diff --git a/.env.example b/.env.example index 72d072c..87098aa 100644 --- a/.env.example +++ b/.env.example @@ -1,5 +1,5 @@ -# Dev server port (default 5000). Use http://localhost:5000 if VITE_HTTPS is false. -VITE_PORT=5000 +# Dev server port (default 4004). Use http://localhost:4004 if VITE_HTTPS is false. +VITE_PORT=4004 VITE_OVERRIDE_ROS_BRIDGE_SERVER_URL= # Set false for local dev without SSL (avoids ERR_SSL_PROTOCOL_ERROR). Set true and add certs for HTTPS. diff --git a/.gitignore b/.gitignore index fb5188b..0c3bdfe 100644 --- a/.gitignore +++ b/.gitignore @@ -8,6 +8,9 @@ pnpm-debug.log* lerna-debug.log* node_modules +.yarn/ +.pnp.cjs +.pnp.loader.mjs dist dist-ssr *.local @@ -32,7 +35,6 @@ dist-ssr .env.test.local .env.production.local -yarn.lock package-lock.json todo.md diff --git a/.yarnrc.yml b/.yarnrc.yml new file mode 100644 index 0000000..3186f3f --- /dev/null +++ b/.yarnrc.yml @@ -0,0 +1 @@ +nodeLinker: node-modules diff --git a/README.md b/README.md index 7db0df7..bec0c15 100644 --- a/README.md +++ b/README.md @@ -42,7 +42,7 @@ The application features a distinctive green-on-black cyberpunk aesthetic remini > **Quick Node upgrade with nvm** > -> If you have Node < 22 (e.g. the Ubuntu 22.04 default 18.x), install nvm and switch: +> If you have Node < 22 (e.g. the Ubuntu 24.04 Noble default 18.x), install nvm and switch: > ```sh > # Install nvm (skip if already installed) > curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.40.2/install.sh | bash @@ -140,7 +140,7 @@ VITE_OVERRIDE_ROS_BRIDGE_SERVER_URL=https://100.100.100.100:5000/rosbridge VITE_ENABLE_LOGS=true -# Hardware YAML editor (`/configuration`): header shows `robot_name` from loaded YAML (via ROS config/get). +# Hardware YAML editor (`/robot-configuration`): header shows `robot_name` from loaded YAML (via ROS config/get). ``` ### Authentication Setup diff --git a/docs/getting_started.md b/docs/getting_started.md new file mode 100644 index 0000000..e1c4e1d --- /dev/null +++ b/docs/getting_started.md @@ -0,0 +1,92 @@ +<-- Welcome --> + +## Welcome to the Lucy control panel. + +This short getting-started guide will walk you through the basics of the control panel and help you get familiar with the main features. + +> You can skip this guide with the button below. +> If you want to replay the guide, you can find it in the setting popup at the top right corner. + +--- + +If you need more in-depth information, you can click the 'Documentation' button at any time or go to [this address](https://docs.sentience-robotics.fr/share/p1x9ikjkhf/p/public-documentation-EExgMX2REV). + +Additionally, if you need specific information or want to exchange on the project, you can join our [community discord server](https://discord.gg/g4KNZ3eeBd), we'll be more than happy to exchange with you! + +--- + +Thanks for using Lucy, it means a lot to us ❤️. + +With that being said, let's get started! + +<-- ROS 2 --> + +Let's have a quick word about ROS 2. + +> [ROS](https://www.ros.org/) (Robot Operating System) is a standard in the field of robotic. + +Lucy use ROS 2 internaly to manage everything, from connecting to the physical actuators to displaying the number of connected controller. + +--- + +The control panel has to connect to this bridge everytime, which is made automatically for you by default. +> If at any point you need to update the connection URL, or toggle the auto-connect feature, you can visit the setting popup. + +<-- Control --> + +> This is where you'll control your robot, and it's full of stuff, so let's go over the basics! + +First thing first, you will need to take control over the robot. This can be achieved by using the 'Control robot' toggle. +> This security system ensure that no more than one controller is sending instruction to your robot. When activated, this will take control from other control applications. + +--- + +## Sliders + +The main part of the screen is occupied by the 'actuators categories', each of them contains multiple actuators. + +> You will be able to assign each & every actuator to a category in the configuration page. + +Each of these actuators has its own control box, letting you update its position in real time. +Every slider comes with two indicators: +- The top green one indicates the default position for this actuator. +- The bottom blue one indicates the actual position. It will move more or less slowly depending on the physical configuration of the actuator. + +<-- Poses & Animations --> + +## Poses + +In the top bar controls, you can find the 'Save pose' & 'Load pose' popups. + +They will let you save every actuators position and load them at a later time when needed. + +> Every pose is saved locally in your browser's localStorage. + +--- + +## Animations + +The animation system uses the saved poses. + +> Once at least two poses are created, you will be able to select them in the 'Manage animation' popup and create an animation with them. + +<-- Sensors --> + +For this part, we will need to travel a bit. + +- On the bottom right corner, you will find the navigation bar, select the second option 'Sensors'. + +> It sure look empty, let's fix it! + +Using the drop-down menu, you can select every sensors you want to watch. + +--- + +> We currently support direct data display & temperatures, with a graph. +> If you have sensors whose data cannot be displayed, feel free to create an [issue](https://github.com/Sentience-Robotics/lucy_control_panel/issues) or to [contact us](https://discord.gg/g4KNZ3eeBd) directly. + +<-- Configuration --> + +The configuration page is undergoing a complete refactor, usage guide will be updated soon. + +In the meantime, if you need more information, please refer to our [online documentation](https://docs.sentience-robotics.fr/share/p1x9ikjkhf/p/public-documentation-EExgMX2REV). \ No newline at end of file diff --git a/src/App.tsx b/src/App.tsx index a85d95a..abdc340 100644 --- a/src/App.tsx +++ b/src/App.tsx @@ -7,10 +7,14 @@ import { RobotControlPanel } from './Pages/RobotControlPanel'; import { Navigation } from './Components/Navigation'; import { NotFound } from './Pages/NotFound'; import { ActiveHardwareRosProvider } from './contexts/ActiveHardwareRosContext'; +import { GettingStartedModal } from './Components/GettingStartedModal'; /* Components */ import { AuthForm } from './Components/AuthForm'; import { LucyLoader } from './Components/LucyLoader'; +import { Page } from './Components/Page'; +import { ROUTES } from './Constants/routes.ts'; import { + PAGE_CONTENT_STYLE, UI_ACCENT_GREEN, UI_BG_BLACK, UI_BORDER_STRONG, @@ -20,21 +24,21 @@ import { UI_TEXT_SUBTLE, } from './Constants/uiTheme.ts'; -const { Content } = Layout; const { useBreakpoint } = Grid; const Configuration = lazy(() => import('./Pages/Configuration').then(module => ({ default: module.default }))); const SensorDisplay = lazy(() => import('./Pages/SensorDisplay').then(module => ({ default: module.default }))); -const CONTROL_PATH = '/'; -const CONFIG_PATH = '/configuration'; -const SENSORS_PATH = '/sensors'; -const KNOWN_PATHS = new Set([CONTROL_PATH, CONFIG_PATH, SENSORS_PATH]); +const KNOWN_PATHS = new Set([ + ROUTES.control, + ROUTES.robotConfiguration, + ROUTES.sensors, +]); /** * Render all main pages once and toggle visibility with `display: none`. * Keeps page-local state (sliders, edits, expanded panels) alive when the - * user switches between CONTROL / CONFIGURATION. Lazy pages are only mounted + * user switches between CONTROL / ROBOT CONFIGURATION. Lazy pages are only mounted * after their first visit so the initial chunk stays small. */ const PersistentPages: FC = () => { @@ -43,8 +47,8 @@ const PersistentPages: FC = () => { const [sensorsVisited, setSensorsVisited] = useState(false); useEffect(() => { - if (pathname === CONFIG_PATH) setConfigVisited(true); - if (pathname === SENSORS_PATH) setSensorsVisited(true); + if (pathname === ROUTES.robotConfiguration) setConfigVisited(true); + if (pathname === ROUTES.sensors) setSensorsVisited(true); }, [pathname]); const isKnown = KNOWN_PATHS.has(pathname); @@ -55,16 +59,16 @@ const PersistentPages: FC = () => { return ( <> -
+
{configVisited ? ( -
+
} > @@ -73,7 +77,7 @@ const PersistentPages: FC = () => {
) : null} {sensorsVisited ? ( -
+
- + - + + diff --git a/src/Components/AnimationManager.tsx b/src/Components/AnimationManager.tsx index 1501140..b2d8cbf 100644 --- a/src/Components/AnimationManager.tsx +++ b/src/Components/AnimationManager.tsx @@ -1,6 +1,5 @@ import React, { useState, useCallback, useEffect } from 'react'; import { - Modal, Button, Input, Space, @@ -16,16 +15,16 @@ import { DeleteOutlined } from '@ant-design/icons'; import { storageService, type SavedPose, type SavedAnimation } from '../Services/storage.service.ts'; +import { MovableModal } from './MovableModal'; import { UI_ACCENT_GREEN, UI_BORDER_SOFT, UI_COLOR_TRANSPARENT, UI_INPUT_SURFACE, - UI_MODAL_MASK_BG, UI_TEXT_PRIMARY_ON_DARK, } from '../Constants/uiTheme.ts'; -const { Text, Title } = Typography; +const { Text } = Typography; const { Option } = Select; interface AnimationManagerProps { @@ -168,16 +167,16 @@ export const AnimationManager: React.FC = ({ onPlayAnimat {/* Manage Animation Modal */} - - Manage Animations - - } - open={manageModalVisible} - onCancel={() => setManageModalVisible(false)} - footer={[ - editingAnimId ? ( + setManageModalVisible(false)} + initialPosition={{ x: 760, y: 120 }} + initialSize={{ w: 350, h: 650 }} + header={} + footer={ + <> + {editingAnimId ? ( = ({ onPlayAnimat > - ) : null, + ) : null} , - + - ]} - style={{ top: 100 }} - styles={{ mask: { backgroundColor: UI_MODAL_MASK_BG } }} - className="dark-modal" + + } >
@@ -255,7 +261,7 @@ export const AnimationManager: React.FC = ({ onPlayAnimat
- + ); }; diff --git a/src/Components/AppHeader.tsx b/src/Components/AppHeader.tsx index aab50d9..24272c2 100644 --- a/src/Components/AppHeader.tsx +++ b/src/Components/AppHeader.tsx @@ -1,6 +1,6 @@ import React, { useEffect, useState, useRef } from 'react'; import { Button, Tooltip, Typography, Grid } from 'antd'; -import { SettingOutlined, ReadOutlined } from '@ant-design/icons'; +import { SettingOutlined, ReadOutlined, BugOutlined, NodeIndexOutlined } from '@ant-design/icons'; import { useRosConnection } from '../hooks/useRosConnection.hook'; import { ConnectedClientsHandler } from '../Services/ros/handlers/ConnectedClients.handler'; import { ControlModeHandler } from '../Services/ros/handlers/ControlMode.handler'; @@ -13,6 +13,7 @@ import { UI_TEXT_SECONDARY_MUTED, } from '../Constants/uiTheme'; import { SettingsModal, isAutoConnectEnabled } from './SettingsModal'; +import { ConnectionDebugModal, CommandDebugModal } from './PipelineDebugModal'; const { Text } = Typography; const { useBreakpoint } = Grid; @@ -21,6 +22,8 @@ export const AppHeader: React.FC = () => { const { connectionStatus, isConnected, connect, currentUrl } = useRosConnection(); const [countState, setCountState] = useState(0); const [isSettingsModalVisible, setIsSettingsModalVisible] = useState(false); + const [isConnectionDebugVisible, setIsConnectionDebugVisible] = useState(false); + const [isCommandDebugVisible, setIsCommandDebugVisible] = useState(false); const [activeControllerId, setActiveControllerId] = useState( () => ControlModeHandler.getInstance().currentControllerId ); @@ -180,6 +183,12 @@ export const AppHeader: React.FC = () => { {!isMobile && 'Documentation'} + +
); }; diff --git a/src/Components/DraggableCategory.tsx b/src/Components/DraggableCategory.tsx index d58f275..22d8a33 100644 --- a/src/Components/DraggableCategory.tsx +++ b/src/Components/DraggableCategory.tsx @@ -12,6 +12,7 @@ interface DraggableCategoryProps { joints: JointControlState[]; onJointValueChange: (name: string, value: number) => void; onResetCategory: (category: string) => void; + onResetJoint?: (name: string) => void; showDegrees: boolean; disabled?: boolean; } @@ -22,6 +23,7 @@ export const DraggableCategory: React.FC = ({ joints, onJointValueChange, onResetCategory, + onResetJoint, showDegrees, disabled = false, }) => { @@ -87,6 +89,7 @@ export const DraggableCategory: React.FC = ({ joints={joints} onJointValueChange={onJointValueChange} onResetCategory={onResetCategory} + onResetJoint={onResetJoint} showDegrees={showDegrees} disabled={disabled} /> diff --git a/src/Components/GettingStartedModal.tsx b/src/Components/GettingStartedModal.tsx new file mode 100644 index 0000000..bc159a4 --- /dev/null +++ b/src/Components/GettingStartedModal.tsx @@ -0,0 +1,275 @@ +import React, { useEffect, useMemo, useState } from 'react'; +import { Button, Divider, Space, Typography } from 'antd'; +import { + UI_ACCENT_GREEN, + UI_BORDER_MUTED, + UI_BORDER_SOFT, + UI_CHROME_SURFACE, + UI_COLOR_TRANSPARENT, + UI_PANEL_BG, + UI_TEXT_ON_ACCENT, + UI_TEXT_PRIMARY_ON_DARK, + UI_TEXT_SUBTLE, +} from '../Constants/uiTheme.ts'; +import { useRosConnection } from '../hooks/useRosConnection.hook'; +import { MovableModal } from './MovableModal.tsx'; +import gettingStartedMarkdown from '../../docs/getting_started.md?raw'; + +const { Paragraph, Text, Title } = Typography; + +export const GETTING_STARTED_COMPLETED_KEY = 'gettingStartedCompleted'; +export const REDO_GETTING_STARTED_EVENT = 'redoGettingStarted'; + +export interface GettingStartedSection { + name: string; + content: string; +} + +export function parseGettingStartedSections(markdown: string): GettingStartedSection[] { + const sections: GettingStartedSection[] = []; + let currentSection: GettingStartedSection | null = null; + + for (const line of markdown.split(/\r?\n/)) { + const marker = line.match(/^<--\s*(.*?)\s*-->$/); + if (marker) { + if (currentSection) sections.push({ ...currentSection, content: currentSection.content.trim() }); + currentSection = { name: marker[1].trim(), content: '' }; + } else if (currentSection) { + currentSection.content += `${line}\n`; + } + } + + if (currentSection) sections.push({ ...currentSection, content: currentSection.content.trim() }); + return sections.filter(section => section.name.length > 0); +} + +function renderInline(text: string): React.ReactNode[] { + return text.split(/(`[^`]+`|\*\*[^*]+\*\*|\[[^\]]+\]\(https?:\/\/[^)\s]+\))/g).filter(Boolean).map((part, index) => { + if (part.startsWith('`') && part.endsWith('`')) { + return {part.slice(1, -1)}; + } + if (part.startsWith('**') && part.endsWith('**')) { + return {part.slice(2, -2)}; + } + const link = part.match(/^\[([^\]]+)\]\((https?:\/\/[^)\s]+)\)$/); + if (link) { + return ( + + {link[1]} + + ); + } + return {part}; + }); +} + +function MarkdownContent({ content }: { content: string }) { + const lines = content.split(/\r?\n/); + const blocks: React.ReactNode[] = []; + let paragraphLines: string[] = []; + let listItems: string[] = []; + + const flushParagraph = () => { + if (paragraphLines.length > 0) { + blocks.push({renderInline(paragraphLines.join(' '))}); + paragraphLines = []; + } + }; + const flushList = () => { + if (listItems.length > 0) { + blocks.push( +
    + {listItems.map((item, index) =>
  • {renderInline(item)}
    • )} +
, + ); + listItems = []; + } + }; + + lines.forEach((line, index) => { + const trimmed = line.trim(); + if (!trimmed) { + flushParagraph(); + flushList(); + } else if (/^-{3,}$/.test(trimmed)) { + flushParagraph(); + flushList(); + blocks.push( + , + ); + } else if (trimmed.startsWith('- ')) { + flushParagraph(); + listItems.push(trimmed.slice(2)); + } else if (trimmed.startsWith('> ')) { + flushParagraph(); + flushList(); + blocks.push( +
+ {renderInline(trimmed.slice(2))} +
, + ); + } else if (trimmed.startsWith('### ')) { + flushParagraph(); + flushList(); + blocks.push({renderInline(trimmed.slice(4))}); + } else if (trimmed.startsWith('## ')) { + flushParagraph(); + flushList(); + blocks.push({renderInline(trimmed.slice(3))}); + } else { + flushList(); + paragraphLines.push(trimmed); + } + }); + + flushParagraph(); + flushList(); + return <>{blocks}; +} + +export const isGettingStartedCompleted = () => + localStorage.getItem(GETTING_STARTED_COMPLETED_KEY) === 'true'; + +export const GettingStartedModal: React.FC = () => { + const sections = useMemo(() => parseGettingStartedSections(gettingStartedMarkdown), []); + const { isConnected } = useRosConnection(); + const [visible, setVisible] = useState(false); + const [sectionIndex, setSectionIndex] = useState(0); + + useEffect(() => { + if (isConnected && !isGettingStartedCompleted()) setVisible(true); + }, [isConnected]); + + useEffect(() => { + const redo = () => { + localStorage.removeItem(GETTING_STARTED_COMPLETED_KEY); + setSectionIndex(0); + if (isConnected) setVisible(true); + }; + window.addEventListener(REDO_GETTING_STARTED_EVENT, redo); + return () => window.removeEventListener(REDO_GETTING_STARTED_EVENT, redo); + }, [isConnected]); + + const complete = () => { + localStorage.setItem(GETTING_STARTED_COMPLETED_KEY, 'true'); + setVisible(false); + }; + const section = sections[sectionIndex]; + if (!section) return null; + + return ( + + SECTION {sectionIndex + 1}/{sections.length} + + } + > +
+
event.stopPropagation()} + > + + {section.name} + + +
+
+ + + + {sectionIndex === sections.length - 1 ? ( + + ) : ( + + )} + +
+
+ + ); +}; diff --git a/src/Components/HardwareYamlConfigManager.tsx b/src/Components/HardwareYamlConfigManager.tsx index bb49431..d834f2a 100644 --- a/src/Components/HardwareYamlConfigManager.tsx +++ b/src/Components/HardwareYamlConfigManager.tsx @@ -5,7 +5,6 @@ import { Col, Input, List, - Modal, Popconfirm, Row, Space, @@ -31,13 +30,13 @@ import { UI_COLOR_TRANSPARENT, UI_INPUT_SURFACE, UI_LIST_ROW_BG, - UI_MODAL_MASK_BG, UI_PRIMARY_GREEN_BUTTON_STYLE, UI_TEXT_PRIMARY_ON_DARK, UI_TEXT_SUBTLE, } from '../Constants/uiTheme.ts'; +import { MovableModal } from './MovableModal'; -const { Text, Title } = Typography; +const { Text } = Typography; const QUICK_CONFIG_NAMES = ['default', 'staging', 'test_bench', 'production', 'minimal']; @@ -125,10 +124,6 @@ export const HardwareYamlConfigManager: React.FC [onLoadConfig], ); - const modalStyles = { - mask: { backgroundColor: UI_MODAL_MASK_BG }, - }; - const inputDarkStyle = { backgroundColor: UI_INPUT_SURFACE, borderColor: UI_BORDER_SOFT, @@ -194,29 +189,22 @@ export const HardwareYamlConfigManager: React.FC - - SAVE HARDWARE CONFIGURATION - - } - open={saveModalVisible} - onOk={handleSaveConfig} - onCancel={() => { + { setSaveModalVisible(false); setConfigNameInput(''); }} - confirmLoading={saving} - okText="SAVE CONFIGURATION" - cancelText="CANCEL" - okButtonProps={{ - disabled: !yamlDoc || !isDirty || !configNameInput.trim(), - style: UI_PRIMARY_GREEN_BUTTON_STYLE, - }} - style={{ top: 100 }} - styles={modalStyles} - className="dark-modal" - destroyOnClose + initialPosition={{ x: 120, y: 80 }} + initialSize={{ w: 680, h: 520 }} + header={} + footer={ + <> + + + + } > {!isDirty && !saving ? ( @@ -279,25 +267,16 @@ export const HardwareYamlConfigManager: React.FC - + - - LOAD HARDWARE CONFIGURATION - - } - open={loadModalVisible} - footer={ - - } - onCancel={() => setLoadModalVisible(false)} - width={720} - style={{ top: 50 }} - styles={modalStyles} - className="dark-modal" + setLoadModalVisible(false)} + initialPosition={{ x: 100, y: 60 }} + initialSize={{ w: 720, h: 600 }} + header={} + footer={} >
diff --git a/src/Components/MovableModal.tsx b/src/Components/MovableModal.tsx index 7d311b6..960ffbf 100644 --- a/src/Components/MovableModal.tsx +++ b/src/Components/MovableModal.tsx @@ -4,45 +4,154 @@ import { UI_ACCENT_GREEN, UI_BORDER_DIM, UI_BORDER_MUTED, - UI_GRADIENT_MODAL_HEADER, + UI_CHROME_SURFACE, UI_MODAL_SURFACE, UI_SHADOW_ELEVATED, + UI_TEXT_PRIMARY_ON_DARK, + UI_TEXT_SUBTLE, } from '../Constants/uiTheme.ts'; const { useBreakpoint } = Grid; -interface MediapipeHandTrackerModalProps { +interface ModalPosition { + x: number; + y: number; +} + +interface ModalSize { + w: number; + h: number; +} + +interface RegisteredModal { + position: ModalPosition; + size: ModalSize; +} + +const registeredModals = new Map(); +const VIEWPORT_MARGIN = 8; +const PLACEMENT_STEP = 24; + +const clampPosition = (position: ModalPosition, size: ModalSize): ModalPosition => { + const maxX = Math.max(VIEWPORT_MARGIN, window.innerWidth - size.w - VIEWPORT_MARGIN); + const maxY = Math.max(VIEWPORT_MARGIN, window.innerHeight - size.h - VIEWPORT_MARGIN); + + return { + x: Math.min(Math.max(VIEWPORT_MARGIN, position.x), maxX), + y: Math.min(Math.max(VIEWPORT_MARGIN, position.y), maxY), + }; +}; + +const overlaps = (first: RegisteredModal, second: RegisteredModal) => ( + first.position.x < second.position.x + second.size.w + && first.position.x + first.size.w > second.position.x + && first.position.y < second.position.y + second.size.h + && first.position.y + first.size.h > second.position.y +); + +const findAvailablePosition = (preferredPosition: ModalPosition, size: ModalSize, id: symbol): ModalPosition => { + const preferred = clampPosition(preferredPosition, size); + const occupied = Array.from(registeredModals.entries()) + .filter(([registeredId]) => registeredId !== id) + .map(([, modal]) => modal); + const fits = (position: ModalPosition) => { + const candidate = { position, size }; + return occupied.every(modal => !overlaps(candidate, modal)); + }; + + if (fits(preferred)) { + return preferred; + } + + const maxX = Math.max(VIEWPORT_MARGIN, window.innerWidth - size.w - VIEWPORT_MARGIN); + const maxY = Math.max(VIEWPORT_MARGIN, window.innerHeight - size.h - VIEWPORT_MARGIN); + for (let y = VIEWPORT_MARGIN; y <= maxY; y += PLACEMENT_STEP) { + for (let x = VIEWPORT_MARGIN; x <= maxX; x += PLACEMENT_STEP) { + const candidate = { x, y }; + if (fits(candidate)) { + return candidate; + } + } + } + + // The viewport is fully occupied; retaining the preferred position is the least surprising fallback. + return preferred; +}; + +interface MovableModalProps { children: ReactNode; header?: ReactNode; + footer?: ReactNode; modalName: string; isVisible: boolean; onClose: () => void; initialPosition?: { x: number; y: number }; initialSize?: { w: number; h: number }; - aspectRatio?: number; + contentPadding?: number | string; mobileFixedTop?: boolean; mobileTopOffset?: number; + footerWrap?: boolean; + minWidth?: number; } export function MovableModal({ children, header, + footer, modalName, isVisible, onClose, - initialPosition = { x: 100, y: 100 }, - initialSize = { w: 480, h: 320 }, - aspectRatio = 4 / 3, + initialPosition = { x: 100, y: 120 }, + initialSize = { w: 350, h: 650 }, + contentPadding = 24, mobileFixedTop = false, mobileTopOffset = 0, -}: MediapipeHandTrackerModalProps) { - const [{ x, y }, setPos] = useState(initialPosition); + footerWrap = true, + minWidth = 260, +}: MovableModalProps) { + const screens = useBreakpoint(); + const isMobile = !screens.md; + const hasResolvedBreakpoint = screens.md !== undefined; + const hasInitializedPositionRef = useRef(hasResolvedBreakpoint); + const [{ x, y }, setPos] = useState(isMobile ? { x: 20, y: 120 } : initialPosition); const [{ w, h }, setSize] = useState(initialSize); + const modalIdRef = useRef(Symbol(modalName)); + const wasVisibleRef = useRef(false); + const hasOpenedRef = useRef(false); const draggingRef = useRef<{ startX: number; startY: number; origX: number; origY: number } | null>(null); const resizingRef = useRef<{ startX: number; startY: number; origW: number; origH: number } | null>(null); - const screens = useBreakpoint(); const isLocked = mobileFixedTop && !screens.md; + React.useEffect(() => { + if (!hasResolvedBreakpoint || hasInitializedPositionRef.current) return; + hasInitializedPositionRef.current = true; + setPos(isMobile ? { x: 20, y: 120 } : initialPosition); + }, [hasResolvedBreakpoint, initialPosition, isMobile]); + + React.useEffect(() => { + const modalId = modalIdRef.current; + if (!hasResolvedBreakpoint || !isVisible || isLocked) { + registeredModals.delete(modalId); + wasVisibleRef.current = false; + return; + } + + if (!wasVisibleRef.current) { + const preferredPosition = hasOpenedRef.current || isMobile ? { x, y } : initialPosition; + const position = findAvailablePosition(preferredPosition, { w, h }, modalId); + setPos(position); + registeredModals.set(modalId, { position, size: { w, h } }); + wasVisibleRef.current = true; + hasOpenedRef.current = true; + } else { + registeredModals.set(modalId, { position: { x, y }, size: { w, h } }); + } + + return () => { + registeredModals.delete(modalId); + }; + }, [h, hasResolvedBreakpoint, initialPosition, isLocked, isMobile, isVisible, w, x, y]); + if (!isVisible) { return null; } const handleDragStart = (e: React.MouseEvent) => { @@ -86,11 +195,8 @@ export function MovableModal({ if (!resizingRef.current) { return; } const dw = ev.clientX - resizingRef.current.startX; const dh = ev.clientY - resizingRef.current.startY; - - // Use the larger delta to maintain aspect ratio - const delta = Math.max(dw, dh); - const newW = Math.max(260, resizingRef.current.origW + delta); - const newH = Math.max(195, newW / aspectRatio); + const newW = Math.max(minWidth, resizingRef.current.origW + dw); + const newH = Math.max(195, resizingRef.current.origH + dh); setSize({ w: newW, h: newH }); }; @@ -113,44 +219,109 @@ export function MovableModal({ left: isLocked ? undefined : x, top: isLocked ? mobileTopOffset : y, width: isLocked ? '100%' : w, + minWidth: isLocked ? undefined : minWidth, height: isLocked ? '33.333vh' : h, marginBottom: isLocked ? 12 : undefined, zIndex: isLocked ? 1 : 1000, backgroundColor: UI_MODAL_SURFACE, border: `1px solid ${UI_BORDER_MUTED}`, - borderRadius: 8, + borderRadius: 0, boxShadow: UI_SHADOW_ELEVATED, overflow: 'hidden', + overscrollBehavior: 'contain', userSelect: 'none', + display: 'flex', + flexDirection: 'column', + boxSizing: 'border-box', }} > {/* Header Bar */}
-
- +
+ {modalName} {header}
- -
- {children} +
+ {children} +
+ {footer ? ( +
+ {footer} +
+ ) : null} {/* Resize Handle */} {!isLocked && ( diff --git a/src/Components/Navigation.tsx b/src/Components/Navigation.tsx index aa9b41d..529f29d 100644 --- a/src/Components/Navigation.tsx +++ b/src/Components/Navigation.tsx @@ -2,6 +2,7 @@ import React from 'react'; import { Link, useLocation } from 'react-router-dom'; import { Button, Space, Grid } from 'antd'; import { ControlOutlined, SettingOutlined, FundProjectionScreenOutlined } from '@ant-design/icons'; +import { ROUTES } from '../Constants/routes.ts'; import { UI_ACCENT_GREEN, UI_BORDER_MUTED, @@ -15,9 +16,9 @@ import { const { useBreakpoint } = Grid; const navigationItems = [ - { to: '/', label: 'CONTROL', icon: }, - { to: '/sensors', label: 'SENSORS', icon: }, - { to: '/configuration', label: 'CONFIGURATION', icon: }, + { to: ROUTES.control, label: 'CONTROL', icon: }, + { to: ROUTES.sensors, label: 'SENSORS', icon: }, + { to: ROUTES.robotConfiguration, label: 'ROBOT CONFIGURATION', icon: }, ]; export const Navigation: React.FC = () => { diff --git a/src/Components/Page.tsx b/src/Components/Page.tsx index b3c946d..3d71fd3 100644 --- a/src/Components/Page.tsx +++ b/src/Components/Page.tsx @@ -11,6 +11,7 @@ import { UI_INPUT_SURFACE, UI_PANEL_BG, UI_PAGE_HEADER_BORDER_BOTTOM, + PAGE_CONTENT_STYLE, UI_TEXT_ON_ACCENT, UI_TEXT_PRIMARY_ON_DARK, UI_TEXT_SECONDARY_MUTED, @@ -59,7 +60,7 @@ export const Page: React.FC = ({ const defaultContentStyle: React.CSSProperties = { backgroundColor: UI_BG_BLACK, minHeight: showHeader ? 'calc(100vh - 70px)' : '100vh', - padding: isMobile ? '12px' : '24px', + ...PAGE_CONTENT_STYLE, ...contentStyle, }; @@ -315,7 +316,12 @@ export const Page: React.FC = ({ text-shadow: 0 0 8px ${uiAccentRgba(0.6)}; } - .tui-toggle-button.active { + .tui-toggle-button.off { + background-color: ${UI_ERROR}; + color: ${UI_TEXT_ON_ACCENT}; + } + + .tui-toggle-button.on { background-color: ${UI_ACCENT_GREEN}; color: ${UI_TEXT_ON_ACCENT}; box-shadow: 0 0 15px ${uiAccentRgba(0.6)}; @@ -391,25 +397,29 @@ export const Page: React.FC = ({ {showHeader && (
{title && ( = { + ok: UI_ACCENT_GREEN, + warn: UI_WARNING, + error: UI_ERROR, + pending: UI_TEXT_SUBTLE, +}; + +const STATUS_GLYPH: Record<StageStatus, string> = { + ok: '●', + warn: '▲', + error: '✕', + pending: '○', +}; + +function ago(at?: number): string { + if (!at) return ''; + const seconds = Math.round((Date.now() - at) / 1000); + if (seconds < 1) return 'just now'; + if (seconds < 60) return `${seconds}s ago`; + return `${Math.round(seconds / 60)}m ago`; +} + +/** Re-render on every diagnostics update, plus a tick so "ago" stays honest. */ +export function useDiagnosticsTick(): number { + const [tick, setTick] = useState(0); + useEffect(() => { + const bump = () => setTick((t) => t + 1); + const unsubscribe = Diagnostics.subscribe(bump); + const timer = setInterval(bump, 1000); + return () => { + unsubscribe(); + clearInterval(timer); + }; + }, []); + return tick; +} + +export function StageRow({ stage, index }: { stage: Stage; index: number }) { + return ( + <div + style={{ + display: 'flex', + gap: 10, + padding: '8px 10px', + background: UI_LIST_ROW_BG, + borderBottom: `1px solid ${UI_BORDER_DIM}`, + alignItems: 'flex-start', + }} + > + <span style={{ color: UI_TEXT_SUBTLE, fontFamily: 'monospace', minWidth: 18 }}> + {index + 1} + </span> + <span style={{ color: STATUS_COLOR[stage.status], minWidth: 14 }}> + {STATUS_GLYPH[stage.status]} + </span> + <div style={{ flex: 1, minWidth: 0 }}> + <div style={{ display: 'flex', justifyContent: 'space-between', gap: 8 }}> + <Text style={{ color: UI_TEXT_PRIMARY_ON_DARK, fontWeight: 600 }}> + {stage.label} + </Text> + <Text style={{ color: UI_TEXT_SUBTLE, fontSize: 11, whiteSpace: 'nowrap' }}> + {stage.count != null ? `${stage.count} msg · ` : ''} + {ago(stage.at)} + </Text> + </div> + <div style={{ color: UI_TEXT_SUBTLE, fontSize: 11 }}>{stage.hint}</div> + {stage.detail && ( + <div + style={{ + color: STATUS_COLOR[stage.status], + fontSize: 11, + fontFamily: 'monospace', + wordBreak: 'break-all', + marginTop: 2, + }} + > + {stage.detail} + </div> + )} + </div> + </div> + ); +} + + +/** Fallback publisher used on platforms where ros2_control cannot run. */ +const JOINT_STATE_FALLBACK = 'joint_state_publisher'; + +/** + * Distinguish real ros2_control from the stand-in. + * + * joint_command_echo mirrors commands straight back onto /joint_states, so the + * command pipeline goes green whether or not anything is actually driving the + * robot. Checking for controller_manager is what tells the two apart. + */ +async function probeController(): Promise<{ status: StageStatus; detail: string }> { + const ros = RosBridgeService.getInstance(); + const [nodes, publishers] = await Promise.all([ + ros.getNodes(), + ros.getPublishers('/joint_states'), + ]); + const hasManager = nodes.some((n) => n.includes('controller_manager')); + const fallback = publishers.some((p) => p.includes(JOINT_STATE_FALLBACK)); + + if (hasManager) { + return { status: 'ok', detail: `controller_manager running; /joint_states from ${publishers.join(', ') || 'nobody'}` }; + } + if (fallback) { + return { + status: 'warn', + detail: + 'no controller_manager — commands are mirrored back by joint_command_echo. ' + + 'Motion is instant and open loop: no trajectory interpolation, no hardware.', + }; + } + return { + status: 'error', + detail: `no controller_manager and no known publisher (${publishers.join(', ') || 'none'}) — nothing executes commands`, + }; +} + +/** + * Connect button -> rosbridge -> ROS graph -> robot configuration. + * + * The rosapi probe is on demand: it asks who publishes /joint_states, which + * separates "rosbridge is up" from "rosbridge is attached to a live robot". + */ +export function ConnectionDebugModal(props: { isVisible: boolean; onClose: () => void }) { + useDiagnosticsTick(); + const [probing, setProbing] = useState(false); + + const probe = async () => { + setProbing(true); + Diagnostics.record('connection', 'rosapi', 'pending', 'asking rosapi...'); + try { + const publishers = await RosBridgeService.getInstance().getPublishers('/joint_states'); + Diagnostics.record( + 'connection', + 'rosapi', + publishers.length ? 'ok' : 'warn', + publishers.length + ? `/joint_states published by ${publishers.join(', ')}` + + (publishers.some((p) => p.includes(JOINT_STATE_FALLBACK)) + ? ' (stand-in, not ros2_control)' + : '') + : 'rosapi answered, but nothing publishes /joint_states', + ); + } catch (error) { + Diagnostics.record( + 'connection', + 'rosapi', + 'error', + error instanceof Error ? error.message : String(error), + ); + } finally { + setProbing(false); + } + }; + + // Costs one service call, so run it on open rather than making it a chore. + useEffect(() => { + if (props.isVisible) void probe(); + // eslint-disable-next-line react-hooks/exhaustive-deps + }, [props.isVisible]); + + return ( + <MovableModal + modalName="Connection pipeline" + isVisible={props.isVisible} + onClose={props.onClose} + initialSize={{ w: 460, h: 520 }} + header={ + <Button size="small" onClick={probe} loading={probing}> + Re-probe + </Button> + } + > + <div style={{ overflowY: 'auto', height: '100%' }}> + {Diagnostics.getStages('connection').map((stage, i) => ( + <StageRow key={stage.id} stage={stage} index={i} /> + ))} + </div> + </MovableModal> + ); +} + +/** Slider -> JointTrajectory -> /joint_states -> rendered pose, with the joints you moved. */ +export function CommandDebugModal(props: { isVisible: boolean; onClose: () => void }) { + useDiagnosticsTick(); + const [checking, setChecking] = useState(false); + + const checkController = async () => { + setChecking(true); + Diagnostics.record('command', 'controller', 'pending', 'checking for controller_manager...'); + try { + const { status, detail } = await probeController(); + Diagnostics.record('command', 'controller', status, detail); + } catch (error) { + Diagnostics.record( + 'command', 'controller', 'error', + error instanceof Error ? error.message : String(error), + ); + } finally { + setChecking(false); + } + }; + + // Answer "is ros2_control actually running?" without being asked. + useEffect(() => { + if (props.isVisible) void checkController(); + // eslint-disable-next-line react-hooks/exhaustive-deps + }, [props.isVisible]); + + return ( + <MovableModal + modalName="Command pipeline" + isVisible={props.isVisible} + onClose={props.onClose} + initialSize={{ w: 520, h: 560 }} + header={ + <Button size="small" onClick={checkController} loading={checking}> + Re-check + </Button> + } + > + <div style={{ overflowY: 'auto', height: '100%' }}> + {Diagnostics.getStages('command').map((stage, i) => ( + <StageRow key={stage.id} stage={stage} index={i} /> + ))} + + </div> + </MovableModal> + ); +} diff --git a/src/Components/PoseManager.tsx b/src/Components/PoseManager.tsx index 6a9ed81..bf505fb 100644 --- a/src/Components/PoseManager.tsx +++ b/src/Components/PoseManager.tsx @@ -29,15 +29,15 @@ import { UI_COLOR_TRANSPARENT, UI_INPUT_SURFACE, UI_LIST_ROW_BG, - UI_MODAL_MASK_BG, UI_PANEL_BG, UI_PRIMARY_GREEN_BUTTON_STYLE, UI_TEXT_PRIMARY_ON_DARK, UI_TEXT_SUBTLE, } from '../Constants/uiTheme.ts'; import { storageService, type SavedPose, PoseInUseError } from '../Services/storage.service.ts'; +import { MovableModal } from './MovableModal'; -const { Text, Title } = Typography; +const { Text } = Typography; interface PoseManagerProps { joints: JointControlState[]; @@ -202,26 +202,22 @@ export const PoseManager: React.FC<PoseManagerProps> = ({ joints, onLoadPose }) </Space> {/* Save Pose Modal */} - <Modal - title={ - <Title level={4} style={{ color: UI_ACCENT_GREEN, margin: 0 }}> - <SaveOutlined /> Save Current Pose - - } - open={saveModalVisible} - onOk={() => void handleSavePose()} - onCancel={() => { + { setSaveModalVisible(false); setPoseName(''); }} - confirmLoading={loading} - okText="Save Pose" - cancelText="Cancel" - style={{ top: 100 }} - styles={{ - mask: { backgroundColor: UI_MODAL_MASK_BG } - }} - className="dark-modal" + initialPosition={{ x: 20, y: 120 }} + initialSize={{ w: 350, h: 650 }} + header={} + footer={ + <> + + + + } > @@ -282,36 +278,17 @@ export const PoseManager: React.FC = ({ joints, onLoadPose }) - + {/* Load Pose Modal */} - - Load Saved Pose - - } - open={loadModalVisible} - footer={[ - - ]} - onCancel={() => setLoadModalVisible(false)} - width={700} - style={{ top: 50 }} - styles={{ - mask: { backgroundColor: UI_MODAL_MASK_BG } - }} - className="dark-modal" + setLoadModalVisible(false)} + initialPosition={{ x: 390, y: 120 }} + initialSize={{ w: 350, h: 650 }} + header={} + footer={} > {savedPoses.length === 0 ? ( @@ -384,7 +361,7 @@ export const PoseManager: React.FC = ({ joints, onLoadPose }) )} /> )} - + ); }; diff --git a/src/Components/Sensors/FloatGraph.tsx b/src/Components/Sensors/FloatGraph.tsx index 704eb57..3db6be1 100644 --- a/src/Components/Sensors/FloatGraph.tsx +++ b/src/Components/Sensors/FloatGraph.tsx @@ -1,110 +1,203 @@ -import React, { useState, useEffect, useRef } from 'react'; +import React, { useRef } from 'react'; import { Button } from 'antd'; +import type { SensorSource } from '../../Constants/rosConfig'; import { UI_ACCENT_GREEN, UI_BG_BLACK, UI_BORDER_SOFT } from '../../Constants/uiTheme'; +import { useSensorStream } from '../../hooks/useSensorStream'; interface FloatGraphProps { - dataSourceId: string; - sourceName: string; + source: SensorSource; } -export const FloatGraph: React.FC = ({ dataSourceId, sourceName }) => { - const [sourceData, setSourceData] = useState<{ time: number, value: number }[]>([]); - const [displayData, setDisplayData] = useState<{ time: number, value: number }[]>([]); - const [isPaused, setIsPaused] = useState(false); +function resolveYAxisBounds( + historicalMin: number | null, + historicalMax: number | null, +): { minValue: number; maxValue: number } { + if (historicalMin === null || historicalMax === null) { + return { minValue: 0, maxValue: 100 }; + } + if (historicalMin === historicalMax) { + const pad = Math.max(Math.abs(historicalMin) * 0.1, 1); + return { minValue: historicalMin - pad, maxValue: historicalMax + pad }; + } + const pad = (historicalMax - historicalMin) * 0.05; + return { minValue: historicalMin - pad, maxValue: historicalMax + pad }; +} + +/** Live time-series graph for a single float value on a `sensors/` Float32Array topic. */ +export const FloatGraph: React.FC = ({ source }) => { const graphRef = useRef(null); - - // Data source always runs in the background - useEffect(() => { - let startTime = Date.now(); - const interval = setInterval(() => { - const now = Date.now(); - const timeElapsed = (now - startTime) / 1000; - const value = 20 + Math.sin(timeElapsed) * 5 + (Math.random() * 2 - 1); - - setSourceData(prevData => { - const newData = [...prevData, { time: now, value }]; - return newData.filter(d => now - d.time < 60000); - }); - }, 1000); - - return () => clearInterval(interval); - }, [dataSourceId]); + const { + displaySamples, + currentValue, + historicalMin, + historicalMax, + isPaused, + setPaused, + } = useSensorStream(source); + const { minValue, maxValue } = resolveYAxisBounds(historicalMin, historicalMax); - // Sync display with source only when not paused - useEffect(() => { - if (!isPaused) { - setDisplayData(sourceData); - } - }, [sourceData, isPaused]); - - // Simple SVG rendering const renderGraph = () => { - if (displayData.length < 2) return null; - const width = graphRef.current?.clientWidth || 300; const height = 280; - const padding = 20; + const paddingLeft = 36; + const paddingRight = 88; + const paddingY = 20; const now = Date.now(); - const minTime = now - 60000; + const minTime = now - 60_000; const maxTime = now; - const values = displayData.map(d => d.value); - let minValue = Math.min(...values) - 2; - let maxValue = Math.max(...values) + 2; - - if (minValue === maxValue) { - minValue -= 10; - maxValue += 10; - } - - const mapX = (time: number) => padding + ((time - minTime) / (maxTime - minTime)) * (width - padding * 2); - const mapY = (val: number) => height - padding - ((val - minValue) / (maxValue - minValue)) * (height - padding * 2); - - const pathData = displayData.map((d, i) => { - const x = mapX(d.time); - const y = mapY(d.value); - return `${i === 0 ? 'M' : 'L'} ${x} ${y}`; - }).join(' '); + const mapX = (time: number) => + paddingLeft + + ((time - minTime) / Math.max(maxTime - minTime, 1)) * + (width - paddingLeft - paddingRight); + const mapY = (val: number) => + height - + paddingY - + ((val - minValue) / Math.max(maxValue - minValue, 1)) * + (height - paddingY * 2); const midValue = (minValue + maxValue) / 2; + const latest = displaySamples[displaySamples.length - 1]; + + const pathData = + displaySamples.length >= 2 + ? displaySamples + .map((sample, index) => { + const x = mapX(sample.time); + const y = mapY(sample.value); + return `${index === 0 ? 'M' : 'L'} ${x} ${y}`; + }) + .join(' ') + : ''; return ( - {maxValue.toFixed(1)} - {minValue.toFixed(1)} - - {midValue.toFixed(1)} - - {displayData.length > 0 && ( - + + {maxValue.toFixed(1)} + + + {minValue.toFixed(1)} + + + + {midValue.toFixed(1)} + + + {pathData ? ( + + ) : null} + + {latest ? ( + <> + + + {latest.value.toFixed(0)} + + + ) : currentValue !== null ? ( + + {currentValue.toFixed(0)} + + ) : ( + + Waiting for sensor data... + )} ); }; return ( -
-
- {sourceName} - {displayData.length > 0 && ( - - CURRENT: {displayData[displayData.length - 1].value.toFixed(2)} - - )} -
- {isPaused ? '[PAUSED]' : '[ACTIVE]'} - +
+
+
+ + {source.name} + +
+ {source.topic} +
+
+
+ + {isPaused ? '[PAUSED]' : '[LIVE]'} + + +
+
+
+ {renderGraph()}
-
- {renderGraph()} -
-
); - }; +}; diff --git a/src/Components/SettingsModal.tsx b/src/Components/SettingsModal.tsx index a9beab3..7b9fec6 100644 --- a/src/Components/SettingsModal.tsx +++ b/src/Components/SettingsModal.tsx @@ -1,19 +1,22 @@ import React, { useEffect, useState } from 'react'; -import { Modal, Input, Button, Form, Typography, Space } from 'antd'; +import { Input, Button, Form, Typography, Space } from 'antd'; import { InfoCircleOutlined, SettingOutlined } from '@ant-design/icons'; import { useRosConnection } from '../hooks/useRosConnection.hook'; +import { getOriginRosUrl } from '../Services/ros/ros.service'; import { useActiveHardwareRos } from '../contexts/ActiveHardwareRosContext'; import { + UI_ACCENT_BLUE, UI_ACCENT_GREEN, UI_BORDER_SOFT, UI_COLOR_TRANSPARENT, - UI_MODAL_MASK_BG, UI_TEXT_ON_ACCENT, UI_TEXT_PRIMARY_ON_DARK, } from '../Constants/uiTheme'; import { ToggleSwitch } from './ToggleSwitch'; +import { GETTING_STARTED_COMPLETED_KEY, REDO_GETTING_STARTED_EVENT } from './GettingStartedModal'; +import { MovableModal } from './MovableModal'; -const { Text, Title } = Typography; +const { Text } = Typography; interface SettingsModalProps { visible: boolean; @@ -28,6 +31,9 @@ export const SHOW_DEGREES_KEY = 'showDegreesEnabled'; export const isShowDegreesEnabled = () => localStorage.getItem(SHOW_DEGREES_KEY) !== 'false'; +/** Fixed hint for the URL field: the bridge served alongside this page. */ +const originRosUrl = getOriginRosUrl(); + export const SettingsModal: React.FC = ({ visible, onClose }) => { const { connect, disconnect, isConnected, currentUrl, connectionStatus } = useRosConnection(); const { activeHardwareConfigName, controllerConfigsFromActive } = useActiveHardwareRos(); @@ -54,7 +60,7 @@ export const SettingsModal: React.FC = ({ visible, onClose } try { await connect(rosUrl); onClose(); - } catch (error) { + } catch { // Error is already logged in the hook } }; @@ -74,15 +80,17 @@ export const SettingsModal: React.FC = ({ visible, onClose } : 0; return ( - - Settings - - } - open={visible} - onCancel={onClose} - footer={[ + } + footer={ + <> , + , + , - ]} - styles={{ mask: { backgroundColor: UI_MODAL_MASK_BG } }} - className="dark-modal" + + + } >
- ROS Bridge URL}> + ROS Bridge URL} + tooltip={{ + title: 'WebSocket address of the rosbridge server (e.g. ws://host:port/rosbridge). Saved locally and reused on next launch.', + icon: , + }} + > setRosUrl(e.target.value)} - placeholder="ws://localhost:9090" + placeholder={originRosUrl} /> = ({ visible, onClose } Active Configuration: {activeHardwareConfigName || 'N/A'} + + + -
+ ); }; diff --git a/src/Components/StreamPlayerModal.tsx b/src/Components/StreamPlayerModal.tsx index c202f22..d7b55f3 100644 --- a/src/Components/StreamPlayerModal.tsx +++ b/src/Components/StreamPlayerModal.tsx @@ -52,7 +52,6 @@ interface StreamPlayerModalProps { onClose: () => void; initialPosition?: { x: number; y: number }; initialSize?: { w: number; h: number }; - aspectRatio?: number; } export function StreamPlayerModal({ @@ -60,7 +59,6 @@ export function StreamPlayerModal({ onClose, initialPosition = { x: 100, y: 100 }, initialSize = { w: 480, h: 320 }, - aspectRatio = 4.5 / 3, }: StreamPlayerModalProps) { const [frameDelay, setFrameDelay] = useState(0); const [fps, setFps] = useState(0); @@ -181,7 +179,7 @@ export function StreamPlayerModal({ onClose={onClose} initialPosition={initialPosition} initialSize={initialSize} - aspectRatio={aspectRatio} + contentPadding={0} mobileFixedTop mobileTopOffset={headerHeight} > diff --git a/src/Components/StreamSwitch.tsx b/src/Components/StreamSwitch.tsx index 22ef8bd..9881f0b 100644 --- a/src/Components/StreamSwitch.tsx +++ b/src/Components/StreamSwitch.tsx @@ -12,7 +12,7 @@ interface StreamSwitchProps { export const StreamSwitch: React.FC = ({ labelA = 'OFF', labelB = 'ON', value, onChange }) => (
+
+ +
+ ); + + if (titlePlacement === 'inline') { + return ( +
+ {title} + {toggle} +
+ ); + } + return (
- - {title} - -
- -
- -
+ {title} + {toggle}
); }; \ No newline at end of file diff --git a/src/Constants/rosConfig.ts b/src/Constants/rosConfig.ts index 687ab67..6bba0c7 100644 --- a/src/Constants/rosConfig.ts +++ b/src/Constants/rosConfig.ts @@ -62,3 +62,18 @@ export const STREAM_SOURCE_3D_VIEW: StreamSource = { /** Initial placeholder until a camera from the active config is selected. */ export const DEFAULT_STREAM_SOURCE = STREAM_SOURCE_3D_VIEW; + +/** Per-sensor stream entry derived from hardware YAML (pressure sensors on `sensors/` topics). */ +export interface SensorSource { + id: string; + name: string; + /** ROS topic for the board's Float32Array payload (e.g. `/sensors/left_arm`). */ + topic: string; + messageType: string; + /** Index into the Float32Array for this sensor (board sensors sorted by `virtual_pin`). */ + arrayIndex: number; + type: string; + boardId: string; +} + +export const SENSOR_FLOAT32_ARRAY_MESSAGE_TYPE = 'ros_gz_interfaces/msg/Float32Array' as const; diff --git a/src/Constants/routes.ts b/src/Constants/routes.ts new file mode 100644 index 0000000..3c6d8a9 --- /dev/null +++ b/src/Constants/routes.ts @@ -0,0 +1,5 @@ +export const ROUTES = { + control: '/', + sensors: '/sensors', + robotConfiguration: '/robot-configuration', +} as const; diff --git a/src/Constants/uiTheme.ts b/src/Constants/uiTheme.ts index c1bf033..5ae4be6 100644 --- a/src/Constants/uiTheme.ts +++ b/src/Constants/uiTheme.ts @@ -26,7 +26,7 @@ export const UI_BORDER_STRONG = '#333333'; export const UI_BORDER_SOFT = '#444444'; export const UI_BORDER_DIM = '#222222'; export const UI_TEXT_ON_ACCENT = '#000000'; -export const UI_TEXT_PRIMARY_ON_DARK = '#ffffff'; +export const UI_TEXT_PRIMARY_ON_DARK = '#F7F1E5'; export const UI_TEXT_SECONDARY_MUTED = '#666666'; /** Muted labels / secondary lines (Ant `colorTextSecondary` parity). */ export const UI_TEXT_SUBTLE = '#888888'; @@ -73,6 +73,12 @@ export const UI_ACCENT_BOX_SHADOW_SOFT = `0 0 8px ${UI_ACCENT_GREEN}`; export const UI_ACCENT_BOX_SHADOW_STRONG = `0 0 10px ${UI_ACCENT_GREEN}`; export const UI_PAGE_HEADER_BORDER_BOTTOM = `2px solid ${UI_BORDER_MUTED}`; +/** Shared shell padding for main app pages (control, sensors, robot configuration). */ +export const PAGE_CONTENT_STYLE = { + padding: 12, + position: 'relative', +} as const; + export const UI_CARD_SURFACE_STYLE = { background: UI_PANEL_BG, borderColor: UI_BORDER_MUTED, diff --git a/src/Pages/NotFound.tsx b/src/Pages/NotFound.tsx index 5b402cc..e7208cc 100644 --- a/src/Pages/NotFound.tsx +++ b/src/Pages/NotFound.tsx @@ -2,7 +2,6 @@ import React, { useState, useEffect } from 'react'; import { Typography, Button, Space } from 'antd'; import { HomeOutlined, ReloadOutlined } from '@ant-design/icons'; import { useNavigate } from 'react-router-dom'; -import { Page } from '../Components/Page'; import { UI_ACCENT_GREEN, UI_BORDER_MUTED, @@ -98,13 +97,13 @@ export const NotFound: React.FC = () => { }; return ( - {/* Header */} @@ -293,6 +292,6 @@ export const NotFound: React.FC = () => {
- +
); }; diff --git a/src/Pages/RobotControlPanel.tsx b/src/Pages/RobotControlPanel.tsx index bf8fd60..bee500b 100644 --- a/src/Pages/RobotControlPanel.tsx +++ b/src/Pages/RobotControlPanel.tsx @@ -3,17 +3,17 @@ import React, { useRef, useEffect, useCallback, + useContext, useMemo, lazy, Suspense, } from 'react'; -import { Typography, Space, Button, Row, Col, Alert, Spin, Tooltip, Modal, message, Dropdown, Grid } from 'antd'; +import { Typography, Space, Button, Row, Col, Alert, Spin, Tooltip, message, Dropdown, Grid } from 'antd'; import type { MenuProps } from 'antd'; import { ReloadOutlined, ThunderboltOutlined, StopOutlined, - InfoCircleOutlined, MenuOutlined, VideoCameraOutlined, EyeOutlined, @@ -52,13 +52,13 @@ import { jointRadToActuatorDeg, type ActuatorMapping, } from '../Utils/actuatorJointMapping'; +import { describeClient } from '../Utils/clientIdentity'; import { DEFAULT_JOINT_SLIDER_BOUNDS_DEG, DEFAULT_JOINT_SLIDER_VALUE_DEG, } from '../Constants/hardwareConfigDefaults'; /* Components */ -import { Page } from '../Components/Page'; import { LucyLoader } from '../Components/LucyLoader'; import { JointCategory } from '../Components/JointCategory'; import { DraggableCategory } from '../Components/DraggableCategory'; @@ -75,7 +75,6 @@ import { UI_BORDER_SOFT, UI_COLOR_TRANSPARENT, UI_ERROR, - UI_MODAL_MASK_BG, UI_TEXT_ON_ACCENT, UI_TEXT_PRIMARY_ON_DARK, UI_TEXT_SUBTLE, @@ -86,16 +85,82 @@ import { UI_GRADIENT_MODAL_HEADER, UI_MODAL_SURFACE, UI_SHADOW_ELEVATED, + UI_BG_BLACK, + PAGE_CONTENT_STYLE, } from '../Constants/uiTheme.ts'; +import { HeaderHeightContext } from '../contexts/HeaderHeightContext.ts'; const MediapipeHandTracker = lazy(() => import('../Components/MediapipeHandTracker').then(module => ({ default: module.default }))); -const { Text, Title } = Typography; +const { Text } = Typography; const { useBreakpoint } = Grid; const REFRESH_RATE = 300; const BASE_ANIMATION_INTERVAL = 1000; // ms per keyframe at 1x speed +interface ControlTakenModalProps { + isVisible: boolean; + fighting: boolean; + onClose: () => void; + onRetake: () => void; +} + +const ControlTakenModal: React.FC = ({ + isVisible, + fighting, + onClose, + onRetake, +}) => ( + } + footer={ + <> + + + + } + > + + + {fighting + ? 'You and another client keep taking control from each other. Maybe… talk it out?' + : <>Another connected client turned Control Robot ON and now has exclusive control. + } + + + {fighting + ? 'The robot is confused. You should be too.' + : <>Your Control Robot was automatically turned OFF. Use Retake Control to reclaim it. + } + + + +); + export const RobotControlPanel: React.FC = () => { const { isConnected, isConnecting } = useRosConnection(); @@ -122,10 +187,15 @@ export const RobotControlPanel: React.FC = () => { const animationTimeoutRef = useRef | null>(null); const [showControlTakenModal, setShowControlTakenModal] = useState(false); const retakeCountRef = useRef(0); + const [controllerToPreempt, setControllerToPreempt] = useState(''); + const [showConfirmTakeControlModal, setShowConfirmTakeControlModal] = useState(false); const screens = useBreakpoint(); const isMobile = !screens.md; + // The page header is `position: sticky; top: 0`, so the control toolbar has to park below it. + const headerHeight = useContext(HeaderHeightContext); + // Floating stream window state const STREAM_VISIBLE_KEY = 'lucy_stream_visible'; @@ -355,16 +425,30 @@ export const RobotControlPanel: React.FC = () => { return () => clearInterval(interval); }, [isSending]); - const handleControlRobotToggle = useCallback((next: boolean) => { - setIsSending(next); + /** Function responsible of flipping control without asking. Callers own the decision to preempt another client. */ + const applyControlToggle = useCallback((shouldControl: boolean) => { + setIsSending(shouldControl); setShowControlTakenModal(false); - if (next) { + setShowConfirmTakeControlModal(false); + if (shouldControl) { ControlModeHandler.getInstance().takeControl(); } else { ControlModeHandler.getInstance().releaseControl(); } }, []); + const handleControlRobotToggle = useCallback((shouldControl: boolean) => { + const handler = ControlModeHandler.getInstance(); + const otherHasControl = + handler.currentControllerId !== '' && handler.currentControllerId !== handler.clientId; + if (shouldControl && otherHasControl) { + setControllerToPreempt(handler.currentControllerId); + setShowConfirmTakeControlModal(true); + return; + } + applyControlToggle(shouldControl); + }, [applyControlToggle]); + const handleJointValueChange = useCallback((name: string, value: number) => { setJoints((prevJoints) => prevJoints.map((joint) => @@ -388,6 +472,19 @@ export const RobotControlPanel: React.FC = () => { ); } + const handleResetJoint = useCallback((name: string) => { + setJoints((prevJoints) => + prevJoints.map((joint) => { + if (joint.name === name) { + const rest = joint.restValue ?? 0; + const clamped = Math.max(joint.minValue, Math.min(joint.maxValue, rest)); + return { ...joint, currentValue: clamped, targetValue: clamped }; + } + return joint; + }) + ); + }, []); + const handleResetCategory = useCallback((category: string) => { setJoints((prevJoints) => prevJoints.map((joint) => { @@ -510,18 +607,33 @@ export const RobotControlPanel: React.FC = () => { if (isConnected && loading) { return ( - - - - Loading robot configuration... - - + <> +
+ + + Loading robot configuration... + +
+ = 3} + onClose={() => { + retakeCountRef.current = 0; + setShowControlTakenModal(false); + }} + onRetake={() => { + retakeCountRef.current += 1; + setShowControlTakenModal(false); + applyControlToggle(true); + }} + /> + ); } if (isConnected && error) { return ( - + <> { } /> - + = 3} + onClose={() => { + retakeCountRef.current = 0; + setShowControlTakenModal(false); + }} + onRetake={() => { + retakeCountRef.current += 1; + setShowControlTakenModal(false); + applyControlToggle(true); + }} + /> + ); } @@ -543,6 +668,7 @@ export const RobotControlPanel: React.FC = () => { label: 'RESET ALL', icon: , onClick: handleResetAll, + disabled: !isSending, style: { color: UI_TEXT_PRIMARY_ON_DARK } }, { @@ -577,33 +703,23 @@ export const RobotControlPanel: React.FC = () => { borderRadius: 4, }; - const switches = () => { - return( - <> -
- } - width={180} - height={32} - /> - - - -
- - ) - } + const switches = () => ( + + + } + width={180} + /> + + + ); return ( - + <> setIsStreamVisible(false)} @@ -623,38 +739,63 @@ export const RobotControlPanel: React.FC = () => { /> ) : (
- - - {isMobile ? ( - - ( -
{menu}
- )}> +
+ {isMobile ? ( + + + + ( +
{menu}
+ )}> + + - - - - ) : ( + + + + {switches()} + + + ) : ( +
@@ -705,24 +847,10 @@ export const RobotControlPanel: React.FC = () => { {isWebcamActive ? 'HIDE HAND TRACKER' : 'SHOW HAND TRACKER'} - )} - { isMobile ? null : ( - - - {switches()} - - - )} - - - { isMobile ? ( - - - {switches()} - - - ) : null } - + {switches()} +
+ )} +
{/* Mobile webcam sits inline under Control Robot and scrolls with the joint boxes. */} {isMobile && isWebcamActive && ( @@ -793,6 +921,7 @@ export const RobotControlPanel: React.FC = () => { joints={categorizedJoints[category]} onJointValueChange={handleJointValueChange} onResetCategory={handleResetCategory} + onResetJoint={handleResetJoint} showDegrees={showDegrees} disabled={!isSending} /> @@ -836,72 +965,69 @@ export const RobotControlPanel: React.FC = () => { )} - {/* Another client took control */} - {(() => { - const fighting = retakeCountRef.current >= 3; - return ( - - {fighting ? 'Stop fighting!' : 'Someone else took control'} - - } - open={showControlTakenModal} - onCancel={() => { retakeCountRef.current = 0; setShowControlTakenModal(false); }} - footer={[ - , - , - ]} - style={{ top: 200 }} - styles={{ mask: { backgroundColor: UI_MODAL_MASK_BG } }} - className="dark-modal" - > - - - {fighting - ? 'You and another client keep taking control from each other. Maybe… talk it out?' - : <>Another connected client turned Control Robot ON and now has exclusive control. - } - - - {fighting - ? 'The robot is confused. You should be too.' - : <>Your Control Robot was automatically turned OFF. Use Retake Control to reclaim it. - } - - - - ); - })()} + = 3} + onClose={() => { + retakeCountRef.current = 0; + setShowControlTakenModal(false); + }} + onRetake={() => { + retakeCountRef.current += 1; + setShowControlTakenModal(false); + applyControlToggle(true); + }} + /> - + {/* We are about to take control away from another client */} + setShowConfirmTakeControlModal(false)} + initialPosition={{ x: 100, y: 200 }} + initialSize={{ w: 500, h: 300 }} + header={ + + TAKE CONTROL FROM ANOTHER CLIENT? + + } + footer={[ + , + , + ]} + > + + + The robot is currently controlled by {describeClient(controllerToPreempt)}. + + + Control is exclusive: their Control Robot switches to OFF immediately, + and they are told you took over. + + + + + ); }; diff --git a/src/Pages/SensorDisplay.tsx b/src/Pages/SensorDisplay.tsx index 015f457..d3542a5 100644 --- a/src/Pages/SensorDisplay.tsx +++ b/src/Pages/SensorDisplay.tsx @@ -1,61 +1,107 @@ -import React, { useState } from 'react'; -import { Select, Row, Col } from 'antd'; -import { Page } from '../Components/Page'; -import { Terminal, FloatGraph } from '../Components/Sensors'; +import React, { useMemo, useState } from 'react'; +import { Alert, Col, Row, Select } from 'antd'; +import { FloatGraph } from '../Components/Sensors'; +import { useActiveHardwareRos } from '../contexts/ActiveHardwareRosContext'; +import { useRosConnection } from '../hooks/useRosConnection.hook'; +import { useSensorSources } from '../hooks/useSensorSources'; const { Option } = Select; -const mockDataSources = [ - { id: '1', name: 'Sensor Alpha', type: 'text' }, - { id: '2', name: 'Sensor Beta', type: 'text' }, - { id: '3', name: 'Sensor Gamma', type: 'text' }, - { id: '4', name: 'Sensor Delta', type: 'text' }, - { id: '5', name: 'Sensor Epsilon', type: 'text' }, - { id: '6', name: 'Temperature Sensor', type: 'float' }, -]; - const SensorDisplay: React.FC = () => { - const [selectedSources, setSelectedSources] = useState([]); + const [selectedSensorIds, setSelectedSensorIds] = useState([]); + const sensorSources = useSensorSources(); + const { isConnected } = useRosConnection(); + const { activeHardwareDoc, activeHardwareLoading, activeHardwareError } = useActiveHardwareRos(); - const handleSelectionChange = (selected: string[]) => { - setSelectedSources(selected); - }; + const selectedSources = useMemo( + () => + selectedSensorIds + .map((id) => sensorSources.find((source) => source.id === id)) + .filter((source): source is NonNullable => Boolean(source)), + [selectedSensorIds, sensorSources], + ); return ( - -
-
-
- SELECT DATA SOURCES TO MONITOR: -
- -
- - - {selectedSources.map(sourceId => { - const source = mockDataSources.find(s => s.id === sourceId); - return ( - 1 ? 12 : 24}> - {source?.type === 'float' ? ( - - ) : ( - - )} - - ); - })} - + <> + {!isConnected ? ( + + ) : null} + + {activeHardwareLoading ? ( + + ) : null} + + {activeHardwareError ? ( + + ) : null} + + {!activeHardwareLoading && isConnected && activeHardwareDoc && sensorSources.length === 0 ? ( + + ) : null} + +
+ + SELECT PRESSURE SENSORS TO MONITOR: + +
- + + + {selectedSources.map((source) => ( + + + + ))} + + ); }; diff --git a/src/Services/diagnostics.service.ts b/src/Services/diagnostics.service.ts new file mode 100644 index 0000000..d799513 --- /dev/null +++ b/src/Services/diagnostics.service.ts @@ -0,0 +1,111 @@ +/** + * Passive recorder for the two debug pipelines. + * + * Services and handlers report what they observe; nothing here changes their + * behaviour, so instrumentation cannot break the paths it is meant to explain. + * + * connection: Connect button -> rosbridge -> ROS graph -> robot configuration. + * command: slider -> JointTrajectory -> /joint_states -> rendered pose. + */ + +export type StageStatus = 'pending' | 'ok' | 'warn' | 'error'; +export type PipelineId = 'connection' | 'command'; + +export interface Stage { + id: string; + label: string; + /** What this step does, shown under the label. */ + hint: string; + status: StageStatus; + /** Latest observation: a URL, a topic, a count, an error. */ + detail?: string; + /** epoch ms of the last update */ + at?: number; + /** messages seen, for streaming stages */ + count?: number; +} + +const CONNECTION_STAGES: Array> = [ + { id: 'url', label: 'Endpoint resolved', hint: 'Which rosbridge URL the panel will dial' }, + { id: 'socket', label: 'WebSocket open', hint: 'TCP + upgrade to the rosbridge server' }, + { id: 'rosapi', label: 'Attached to a live robot', hint: 'Which nodes publish /joint_states, via rosapi' }, + { id: 'description', label: 'Robot description', hint: '/robot_description from robot_state_publisher (the URDF)' }, + { id: 'hardware', label: 'Robot configuration', hint: 'Hardware YAML: joints, limits, calibration' }, + { id: 'jointstates', label: 'Joint states streaming', hint: '/joint_states — drives the blue dots' }, +]; + +const COMMAND_STAGES: Array> = [ + { id: 'slider', label: 'Slider moved', hint: 'Panel control changed, in actuator degrees' }, + { id: 'converted', label: 'Converted to radians', hint: 'Actuator degrees mapped to URDF radians' }, + { id: 'published', label: 'JointTrajectory published', hint: 'Sent to the controller command topic' }, + { id: 'controller', label: 'Executed by a controller', hint: 'A ros2_control controller_manager is driving the joints' }, + { id: 'echoed', label: 'Echoed on /joint_states', hint: 'Something reported the joint actually moved' }, + { id: 'rendered', label: 'Pose rendered', hint: 'Forward kinematics ran and the model redrew' }, +]; + +function seed(defs: Array>): Map { + return new Map(defs.map((d) => [d.id, { ...d, status: 'pending' as StageStatus }])); +} + +class DiagnosticsService { + private static _instance: DiagnosticsService | null = null; + + private stages: Record> = { + connection: seed(CONNECTION_STAGES), + command: seed(COMMAND_STAGES), + }; + private listeners = new Set<() => void>(); + + static getInstance(): DiagnosticsService { + if (!DiagnosticsService._instance) { + DiagnosticsService._instance = new DiagnosticsService(); + } + return DiagnosticsService._instance; + } + + subscribe(listener: () => void): () => void { + this.listeners.add(listener); + return () => this.listeners.delete(listener); + } + + private emit() { + this.listeners.forEach((l) => l()); + } + + /** Update one stage. `count` accumulates when passed as true. */ + record( + pipeline: PipelineId, + id: string, + status: StageStatus, + detail?: string, + countUp = false, + ): void { + const stage = this.stages[pipeline].get(id); + if (!stage) return; + stage.status = status; + stage.at = Date.now(); + if (detail !== undefined) stage.detail = detail; + if (countUp) stage.count = (stage.count ?? 0) + 1; + this.emit(); + } + + /** Drop everything downstream of a lost connection. */ + resetConnection(): void { + for (const id of ['socket', 'rosapi', 'description', 'hardware', 'jointstates']) { + const stage = this.stages.connection.get(id); + if (stage) { + stage.status = 'pending'; + stage.detail = undefined; + stage.count = undefined; + } + } + this.emit(); + } + + getStages(pipeline: PipelineId): Stage[] { + return Array.from(this.stages[pipeline].values()); + } + +} + +export const Diagnostics = DiagnosticsService.getInstance(); diff --git a/src/Services/ros/handlers/ConnectedClients.handler.ts b/src/Services/ros/handlers/ConnectedClients.handler.ts index 0546ab9..89c5b19 100644 --- a/src/Services/ros/handlers/ConnectedClients.handler.ts +++ b/src/Services/ros/handlers/ConnectedClients.handler.ts @@ -51,12 +51,20 @@ export class ConnectedClientsHandler { serviceType: 'lucy_msgs/srv/GetInt', }); const request = new ROSLIB.ServiceRequest({}); - this.connectedClientsService.callService(request, (result: ROSLIB.ServiceResponse) => { - const value = (result as unknown as { value?: number }).value; - if (value !== undefined && value !== null) { - callback(value); - } - }); + this.connectedClientsService.callService( + request, + (result: ROSLIB.ServiceResponse) => { + const value = (result as unknown as { value?: number }).value; + if (value !== undefined && value !== null) { + callback(value); + } + }, + // Without this callback roslib drops rosbridge's error, so a client + // registry that never advertised looks identical to one still starting. + (error: string) => { + console.warn(`Cannot read client count: ${error}`); + }, + ); } static cleanup(): void { diff --git a/src/Services/ros/handlers/HardwareConfig.handler.ts b/src/Services/ros/handlers/HardwareConfig.handler.ts index 28585f0..b0f96a4 100644 --- a/src/Services/ros/handlers/HardwareConfig.handler.ts +++ b/src/Services/ros/handlers/HardwareConfig.handler.ts @@ -43,10 +43,19 @@ function callService, TRes>( const timer = window.setTimeout(() => { reject(new Error(`Service ${name} timed out after ${SERVICE_TIMEOUT_MS}ms`)); }, SERVICE_TIMEOUT_MS); - svc.callService(req, (result: TRes) => { - window.clearTimeout(timer); - resolve(result); - }); + svc.callService( + req, + (result: TRes) => { + window.clearTimeout(timer); + resolve(result); + }, + // Without this callback roslib drops rosbridge's failure message, + // so the promise hangs until the timeout above misreports it. + (error: string) => { + window.clearTimeout(timer); + reject(new Error(error || `Service ${name} failed.`)); + }, + ); }); } diff --git a/src/Services/ros/handlers/JointState.handler.ts b/src/Services/ros/handlers/JointState.handler.ts index 428a412..23056b3 100644 --- a/src/Services/ros/handlers/JointState.handler.ts +++ b/src/Services/ros/handlers/JointState.handler.ts @@ -7,6 +7,7 @@ import { } from '../../../Utils/jointConfigLookup.ts'; import { actuatorDegToJointRad } from '../../../Utils/actuatorJointMapping.ts'; import { RosBridgeService } from '../ros.service.ts'; +import { Diagnostics } from '../../diagnostics.service.ts'; /** ROS time (sec + nsec) for trajectory header; from /clock when use_sim_time, else wall clock. */ function getRosTimeNow(rosTime: { sec: number; nanosec: number } | null): { sec: number; nanosec: number } { @@ -142,6 +143,8 @@ export class JointStateHandler { const js = msg as unknown as { name: string[]; position: number[] }; if (!js.name?.length || !js.position?.length) return; const positions = js.name.map((name, i) => ({ name, value: js.position[i] })); + Diagnostics.record('connection', 'jointstates', 'ok', `${positions.length} joints`, true); + Diagnostics.record('command', 'echoed', 'ok', `${positions.length} joints reported`, true); callback(positions); }); return () => sub.unsubscribe(); @@ -217,6 +220,8 @@ export class JointStateHandler { if (names.length === 0) continue; const topic = this.topicByTopicName.get(cfg.topic); if (!topic) continue; + Diagnostics.record('command', 'slider', 'ok', `${names.length} joint(s) on ${cfg.defaultCategory}`); + Diagnostics.record('command', 'converted', 'ok', 'actuator deg -> URDF rad'); const stamp = getRosTimeNow(this.lastClock); const message = new ROSLIB.Message({ header: { stamp, frame_id: '' }, @@ -224,6 +229,7 @@ export class JointStateHandler { points: [{ positions, time_from_start: { sec: 0, nanosec: 0.8e9 } }], }); topic.publish(message); + Diagnostics.record('command', 'published', 'ok', `${names.length} joint(s) -> ${cfg.topic}`, true); } } } diff --git a/src/Services/ros/handlers/RobotDescription.handler.ts b/src/Services/ros/handlers/RobotDescription.handler.ts index b37100b..64fb462 100644 --- a/src/Services/ros/handlers/RobotDescription.handler.ts +++ b/src/Services/ros/handlers/RobotDescription.handler.ts @@ -1,13 +1,26 @@ import ROSLIB from 'roslib'; import { RosBridgeService } from '../ros.service.ts'; +import { Diagnostics } from '../../diagnostics.service.ts'; /** - * Subscribes to the latched `/robot_description` topic published by - * `robot_state_publisher` (`std_msgs/String`, transient_local QoS) and exposes - * the full URDF XML as a string, or `null` when nothing has been received yet - * (disconnected, or robot_state_publisher not up). + * Exposes the robot's URDF XML, or `null` when nothing has been received yet. + * + * Read from robot_state_publisher's `robot_description` parameter rather than + * the latched topic: rosbridge fixes a subscription's durability when it is + * created and its subscribe op takes no QoS field, so subscribing before + * robot_state_publisher exists yields a VOLATILE subscription that can never + * receive the latched message. The topic stays subscribed for republishes. */ const ROBOT_DESCRIPTION_TOPIC = '/robot_description'; +const PARAM_SERVICE = '/robot_state_publisher/get_parameters'; +const PARAM_SERVICE_TYPE = 'rcl_interfaces/srv/GetParameters'; +const PARAM_NAME = 'robot_description'; +/** rcl_interfaces/msg/ParameterType.PARAMETER_STRING */ +const PARAMETER_STRING = 4; + +/** First retry delay; doubles up to FETCH_MAX_DELAY_MS. */ +const FETCH_DELAY_MS = 2000; +const FETCH_MAX_DELAY_MS = 15000; type Listener = (urdf: string | null) => void; @@ -18,12 +31,17 @@ export class RobotDescriptionHandler { private unsubscribeStatus: (() => void) | null = null; private listeners: Set = new Set(); private _urdf: string | null = null; + private retryTimer: ReturnType | null = null; + private retryDelay: number = FETCH_DELAY_MS; private constructor() { this.unsubscribeStatus = RosBridgeService.getInstance().onStatusChange((status) => { if (status === 'connected') { this.initTopic(); + void this.fetchUrdf(); } else if (status === 'disconnected') { + this.cancelRetry(); + this.retryDelay = FETCH_DELAY_MS; this.topic?.unsubscribe(); this.topic = null; this.setUrdf(null); @@ -31,6 +49,7 @@ export class RobotDescriptionHandler { }); if (RosBridgeService.getInstance().isConnected) { this.initTopic(); + void this.fetchUrdf(); } } @@ -54,12 +73,72 @@ export class RobotDescriptionHandler { }; } + /** Fetch now rather than waiting out the backoff (the Retry button). */ + resubscribe() { + this.cancelRetry(); + this.retryDelay = FETCH_DELAY_MS; + this.initTopic(); + void this.fetchUrdf(); + } + private setUrdf(v: string | null) { + if (v !== null) this.cancelRetry(); if (v === this._urdf) return; this._urdf = v; + Diagnostics.record( + 'connection', 'description', + v ? 'ok' : 'pending', + v ? `${v.length} bytes of URDF` : 'not received', + ); this.listeners.forEach((cb) => cb(v)); } + private cancelRetry() { + if (this.retryTimer !== null) { + clearTimeout(this.retryTimer); + this.retryTimer = null; + } + } + + private scheduleRetry() { + this.cancelRetry(); + const delay = this.retryDelay; + this.retryDelay = Math.min(this.retryDelay * 2, FETCH_MAX_DELAY_MS); + this.retryTimer = setTimeout(() => { + this.retryTimer = null; + if (this._urdf === null) void this.fetchUrdf(); + }, delay); + } + + /** Read robot_state_publisher's `robot_description` parameter. */ + private fetchUrdf(): Promise { + const ros = RosBridgeService.getInstance().rosConnection; + if (!ros) return Promise.resolve(); + return new Promise((resolve) => { + const svc = new ROSLIB.Service({ + ros, + name: PARAM_SERVICE, + serviceType: PARAM_SERVICE_TYPE, + }); + const req = new ROSLIB.ServiceRequest({ names: [PARAM_NAME] }); + svc.callService( + req, + (result: { values?: Array<{ type?: number; string_value?: string }> }) => { + // `values` here is GetParameters.Response.values. + const value = result?.values?.[0]; + const xml = value?.type === PARAMETER_STRING ? value.string_value : ''; + if (xml) this.setUrdf(xml); + else this.scheduleRetry(); + resolve(); + }, + () => { + this.scheduleRetry(); + resolve(); + }, + ); + }); + } + private initTopic() { const ros = RosBridgeService.getInstance().rosConnection; if (!ros) return; @@ -71,12 +150,13 @@ export class RobotDescriptionHandler { }); this.topic.subscribe((msg: ROSLIB.Message) => { const data = (msg as unknown as { data?: string }).data; - this.setUrdf(typeof data === 'string' && data.length > 0 ? data : null); + if (typeof data === 'string' && data.length > 0) this.setUrdf(data); }); } static cleanup() { if (RobotDescriptionHandler._instance) { + RobotDescriptionHandler._instance.cancelRetry(); RobotDescriptionHandler._instance.topic?.unsubscribe(); RobotDescriptionHandler._instance.unsubscribeStatus?.(); RobotDescriptionHandler._instance = null; diff --git a/src/Services/ros/handlers/Sensor.handler.ts b/src/Services/ros/handlers/Sensor.handler.ts new file mode 100644 index 0000000..9290038 --- /dev/null +++ b/src/Services/ros/handlers/Sensor.handler.ts @@ -0,0 +1,126 @@ +import ROSLIB from 'roslib'; +import { SENSOR_FLOAT32_ARRAY_MESSAGE_TYPE } from '../../../Constants/rosConfig'; +import { RosBridgeService } from '../ros.service.ts'; + +export type SensorSampleCallback = (value: number, timestampMs: number) => void; + +interface SensorListener { + sensorId: string; + arrayIndex: number; + callback: SensorSampleCallback; +} + +interface TopicState { + topic: ROSLIB.Topic; + listeners: SensorListener[]; +} + +/** + * Subscribes to per-board `sensors/` Float32Array topics and fans out + * values to individual sensor listeners by array index. + */ +export class SensorHandler { + private static instance: SensorHandler; + private topics = new Map(); + private unsubscribeFromStatus: (() => void) | null = null; + + private constructor() { + this.unsubscribeFromStatus = RosBridgeService.getInstance().onStatusChange((status) => { + if (status === 'disconnected') { + this.teardownAll(); + } + }); + } + + static getInstance(): SensorHandler { + if (!SensorHandler.instance) { + SensorHandler.instance = new SensorHandler(); + } + return SensorHandler.instance; + } + + static cleanup(): void { + if (SensorHandler.instance?.unsubscribeFromStatus) { + SensorHandler.instance.unsubscribeFromStatus(); + } + SensorHandler.instance?.teardownAll(); + } + + private teardownAll(): void { + for (const state of this.topics.values()) { + state.topic.unsubscribe(); + } + this.topics.clear(); + } + + private ensureTopic(topicName: string): TopicState | null { + const existing = this.topics.get(topicName); + if (existing) return existing; + + const ros = RosBridgeService.getInstance().rosConnection; + if (!ros) { + console.warn('[SensorHandler] Cannot subscribe: ROS connection not available'); + return null; + } + + const topic = new ROSLIB.Topic({ + ros, + name: topicName, + messageType: SENSOR_FLOAT32_ARRAY_MESSAGE_TYPE, + queue_length: 1, + throttle_rate: 0, + }); + + const state: TopicState = { topic, listeners: [] }; + topic.subscribe((message: ROSLIB.Message) => { + const data = (message as unknown as { data?: number[] }).data; + if (!Array.isArray(data)) return; + + const timestampMs = Date.now(); + for (const listener of state.listeners) { + if (listener.arrayIndex < 0 || listener.arrayIndex >= data.length) continue; + listener.callback(data[listener.arrayIndex], timestampMs); + } + }); + + this.topics.set(topicName, state); + return state; + } + + subscribe( + sensorId: string, + topicName: string, + arrayIndex: number, + callback: SensorSampleCallback, + ): void { + const state = this.ensureTopic(topicName); + if (!state) return; + + const exists = state.listeners.some( + (listener) => + listener.sensorId === sensorId && listener.callback === callback, + ); + if (exists) return; + + state.listeners.push({ sensorId, arrayIndex, callback }); + } + + unsubscribe( + sensorId: string, + topicName: string, + callback: SensorSampleCallback, + ): void { + const state = this.topics.get(topicName); + if (!state) return; + + state.listeners = state.listeners.filter( + (listener) => + !(listener.sensorId === sensorId && listener.callback === callback), + ); + + if (state.listeners.length === 0) { + state.topic.unsubscribe(); + this.topics.delete(topicName); + } + } +} diff --git a/src/Services/ros/ros.service.ts b/src/Services/ros/ros.service.ts index ef70b18..98fa259 100644 --- a/src/Services/ros/ros.service.ts +++ b/src/Services/ros/ros.service.ts @@ -2,6 +2,7 @@ import ROSLIB from 'roslib'; import { logger } from "../../Utils/logger.utils.ts"; +import { Diagnostics } from "../diagnostics.service.ts"; export type ConnectionStatus = 'disconnected' | 'connecting' | 'connected'; @@ -29,6 +30,13 @@ function describeRosBridgeFailure(error: unknown, url: string, opts?: { timeout? ].join('\n'); } +export function getOriginRosUrl(): string { + if (typeof window === 'undefined') { + throw new Error('Window is undefined'); + } + return `${window.location.protocol === 'https:' ? 'wss:' : 'ws:'}//${window.location.host}/rosbridge`; +} + export function getDefaultRosUrl(): string { if (typeof window === 'undefined') { throw new Error('Window is undefined'); @@ -43,9 +51,7 @@ export function getDefaultRosUrl(): string { return stored; } - return ( - `${window.location.protocol === 'https:' ? 'wss:' : 'ws:'}//${window.location.hostname}:${window.location.port}/rosbridge` - ); + return getOriginRosUrl(); } class RosBridgeService { @@ -77,18 +83,22 @@ class RosBridgeService { ros.on('connection', () => { logger('Connected to ROS bridge.'); + Diagnostics.record('connection', 'socket', 'ok', `open to ${this.url}`); this.clearConnectionTimeout(); this.setConnectionStatus('connected'); }); ros.on('error', (error: any) => { logger(`Error connecting to ROS bridge: ${error}`); + Diagnostics.record('connection', 'socket', 'error', describeRosBridgeFailure(error, this.url)); this.clearConnectionTimeout(); this.setConnectionStatus('disconnected'); }); ros.on('close', () => { logger('ROS bridge connection closed.'); + Diagnostics.resetConnection(); + Diagnostics.record('connection', 'socket', 'error', 'connection closed'); this.clearConnectionTimeout(); this.setConnectionStatus('disconnected'); }); @@ -183,6 +193,30 @@ class RosBridgeService { }); } + /** Node names currently in the graph, via `rosapi/nodes`. Bounded like getPublishers. */ + async getNodes(timeoutMs = 5000): Promise { + return new Promise((resolve, reject) => { + if (!this.ros || this._connectionStatus !== 'connected') { + reject(new Error('ROS bridge is not connected')); + return; + } + const service = new ROSLIB.Service({ + ros: this.ros, + name: '/rosapi/nodes', + serviceType: 'rosapi/Nodes', + }); + const timer = setTimeout( + () => reject(new Error('rosapi/nodes did not respond — is the rosapi node running?')), + timeoutMs, + ); + service.callService( + new ROSLIB.ServiceRequest({}), + (result: { nodes: string[] }) => { clearTimeout(timer); resolve(result.nodes); }, + (error: string) => { clearTimeout(timer); reject(new Error(error)); }, + ); + }); + } + async connect(url: string): Promise { return new Promise((resolve, reject) => { logger(`Attempting to connect to ROS Bridge at ${url}...`); @@ -197,6 +231,8 @@ class RosBridgeService { this.url = url; localStorage.setItem(ROS_URL_KEY, url); + Diagnostics.record('connection', 'url', 'ok', url); + Diagnostics.record('connection', 'socket', 'pending', 'dialling...'); if (this.ros) { this.ros.close(); diff --git a/src/Utils/clientIdentity.ts b/src/Utils/clientIdentity.ts new file mode 100644 index 0000000..388cdcb --- /dev/null +++ b/src/Utils/clientIdentity.ts @@ -0,0 +1,40 @@ +/** + * Human-readable descriptions for `lucy_client_registry` client IDs. + * + * The registry treats IDs as opaque strings, so everything we can say about a + * peer has to be read back out of the ID itself. Both known clients encode the + * same shape — `__`: + * - web control panel: `cp__<4 base36 chars>` + * - Lucy CLI: `cli__<4 digits>` + */ + +const CLIENT_KINDS: Record = { + cp: 'another control panel', + cli: 'the Lucy CLI', +}; + +/** Milliseconds above which a `cp_` style timestamp is assumed; below it, seconds. */ +const EPOCH_MS_THRESHOLD = 1e11; + +/** Parses the session-start timestamp out of a client ID, or null when absent/implausible. */ +export function clientSessionStart(clientId: string): Date | null { + const stamp = Number(clientId.split('_')[1]); + if (!Number.isFinite(stamp) || stamp <= 0) return null; + const date = new Date(stamp < EPOCH_MS_THRESHOLD ? stamp * 1000 : stamp); + return Number.isNaN(date.getTime()) ? null : date; +} + +/** + * Short phrase naming a client, e.g. `another control panel (since 14:32)`. + * Falls back to the raw ID for clients we don't know the prefix of. + */ +export function describeClient(clientId: string): string { + if (clientId === '') return 'nobody'; + + const kind = CLIENT_KINDS[clientId.split('_')[0]] ?? `an unknown client (${clientId})`; + const startedAt = clientSessionStart(clientId); + if (!startedAt) return kind; + + const time = startedAt.toLocaleTimeString(undefined, { hour: '2-digit', minute: '2-digit' }); + return `${kind} (connected since ${time})`; +} diff --git a/src/Utils/sensorSourcesFromHardwareYaml.ts b/src/Utils/sensorSourcesFromHardwareYaml.ts new file mode 100644 index 0000000..634b496 --- /dev/null +++ b/src/Utils/sensorSourcesFromHardwareYaml.ts @@ -0,0 +1,76 @@ +import { + SENSOR_FLOAT32_ARRAY_MESSAGE_TYPE, + type SensorSource, +} from '../Constants/rosConfig'; + +function rosTopic(topic: string): string { + const trimmed = topic.trim(); + if (!trimmed) return ''; + return trimmed.startsWith('/') ? trimmed : `/${trimmed}`; +} + +/** Human-readable label from a sensor id such as `left_thumb_pressure`. */ +export function formatSensorDisplayName(sensorId: string): string { + return sensorId + .split('_') + .filter(Boolean) + .map((part) => part.charAt(0).toUpperCase() + part.slice(1)) + .join(' '); +} + +/** + * Pressure sensor entries from hardware YAML `sensors` + `boards[].topic_sensors`. + * Array index matches firmware / mock_sensor ordering: sensors on a board sorted by `virtual_pin`. + */ +export function sensorSourcesFromHardwareYaml(doc: Record): SensorSource[] { + const boards = doc.boards; + const sensors = doc.sensors; + if (!boards || typeof boards !== 'object' || Array.isArray(boards) || !Array.isArray(sensors)) { + return []; + } + + const boardsMap = boards as Record>; + const byBoard = new Map[]>(); + + for (const row of sensors) { + if (!row || typeof row !== 'object' || Array.isArray(row)) continue; + const entry = row as Record; + if (String(entry.type ?? '').trim() !== 'pressure') continue; + + const boardId = String(entry.board ?? '').trim(); + const id = String(entry.id ?? '').trim(); + if (!boardId || !id) continue; + + const bucket = byBoard.get(boardId) ?? []; + bucket.push(entry); + byBoard.set(boardId, bucket); + } + + const out: SensorSource[] = []; + for (const [boardId, entries] of byBoard) { + const board = boardsMap[boardId]; + if (!board) continue; + + const topic = rosTopic(String(board.topic_sensors ?? '')); + if (!topic) continue; + + entries.sort( + (a, b) => Number(a.virtual_pin ?? 0) - Number(b.virtual_pin ?? 0), + ); + + entries.forEach((entry, arrayIndex) => { + const id = String(entry.id).trim(); + out.push({ + id, + name: formatSensorDisplayName(id), + topic, + messageType: SENSOR_FLOAT32_ARRAY_MESSAGE_TYPE, + arrayIndex, + type: 'pressure', + boardId, + }); + }); + } + + return out.sort((a, b) => a.name.localeCompare(b.name)); +} diff --git a/src/contexts/ActiveHardwareRosContext.tsx b/src/contexts/ActiveHardwareRosContext.tsx index 9fc95b9..eb6b4c7 100644 --- a/src/contexts/ActiveHardwareRosContext.tsx +++ b/src/contexts/ActiveHardwareRosContext.tsx @@ -9,6 +9,7 @@ import React, { import type { ControllerJointConfig } from '../Constants/rosConfig'; import { useRosConnection } from '../hooks/useRosConnection.hook'; import { HardwareConfigHandler } from '../Services/ros/handlers/HardwareConfig.handler'; +import { Diagnostics } from '../Services/diagnostics.service'; import { parseHardwareConfigYaml } from '../Utils/hardwareConfigYaml'; import { controllerJointConfigsFromHardwareYaml } from '../Utils/hardwareControllersFromYaml.ts'; @@ -80,6 +81,7 @@ export function ActiveHardwareRosProvider({ children }: { children: React.ReactN const res = await HardwareConfigHandler.getConfig(''); if (!res.success) { const msg = res.message || 'Failed to load active hardware config'; + Diagnostics.record('connection', 'hardware', 'error', msg); setActiveHardwareError(msg); setActiveHardwareDoc(null); setControllerConfigsFromActive(null); @@ -93,6 +95,11 @@ export function ActiveHardwareRosProvider({ children }: { children: React.ReactN } const doc = parseHardwareConfigYaml(res.config_yaml || ''); const ctrls = controllerJointConfigsFromHardwareYaml(doc); + Diagnostics.record( + 'connection', 'hardware', 'ok', + `${res.config_name || 'active'}: ${ctrls.length} controllers, ` + + `${ctrls.reduce((n, c) => n + c.joints.length, 0)} joints`, + ); setActiveHardwareDoc(doc); setActiveHardwareConfigName(res.config_name || ''); setServerFlashedConfigName((res.flashed_config_name || '').trim()); diff --git a/src/features/hardwareConfiguration/ConfigurationPage.tsx b/src/features/hardwareConfiguration/ConfigurationPage.tsx index ed3fca0..ac8ad39 100644 --- a/src/features/hardwareConfiguration/ConfigurationPage.tsx +++ b/src/features/hardwareConfiguration/ConfigurationPage.tsx @@ -1,11 +1,12 @@ +import { useContext } from 'react'; import { Alert, Button, Card, Input, Select, Space, Table, Tag, Tooltip, Typography, Grid } from 'antd'; import { PlusOutlined, ReloadOutlined, ThunderboltOutlined } from '@ant-design/icons'; -import { Page } from '../../Components/Page.tsx'; import { HardwareConfigPresetHeaderTag } from '../../Components/HardwareConfigPresetTag.tsx'; import { HardwareYamlConfigManager } from '../../Components/HardwareYamlConfigManager.tsx'; import { LucyLoader } from '../../Components/LucyLoader.tsx'; import { UNPARSED_VALIDATION_KEY, GENERAL_VALIDATION_KEY } from '../../Utils/hardwareConfigServerErrors.ts'; import { UI_CARD_SURFACE_STYLE, UI_PRIMARY_GREEN_BUTTON_STYLE } from '../../Constants/uiTheme.ts'; +import { HeaderHeightContext } from '../../contexts/HeaderHeightContext.ts'; import './configuration.switch.css'; import { ActivateConfigureWorkflowModal } from './components/ActivateConfigureWorkflowModal.tsx'; import { useHardwareConfiguration } from './hooks/useHardwareConfiguration.tsx'; @@ -16,31 +17,26 @@ const { useBreakpoint } = Grid; const ConfigurationPage = () => { const hw = useHardwareConfiguration(); const editorLocked = hw.editorLocked; + // The page header is `position: sticky; top: 0`, so the actuator table header has to park below it. + const headerHeight = useContext(HeaderHeightContext); const screens = useBreakpoint(); const isMobile = !screens.lg; if (isMobile) { return ( - -
- - Unsupported Screen Size - - The hardware configuration page is not available on small screens. Please use a tablet or computer for a better experience. - - -
- +
+ + Unsupported Screen Size + + The robot configuration page is not available on small screens. Please use a tablet or computer for a better experience. + + +
); } return ( - + <> {hw.contextHolderMessage}
{ {!hw.yamlDoc ? ( { { ) : null} - + ); }; diff --git a/src/features/hardwareConfiguration/components/ActivateConfigureWorkflowModal.tsx b/src/features/hardwareConfiguration/components/ActivateConfigureWorkflowModal.tsx index 1313e8f..e03f7c8 100644 --- a/src/features/hardwareConfiguration/components/ActivateConfigureWorkflowModal.tsx +++ b/src/features/hardwareConfiguration/components/ActivateConfigureWorkflowModal.tsx @@ -6,7 +6,7 @@ import { ThunderboltOutlined, WarningOutlined, } from '@ant-design/icons'; -import { Alert, Button, Card, Checkbox, Divider, Modal, Progress, Space, Switch, Tag, Typography } from 'antd'; +import { Alert, Button, Card, Checkbox, Divider, Progress, Space, Switch, Tag, Typography } from 'antd'; import type { HardwareConfigDiff } from '../model/hardwareConfigDiff.ts'; import type { GeneratedFileNames } from '../../../Utils/generatedFiles.ts'; import { HardwareConfigPresetHeaderTag } from '../../../Components/HardwareConfigPresetTag.tsx'; @@ -16,7 +16,6 @@ import { UI_BORDER_SOFT, UI_CARD_SURFACE_STYLE, UI_ERROR, - UI_MODAL_MASK_BG, UI_PRIMARY_GREEN_BUTTON_STYLE, UI_TEXT_PRIMARY_ON_DARK, UI_TEXT_SECONDARY_MUTED, @@ -25,12 +24,9 @@ import { } from '../../../Constants/uiTheme.ts'; import type { WorkflowStepRuntimeStatus, WorkflowStepSlice } from '../activateWorkflowStepTypes.ts'; import '../configuration.switch.css'; +import { MovableModal } from '../../../Components/MovableModal.tsx'; -const { Text, Title } = Typography; - -const modalStyles = { - mask: { backgroundColor: UI_MODAL_MASK_BG }, -}; +const { Text } = Typography; function stepIcon(status: WorkflowStepRuntimeStatus) { if (status === 'done') return ; @@ -132,23 +128,13 @@ export function ActivateConfigureWorkflowModal(props: ActivateConfigureWorkflowM gazeboRunning === true; return ( - - ACTIVATE & CONFIGURE - - } - open={open} - onCancel={workflowRunning ? () => { } : onClose} - footer={null} - keyboard={!workflowRunning} - width={720} - style={{ top: 48 }} - styles={modalStyles} - className="dark-modal" - maskClosable={!workflowRunning} - closable={!workflowRunning} - destroyOnClose={false} + { } : onClose} + initialPosition={{ x: 100, y: 48 }} + initialSize={{ w: 720, h: 680 }} + header={} > {serverActiveConfigName && serverActiveConfigName !== selectedTargetConfigName ? ( @@ -374,7 +360,7 @@ export function ActivateConfigureWorkflowModal(props: ActivateConfigureWorkflowM - + ); } diff --git a/src/hooks/useRobotModel.ts b/src/hooks/useRobotModel.ts index 056e7ce..e19b951 100644 --- a/src/hooks/useRobotModel.ts +++ b/src/hooks/useRobotModel.ts @@ -207,6 +207,8 @@ export function useRobotModel(): UseRobotModelReturn { }, [parseAndLoad, reloadToken]); const reload = useCallback(() => { + // Re-running the hook alone would not touch the rosbridge subscription. + RobotDescriptionHandler.getInstance().resubscribe(); globalCache = { ready: false }; loadedUrdfRef.current = null; setRobot(null); diff --git a/src/hooks/useSensorSources.ts b/src/hooks/useSensorSources.ts new file mode 100644 index 0000000..7eebd28 --- /dev/null +++ b/src/hooks/useSensorSources.ts @@ -0,0 +1,15 @@ +import { useMemo } from 'react'; +import { useActiveHardwareRos } from '../contexts/ActiveHardwareRosContext'; +import { sensorSourcesFromHardwareYaml } from '../Utils/sensorSourcesFromHardwareYaml'; +import type { SensorSource } from '../Constants/rosConfig'; + +/** Pressure sensor stream entries from the active hardware config. */ +export function useSensorSources(): SensorSource[] { + const { activeHardwareDoc, activeHardwareFetchEpoch } = useActiveHardwareRos(); + + return useMemo(() => { + if (!activeHardwareDoc) return []; + return sensorSourcesFromHardwareYaml(activeHardwareDoc); + // eslint-disable-next-line react-hooks/exhaustive-deps -- rebuild when pipeline activates a new preset + }, [activeHardwareDoc, activeHardwareFetchEpoch]); +} diff --git a/src/hooks/useSensorStream.ts b/src/hooks/useSensorStream.ts new file mode 100644 index 0000000..aca4d78 --- /dev/null +++ b/src/hooks/useSensorStream.ts @@ -0,0 +1,84 @@ +import { useCallback, useEffect, useState } from 'react'; +import type { SensorSource } from '../Constants/rosConfig'; +import { SensorHandler } from '../Services/ros/handlers/Sensor.handler'; + +const HISTORY_MS = 60_000; + +export interface SensorSample { + time: number; + value: number; +} + +export interface SensorStreamState { + displaySamples: SensorSample[]; + currentValue: number | null; + historicalMin: number | null; + historicalMax: number | null; + isPaused: boolean; + setPaused: (paused: boolean) => void; +} + +/** Live samples for one pressure sensor on a `sensors/` topic. */ +export function useSensorStream(source: SensorSource | null): SensorStreamState { + const [sourceSamples, setSourceSamples] = useState([]); + const [displaySamples, setDisplaySamples] = useState([]); + const [currentValue, setCurrentValue] = useState(null); + const [historicalMin, setHistoricalMin] = useState(null); + const [historicalMax, setHistoricalMax] = useState(null); + const [isPaused, setIsPaused] = useState(false); + + const onSample = useCallback((value: number, timestampMs: number) => { + setSourceSamples((prev) => { + const next = [...prev, { time: timestampMs, value }]; + return next.filter((sample) => timestampMs - sample.time < HISTORY_MS); + }); + setHistoricalMin((prev) => (prev === null ? value : Math.min(prev, value))); + setHistoricalMax((prev) => (prev === null ? value : Math.max(prev, value))); + }, []); + + useEffect(() => { + if (!source) return undefined; + + const handler = SensorHandler.getInstance(); + handler.subscribe(source.id, source.topic, source.arrayIndex, onSample); + return () => { + handler.unsubscribe(source.id, source.topic, onSample); + }; + }, [source, onSample]); + + useEffect(() => { + setSourceSamples([]); + setDisplaySamples([]); + setCurrentValue(null); + setHistoricalMin(null); + setHistoricalMax(null); + if (!source) return; + }, [source]); + + useEffect(() => { + if (!isPaused) { + setDisplaySamples(sourceSamples); + } + }, [sourceSamples, isPaused]); + + useEffect(() => { + const latest = displaySamples[displaySamples.length - 1]; + setCurrentValue(latest?.value ?? null); + }, [displaySamples]); + + const setPaused = useCallback((paused: boolean) => { + setIsPaused(paused); + if (!paused) { + setDisplaySamples(sourceSamples); + } + }, [sourceSamples]); + + return { + displaySamples, + currentValue, + historicalMin, + historicalMax, + isPaused, + setPaused, + }; +} diff --git a/src/hooks/useThrottledJointAngles.ts b/src/hooks/useThrottledJointAngles.ts index 44523c5..8962bfb 100644 --- a/src/hooks/useThrottledJointAngles.ts +++ b/src/hooks/useThrottledJointAngles.ts @@ -8,6 +8,7 @@ import { useState, useRef, useEffect } from 'react'; import { JointStateHandler } from '../Services/ros/handlers/JointState.handler'; +import { Diagnostics } from '../Services/diagnostics.service'; export function useThrottledJointAngles(isConnected: boolean, hz = 10): Map { const [jointAngles, setJointAngles] = useState>(new Map()); @@ -48,6 +49,7 @@ export function useThrottledJointAngles(isConnected: boolean, hz = 10): Map clearInterval(interval); }, [isConnected, hz]); diff --git a/vite.config.ts b/vite.config.ts index 5752b5f..39ed554 100644 --- a/vite.config.ts +++ b/vite.config.ts @@ -41,9 +41,9 @@ export default defineConfig(({ mode }) => { https, host: true, allowedHosts, - port: parseInt(env.VITE_PORT || "5000"), + port: parseInt(env.VITE_PORT || "4004"), hmr: https - ? { protocol: "wss", clientPort: parseInt(env.VITE_PORT || "5000") } + ? { protocol: "wss", clientPort: parseInt(env.VITE_PORT || "4004") } : undefined, proxy: { "^/rosbridge": { diff --git a/yarn.lock b/yarn.lock new file mode 100644 index 0000000..fcbc555 --- /dev/null +++ b/yarn.lock @@ -0,0 +1,4583 @@ +# This file is generated by running "yarn install" inside your project. +# Manual changes might be lost - proceed with caution! + +__metadata: + version: 10 + cacheKey: 10c0 + +"@ant-design/colors@npm:^7.0.0, @ant-design/colors@npm:^7.2.1": + version: 7.2.1 + resolution: "@ant-design/colors@npm:7.2.1" + dependencies: + "@ant-design/fast-color": "npm:^2.0.6" + checksum: 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