PROFERIS - Mi³osz Stocki
432 lines
16 KiB
JavaScript
432 lines
16 KiB
JavaScript
import BLE from '../ble.js';
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import UI from '../ui.js';
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import IK from '../kinematics.js';
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import Settings from '../settings.js';
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import { buildQuickSequencesHTML, initQuickSequences } from '../quick-sequences.js';
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let eventCleanup = [];
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let isHomed = false;
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let spots = [];
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let bounds = { xMin: -150, xMax: 150, yMin: -30, yMax: 145 };
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let currentBg = localStorage.getItem('wiji_bg') || 'default';
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let steps1 = 0;
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let steps2 = 0;
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function syncStateFromStorage() {
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isHomed = localStorage.getItem('wiji_homed') === 'true';
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steps1 = isHomed ? parseInt(localStorage.getItem('wiji_steps1') || IK.ARM.HOME_STEPS.m1) : IK.ARM.HOME_STEPS.m1;
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steps2 = isHomed ? parseInt(localStorage.getItem('wiji_steps2') || IK.ARM.HOME_STEPS.m2) : IK.ARM.HOME_STEPS.m2;
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}
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function saveSteps() {
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if (isHomed) {
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localStorage.setItem('wiji_steps1', steps1);
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localStorage.setItem('wiji_steps2', steps2);
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}
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}
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function buildHTML() {
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return `
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<style>
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.board-grid {
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display: grid;
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grid-template-columns: 1fr 280px;
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gap: 16px;
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height: 100%;
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align-items: stretch;
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}
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@media (max-width: 900px) { .board-grid { grid-template-columns: 1fr; } }
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.spot-marker:hover {
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background: rgba(0, 230, 118, 0.8) !important;
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transform: translate(-50%, -50%) scale(1.3) !important;
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}
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.homing-banner {
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padding: 10px;
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border-radius: var(--radius-sm);
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font-weight: bold;
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text-align: center;
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margin-bottom: 12px;
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transition: all 0.3s;
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}
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.homing-banner.homed {
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background: rgba(0, 230, 118, 0.1);
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color: var(--accent-green);
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border: 1px solid rgba(0, 230, 118, 0.3);
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}
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.homing-banner.not-homed {
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background: rgba(255, 82, 82, 0.1);
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color: var(--accent-red, #ff5252);
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border: 1px solid rgba(255, 82, 82, 0.3);
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}
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</style>
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<div class="section-page fade-in" style="display:flex; flex-direction:column; height: 100%;">
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<div class="section-header">
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<h2>Board Control</h2>
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<p>Click on the map or select from the list to move the pointer.</p>
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</div>
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<div class="board-grid">
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<!-- ── Map Area ─────────────────────────────────────── -->
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<div class="card" style="display:flex; flex-direction:column; padding: 12px; position:relative;">
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<div class="card-header"><span class="card-title">Interactive Map</span></div>
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<div style="flex:1; display:flex; align-items:flex-start; justify-content:center; overflow:hidden;">
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<div id="map-container" style="position: relative; width: 100%; max-width: 800px; background: #111; border-radius: 8px; box-shadow: 0 4px 20px rgba(0,0,0,0.5);">
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<img id="bg-image" src="web/assets/backgrounds/${currentBg}/bg.svg" style="width: 100%; display: block; height: auto; border-radius: 8px;" />
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<div id="markers-layer" style="position: absolute; top:0; left:0; width:100%; height:100%;"></div>
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</div>
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</div>
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</div>
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<!-- ── Control Panel ──────────────────────────────── -->
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<div style="display:flex; flex-direction:column; gap: 12px;">
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<!-- Homing Card -->
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<div class="card">
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<div class="card-header" style="display:flex; justify-content:space-between; align-items:center;">
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<span class="card-title">System Status</span>
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<div style="display:flex; gap: 12px;">
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<div style="text-align:right"><div style="font-size:0.6rem; color:var(--text-muted); text-transform:uppercase;">X (mm)</div><div id="pos-x" style="font-weight:bold; font-size:1rem; color:var(--accent-green);">0.0</div></div>
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<div style="text-align:right"><div style="font-size:0.6rem; color:var(--text-muted); text-transform:uppercase;">Y (mm)</div><div id="pos-y" style="font-weight:bold; font-size:1rem; color:var(--accent-green);">0.0</div></div>
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</div>
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</div>
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<div id="homing-banner" class="homing-banner ${isHomed ? 'homed' : 'not-homed'}">
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${isHomed ? '✓ HOMED' : '⚠ NOT HOMED! Movement Locked.'}
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</div>
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<button id="btn-force-home" class="btn btn-danger btn-full" style="padding: 10px; font-weight:bold;">
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${isHomed ? 'FORCE HOME ALL' : 'HOME ALL MOTORS'}
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</button>
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</div>
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<!-- Controls Card -->
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<div class="card" style="flex:1; display:flex; flex-direction:column;">
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<div class="card-header"><span class="card-title">Navigation</span></div>
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<div class="form-group" style="margin-bottom: 12px;">
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<label class="form-label">Background Map</label>
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<select id="bg-select" class="form-input" style="width:100%;">
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<option value="default">Default Spirit Board (Landscape)</option>
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<option value="portrait-right">Right Side Test (Portrait)</option>
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</select>
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</div>
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<!-- Settings -->
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<div style="background: var(--surface-2); padding: 10px; border-radius: var(--radius-sm); margin-bottom: 12px;">
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<div style="display: flex; justify-content: space-between; margin-bottom: 4px;">
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<label class="form-label" style="margin:0;">Speed</label>
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<span id="speed-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.speed}</span>
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</div>
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<input type="range" id="bc-slider-speed" min="100" max="2000" step="100" value="${Settings.speed}" style="width:100%; margin-bottom: 8px;">
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<div style="display: flex; justify-content: space-between; margin-bottom: 4px;">
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<label class="form-label" style="margin:0;">Accel</label>
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<span id="accel-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.accel}</span>
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</div>
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<input type="range" id="bc-slider-accel" min="50" max="1000" step="50" value="${Settings.accel}" style="width:100%;">
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</div>
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<div class="form-group" style="margin-bottom: 12px;">
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<label class="form-label">Movement Mode</label>
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<select id="mode-select" class="form-input" style="width:100%;">
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<option value="direct">Direct (Normal)</option>
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<option value="erratic">Erratic (Coming Soon)</option>
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<option value="random">Random (Coming Soon)</option>
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<option value="snaky">Snaky (Coming Soon)</option>
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</select>
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</div>
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<div class="form-group" style="flex:1; display:flex; flex-direction:column;">
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<label class="form-label">Available Spots</label>
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<select id="spot-list" size="10" class="form-input" style="flex:1; width: 100%; margin-bottom: 12px; font-family: monospace; font-size: 1rem; padding: 8px;">
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<!-- Populated dynamically -->
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</select>
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</div>
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<button id="btn-go" class="btn btn-success btn-full" style="padding: 12px; font-weight:bold; font-size: 1.1rem;" disabled>
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GO TO SELECTION
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</button>
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</div>
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${buildQuickSequencesHTML()}
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</div>
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</div>
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</div>
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`;
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}
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function updatePositionReadout() {
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const t1 = IK.stepsToRad(steps1);
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const t2 = IK.stepsToRad(steps2);
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const { endX, endY } = IK.forward(t1, t2);
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const px = document.getElementById('pos-x');
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const py = document.getElementById('pos-y');
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if (px) px.textContent = isFinite(endX) ? endX.toFixed(1) : '---';
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if (py) py.textContent = isFinite(endY) ? endY.toFixed(1) : '---';
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}
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function updateHomingUI() {
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const banner = document.getElementById('homing-banner');
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const btn = document.getElementById('btn-force-home');
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if (!banner || !btn) return;
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if (isHomed) {
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banner.className = 'homing-banner homed';
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banner.textContent = '✓ HOMED';
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btn.textContent = 'FORCE HOME ALL';
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} else {
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banner.className = 'homing-banner not-homed';
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banner.textContent = '⚠ NOT HOMED! Movement Locked.';
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btn.textContent = 'HOME ALL MOTORS';
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}
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}
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async function loadSpots() {
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try {
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const res = await fetch(`web/assets/backgrounds/${currentBg}/spots.json?v=${Date.now()}`);
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const data = await res.json();
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if (Array.isArray(data)) {
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spots = data;
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} else {
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spots = data.spots || [];
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if (data.bounds) bounds = data.bounds;
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}
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document.getElementById('bg-image').src = `web/assets/backgrounds/${currentBg}/bg.svg?v=${Date.now()}`;
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renderSpots();
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} catch(e) {
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UI.log('Failed to load spots.json', 'error');
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}
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}
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async function sendSettings() {
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if (!BLE.isConnected()) return;
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try {
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await BLE.write(`SPD:${Settings.speed}`);
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await BLE.write(`ACC:${Settings.accel}`);
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} catch (e) {
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console.error('Failed to send settings', e);
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}
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}
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function renderSpots() {
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const listEl = document.getElementById('spot-list');
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const markersEl = document.getElementById('markers-layer');
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const mapContainer = document.getElementById('map-container');
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if (!listEl || !markersEl || !mapContainer) return;
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const w = bounds.xMax - bounds.xMin;
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const h = bounds.yMax - bounds.yMin;
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// mapContainer.style.aspectRatio = `${w}/${h}`; // Let natural image aspect ratio dictate container height
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listEl.innerHTML = '';
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markersEl.innerHTML = '';
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spots.forEach(spot => {
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// List item
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const opt = document.createElement('option');
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opt.value = spot.id;
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opt.textContent = `${spot.label.padEnd(10, ' ')} [${spot.x}, ${spot.y}]`;
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listEl.appendChild(opt);
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// Map marker
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const marker = document.createElement('div');
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const xPct = ((spot.x - bounds.xMin) / w) * 100;
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const yPct = ((bounds.yMax - spot.y) / h) * 100;
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marker.className = 'spot-marker';
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marker.style = `position: absolute; left: ${xPct}%; top: ${yPct}%; transform: translate(-50%, -50%); width: 18px; height: 18px; border-radius: 50%; background: rgba(0, 230, 118, 0.4); border: 2px solid var(--accent-green); cursor: pointer; transition: all 0.2s;`;
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marker.title = spot.label;
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marker.addEventListener('click', () => {
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listEl.value = spot.id;
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document.getElementById('btn-go').disabled = false;
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executeMove(spot);
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});
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markersEl.appendChild(marker);
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});
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}
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async function executeMove(spot) {
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if (!isHomed) {
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UI.log('Cannot move: System is not homed! Please click HOME ALL.', 'error');
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return;
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}
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const mode = document.getElementById('mode-select').value;
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if (mode !== 'direct') {
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UI.log(`Mode '${mode}' not fully implemented yet! Using direct move.`, 'warn');
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}
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// Calculate IK
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const wsCheck = IK.checkWorkspace(spot.x, spot.y);
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if (!wsCheck.ok) {
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UI.log(`⛔ ${wsCheck.reason}`, 'error');
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return;
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}
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const res = IK.solve(spot.x, spot.y);
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if (!res.reachable) {
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UI.log(`Target ${spot.label} is unreachable geometrically.`, 'error');
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return;
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}
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if (IK.armsCrossed(res.theta1, res.theta2)) {
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UI.log(`Target ${spot.label} rejected: elbows crossed!`, 'error');
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return;
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}
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const newSteps1 = IK.radToSteps(res.theta1);
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const newSteps2 = IK.radToSteps(res.theta2);
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const delta1 = newSteps1 - steps1;
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const delta2 = newSteps2 - steps2;
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steps1 = newSteps1;
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steps2 = newSteps2;
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saveSteps();
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updatePositionReadout();
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const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
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const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
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UI.log(`Moving to ${spot.label} (${spot.x}, ${spot.y})`, 'success');
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if (BLE.isConnected()) {
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try {
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await BLE.write(cmd1);
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await BLE.write(cmd2);
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} catch (e) {
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UI.log(`BLE error: ${e.message}`, 'error');
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}
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} else {
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UI.log(`[sim] ${cmd1} ${cmd2}`, 'info');
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}
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}
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export default {
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mount(container) {
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syncStateFromStorage();
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container.innerHTML = buildHTML();
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updateHomingUI();
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loadSpots();
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// ── Background Selection ──────────────────────────────────
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const bgSelect = document.getElementById('bg-select');
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if (bgSelect) {
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bgSelect.value = currentBg;
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bgSelect.addEventListener('change', () => {
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currentBg = bgSelect.value;
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localStorage.setItem('wiji_bg', currentBg);
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loadSpots();
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initQuickSequences(
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currentBg,
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() => spots,
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() => ({ steps1, steps2 }),
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(s1, s2) => {
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steps1 = s1; steps2 = s2;
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updatePositionReadout();
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}
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);
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});
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}
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// ── Settings Sliders ──────────────────────────────────────
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const sSpeed = document.getElementById('bc-slider-speed');
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const sAccel = document.getElementById('bc-slider-accel');
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if (sSpeed) {
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sSpeed.addEventListener('input', (e) => {
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Settings.speed = parseInt(e.target.value);
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document.getElementById('speed-val').textContent = Settings.speed;
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sendSettings();
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});
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}
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if (sAccel) {
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sAccel.addEventListener('input', (e) => {
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Settings.accel = parseInt(e.target.value);
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document.getElementById('accel-val').textContent = Settings.accel;
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sendSettings();
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});
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}
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// ── Homing Logic ──────────────────────────────────────────
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document.getElementById('btn-force-home').addEventListener('click', async () => {
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isHomed = true;
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localStorage.setItem('wiji_homed', 'true');
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updateHomingUI();
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steps1 = IK.ARM.HOME_STEPS.m1;
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steps2 = IK.ARM.HOME_STEPS.m2;
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saveSteps();
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updatePositionReadout();
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UI.log('Homing all motors...', 'info');
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if (BLE.isConnected()) {
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try {
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await BLE.write('HOMEALL');
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} catch (e) {
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UI.log(e.message, 'error');
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}
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} else {
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UI.log('[sim] HOMEALL', 'info');
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}
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});
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// ── List Selection ────────────────────────────────────────
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const listEl = document.getElementById('spot-list');
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const goBtn = document.getElementById('btn-go');
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listEl.addEventListener('change', () => {
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goBtn.disabled = !listEl.value;
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});
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goBtn.addEventListener('click', () => {
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const selectedId = listEl.value;
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const spot = spots.find(s => s.id === selectedId);
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if (spot) {
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executeMove(spot);
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}
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});
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// ── Sync Steps from BLE ───────────────────────────────────
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const onBLEStatus = (e) => {
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const msg = e.detail;
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if (msg.startsWith('P:')) {
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const [s1, s2] = msg.slice(2).split(',').map(Number);
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steps1 = s1; steps2 = s2;
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saveSteps();
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updatePositionReadout();
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}
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};
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document.addEventListener('ble:status', onBLEStatus);
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// Sync position on mount if connected
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if (BLE.isConnected()) {
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BLE.write('POS').catch(() => {});
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sendSettings();
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} else {
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updatePositionReadout();
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}
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initQuickSequences(
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currentBg,
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() => spots,
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() => ({ steps1, steps2 }),
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(s1, s2) => {
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steps1 = s1; steps2 = s2;
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updatePositionReadout();
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}
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);
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eventCleanup.push(() => document.removeEventListener('ble:status', onBLEStatus));
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},
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unmount() {
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eventCleanup.forEach(fn => fn());
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eventCleanup = [];
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}
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};
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