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feat: Implement digital signatures for participant consent and introduce study forms management.

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This commit is contained in:
Sean O'Connor
2026-03-02 10:51:20 -05:00
parent 61af467cc8
commit 0051946bde
172 changed files with 12612 additions and 9461 deletions
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57
src/lib/ros/wizard-ros-service.ts
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@@ -145,7 +145,10 @@ export class WizardRosService extends EventEmitter {
};
this.ws.onerror = (error) => {
console.warn("[WizardROS] WebSocket error (connection may be retried):", error);
console.warn(
"[WizardROS] WebSocket error (connection may be retried):",
error,
);
clearTimeout(connectionTimeout);
this.isConnecting = false;
@@ -518,7 +521,10 @@ export class WizardRosService extends EventEmitter {
break;
}
this.publish("/naoqi_driver/cmd_vel", "geometry_msgs/Twist", { linear, angular });
this.publish("/naoqi_driver/cmd_vel", "geometry_msgs/Twist", {
linear,
angular,
});
}
/**
@@ -549,11 +555,15 @@ export class WizardRosService extends EventEmitter {
const jointNames = [`${prefix}ShoulderPitch`, `${prefix}ShoulderRoll`];
const jointAngles = [pitch, roll];
this.publish("/naoqi_driver/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
joint_names: jointNames,
joint_angles: jointAngles,
speed: speed,
});
this.publish(
"/naoqi_driver/joint_angles",
"naoqi_bridge_msgs/JointAnglesWithSpeed",
{
joint_names: jointNames,
joint_angles: jointAngles,
speed: speed,
},
);
}
/**
@@ -574,7 +584,10 @@ export class WizardRosService extends EventEmitter {
if (message.op === "service_response" && message.id === id) {
this.off("message", handleResponse);
if (message.result === false) {
resolve({ result: false, error: String(message.values || "Service call failed") });
resolve({
result: false,
error: String(message.values || "Service call failed"),
});
} else {
resolve({ result: true, values: message.values });
}
@@ -608,30 +621,30 @@ export class WizardRosService extends EventEmitter {
// Standard NaoQi Bridge pattern
{
service: "/naoqi_driver/ALAutonomousLife/setState",
args: { state: desiredState }
args: { state: desiredState },
},
{
service: "/naoqi_driver/ALAutonomousLife/set_state",
args: { state: desiredState }
args: { state: desiredState },
},
// Direct module mapping
{
service: "/ALAutonomousLife/setState",
args: { state: desiredState }
args: { state: desiredState },
},
// Shortcuts/Aliases
{
service: "/naoqi_driver/set_autonomous_life",
args: { state: desiredState }
args: { state: desiredState },
},
{
service: "/autonomous_life/set_state",
args: { state: desiredState }
args: { state: desiredState },
},
// Fallback: Enable/Disable topics/services
{
service: enabled ? "/life/enable" : "/life/disable",
args: {}
args: {},
},
// Last resort: Generic proxy call (if available)
{
@@ -639,9 +652,9 @@ export class WizardRosService extends EventEmitter {
args: {
service: "ALAutonomousLife",
function: "setState",
args: [desiredState]
}
}
args: [desiredState],
},
},
];
console.log(`[WizardROS] Setting Autonomous Life to: ${desiredState}`);
@@ -657,11 +670,17 @@ export class WizardRosService extends EventEmitter {
return true;
} else {
// Resolved but failed? (e.g. internal error)
console.warn(`[WizardROS] Service ${attempt.service} returned false result:`, response.error);
console.warn(
`[WizardROS] Service ${attempt.service} returned false result:`,
response.error,
);
}
} catch (error) {
// Service call failed or timed out
console.warn(`[WizardROS] Service ${attempt.service} failed/timeout:`, error);
console.warn(
`[WizardROS] Service ${attempt.service} failed/timeout:`,
error,
);
}
}