Idle animations. Closes #14

web/js/motion.js

@@ -52,21 +52,39 @@ function getSteps() {
 
 let motionQueue = [];
 let isMoving = false;
+let currentIsIdleMove = false;
 let currentResolve = null;
 let queueCheckInterval = null;
 let currentMotionMode = 'direct';
 let hasHesitated = false;
 
+function stopCurrentMove() {
+  motionQueue = [];
+  isMoving = false;
+  if (queueCheckInterval) {
+    clearInterval(queueCheckInterval);
+    queueCheckInterval = null;
+  }
+  if (currentResolve) {
+    currentResolve(false); // resolve false because aborted
+    currentResolve = null;
+  }
+}
+
 async function executeQueue() {
   if (motionQueue.length === 0) {
     isMoving = false;
-    if (queueCheckInterval) clearInterval(queueCheckInterval);
+    if (queueCheckInterval) {
+      clearInterval(queueCheckInterval);
+      queueCheckInterval = null;
+    }
     
     // Restore speed if it was altered
     await MotionEffects.onSequenceEnd(currentMotionMode);
     
     if (currentResolve) currentResolve(true);
     currentResolve = null;
+    document.dispatchEvent(new CustomEvent('wiji:motion-end', { detail: { isIdleMove: currentIsIdleMove } }));
     return;
   }
 
@@ -83,11 +101,8 @@ async function executeQueue() {
         await BLE.write(cmd);
       } catch (e) {
         UI.log(`BLE error: ${e.message}`, 'error');
-        motionQueue = []; // clear queue on error
-        isMoving = false;
-        if (queueCheckInterval) clearInterval(queueCheckInterval);
-        if (currentResolve) currentResolve(false);
-        currentResolve = null;
+        stopCurrentMove();
+        document.dispatchEvent(new CustomEvent('wiji:motion-end', { detail: { isIdleMove: currentIsIdleMove } }));
         return;
       }
       
@@ -102,12 +117,9 @@ async function executeQueue() {
 
         // Check for timeout stall
         if (Date.now() - waypointStartTime > CONFIG.WAYPOINT_TIMEOUT_MS) {
-          clearInterval(queueCheckInterval);
-          motionQueue = [];
-          isMoving = false;
+          stopCurrentMove();
           forceUnhome('Motion timeout! Arms may be stuck. Rehoming required.');
-          if (currentResolve) currentResolve(false);
-          currentResolve = null;
+          document.dispatchEvent(new CustomEvent('wiji:motion-end', { detail: { isIdleMove: currentIsIdleMove } }));
           return;
         }
 
@@ -222,12 +234,18 @@ function buildSegments(startX, startY, endX, endY, mode) {
  * Dynamically slices the path into segments to prevent out-of-bounds arcs.
  * @returns {Promise<boolean>} Resolves to true if successful, false if aborted/error.
  */
-async function goto(targetX, targetY, mode = 'direct') {
+async function goto(targetX, targetY, mode = 'direct', isIdleMove = false) {
   if (isMoving) {
-    UI.log('Arm is currently moving! Wait for it to finish.', 'warn');
-    return false;
+    // If the currently executing move is an idle move, and this is a user move, we can interrupt it.
+    if (currentIsIdleMove && !isIdleMove) {
+      stopCurrentMove(); // Abort the idle move
+    } else {
+      UI.log('Arm is currently moving! Wait for it to finish.', 'warn');
+      return false;
+    }
   }
 
+  currentIsIdleMove = isIdleMove;
   mode = MotionEffects.resolveMode(mode);
   
   currentMotionMode = mode;
@@ -283,6 +301,8 @@ async function goto(targetX, targetY, mode = 'direct') {
 
   await MotionEffects.onSequenceStart(mode);
 
+  document.dispatchEvent(new CustomEvent('wiji:motion-start', { detail: { isIdleMove: currentIsIdleMove } }));
+
   return new Promise((resolve) => {
     currentResolve = resolve;
     executeQueue();