Simplify saving the serving-area slot where the cup was placed#261
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Nicolas Palpacuer (NickPPC) merged 3 commits intoJul 21, 2026
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Return the 0-based slot from placeHeldInServingArea (and through placeFullCupOnShelf / serveIcedCoffee) and set it on the order in the serving step, instead of re-deriving it from servingAreaSlotCounter in a separate deliveryPickupPosition helper. The slot is known exactly at placement, so this drops the helper and its extra geometry lookup. Co-Authored-By: Claude Opus 4.8 <[email protected]>
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| // discardSlot adapts a placement function that reports its serving slot to the | ||
| // plain action signature — a standalone action has no order to attach the slot | ||
| // to, so it's dropped (only the brew cycle keeps it, for delivery pickup_position). | ||
| func discardSlot(fn func(ctx, cancelCtx context.Context) (int, error)) func(ctx, cancelCtx context.Context) error { | ||
| return func(ctx, cancelCtx context.Context) error { | ||
| _, err := fn(ctx, cancelCtx) | ||
| return err | ||
| } | ||
| } | ||
|
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| // discardSlot adapts a placement function that reports its serving slot to the | |
| // plain action signature — a standalone action has no order to attach the slot | |
| // to, so it's dropped (only the brew cycle keeps it, for delivery pickup_position). | |
| func discardSlot(fn func(ctx, cancelCtx context.Context) (int, error)) func(ctx, cancelCtx context.Context) error { | |
| return func(ctx, cancelCtx context.Context) error { | |
| _, err := fn(ctx, cancelCtx) | |
| return err | |
| } | |
| } |
We will not be adding this it is too confusing. We can inline it for the relevant actions
| func (s *beanjaminCoffee) serveIcedCoffee(ctx, cancelCtx context.Context) (int, error) { | ||
| if s.gripper == nil { | ||
| return fmt.Errorf("serve_iced_coffee: no gripper configured") | ||
| return 0, fmt.Errorf("serve_iced_coffee: no gripper configured") |
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| return 0, fmt.Errorf("serve_iced_coffee: no gripper configured") | |
| return -1, fmt.Errorf("serve_iced_coffee: no gripper configured") |
We should use invalid values on error
| "brew_coffee": s.brewCoffee, | ||
| "set_cup_for_coffee": s.setCupForCoffee, | ||
| "give_full_cup_to_customer": s.placeFullCupOnShelf, | ||
| "give_full_cup_to_customer": discardSlot(s.placeFullCupOnShelf), |
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| "give_full_cup_to_customer": discardSlot(s.placeFullCupOnShelf), | |
| "give_full_cup_to_customer": func(ctx, cancelCtx context.Context) error{ | |
| _, err := discardSlot(s.placeFullCupOnShelf) | |
| return err | |
| } |
- Drop the discardSlot helper; the three placement actions (give_full_cup_to_customer, place_held, serve_iced_coffee) inline a closure that calls the placement function and returns only the error. - Return -1 (an invalid slot) instead of 0 on the error paths of placeHeldInServingArea, placeFullCupOnShelf, and serveIcedCoffee. Co-Authored-By: Claude Opus 4.8 <[email protected]>
Nicolas Palpacuer (NickPPC)
approved these changes
Jul 17, 2026
Nicolas Palpacuer (NickPPC)
merged commit Jul 21, 2026
324b12a
into
viamrobotics:main
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Return the slot from placeHeldInServingArea (and through placeFullCupOnShelf / serveIcedCoffee) and set it on the order in the serving step, instead of re-deriving it from servingAreaSlotCounter in a separate deliveryPickupPosition helper. The slot is known exactly at placement.