Function executeBlock

frontend/src/hooks/useBlockProgramExecution.tsx:631–684

(block: BlockCommand)

  // Execute a single block
  const executeBlock = async (block: BlockCommand): Promise<void> => {
    setExecutionState(prev => ({
      ...prev,
      currentBlockId: block.instanceId,
      progress: 0
    }));

    switch (block.type) {
      case 'move':
        const distance = block.value || 0;
        const distanceInMeters = block.unit === 'cm' ? distance / 100 : distance;
        // Apply calibration factor to compensate for systematic errors
        const calibratedDistance = distanceInMeters * MOVEMENT_CALIBRATION_FACTOR;
        console.log(`Move block: ${distance}${block.unit || 'm'} -> ${calibratedDistance.toFixed(3)}m (calibration: ${MOVEMENT_CALIBRATION_FACTOR})`);
        await executeMove(calibratedDistance, block.direction || 'forward');
        break;

      case 'turn_left':
      case 'turn_right':
        const degrees = block.value || 0;
        // Apply calibration factor to compensate for systematic errors
        const calibratedDegrees = degrees * ROTATION_CALIBRATION_FACTOR;
        console.log(`Turn block: ${degrees}° -> ${calibratedDegrees.toFixed(1)}° (calibration: ${ROTATION_CALIBRATION_FACTOR})`);
        await executeTurn(calibratedDegrees, block.type === 'turn_left' ? 'left' : 'right');
        break;

      case 'wait':
        await executeWait(block.value || 1);
        break;

      case 'stand_up':
        console.log('Executing stand up command');
        await executeRobotAction('mode', { mode: 'stand_up' }, 'Stand up');
        break;

      case 'stand_down':
        console.log('Executing stand down command');
        await executeRobotAction('mode', { mode: 'stand_down' }, 'Stand down');
        break;

      case 'lock':
        console.log('Executing joint lock command');
        await executeRobotAction('mode', { mode: 'joint_lock' }, 'Joint lock');
        break;

      case 'unlock':
        console.log('Executing balance stand (unlock) command');
        await executeRobotAction('mode', { mode: 'balance_stand' }, 'Balance stand');
        break;

      default:
        console.warn(`Unknown block type: ${block.type}`);
    }
  };

  // Build flat sequence of blocks to execute
  const buildBlockSequence = (blocks: BlockCommand[], startBlockId?: string): BlockCommand[] => {