wip

app.py

@@ -291,9 +291,9 @@ def create_app():
 
         # Head pose slider handlers - individual handlers like in working control panel
         def create_pose_handler(key):
-            return wrap_js(f"""
+            return f"""
             async (value) => {{
-                if (!window.reachyApi.connected) return;
+                if (!window.reachyApi || !window.reachyApi.connected) return;
                 if (window.reachyApi.isRefreshing) return;
                 window.reachyApi.controlling = true;
                 window.reachyApi.currentHeadPose.{key} = value;
@@ -307,23 +307,23 @@ def create_app():
                     console.error('Set target error:', error);
                 }}
             }}
-            """)
+            """
 
-        head_x.input(fn=None, inputs=[head_x], outputs=[], js=create_pose_handler('x'))
-        head_y.input(fn=None, inputs=[head_y], outputs=[], js=create_pose_handler('y'))
-        head_z.input(fn=None, inputs=[head_z], outputs=[], js=create_pose_handler('z'))
-        head_roll.input(fn=None, inputs=[head_roll], outputs=[], js=create_pose_handler('roll'))
-        head_pitch.input(fn=None, inputs=[head_pitch], outputs=[], js=create_pose_handler('pitch'))
-        head_yaw.input(fn=None, inputs=[head_yaw], outputs=[], js=create_pose_handler('yaw'))
+        head_x.change(fn=None, inputs=[head_x], outputs=[], js=create_pose_handler('x'))
+        head_y.change(fn=None, inputs=[head_y], outputs=[], js=create_pose_handler('y'))
+        head_z.change(fn=None, inputs=[head_z], outputs=[], js=create_pose_handler('z'))
+        head_roll.change(fn=None, inputs=[head_roll], outputs=[], js=create_pose_handler('roll'))
+        head_pitch.change(fn=None, inputs=[head_pitch], outputs=[], js=create_pose_handler('pitch'))
+        head_yaw.change(fn=None, inputs=[head_yaw], outputs=[], js=create_pose_handler('yaw'))
 
         # Body yaw handler
-        body_yaw.input(
+        body_yaw.change(
             fn=None,
             inputs=[body_yaw],
             outputs=[],
-            js=wrap_js("""
+            js="""
             async (value) => {
-                if (!window.reachyApi.connected) return;
+                if (!window.reachyApi || !window.reachyApi.connected) return;
                 if (window.reachyApi.isRefreshing) return;
                 window.reachyApi.controlling = true;
                 window.reachyApi.currentBodyYaw = value;
@@ -337,17 +337,17 @@ def create_app():
                     console.error('Set target error:', error);
                 }
             }
-            """)
+            """
         )
 
         # Antenna handlers
-        antenna_left.input(
+        antenna_left.change(
             fn=None,
             inputs=[antenna_left],
             outputs=[],
-            js=wrap_js("""
+            js="""
             async (value) => {
-                if (!window.reachyApi.connected) return;
+                if (!window.reachyApi || !window.reachyApi.connected) return;
                 if (window.reachyApi.isRefreshing) return;
                 window.reachyApi.controlling = true;
                 window.reachyApi.currentAntennas[0] = value;
@@ -361,16 +361,16 @@ def create_app():
                     console.error('Set target error:', error);
                 }
             }
-            """)
+            """
         )
 
-        antenna_right.input(
+        antenna_right.change(
             fn=None,
             inputs=[antenna_right],
             outputs=[],
-            js=wrap_js("""
+            js="""
             async (value) => {
-                if (!window.reachyApi.connected) return;
+                if (!window.reachyApi || !window.reachyApi.connected) return;
                 if (window.reachyApi.isRefreshing) return;
                 window.reachyApi.controlling = true;
                 window.reachyApi.currentAntennas[1] = value;
@@ -384,7 +384,7 @@ def create_app():
                     console.error('Set target error:', error);
                 }
             }
-            """)
+            """
         )
 
         # Release handler to stop controlling
@@ -394,7 +394,7 @@ def create_app():
                 fn=None,
                 inputs=[],
                 outputs=[],
-                js=wrap_js("async () => { window.reachyApi.controlling = false; }")
+                js="async () => { if (window.reachyApi) window.reachyApi.controlling = false; }"
             )
 
         # Polling timer - updates state at 5Hz (every 200ms)