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fix goto_target #965

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Merged
copystring merged 2 commits into from
Dec 13, 2025
Merged

fix goto_target #965

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9f9c70a
Revert "fix(#960): wrap app_goto_target coordinates in array (#962)"
copystring Dec 13, 2025
0c12ce9
fix(map): remove double padding in coordinate conversion
copystring Dec 13, 2025
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2 changes: 1 addition & 1 deletion src/lib/socketHandler.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@ export class socketHandler {
const handler = this.adapter.deviceFeatureHandlers.get(duid);
if (!handler) throw new Error(`No handler for DUID ${duid}`);

await this.adapter.requestsHandler.command(handler, duid, "app_goto_target", [points]);
await this.adapter.requestsHandler.command(handler, duid, "app_goto_target", points);
return { result: "ok" };
}

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10 changes: 5 additions & 5 deletions src/www/map.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -891,7 +891,7 @@ class MapApplication {
d.x = newX;
d.y = newY;
const element = event.sourceEvent.target.closest("g.zone");
if (element) d3.select(element).attr("transform", `translate(${d.x - this.mapMinX}, ${d.y - this.mapMinY})`);
if (element) d3.select(element).attr("transform", `translate(${d.x}, ${d.y})`);
})
.on("end", (event: any) => {
const element = event.sourceEvent.target.closest("g.zone");
Expand Down Expand Up @@ -931,7 +931,7 @@ class MapApplication {
enterGroup.append("rect").attr("class", "zone-rect").attr("x", 0).attr("y", 0).style("stroke-width", this.rescaler.zoneStrokeWidth());
enterGroup.append("circle").attr("class", "zone-handle").attr("r", this.rescaler.zoneHandleRadius()).call(resizeHandler as any);
const mergedSelection = selection.merge(enterGroup as any);
mergedSelection.attr("transform", (d: Rect) => `translate(${d.x - this.mapMinX}, ${d.y - this.mapMinY})`);
mergedSelection.attr("transform", (d: Rect) => `translate(${d.x}, ${d.y})`);
mergedSelection
.select("rect")
.attr("width", (d: Rect) => d.width)
Expand Down Expand Up @@ -1059,7 +1059,7 @@ class MapApplication {
if (this.mapMinX === undefined || this.mapMinY === undefined) return { x: 0, y: 0 };
const transform = d3.zoomTransform(this.svgContainer.node() as Element);
const inverted = transform.invert([x, y]);
return { x: inverted[0] + this.mapMinX, y: inverted[1] + this.mapMinY };
return { x: inverted[0], y: inverted[1] };
}

private worldToSvgCoords(x: number, y: number): Point {
Expand Down Expand Up @@ -1211,8 +1211,8 @@ class MapApplication {
const params = this.getMapParams();
if (!this.currentRobotDuid || !params) return;
const [mouseX, mouseY] = d3.pointer(event, this.mainGroup.node());
const worldX = mouseX + this.mapMinX;
const worldY = mouseY + this.mapMinY;
const worldX = mouseX;
const worldY = mouseY;
const point = localCoordsToRobotCoords({ x: worldX, y: worldY }, params);
this.connection.sendTo(this.instanceId, "app_goto_target", { points: [point.x, point.y], duid: this.currentRobotDuid });
pin.style("opacity", 1.0);
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