STEPS: 300 // Send next waypoint when within this many steps (prevents deceleration)
+  BLEND_THRESHOLD_STEPS: 300, // Send next waypoint when within this many steps (prevents deceleration)
+  WAYPOINT_TIMEOUT_MS: 8000 // Max time to wait for a single waypoint to complete before declaring a stall
 };
 
 // Global state tracking
 let steps1 = 0;
 let steps2 = 0;
 
+function forceUnhome(reason) {
+  localStorage.setItem('wiji_homed', 'false');
+  UI.log(reason, 'warn');
+  document.dispatchEvent(new CustomEvent('wiji:unhomed'));
+  const warningEl = document.getElementById('home-warning');
+  if (warningEl) warningEl.style.display = 'block';
+}
+
 // Listen to BLE position updates
 document.addEventListener('ble:status', (e) => {
   const msg = e.detail;
@@ -25,11 +34,7 @@ document.addEventListener('ble:status', (e) => {
     if (parts.length > 2) {
       const isHolding = parts[2] === '1';
       if (!isHolding && localStorage.getItem('wiji_homed') === 'true') {
-        localStorage.setItem('wiji_homed', 'false');
-        UI.log('Steppers are not holding. Rehoming required.', 'warn');
-        document.dispatchEvent(new CustomEvent('wiji:unhomed'));
-        const warningEl = document.getElementById('home-warning');
-        if (warningEl) warningEl.style.display = 'block';
+        forceUnhome('Steppers are not holding. Rehoming required.');
       }
     }
   }
@@ -88,12 +93,24 @@ async function executeQueue() {
       
       // Setup interval to monitor progress
       if (queueCheckInterval) clearInterval(queueCheckInterval);
+      const waypointStartTime = Date.now();
       queueCheckInterval = setInterval(async () => {
         // Calculate distance to target in steps
         const dist1 = Math.abs(target.s1 - steps1);
         const dist2 = Math.abs(target.s2 - steps2);
         const maxDist = Math.max(dist1, dist2);
 
+        // Check for timeout stall
+        if (Date.now() - waypointStartTime > CONFIG.WAYPOINT_TIMEOUT_MS) {
+          clearInterval(queueCheckInterval);
+          motionQueue = [];
+          isMoving = false;
+          forceUnhome('Motion timeout! Arms may be stuck. Rehoming required.');
+          if (currentResolve) currentResolve(false);
+          currentResolve = null;
+          return;
+        }
+
         if (motionQueue.length > 0) {
           const nextTarget = motionQueue[0];
           const queueAction = MotionEffects.getQueueAction(target.mode, nextTarget.mode, maxDist, CONFIG.BLEND_THRESHOLD_STEPS);