soconnor/hristudio
1
0
Fork 0
mirror of https://github.com/soconnor0919/hristudio.git synced 2025-12-11 22:54:45 -05:00
Code Issues Packages Projects Releases Wiki Activity

Add ROS2 bridge

Browse Source
This commit is contained in:
Sean O'Connor
2025-10-16 16:08:49 -04:00
parent 9431bb549b
commit 816b2b9e31
27 changed files with 6360 additions and 507 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/server/api/routers/trials.ts
View File

@@ -78,8 +78,10 @@ async function checkTrialAccess(
return trial[0];
}
// Global execution engine instance
const executionEngine = new TrialExecutionEngine(db);
// Lazy-initialized execution engine instance
function getExecutionEngine() {
return new TrialExecutionEngine(db);
}
export const trialsRouter = createTRPCRouter({
list: protectedProcedure
@@ -417,6 +419,7 @@ export const trialsRouter = createTRPCRouter({
}
// Use execution engine to start trial
const executionEngine = getExecutionEngine();
const result = await executionEngine.startTrial(input.id, userId);
if (!result.success) {
@@ -499,6 +502,7 @@ export const trialsRouter = createTRPCRouter({
]);
// Use execution engine to abort trial
const executionEngine = getExecutionEngine();
const result = await executionEngine.abortTrial(input.id, input.reason);
if (!result.success) {
@@ -812,6 +816,7 @@ export const trialsRouter = createTRPCRouter({
.mutation(async ({ ctx, input }) => {
await checkTrialAccess(ctx.db, ctx.session.user.id, input.trialId);
const executionEngine = getExecutionEngine();
const result = await executionEngine.executeCurrentStep(input.trialId);
if (!result.success) {
@@ -829,6 +834,7 @@ export const trialsRouter = createTRPCRouter({
.mutation(async ({ ctx, input }) => {
await checkTrialAccess(ctx.db, ctx.session.user.id, input.trialId);
const executionEngine = getExecutionEngine();
const result = await executionEngine.advanceToNextStep(input.trialId);
if (!result.success) {
@@ -846,6 +852,7 @@ export const trialsRouter = createTRPCRouter({
.query(async ({ ctx, input }) => {
await checkTrialAccess(ctx.db, ctx.session.user.id, input.trialId);
const executionEngine = getExecutionEngine();
const status = executionEngine.getTrialStatus(input.trialId);
const currentStep = executionEngine.getCurrentStep(input.trialId);
@@ -860,6 +867,7 @@ export const trialsRouter = createTRPCRouter({
.query(async ({ ctx, input }) => {
await checkTrialAccess(ctx.db, ctx.session.user.id, input.trialId);
const executionEngine = getExecutionEngine();
return executionEngine.getCurrentStep(input.trialId);
}),