mirror of
https://github.com/soconnor0919/hristudio.git
synced 2025-12-11 06:34:44 -05:00
fix: migrate wizard from polling to WebSocket and fix duplicate ROS connections
- Removed non-functional trial WebSocket (no server exists) - Kept ROS WebSocket for robot control via useWizardRos - Fixed duplicate ROS connections by passing connection as props - WizardMonitoringPanel now receives ROS connection from parent - Trial status uses reliable tRPC polling (5-15s intervals) - Updated connection badges to show 'ROS Connected/Offline' - Added loading overlay with fade-in to designer - Fixed hash computation to include parameter values - Fixed incremental hash caching for parameter changes Fixes: - WebSocket connection errors eliminated - Connect button now works properly - No more conflicting duplicate connections - Accurate connection status display
This commit is contained in:
92
bun.lock
92
bun.lock
@@ -43,7 +43,7 @@
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"date-fns": "^4.1.0",
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"date-fns": "^4.1.0",
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"drizzle-orm": "^0.41.0",
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"drizzle-orm": "^0.41.0",
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"lucide-react": "^0.536.0",
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"lucide-react": "^0.536.0",
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"next": "^15.5.6",
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"next": "^16.0.3",
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"next-auth": "^5.0.0-beta.29",
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"next-auth": "^5.0.0-beta.29",
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"postgres": "^3.4.4",
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"postgres": "^3.4.4",
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"react": "^19.0.0",
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"react": "^19.0.0",
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@@ -82,6 +82,8 @@
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},
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"trustedDependencies": [
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"@tailwindcss/oxide",
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"@tailwindcss/oxide",
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"esbuild",
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"sharp",
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"unrs-resolver",
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"unrs-resolver",
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],
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],
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"packages": {
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"@img/sharp-win32-arm64": ["@img/sharp-win32-arm64@0.34.5", "", { "os": "win32", "cpu": "arm64" }, "sha512-WQ3AgWCWYSb2yt+IG8mnC6Jdk9Whs7O0gxphblsLvdhSpSTtmu69ZG1Gkb6NuvxsNACwiPV6cNSZNzt0KPsw7g=="],
|
||||||
|
|
||||||
|
"@img/sharp-win32-ia32": ["@img/sharp-win32-ia32@0.34.5", "", { "os": "win32", "cpu": "ia32" }, "sha512-FV9m/7NmeCmSHDD5j4+4pNI8Cp3aW+JvLoXcTUo0IqyjSfAZJ8dIUmijx1qaJsIiU+Hosw6xM5KijAWRJCSgNg=="],
|
||||||
|
|
||||||
|
"@img/sharp-win32-x64": ["@img/sharp-win32-x64@0.34.5", "", { "os": "win32", "cpu": "x64" }, "sha512-+29YMsqY2/9eFEiW93eqWnuLcWcufowXewwSNIT6UwZdUUCrM3oFjMWH/Z6/TMmb4hlFenmfAVbpWeup2jryCw=="],
|
||||||
|
|
||||||
"@isaacs/fs-minipass": ["@isaacs/fs-minipass@4.0.1", "", { "dependencies": { "minipass": "^7.0.4" } }, "sha512-wgm9Ehl2jpeqP3zw/7mo3kRHFp5MEDhqAdwy1fTGkHAwnkGOVsgpvQhL8B5n1qlb01jV3n/bI0ZfZp5lWA1k4w=="],
|
"@isaacs/fs-minipass": ["@isaacs/fs-minipass@4.0.1", "", { "dependencies": { "minipass": "^7.0.4" } }, "sha512-wgm9Ehl2jpeqP3zw/7mo3kRHFp5MEDhqAdwy1fTGkHAwnkGOVsgpvQhL8B5n1qlb01jV3n/bI0ZfZp5lWA1k4w=="],
|
||||||
|
|
||||||
@@ -331,25 +339,25 @@
|
|||||||
|
|
||||||
"@napi-rs/wasm-runtime": ["@napi-rs/wasm-runtime@0.2.12", "", { "dependencies": { "@emnapi/core": "^1.4.3", "@emnapi/runtime": "^1.4.3", "@tybys/wasm-util": "^0.10.0" } }, "sha512-ZVWUcfwY4E/yPitQJl481FjFo3K22D6qF0DuFH6Y/nbnE11GY5uguDxZMGXPQ8WQ0128MXQD7TnfHyK4oWoIJQ=="],
|
"@napi-rs/wasm-runtime": ["@napi-rs/wasm-runtime@0.2.12", "", { "dependencies": { "@emnapi/core": "^1.4.3", "@emnapi/runtime": "^1.4.3", "@tybys/wasm-util": "^0.10.0" } }, "sha512-ZVWUcfwY4E/yPitQJl481FjFo3K22D6qF0DuFH6Y/nbnE11GY5uguDxZMGXPQ8WQ0128MXQD7TnfHyK4oWoIJQ=="],
|
||||||
|
|
||||||
"@next/env": ["@next/env@15.5.6", "", {}, "sha512-3qBGRW+sCGzgbpc5TS1a0p7eNxnOarGVQhZxfvTdnV0gFI61lX7QNtQ4V1TSREctXzYn5NetbUsLvyqwLFJM6Q=="],
|
"@next/env": ["@next/env@16.0.3", "", {}, "sha512-IqgtY5Vwsm14mm/nmQaRMmywCU+yyMIYfk3/MHZ2ZTJvwVbBn3usZnjMi1GacrMVzVcAxJShTCpZlPs26EdEjQ=="],
|
||||||
|
|
||||||
"@next/eslint-plugin-next": ["@next/eslint-plugin-next@15.4.5", "", { "dependencies": { "fast-glob": "3.3.1" } }, "sha512-YhbrlbEt0m4jJnXHMY/cCUDBAWgd5SaTa5mJjzOt82QwflAFfW/h3+COp2TfVSzhmscIZ5sg2WXt3MLziqCSCw=="],
|
"@next/eslint-plugin-next": ["@next/eslint-plugin-next@15.4.5", "", { "dependencies": { "fast-glob": "3.3.1" } }, "sha512-YhbrlbEt0m4jJnXHMY/cCUDBAWgd5SaTa5mJjzOt82QwflAFfW/h3+COp2TfVSzhmscIZ5sg2WXt3MLziqCSCw=="],
|
||||||
|
|
||||||
"@next/swc-darwin-arm64": ["@next/swc-darwin-arm64@15.5.6", "", { "os": "darwin", "cpu": "arm64" }, "sha512-ES3nRz7N+L5Umz4KoGfZ4XX6gwHplwPhioVRc25+QNsDa7RtUF/z8wJcbuQ2Tffm5RZwuN2A063eapoJ1u4nPg=="],
|
"@next/swc-darwin-arm64": ["@next/swc-darwin-arm64@16.0.3", "", { "os": "darwin", "cpu": "arm64" }, "sha512-MOnbd92+OByu0p6QBAzq1ahVWzF6nyfiH07dQDez4/Nku7G249NjxDVyEfVhz8WkLiOEU+KFVnqtgcsfP2nLXg=="],
|
||||||
|
|
||||||
"@next/swc-darwin-x64": ["@next/swc-darwin-x64@15.5.6", "", { "os": "darwin", "cpu": "x64" }, "sha512-JIGcytAyk9LQp2/nuVZPAtj8uaJ/zZhsKOASTjxDug0SPU9LAM3wy6nPU735M1OqacR4U20LHVF5v5Wnl9ptTA=="],
|
"@next/swc-darwin-x64": ["@next/swc-darwin-x64@16.0.3", "", { "os": "darwin", "cpu": "x64" }, "sha512-i70C4O1VmbTivYdRlk+5lj9xRc2BlK3oUikt3yJeHT1unL4LsNtN7UiOhVanFdc7vDAgZn1tV/9mQwMkWOJvHg=="],
|
||||||
|
|
||||||
"@next/swc-linux-arm64-gnu": ["@next/swc-linux-arm64-gnu@15.5.6", "", { "os": "linux", "cpu": "arm64" }, "sha512-qvz4SVKQ0P3/Im9zcS2RmfFL/UCQnsJKJwQSkissbngnB/12c6bZTCB0gHTexz1s6d/mD0+egPKXAIRFVS7hQg=="],
|
"@next/swc-linux-arm64-gnu": ["@next/swc-linux-arm64-gnu@16.0.3", "", { "os": "linux", "cpu": "arm64" }, "sha512-O88gCZ95sScwD00mn/AtalyCoykhhlokxH/wi1huFK+rmiP5LAYVs/i2ruk7xST6SuXN4NI5y4Xf5vepb2jf6A=="],
|
||||||
|
|
||||||
"@next/swc-linux-arm64-musl": ["@next/swc-linux-arm64-musl@15.5.6", "", { "os": "linux", "cpu": "arm64" }, "sha512-FsbGVw3SJz1hZlvnWD+T6GFgV9/NYDeLTNQB2MXoPN5u9VA9OEDy6fJEfePfsUKAhJufFbZLgp0cPxMuV6SV0w=="],
|
"@next/swc-linux-arm64-musl": ["@next/swc-linux-arm64-musl@16.0.3", "", { "os": "linux", "cpu": "arm64" }, "sha512-CEErFt78S/zYXzFIiv18iQCbRbLgBluS8z1TNDQoyPi8/Jr5qhR3e8XHAIxVxPBjDbEMITprqELVc5KTfFj0gg=="],
|
||||||
|
|
||||||
"@next/swc-linux-x64-gnu": ["@next/swc-linux-x64-gnu@15.5.6", "", { "os": "linux", "cpu": "x64" }, "sha512-3QnHGFWlnvAgyxFxt2Ny8PTpXtQD7kVEeaFat5oPAHHI192WKYB+VIKZijtHLGdBBvc16tiAkPTDmQNOQ0dyrA=="],
|
"@next/swc-linux-x64-gnu": ["@next/swc-linux-x64-gnu@16.0.3", "", { "os": "linux", "cpu": "x64" }, "sha512-Tc3i+nwt6mQ+Dwzcri/WNDj56iWdycGVh5YwwklleClzPzz7UpfaMw1ci7bLl6GRYMXhWDBfe707EXNjKtiswQ=="],
|
||||||
|
|
||||||
"@next/swc-linux-x64-musl": ["@next/swc-linux-x64-musl@15.5.6", "", { "os": "linux", "cpu": "x64" }, "sha512-OsGX148sL+TqMK9YFaPFPoIaJKbFJJxFzkXZljIgA9hjMjdruKht6xDCEv1HLtlLNfkx3c5w2GLKhj7veBQizQ=="],
|
"@next/swc-linux-x64-musl": ["@next/swc-linux-x64-musl@16.0.3", "", { "os": "linux", "cpu": "x64" }, "sha512-zTh03Z/5PBBPdTurgEtr6nY0vI9KR9Ifp/jZCcHlODzwVOEKcKRBtQIGrkc7izFgOMuXDEJBmirwpGqdM/ZixA=="],
|
||||||
|
|
||||||
"@next/swc-win32-arm64-msvc": ["@next/swc-win32-arm64-msvc@15.5.6", "", { "os": "win32", "cpu": "arm64" }, "sha512-ONOMrqWxdzXDJNh2n60H6gGyKed42Ieu6UTVPZteXpuKbLZTH4G4eBMsr5qWgOBA+s7F+uB4OJbZnrkEDnZ5Fg=="],
|
"@next/swc-win32-arm64-msvc": ["@next/swc-win32-arm64-msvc@16.0.3", "", { "os": "win32", "cpu": "arm64" }, "sha512-Jc1EHxtZovcJcg5zU43X3tuqzl/sS+CmLgjRP28ZT4vk869Ncm2NoF8qSTaL99gh6uOzgM99Shct06pSO6kA6g=="],
|
||||||
|
|
||||||
"@next/swc-win32-x64-msvc": ["@next/swc-win32-x64-msvc@15.5.6", "", { "os": "win32", "cpu": "x64" }, "sha512-pxK4VIjFRx1MY92UycLOOw7dTdvccWsNETQ0kDHkBlcFH1GrTLUjSiHU1ohrznnux6TqRHgv5oflhfIWZwVROQ=="],
|
"@next/swc-win32-x64-msvc": ["@next/swc-win32-x64-msvc@16.0.3", "", { "os": "win32", "cpu": "x64" }, "sha512-N7EJ6zbxgIYpI/sWNzpVKRMbfEGgsWuOIvzkML7wxAAZhPk1Msxuo/JDu1PKjWGrAoOLaZcIX5s+/pF5LIbBBg=="],
|
||||||
|
|
||||||
"@nodelib/fs.scandir": ["@nodelib/fs.scandir@2.1.5", "", { "dependencies": { "@nodelib/fs.stat": "2.0.5", "run-parallel": "^1.1.9" } }, "sha512-vq24Bq3ym5HEQm2NKCr3yXDwjc7vTsEThRDnkp2DK9p1uqLR+DHurm/NOTo0KG7HYHU7eppKZj3MyqYuMBf62g=="],
|
"@nodelib/fs.scandir": ["@nodelib/fs.scandir@2.1.5", "", { "dependencies": { "@nodelib/fs.stat": "2.0.5", "run-parallel": "^1.1.9" } }, "sha512-vq24Bq3ym5HEQm2NKCr3yXDwjc7vTsEThRDnkp2DK9p1uqLR+DHurm/NOTo0KG7HYHU7eppKZj3MyqYuMBf62g=="],
|
||||||
|
|
||||||
@@ -777,14 +785,10 @@
|
|||||||
|
|
||||||
"cmdk": ["cmdk@1.1.1", "", { "dependencies": { "@radix-ui/react-compose-refs": "^1.1.1", "@radix-ui/react-dialog": "^1.1.6", "@radix-ui/react-id": "^1.1.0", "@radix-ui/react-primitive": "^2.0.2" }, "peerDependencies": { "react": "^18 || ^19 || ^19.0.0-rc", "react-dom": "^18 || ^19 || ^19.0.0-rc" } }, "sha512-Vsv7kFaXm+ptHDMZ7izaRsP70GgrW9NBNGswt9OZaVBLlE0SNpDq8eu/VGXyF9r7M0azK3Wy7OlYXsuyYLFzHg=="],
|
"cmdk": ["cmdk@1.1.1", "", { "dependencies": { "@radix-ui/react-compose-refs": "^1.1.1", "@radix-ui/react-dialog": "^1.1.6", "@radix-ui/react-id": "^1.1.0", "@radix-ui/react-primitive": "^2.0.2" }, "peerDependencies": { "react": "^18 || ^19 || ^19.0.0-rc", "react-dom": "^18 || ^19 || ^19.0.0-rc" } }, "sha512-Vsv7kFaXm+ptHDMZ7izaRsP70GgrW9NBNGswt9OZaVBLlE0SNpDq8eu/VGXyF9r7M0azK3Wy7OlYXsuyYLFzHg=="],
|
||||||
|
|
||||||
"color": ["color@4.2.3", "", { "dependencies": { "color-convert": "^2.0.1", "color-string": "^1.9.0" } }, "sha512-1rXeuUUiGGrykh+CeBdu5Ie7OJwinCgQY0bc7GCRxy5xVHy+moaqkpL/jqQq0MtQOeYcrqEz4abc5f0KtU7W4A=="],
|
|
||||||
|
|
||||||
"color-convert": ["color-convert@2.0.1", "", { "dependencies": { "color-name": "~1.1.4" } }, "sha512-RRECPsj7iu/xb5oKYcsFHSppFNnsj/52OVTRKb4zP5onXwVF3zVmmToNcOfGC+CRDpfK/U584fMg38ZHCaElKQ=="],
|
"color-convert": ["color-convert@2.0.1", "", { "dependencies": { "color-name": "~1.1.4" } }, "sha512-RRECPsj7iu/xb5oKYcsFHSppFNnsj/52OVTRKb4zP5onXwVF3zVmmToNcOfGC+CRDpfK/U584fMg38ZHCaElKQ=="],
|
||||||
|
|
||||||
"color-name": ["color-name@1.1.4", "", {}, "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA=="],
|
"color-name": ["color-name@1.1.4", "", {}, "sha512-dOy+3AuW3a2wNbZHIuMZpTcgjGuLU/uBL/ubcZF9OXbDo8ff4O8yVp5Bf0efS8uEoYo5q4Fx7dY9OgQGXgAsQA=="],
|
||||||
|
|
||||||
"color-string": ["color-string@1.9.1", "", { "dependencies": { "color-name": "^1.0.0", "simple-swizzle": "^0.2.2" } }, "sha512-shrVawQFojnZv6xM40anx4CkoDP+fZsw/ZerEMsW/pyzsRbElpsL/DBVW7q3ExxwusdNXI3lXpuhEZkzs8p5Eg=="],
|
|
||||||
|
|
||||||
"commander": ["commander@10.0.1", "", {}, "sha512-y4Mg2tXshplEbSGzx7amzPwKKOCGuoSRP/CjEdwwk0FOGlUbq6lKuoyDZTNZkmxHdJtp54hdfY/JUrdL7Xfdug=="],
|
"commander": ["commander@10.0.1", "", {}, "sha512-y4Mg2tXshplEbSGzx7amzPwKKOCGuoSRP/CjEdwwk0FOGlUbq6lKuoyDZTNZkmxHdJtp54hdfY/JUrdL7Xfdug=="],
|
||||||
|
|
||||||
"concat-map": ["concat-map@0.0.1", "", {}, "sha512-/Srv4dswyQNBfohGpz9o6Yb3Gz3SrUDqBH5rTuhGR7ahtlbYKnVxw2bCFMRljaA7EXHaXZ8wsHdodFvbkhKmqg=="],
|
"concat-map": ["concat-map@0.0.1", "", {}, "sha512-/Srv4dswyQNBfohGpz9o6Yb3Gz3SrUDqBH5rTuhGR7ahtlbYKnVxw2bCFMRljaA7EXHaXZ8wsHdodFvbkhKmqg=="],
|
||||||
@@ -987,8 +991,6 @@
|
|||||||
|
|
||||||
"is-array-buffer": ["is-array-buffer@3.0.5", "", { "dependencies": { "call-bind": "^1.0.8", "call-bound": "^1.0.3", "get-intrinsic": "^1.2.6" } }, "sha512-DDfANUiiG2wC1qawP66qlTugJeL5HyzMpfr8lLK+jMQirGzNod0B12cFB/9q838Ru27sBwfw78/rdoU7RERz6A=="],
|
"is-array-buffer": ["is-array-buffer@3.0.5", "", { "dependencies": { "call-bind": "^1.0.8", "call-bound": "^1.0.3", "get-intrinsic": "^1.2.6" } }, "sha512-DDfANUiiG2wC1qawP66qlTugJeL5HyzMpfr8lLK+jMQirGzNod0B12cFB/9q838Ru27sBwfw78/rdoU7RERz6A=="],
|
||||||
|
|
||||||
"is-arrayish": ["is-arrayish@0.3.2", "", {}, "sha512-eVRqCvVlZbuw3GrM63ovNSNAeA1K16kaR/LRY/92w0zxQ5/1YzwblUX652i4Xs9RwAGjW9d9y6X88t8OaAJfWQ=="],
|
|
||||||
|
|
||||||
"is-async-function": ["is-async-function@2.1.1", "", { "dependencies": { "async-function": "^1.0.0", "call-bound": "^1.0.3", "get-proto": "^1.0.1", "has-tostringtag": "^1.0.2", "safe-regex-test": "^1.1.0" } }, "sha512-9dgM/cZBnNvjzaMYHVoxxfPj2QXt22Ev7SuuPrs+xav0ukGB0S6d4ydZdEiM48kLx5kDV+QBPrpVnFyefL8kkQ=="],
|
"is-async-function": ["is-async-function@2.1.1", "", { "dependencies": { "async-function": "^1.0.0", "call-bound": "^1.0.3", "get-proto": "^1.0.1", "has-tostringtag": "^1.0.2", "safe-regex-test": "^1.1.0" } }, "sha512-9dgM/cZBnNvjzaMYHVoxxfPj2QXt22Ev7SuuPrs+xav0ukGB0S6d4ydZdEiM48kLx5kDV+QBPrpVnFyefL8kkQ=="],
|
||||||
|
|
||||||
"is-bigint": ["is-bigint@1.1.0", "", { "dependencies": { "has-bigints": "^1.0.2" } }, "sha512-n4ZT37wG78iz03xPRKJrHTdZbe3IicyucEtdRsV5yglwc3GyUfbAfpSeD0FJ41NbUNSt5wbhqfp1fS+BgnvDFQ=="],
|
"is-bigint": ["is-bigint@1.1.0", "", { "dependencies": { "has-bigints": "^1.0.2" } }, "sha512-n4ZT37wG78iz03xPRKJrHTdZbe3IicyucEtdRsV5yglwc3GyUfbAfpSeD0FJ41NbUNSt5wbhqfp1fS+BgnvDFQ=="],
|
||||||
@@ -1145,7 +1147,7 @@
|
|||||||
|
|
||||||
"natural-compare": ["natural-compare@1.4.0", "", {}, "sha512-OWND8ei3VtNC9h7V60qff3SVobHr996CTwgxubgyQYEpg290h9J0buyECNNJexkFm5sOajh5G116RYA1c8ZMSw=="],
|
"natural-compare": ["natural-compare@1.4.0", "", {}, "sha512-OWND8ei3VtNC9h7V60qff3SVobHr996CTwgxubgyQYEpg290h9J0buyECNNJexkFm5sOajh5G116RYA1c8ZMSw=="],
|
||||||
|
|
||||||
"next": ["next@15.5.6", "", { "dependencies": { "@next/env": "15.5.6", "@swc/helpers": "0.5.15", "caniuse-lite": "^1.0.30001579", "postcss": "8.4.31", "styled-jsx": "5.1.6" }, "optionalDependencies": { "@next/swc-darwin-arm64": "15.5.6", "@next/swc-darwin-x64": "15.5.6", "@next/swc-linux-arm64-gnu": "15.5.6", "@next/swc-linux-arm64-musl": "15.5.6", "@next/swc-linux-x64-gnu": "15.5.6", "@next/swc-linux-x64-musl": "15.5.6", "@next/swc-win32-arm64-msvc": "15.5.6", "@next/swc-win32-x64-msvc": "15.5.6", "sharp": "^0.34.3" }, "peerDependencies": { "@opentelemetry/api": "^1.1.0", "@playwright/test": "^1.51.1", "babel-plugin-react-compiler": "*", "react": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "react-dom": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "sass": "^1.3.0" }, "optionalPeers": ["@opentelemetry/api", "@playwright/test", "babel-plugin-react-compiler", "sass"], "bin": { "next": "dist/bin/next" } }, "sha512-zTxsnI3LQo3c9HSdSf91O1jMNsEzIXDShXd4wVdg9y5shwLqBXi4ZtUUJyB86KGVSJLZx0PFONvO54aheGX8QQ=="],
|
"next": ["next@16.0.3", "", { "dependencies": { "@next/env": "16.0.3", "@swc/helpers": "0.5.15", "caniuse-lite": "^1.0.30001579", "postcss": "8.4.31", "styled-jsx": "5.1.6" }, "optionalDependencies": { "@next/swc-darwin-arm64": "16.0.3", "@next/swc-darwin-x64": "16.0.3", "@next/swc-linux-arm64-gnu": "16.0.3", "@next/swc-linux-arm64-musl": "16.0.3", "@next/swc-linux-x64-gnu": "16.0.3", "@next/swc-linux-x64-musl": "16.0.3", "@next/swc-win32-arm64-msvc": "16.0.3", "@next/swc-win32-x64-msvc": "16.0.3", "sharp": "^0.34.4" }, "peerDependencies": { "@opentelemetry/api": "^1.1.0", "@playwright/test": "^1.51.1", "babel-plugin-react-compiler": "*", "react": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "react-dom": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "sass": "^1.3.0" }, "optionalPeers": ["@opentelemetry/api", "@playwright/test", "babel-plugin-react-compiler", "sass"], "bin": { "next": "dist/bin/next" } }, "sha512-Ka0/iNBblPFcIubTA1Jjh6gvwqfjrGq1Y2MTI5lbjeLIAfmC+p5bQmojpRZqgHHVu5cG4+qdIiwXiBSm/8lZ3w=="],
|
||||||
|
|
||||||
"next-auth": ["next-auth@5.0.0-beta.29", "", { "dependencies": { "@auth/core": "0.40.0" }, "peerDependencies": { "@simplewebauthn/browser": "^9.0.1", "@simplewebauthn/server": "^9.0.2", "next": "^14.0.0-0 || ^15.0.0-0", "nodemailer": "^6.6.5", "react": "^18.2.0 || ^19.0.0-0" }, "optionalPeers": ["@simplewebauthn/browser", "@simplewebauthn/server", "nodemailer"] }, "sha512-Ukpnuk3NMc/LiOl32njZPySk7pABEzbjhMUFd5/n10I0ZNC7NCuVv8IY2JgbDek2t/PUOifQEoUiOOTLy4os5A=="],
|
"next-auth": ["next-auth@5.0.0-beta.29", "", { "dependencies": { "@auth/core": "0.40.0" }, "peerDependencies": { "@simplewebauthn/browser": "^9.0.1", "@simplewebauthn/server": "^9.0.2", "next": "^14.0.0-0 || ^15.0.0-0", "nodemailer": "^6.6.5", "react": "^18.2.0 || ^19.0.0-0" }, "optionalPeers": ["@simplewebauthn/browser", "@simplewebauthn/server", "nodemailer"] }, "sha512-Ukpnuk3NMc/LiOl32njZPySk7pABEzbjhMUFd5/n10I0ZNC7NCuVv8IY2JgbDek2t/PUOifQEoUiOOTLy4os5A=="],
|
||||||
|
|
||||||
@@ -1275,7 +1277,7 @@
|
|||||||
|
|
||||||
"set-proto": ["set-proto@1.0.0", "", { "dependencies": { "dunder-proto": "^1.0.1", "es-errors": "^1.3.0", "es-object-atoms": "^1.0.0" } }, "sha512-RJRdvCo6IAnPdsvP/7m6bsQqNnn1FCBX5ZNtFL98MmFF/4xAIJTIg1YbHW5DC2W5SKZanrC6i4HsJqlajw/dZw=="],
|
"set-proto": ["set-proto@1.0.0", "", { "dependencies": { "dunder-proto": "^1.0.1", "es-errors": "^1.3.0", "es-object-atoms": "^1.0.0" } }, "sha512-RJRdvCo6IAnPdsvP/7m6bsQqNnn1FCBX5ZNtFL98MmFF/4xAIJTIg1YbHW5DC2W5SKZanrC6i4HsJqlajw/dZw=="],
|
||||||
|
|
||||||
"sharp": ["sharp@0.34.3", "", { "dependencies": { "color": "^4.2.3", "detect-libc": "^2.0.4", "semver": "^7.7.2" }, "optionalDependencies": { "@img/sharp-darwin-arm64": "0.34.3", "@img/sharp-darwin-x64": "0.34.3", "@img/sharp-libvips-darwin-arm64": "1.2.0", "@img/sharp-libvips-darwin-x64": "1.2.0", "@img/sharp-libvips-linux-arm": "1.2.0", "@img/sharp-libvips-linux-arm64": "1.2.0", "@img/sharp-libvips-linux-ppc64": "1.2.0", "@img/sharp-libvips-linux-s390x": "1.2.0", "@img/sharp-libvips-linux-x64": "1.2.0", "@img/sharp-libvips-linuxmusl-arm64": "1.2.0", "@img/sharp-libvips-linuxmusl-x64": "1.2.0", "@img/sharp-linux-arm": "0.34.3", "@img/sharp-linux-arm64": "0.34.3", "@img/sharp-linux-ppc64": "0.34.3", "@img/sharp-linux-s390x": "0.34.3", "@img/sharp-linux-x64": "0.34.3", "@img/sharp-linuxmusl-arm64": "0.34.3", "@img/sharp-linuxmusl-x64": "0.34.3", "@img/sharp-wasm32": "0.34.3", "@img/sharp-win32-arm64": "0.34.3", "@img/sharp-win32-ia32": "0.34.3", "@img/sharp-win32-x64": "0.34.3" } }, "sha512-eX2IQ6nFohW4DbvHIOLRB3MHFpYqaqvXd3Tp5e/T/dSH83fxaNJQRvDMhASmkNTsNTVF2/OOopzRCt7xokgPfg=="],
|
"sharp": ["sharp@0.34.5", "", { "dependencies": { "@img/colour": "^1.0.0", "detect-libc": "^2.1.2", "semver": "^7.7.3" }, "optionalDependencies": { "@img/sharp-darwin-arm64": "0.34.5", "@img/sharp-darwin-x64": "0.34.5", "@img/sharp-libvips-darwin-arm64": "1.2.4", "@img/sharp-libvips-darwin-x64": "1.2.4", "@img/sharp-libvips-linux-arm": "1.2.4", "@img/sharp-libvips-linux-arm64": "1.2.4", "@img/sharp-libvips-linux-ppc64": "1.2.4", "@img/sharp-libvips-linux-riscv64": "1.2.4", "@img/sharp-libvips-linux-s390x": "1.2.4", "@img/sharp-libvips-linux-x64": "1.2.4", "@img/sharp-libvips-linuxmusl-arm64": "1.2.4", "@img/sharp-libvips-linuxmusl-x64": "1.2.4", "@img/sharp-linux-arm": "0.34.5", "@img/sharp-linux-arm64": "0.34.5", "@img/sharp-linux-ppc64": "0.34.5", "@img/sharp-linux-riscv64": "0.34.5", "@img/sharp-linux-s390x": "0.34.5", "@img/sharp-linux-x64": "0.34.5", "@img/sharp-linuxmusl-arm64": "0.34.5", "@img/sharp-linuxmusl-x64": "0.34.5", "@img/sharp-wasm32": "0.34.5", "@img/sharp-win32-arm64": "0.34.5", "@img/sharp-win32-ia32": "0.34.5", "@img/sharp-win32-x64": "0.34.5" } }, "sha512-Ou9I5Ft9WNcCbXrU9cMgPBcCK8LiwLqcbywW3t4oDV37n1pzpuNLsYiAV8eODnjbtQlSDwZ2cUEeQz4E54Hltg=="],
|
||||||
|
|
||||||
"shebang-command": ["shebang-command@2.0.0", "", { "dependencies": { "shebang-regex": "^3.0.0" } }, "sha512-kHxr2zZpYtdmrN1qDjrrX/Z1rR1kG8Dx+gkpK1G4eXmvXswmcE1hTWBWYUzlraYw1/yZp6YuDY77YtvbN0dmDA=="],
|
"shebang-command": ["shebang-command@2.0.0", "", { "dependencies": { "shebang-regex": "^3.0.0" } }, "sha512-kHxr2zZpYtdmrN1qDjrrX/Z1rR1kG8Dx+gkpK1G4eXmvXswmcE1hTWBWYUzlraYw1/yZp6YuDY77YtvbN0dmDA=="],
|
||||||
|
|
||||||
@@ -1293,8 +1295,6 @@
|
|||||||
|
|
||||||
"signal-exit": ["signal-exit@3.0.7", "", {}, "sha512-wnD2ZE+l+SPC/uoS0vXeE9L1+0wuaMqKlfz9AMUo38JsyLSBWSFcHR1Rri62LZc12vLr1gb3jl7iwQhgwpAbGQ=="],
|
"signal-exit": ["signal-exit@3.0.7", "", {}, "sha512-wnD2ZE+l+SPC/uoS0vXeE9L1+0wuaMqKlfz9AMUo38JsyLSBWSFcHR1Rri62LZc12vLr1gb3jl7iwQhgwpAbGQ=="],
|
||||||
|
|
||||||
"simple-swizzle": ["simple-swizzle@0.2.2", "", { "dependencies": { "is-arrayish": "^0.3.1" } }, "sha512-JA//kQgZtbuY83m+xT+tXJkmJncGMTFT+C+g2h2R9uxkYIrE2yy9sgmcLhCnw57/WSD+Eh3J97FPEDFnbXnDUg=="],
|
|
||||||
|
|
||||||
"sisteransi": ["sisteransi@1.0.5", "", {}, "sha512-bLGGlR1QxBcynn2d5YmDX4MGjlZvy2MRBDRNHLJ8VI6l6+9FUiyTFNJ0IveOSP0bcXgVDPRcfGqA0pjaqUpfVg=="],
|
"sisteransi": ["sisteransi@1.0.5", "", {}, "sha512-bLGGlR1QxBcynn2d5YmDX4MGjlZvy2MRBDRNHLJ8VI6l6+9FUiyTFNJ0IveOSP0bcXgVDPRcfGqA0pjaqUpfVg=="],
|
||||||
|
|
||||||
"sonner": ["sonner@2.0.7", "", { "peerDependencies": { "react": "^18.0.0 || ^19.0.0 || ^19.0.0-rc", "react-dom": "^18.0.0 || ^19.0.0 || ^19.0.0-rc" } }, "sha512-W6ZN4p58k8aDKA4XPcx2hpIQXBRAgyiWVkYhT7CvK6D3iAu7xjvVyhQHg2/iaKJZ1XVJ4r7XuwGL+WGEK37i9w=="],
|
"sonner": ["sonner@2.0.7", "", { "peerDependencies": { "react": "^18.0.0 || ^19.0.0 || ^19.0.0-rc", "react-dom": "^18.0.0 || ^19.0.0 || ^19.0.0-rc" } }, "sha512-W6ZN4p58k8aDKA4XPcx2hpIQXBRAgyiWVkYhT7CvK6D3iAu7xjvVyhQHg2/iaKJZ1XVJ4r7XuwGL+WGEK37i9w=="],
|
||||||
@@ -1437,6 +1437,8 @@
|
|||||||
|
|
||||||
"@humanfs/node/@humanwhocodes/retry": ["@humanwhocodes/retry@0.3.1", "", {}, "sha512-JBxkERygn7Bv/GbN5Rv8Ul6LVknS+5Bp6RgDC/O8gEBU/yeH5Ui5C/OlWrTb6qct7LjjfT6Re2NxB0ln0yYybA=="],
|
"@humanfs/node/@humanwhocodes/retry": ["@humanwhocodes/retry@0.3.1", "", {}, "sha512-JBxkERygn7Bv/GbN5Rv8Ul6LVknS+5Bp6RgDC/O8gEBU/yeH5Ui5C/OlWrTb6qct7LjjfT6Re2NxB0ln0yYybA=="],
|
||||||
|
|
||||||
|
"@napi-rs/wasm-runtime/@emnapi/runtime": ["@emnapi/runtime@1.4.5", "", { "dependencies": { "tslib": "^2.4.0" } }, "sha512-++LApOtY0pEEz1zrd9vy1/zXVaVJJ/EbAF3u0fXIzPJEDtnITsBGbbK0EkM72amhl/R5b+5xx0Y/QhcVOpuulg=="],
|
||||||
|
|
||||||
"@radix-ui/react-menu/@radix-ui/react-roving-focus": ["@radix-ui/react-roving-focus@1.1.10", "", { "dependencies": { "@radix-ui/primitive": "1.1.2", "@radix-ui/react-collection": "1.1.7", "@radix-ui/react-compose-refs": "1.1.2", "@radix-ui/react-context": "1.1.2", "@radix-ui/react-direction": "1.1.1", "@radix-ui/react-id": "1.1.1", "@radix-ui/react-primitive": "2.1.3", "@radix-ui/react-use-callback-ref": "1.1.1", "@radix-ui/react-use-controllable-state": "1.2.2" }, "peerDependencies": { "@types/react": "*", "@types/react-dom": "*", "react": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc", "react-dom": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc" }, "optionalPeers": ["@types/react", "@types/react-dom"] }, "sha512-dT9aOXUen9JSsxnMPv/0VqySQf5eDQ6LCk5Sw28kamz8wSOW2bJdlX2Bg5VUIIcV+6XlHpWTIuTPCf/UNIyq8Q=="],
|
"@radix-ui/react-menu/@radix-ui/react-roving-focus": ["@radix-ui/react-roving-focus@1.1.10", "", { "dependencies": { "@radix-ui/primitive": "1.1.2", "@radix-ui/react-collection": "1.1.7", "@radix-ui/react-compose-refs": "1.1.2", "@radix-ui/react-context": "1.1.2", "@radix-ui/react-direction": "1.1.1", "@radix-ui/react-id": "1.1.1", "@radix-ui/react-primitive": "2.1.3", "@radix-ui/react-use-callback-ref": "1.1.1", "@radix-ui/react-use-controllable-state": "1.2.2" }, "peerDependencies": { "@types/react": "*", "@types/react-dom": "*", "react": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc", "react-dom": "^16.8 || ^17.0 || ^18.0 || ^19.0 || ^19.0.0-rc" }, "optionalPeers": ["@types/react", "@types/react-dom"] }, "sha512-dT9aOXUen9JSsxnMPv/0VqySQf5eDQ6LCk5Sw28kamz8wSOW2bJdlX2Bg5VUIIcV+6XlHpWTIuTPCf/UNIyq8Q=="],
|
||||||
|
|
||||||
"@radix-ui/react-roving-focus/@radix-ui/primitive": ["@radix-ui/primitive@1.1.3", "", {}, "sha512-JTF99U/6XIjCBo0wqkU5sK10glYe27MRRsfwoiq5zzOEZLHU3A3KCMa5X/azekYRCJ0HlwI0crAXS/5dEHTzDg=="],
|
"@radix-ui/react-roving-focus/@radix-ui/primitive": ["@radix-ui/primitive@1.1.3", "", {}, "sha512-JTF99U/6XIjCBo0wqkU5sK10glYe27MRRsfwoiq5zzOEZLHU3A3KCMa5X/azekYRCJ0HlwI0crAXS/5dEHTzDg=="],
|
||||||
@@ -1495,6 +1497,10 @@
|
|||||||
|
|
||||||
"restore-cursor/onetime": ["onetime@5.1.2", "", { "dependencies": { "mimic-fn": "^2.1.0" } }, "sha512-kbpaSSGJTWdAY5KPVeMOKXSrPtr8C8C7wodJbcsd51jRnmD+GZu8Y0VoU6Dm5Z4vWr0Ig/1NKuWRKf7j5aaYSg=="],
|
"restore-cursor/onetime": ["onetime@5.1.2", "", { "dependencies": { "mimic-fn": "^2.1.0" } }, "sha512-kbpaSSGJTWdAY5KPVeMOKXSrPtr8C8C7wodJbcsd51jRnmD+GZu8Y0VoU6Dm5Z4vWr0Ig/1NKuWRKf7j5aaYSg=="],
|
||||||
|
|
||||||
|
"sharp/detect-libc": ["detect-libc@2.1.2", "", {}, "sha512-Btj2BOOO83o3WyH59e8MgXsxEQVcarkUOpEYrubB0urwnN10yQ364rsiByU11nZlqWYZm05i/of7io4mzihBtQ=="],
|
||||||
|
|
||||||
|
"sharp/semver": ["semver@7.7.3", "", { "bin": { "semver": "bin/semver.js" } }, "sha512-SdsKMrI9TdgjdweUSR9MweHA4EJ8YxHn8DFaDisvhVlUOe4BF1tLD7GAj0lIqWVl+dPb/rExr0Btby5loQm20Q=="],
|
||||||
|
|
||||||
"@aws-crypto/sha1-browser/@smithy/util-utf8/@smithy/util-buffer-from": ["@smithy/util-buffer-from@2.2.0", "", { "dependencies": { "@smithy/is-array-buffer": "^2.2.0", "tslib": "^2.6.2" } }, "sha512-IJdWBbTcMQ6DA0gdNhh/BwrLkDR+ADW5Kr1aZmd4k3DIF6ezMV4R2NIAmT08wQJ3yUK82thHWmC/TnK/wpMMIA=="],
|
"@aws-crypto/sha1-browser/@smithy/util-utf8/@smithy/util-buffer-from": ["@smithy/util-buffer-from@2.2.0", "", { "dependencies": { "@smithy/is-array-buffer": "^2.2.0", "tslib": "^2.6.2" } }, "sha512-IJdWBbTcMQ6DA0gdNhh/BwrLkDR+ADW5Kr1aZmd4k3DIF6ezMV4R2NIAmT08wQJ3yUK82thHWmC/TnK/wpMMIA=="],
|
||||||
|
|
||||||
"@aws-crypto/sha256-browser/@smithy/util-utf8/@smithy/util-buffer-from": ["@smithy/util-buffer-from@2.2.0", "", { "dependencies": { "@smithy/is-array-buffer": "^2.2.0", "tslib": "^2.6.2" } }, "sha512-IJdWBbTcMQ6DA0gdNhh/BwrLkDR+ADW5Kr1aZmd4k3DIF6ezMV4R2NIAmT08wQJ3yUK82thHWmC/TnK/wpMMIA=="],
|
"@aws-crypto/sha256-browser/@smithy/util-utf8/@smithy/util-buffer-from": ["@smithy/util-buffer-from@2.2.0", "", { "dependencies": { "@smithy/is-array-buffer": "^2.2.0", "tslib": "^2.6.2" } }, "sha512-IJdWBbTcMQ6DA0gdNhh/BwrLkDR+ADW5Kr1aZmd4k3DIF6ezMV4R2NIAmT08wQJ3yUK82thHWmC/TnK/wpMMIA=="],
|
||||||
|
|||||||
@@ -62,7 +62,7 @@
|
|||||||
"date-fns": "^4.1.0",
|
"date-fns": "^4.1.0",
|
||||||
"drizzle-orm": "^0.41.0",
|
"drizzle-orm": "^0.41.0",
|
||||||
"lucide-react": "^0.536.0",
|
"lucide-react": "^0.536.0",
|
||||||
"next": "^15.5.6",
|
"next": "^16.0.3",
|
||||||
"next-auth": "^5.0.0-beta.29",
|
"next-auth": "^5.0.0-beta.29",
|
||||||
"postgres": "^3.4.4",
|
"postgres": "^3.4.4",
|
||||||
"react": "^19.0.0",
|
"react": "^19.0.0",
|
||||||
@@ -102,6 +102,8 @@
|
|||||||
},
|
},
|
||||||
"trustedDependencies": [
|
"trustedDependencies": [
|
||||||
"@tailwindcss/oxide",
|
"@tailwindcss/oxide",
|
||||||
|
"esbuild",
|
||||||
|
"sharp",
|
||||||
"unrs-resolver"
|
"unrs-resolver"
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,6 +1,6 @@
|
|||||||
"use client";
|
"use client";
|
||||||
|
|
||||||
import React, { useState, useEffect } from "react";
|
import React, { useState, useEffect, useMemo, useCallback } from "react";
|
||||||
import {
|
import {
|
||||||
Bot,
|
Bot,
|
||||||
Play,
|
Play,
|
||||||
@@ -13,6 +13,8 @@ import {
|
|||||||
Eye,
|
Eye,
|
||||||
Hand,
|
Hand,
|
||||||
Zap,
|
Zap,
|
||||||
|
Wifi,
|
||||||
|
WifiOff,
|
||||||
} from "lucide-react";
|
} from "lucide-react";
|
||||||
import { Button } from "~/components/ui/button";
|
import { Button } from "~/components/ui/button";
|
||||||
import { Badge } from "~/components/ui/badge";
|
import { Badge } from "~/components/ui/badge";
|
||||||
@@ -45,6 +47,7 @@ import {
|
|||||||
} from "~/components/ui/collapsible";
|
} from "~/components/ui/collapsible";
|
||||||
import { api } from "~/trpc/react";
|
import { api } from "~/trpc/react";
|
||||||
import { toast } from "sonner";
|
import { toast } from "sonner";
|
||||||
|
import { useWizardRos } from "~/hooks/useWizardRos";
|
||||||
|
|
||||||
interface RobotAction {
|
interface RobotAction {
|
||||||
id: string;
|
id: string;
|
||||||
@@ -85,16 +88,46 @@ interface Plugin {
|
|||||||
interface RobotActionsPanelProps {
|
interface RobotActionsPanelProps {
|
||||||
studyId: string;
|
studyId: string;
|
||||||
trialId: string;
|
trialId: string;
|
||||||
onExecuteAction: (
|
onExecuteAction?: (
|
||||||
pluginName: string,
|
pluginName: string,
|
||||||
actionId: string,
|
actionId: string,
|
||||||
parameters: Record<string, unknown>,
|
parameters: Record<string, unknown>,
|
||||||
) => Promise<void>;
|
) => Promise<void>;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Helper functions moved outside component to prevent re-renders
|
||||||
|
const getCategoryIcon = (category: string) => {
|
||||||
|
switch (category.toLowerCase()) {
|
||||||
|
case "movement":
|
||||||
|
return Move;
|
||||||
|
case "speech":
|
||||||
|
return Volume2;
|
||||||
|
case "sensors":
|
||||||
|
return Eye;
|
||||||
|
case "interaction":
|
||||||
|
return Hand;
|
||||||
|
default:
|
||||||
|
return Zap;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
const groupActionsByCategory = (actions: RobotAction[]) => {
|
||||||
|
const grouped: Record<string, RobotAction[]> = {};
|
||||||
|
|
||||||
|
actions.forEach((action) => {
|
||||||
|
const category = action.category ?? "other";
|
||||||
|
if (!grouped[category]) {
|
||||||
|
grouped[category] = [];
|
||||||
|
}
|
||||||
|
grouped[category]!.push(action);
|
||||||
|
});
|
||||||
|
|
||||||
|
return grouped;
|
||||||
|
};
|
||||||
|
|
||||||
export function RobotActionsPanel({
|
export function RobotActionsPanel({
|
||||||
studyId,
|
studyId,
|
||||||
trialId,
|
trialId: _trialId,
|
||||||
onExecuteAction,
|
onExecuteAction,
|
||||||
}: RobotActionsPanelProps) {
|
}: RobotActionsPanelProps) {
|
||||||
const [selectedPlugin, setSelectedPlugin] = useState<string>("");
|
const [selectedPlugin, setSelectedPlugin] = useState<string>("");
|
||||||
@@ -111,15 +144,52 @@ export function RobotActionsPanel({
|
|||||||
new Set(["movement", "speech"]),
|
new Set(["movement", "speech"]),
|
||||||
);
|
);
|
||||||
|
|
||||||
|
// WebSocket ROS integration
|
||||||
|
const {
|
||||||
|
isConnected: rosConnected,
|
||||||
|
isConnecting: rosConnecting,
|
||||||
|
connectionError: rosError,
|
||||||
|
robotStatus,
|
||||||
|
activeActions,
|
||||||
|
connect: connectRos,
|
||||||
|
disconnect: disconnectRos,
|
||||||
|
executeRobotAction: executeRosAction,
|
||||||
|
} = useWizardRos({
|
||||||
|
autoConnect: true,
|
||||||
|
onActionCompleted: (execution) => {
|
||||||
|
toast.success(`Completed: ${execution.actionId}`, {
|
||||||
|
description: `Action executed in ${execution.endTime ? execution.endTime.getTime() - execution.startTime.getTime() : 0}ms`,
|
||||||
|
});
|
||||||
|
// Remove from executing set
|
||||||
|
setExecutingActions((prev) => {
|
||||||
|
const next = new Set(prev);
|
||||||
|
next.delete(`${execution.pluginName}.${execution.actionId}`);
|
||||||
|
return next;
|
||||||
|
});
|
||||||
|
},
|
||||||
|
onActionFailed: (execution) => {
|
||||||
|
toast.error(`Failed: ${execution.actionId}`, {
|
||||||
|
description: execution.error || "Unknown error",
|
||||||
|
});
|
||||||
|
// Remove from executing set
|
||||||
|
setExecutingActions((prev) => {
|
||||||
|
const next = new Set(prev);
|
||||||
|
next.delete(`${execution.pluginName}.${execution.actionId}`);
|
||||||
|
return next;
|
||||||
|
});
|
||||||
|
},
|
||||||
|
});
|
||||||
|
|
||||||
// Get installed plugins for the study
|
// Get installed plugins for the study
|
||||||
const { data: plugins = [], isLoading } =
|
const { data: plugins = [], isLoading } =
|
||||||
api.robots.plugins.getStudyPlugins.useQuery({
|
api.robots.plugins.getStudyPlugins.useQuery({
|
||||||
studyId,
|
studyId,
|
||||||
});
|
});
|
||||||
|
|
||||||
// Get actions for selected plugin
|
// Get actions for selected plugin - memoized to prevent infinite re-renders
|
||||||
const selectedPluginData = plugins.find(
|
const selectedPluginData = useMemo(
|
||||||
(p) => p.plugin.id === selectedPlugin,
|
() => plugins.find((p) => p.plugin.id === selectedPlugin),
|
||||||
|
[plugins, selectedPlugin],
|
||||||
);
|
);
|
||||||
|
|
||||||
// Initialize parameters when action changes
|
// Initialize parameters when action changes
|
||||||
@@ -155,22 +225,87 @@ export function RobotActionsPanel({
|
|||||||
}
|
}
|
||||||
}, [selectedAction]);
|
}, [selectedAction]);
|
||||||
|
|
||||||
const handleExecuteAction = async () => {
|
const toggleCategory = useCallback((category: string) => {
|
||||||
|
setExpandedCategories((prev) => {
|
||||||
|
const next = new Set(prev);
|
||||||
|
if (next.has(category)) {
|
||||||
|
next.delete(category);
|
||||||
|
} else {
|
||||||
|
next.add(category);
|
||||||
|
}
|
||||||
|
return next;
|
||||||
|
});
|
||||||
|
}, []);
|
||||||
|
|
||||||
|
const handleExecuteAction = useCallback(async () => {
|
||||||
if (!selectedAction || !selectedPluginData) return;
|
if (!selectedAction || !selectedPluginData) return;
|
||||||
|
|
||||||
const actionKey = `${selectedPluginData.plugin.name}.${selectedAction.id}`;
|
const actionKey = `${selectedPluginData.plugin.name}.${selectedAction.id}`;
|
||||||
setExecutingActions((prev) => new Set([...prev, actionKey]));
|
setExecutingActions((prev) => new Set([...prev, actionKey]));
|
||||||
|
|
||||||
try {
|
try {
|
||||||
await onExecuteAction(
|
// Get action configuration from plugin
|
||||||
selectedPluginData.plugin.name,
|
const actionDef = (
|
||||||
selectedAction.id,
|
selectedPluginData.plugin.actionDefinitions as RobotAction[]
|
||||||
actionParameters,
|
)?.find((def: RobotAction) => def.id === selectedAction.id);
|
||||||
);
|
|
||||||
|
|
||||||
toast.success(`Executed: ${selectedAction.name}`, {
|
// Try direct WebSocket execution first
|
||||||
description: `Robot action completed successfully`,
|
if (rosConnected && actionDef) {
|
||||||
});
|
try {
|
||||||
|
// Look for ROS2 configuration in the action definition
|
||||||
|
const actionConfig = (actionDef as any).ros2
|
||||||
|
? {
|
||||||
|
topic: (actionDef as any).ros2.topic,
|
||||||
|
messageType: (actionDef as any).ros2.messageType,
|
||||||
|
payloadMapping: (actionDef as any).ros2.payloadMapping,
|
||||||
|
}
|
||||||
|
: undefined;
|
||||||
|
|
||||||
|
await executeRosAction(
|
||||||
|
selectedPluginData.plugin.name,
|
||||||
|
selectedAction.id,
|
||||||
|
actionParameters,
|
||||||
|
actionConfig,
|
||||||
|
);
|
||||||
|
|
||||||
|
toast.success(`Executed: ${selectedAction.name}`, {
|
||||||
|
description: `Robot action completed via WebSocket`,
|
||||||
|
});
|
||||||
|
} catch (rosError) {
|
||||||
|
console.warn(
|
||||||
|
"WebSocket execution failed, falling back to tRPC:",
|
||||||
|
rosError,
|
||||||
|
);
|
||||||
|
|
||||||
|
// Fallback to tRPC execution
|
||||||
|
if (onExecuteAction) {
|
||||||
|
await onExecuteAction(
|
||||||
|
selectedPluginData.plugin.name,
|
||||||
|
selectedAction.id,
|
||||||
|
actionParameters,
|
||||||
|
);
|
||||||
|
|
||||||
|
toast.success(`Executed: ${selectedAction.name}`, {
|
||||||
|
description: `Robot action completed via tRPC fallback`,
|
||||||
|
});
|
||||||
|
} else {
|
||||||
|
throw rosError;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else if (onExecuteAction) {
|
||||||
|
// Use tRPC execution if WebSocket not available
|
||||||
|
await onExecuteAction(
|
||||||
|
selectedPluginData.plugin.name,
|
||||||
|
selectedAction.id,
|
||||||
|
actionParameters,
|
||||||
|
);
|
||||||
|
|
||||||
|
toast.success(`Executed: ${selectedAction.name}`, {
|
||||||
|
description: `Robot action completed via tRPC`,
|
||||||
|
});
|
||||||
|
} else {
|
||||||
|
throw new Error("No execution method available");
|
||||||
|
}
|
||||||
} catch (error) {
|
} catch (error) {
|
||||||
toast.error(`Failed to execute: ${selectedAction.name}`, {
|
toast.error(`Failed to execute: ${selectedAction.name}`, {
|
||||||
description: error instanceof Error ? error.message : "Unknown error",
|
description: error instanceof Error ? error.message : "Unknown error",
|
||||||
@@ -182,18 +317,27 @@ export function RobotActionsPanel({
|
|||||||
return next;
|
return next;
|
||||||
});
|
});
|
||||||
}
|
}
|
||||||
};
|
}, [
|
||||||
|
selectedAction,
|
||||||
|
selectedPluginData,
|
||||||
|
rosConnected,
|
||||||
|
executeRosAction,
|
||||||
|
onExecuteAction,
|
||||||
|
]);
|
||||||
|
|
||||||
const handleParameterChange = (paramName: string, value: unknown) => {
|
const handleParameterChange = useCallback(
|
||||||
setActionParameters((prev) => ({
|
(paramName: string, value: unknown) => {
|
||||||
...prev,
|
setActionParameters((prev) => ({
|
||||||
[paramName]: value,
|
...prev,
|
||||||
}));
|
[paramName]: value,
|
||||||
};
|
}));
|
||||||
|
},
|
||||||
|
[],
|
||||||
|
);
|
||||||
|
|
||||||
const renderParameterInput = (
|
const renderParameterInput = (
|
||||||
param: NonNullable<RobotAction["parameters"]>[0],
|
param: NonNullable<RobotAction["parameters"]>[0],
|
||||||
paramIndex: number,
|
_paramIndex: number,
|
||||||
) => {
|
) => {
|
||||||
if (!param) return null;
|
if (!param) return null;
|
||||||
|
|
||||||
@@ -323,47 +467,6 @@ export function RobotActionsPanel({
|
|||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
const getCategoryIcon = (category: string) => {
|
|
||||||
switch (category.toLowerCase()) {
|
|
||||||
case "movement":
|
|
||||||
return Move;
|
|
||||||
case "speech":
|
|
||||||
return Volume2;
|
|
||||||
case "sensors":
|
|
||||||
return Eye;
|
|
||||||
case "interaction":
|
|
||||||
return Hand;
|
|
||||||
default:
|
|
||||||
return Zap;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
const groupActionsByCategory = (actions: RobotAction[]) => {
|
|
||||||
const grouped: Record<string, RobotAction[]> = {};
|
|
||||||
|
|
||||||
actions.forEach((action) => {
|
|
||||||
const category = action.category || "other";
|
|
||||||
if (!grouped[category]) {
|
|
||||||
grouped[category] = [];
|
|
||||||
}
|
|
||||||
grouped[category].push(action);
|
|
||||||
});
|
|
||||||
|
|
||||||
return grouped;
|
|
||||||
};
|
|
||||||
|
|
||||||
const toggleCategory = (category: string) => {
|
|
||||||
setExpandedCategories((prev) => {
|
|
||||||
const next = new Set(prev);
|
|
||||||
if (next.has(category)) {
|
|
||||||
next.delete(category);
|
|
||||||
} else {
|
|
||||||
next.add(category);
|
|
||||||
}
|
|
||||||
return next;
|
|
||||||
});
|
|
||||||
};
|
|
||||||
|
|
||||||
if (isLoading) {
|
if (isLoading) {
|
||||||
return (
|
return (
|
||||||
<div className="flex items-center justify-center p-8">
|
<div className="flex items-center justify-center p-8">
|
||||||
@@ -375,18 +478,68 @@ export function RobotActionsPanel({
|
|||||||
|
|
||||||
if (plugins.length === 0) {
|
if (plugins.length === 0) {
|
||||||
return (
|
return (
|
||||||
<Alert>
|
<div className="space-y-3">
|
||||||
<AlertCircle className="h-4 w-4" />
|
<div className="flex items-center justify-between rounded-lg border p-3">
|
||||||
<AlertDescription>
|
<div className="flex items-center space-x-2">
|
||||||
No robot plugins installed for this study. Install plugins from the
|
{rosConnected ? (
|
||||||
study settings to enable robot control.
|
<Wifi className="h-4 w-4 text-green-500" />
|
||||||
</AlertDescription>
|
) : rosConnecting ? (
|
||||||
</Alert>
|
<Loader2 className="h-4 w-4 animate-spin text-yellow-500" />
|
||||||
|
) : (
|
||||||
|
<WifiOff className="h-4 w-4 text-red-500" />
|
||||||
|
)}
|
||||||
|
<span className="text-sm font-medium">ROS Bridge</span>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div className="flex items-center space-x-2">
|
||||||
|
<Badge
|
||||||
|
variant={
|
||||||
|
rosConnected
|
||||||
|
? "default"
|
||||||
|
: rosConnecting
|
||||||
|
? "secondary"
|
||||||
|
: "destructive"
|
||||||
|
}
|
||||||
|
className="text-xs"
|
||||||
|
>
|
||||||
|
{rosConnected
|
||||||
|
? "Connected"
|
||||||
|
: rosConnecting
|
||||||
|
? "Connecting"
|
||||||
|
: "Disconnected"}
|
||||||
|
</Badge>
|
||||||
|
|
||||||
|
{!rosConnected && !rosConnecting && (
|
||||||
|
<Button size="sm" variant="outline" onClick={() => connectRos()}>
|
||||||
|
Connect
|
||||||
|
</Button>
|
||||||
|
)}
|
||||||
|
|
||||||
|
{rosConnected && (
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => disconnectRos()}
|
||||||
|
>
|
||||||
|
Disconnect
|
||||||
|
</Button>
|
||||||
|
)}
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
<Alert>
|
||||||
|
<AlertCircle className="h-4 w-4" />
|
||||||
|
<AlertDescription>
|
||||||
|
No robot plugins are installed in this study. Install plugins to
|
||||||
|
control robots during trials.
|
||||||
|
</AlertDescription>
|
||||||
|
</Alert>
|
||||||
|
</div>
|
||||||
);
|
);
|
||||||
}
|
}
|
||||||
|
|
||||||
return (
|
return (
|
||||||
<div className="space-y-4">
|
<div className="space-y-4">
|
||||||
|
<ConnectionStatus />
|
||||||
{/* Plugin Selection */}
|
{/* Plugin Selection */}
|
||||||
<div className="space-y-2">
|
<div className="space-y-2">
|
||||||
<Label>Select Robot Plugin</Label>
|
<Label>Select Robot Plugin</Label>
|
||||||
@@ -523,92 +676,429 @@ export function RobotActionsPanel({
|
|||||||
</>
|
</>
|
||||||
)}
|
)}
|
||||||
</Button>
|
</Button>
|
||||||
|
|
||||||
{/* Quick Actions for Common Robot Commands */}
|
|
||||||
{selectedAction.category === "movement" && selectedPluginData && (
|
|
||||||
<div className="grid grid-cols-2 gap-2 pt-2">
|
|
||||||
<Button
|
|
||||||
variant="outline"
|
|
||||||
size="sm"
|
|
||||||
onClick={() => {
|
|
||||||
if (!selectedPluginData) return;
|
|
||||||
const stopAction = (
|
|
||||||
selectedPluginData.plugin
|
|
||||||
.actionDefinitions as RobotAction[]
|
|
||||||
)?.find((a: RobotAction) => a.id === "stop_movement");
|
|
||||||
if (stopAction) {
|
|
||||||
onExecuteAction(
|
|
||||||
selectedPluginData.plugin.name,
|
|
||||||
stopAction.id,
|
|
||||||
{},
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}}
|
|
||||||
disabled={
|
|
||||||
!selectedPluginData ||
|
|
||||||
!(
|
|
||||||
selectedPluginData.plugin
|
|
||||||
.actionDefinitions as RobotAction[]
|
|
||||||
)?.some((a: RobotAction) => a.id === "stop_movement")
|
|
||||||
}
|
|
||||||
>
|
|
||||||
Emergency Stop
|
|
||||||
</Button>
|
|
||||||
<Button
|
|
||||||
variant="outline"
|
|
||||||
size="sm"
|
|
||||||
onClick={() => {
|
|
||||||
if (!selectedPluginData) return;
|
|
||||||
const wakeAction = (
|
|
||||||
selectedPluginData.plugin
|
|
||||||
.actionDefinitions as RobotAction[]
|
|
||||||
)?.find((a: RobotAction) => a.id === "wake_up");
|
|
||||||
if (wakeAction) {
|
|
||||||
onExecuteAction(
|
|
||||||
selectedPluginData.plugin.name,
|
|
||||||
wakeAction.id,
|
|
||||||
{},
|
|
||||||
);
|
|
||||||
}
|
|
||||||
}}
|
|
||||||
disabled={
|
|
||||||
!selectedPluginData ||
|
|
||||||
!(
|
|
||||||
selectedPluginData.plugin
|
|
||||||
.actionDefinitions as RobotAction[]
|
|
||||||
)?.some((a: RobotAction) => a.id === "wake_up")
|
|
||||||
}
|
|
||||||
>
|
|
||||||
Wake Up
|
|
||||||
</Button>
|
|
||||||
</div>
|
|
||||||
)}
|
|
||||||
</CardContent>
|
</CardContent>
|
||||||
</Card>
|
</Card>
|
||||||
)}
|
)}
|
||||||
|
|
||||||
{/* Plugin Info */}
|
{/* Quick Actions */}
|
||||||
|
<Card>
|
||||||
|
<CardHeader>
|
||||||
|
<CardTitle className="flex items-center space-x-2">
|
||||||
|
<Zap className="h-4 w-4" />
|
||||||
|
<span>Quick Actions</span>
|
||||||
|
</CardTitle>
|
||||||
|
<CardDescription>
|
||||||
|
Common robot actions for quick execution
|
||||||
|
</CardDescription>
|
||||||
|
</CardHeader>
|
||||||
|
<CardContent className="space-y-2">
|
||||||
|
<div className="grid grid-cols-2 gap-2">
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "say_text", {
|
||||||
|
text: "Hello, I am ready!",
|
||||||
|
}).catch((error) => {
|
||||||
|
console.error("Quick action failed:", error);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<Volume2 className="mr-1 h-3 w-3" />
|
||||||
|
Say Hello
|
||||||
|
</Button>
|
||||||
|
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "emergency_stop", {}).catch(
|
||||||
|
(error) => {
|
||||||
|
console.error("Emergency stop failed:", error);
|
||||||
|
},
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<AlertCircle className="mr-1 h-3 w-3" />
|
||||||
|
Stop
|
||||||
|
</Button>
|
||||||
|
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "turn_head", {
|
||||||
|
yaw: 0,
|
||||||
|
pitch: 0,
|
||||||
|
speed: 0.3,
|
||||||
|
}).catch((error) => {
|
||||||
|
console.error("Head center failed:", error);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<Eye className="mr-1 h-3 w-3" />
|
||||||
|
Center Head
|
||||||
|
</Button>
|
||||||
|
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "walk_forward", {
|
||||||
|
speed: 0.1,
|
||||||
|
duration: 2,
|
||||||
|
}).catch((error) => {
|
||||||
|
console.error("Walk forward failed:", error);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<Move className="mr-1 h-3 w-3" />
|
||||||
|
Walk Test
|
||||||
|
</Button>
|
||||||
|
</div>
|
||||||
|
</CardContent>
|
||||||
|
</Card>
|
||||||
|
</div>
|
||||||
|
);
|
||||||
|
|
||||||
|
function ConnectionStatus() {
|
||||||
|
return (
|
||||||
|
<div className="flex items-center justify-between rounded-lg border p-3">
|
||||||
|
<div className="flex items-center space-x-2">
|
||||||
|
{rosConnected ? (
|
||||||
|
<Wifi className="h-4 w-4 text-green-500" />
|
||||||
|
) : rosConnecting ? (
|
||||||
|
<Loader2 className="h-4 w-4 animate-spin text-yellow-500" />
|
||||||
|
) : (
|
||||||
|
<WifiOff className="h-4 w-4 text-red-500" />
|
||||||
|
)}
|
||||||
|
<span className="text-sm font-medium">ROS Bridge</span>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div className="flex items-center space-x-2">
|
||||||
|
<Badge
|
||||||
|
variant={
|
||||||
|
rosConnected
|
||||||
|
? "default"
|
||||||
|
: rosConnecting
|
||||||
|
? "secondary"
|
||||||
|
: "destructive"
|
||||||
|
}
|
||||||
|
className="text-xs"
|
||||||
|
>
|
||||||
|
{rosConnected
|
||||||
|
? "Connected"
|
||||||
|
: rosConnecting
|
||||||
|
? "Connecting"
|
||||||
|
: "Disconnected"}
|
||||||
|
</Badge>
|
||||||
|
|
||||||
|
{!rosConnected && !rosConnecting && (
|
||||||
|
<Button size="sm" variant="outline" onClick={() => connectRos()}>
|
||||||
|
Connect
|
||||||
|
</Button>
|
||||||
|
)}
|
||||||
|
|
||||||
|
{rosConnected && (
|
||||||
|
<Button size="sm" variant="outline" onClick={() => disconnectRos()}>
|
||||||
|
Disconnect
|
||||||
|
</Button>
|
||||||
|
)}
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
return (
|
||||||
|
<div className="space-y-4">
|
||||||
|
<div className="flex items-center justify-between rounded-lg border p-3">
|
||||||
|
<div className="flex items-center space-x-2">
|
||||||
|
{rosConnected ? (
|
||||||
|
<Wifi className="h-4 w-4 text-green-500" />
|
||||||
|
) : rosConnecting ? (
|
||||||
|
<Loader2 className="h-4 w-4 animate-spin text-yellow-500" />
|
||||||
|
) : (
|
||||||
|
<WifiOff className="h-4 w-4 text-red-500" />
|
||||||
|
)}
|
||||||
|
<span className="text-sm font-medium">ROS Bridge</span>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div className="flex items-center space-x-2">
|
||||||
|
<Badge
|
||||||
|
variant={
|
||||||
|
rosConnected
|
||||||
|
? "default"
|
||||||
|
: rosConnecting
|
||||||
|
? "secondary"
|
||||||
|
: "destructive"
|
||||||
|
}
|
||||||
|
className="text-xs"
|
||||||
|
>
|
||||||
|
{rosConnected
|
||||||
|
? "Connected"
|
||||||
|
: rosConnecting
|
||||||
|
? "Connecting"
|
||||||
|
: "Disconnected"}
|
||||||
|
</Badge>
|
||||||
|
|
||||||
|
{!rosConnected && !rosConnecting && (
|
||||||
|
<Button size="sm" variant="outline" onClick={() => connectRos()}>
|
||||||
|
Connect
|
||||||
|
</Button>
|
||||||
|
)}
|
||||||
|
|
||||||
|
{rosConnected && (
|
||||||
|
<Button size="sm" variant="outline" onClick={() => disconnectRos()}>
|
||||||
|
Disconnect
|
||||||
|
</Button>
|
||||||
|
)}
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
{/* Plugin Selection */}
|
||||||
|
<div className="space-y-2">
|
||||||
|
<Label>Select Robot Plugin</Label>
|
||||||
|
<Select value={selectedPlugin} onValueChange={setSelectedPlugin}>
|
||||||
|
<SelectTrigger>
|
||||||
|
<SelectValue placeholder="Choose a robot plugin" />
|
||||||
|
</SelectTrigger>
|
||||||
|
<SelectContent>
|
||||||
|
{plugins.map((plugin) => (
|
||||||
|
<SelectItem key={plugin.plugin.id} value={plugin.plugin.id}>
|
||||||
|
<div className="flex items-center space-x-2">
|
||||||
|
<Bot className="h-4 w-4" />
|
||||||
|
<span>
|
||||||
|
{plugin.plugin.name} v{plugin.plugin.version}
|
||||||
|
</span>
|
||||||
|
<Badge variant="outline" className="ml-auto">
|
||||||
|
{plugin.plugin.trustLevel}
|
||||||
|
</Badge>
|
||||||
|
</div>
|
||||||
|
</SelectItem>
|
||||||
|
))}
|
||||||
|
</SelectContent>
|
||||||
|
</Select>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
{/* Action Selection */}
|
||||||
{selectedPluginData && (
|
{selectedPluginData && (
|
||||||
<Alert>
|
<div className="space-y-2">
|
||||||
<CheckCircle className="h-4 w-4" />
|
<Label>Available Actions</Label>
|
||||||
<AlertDescription>
|
<ScrollArea className="h-64 rounded-md border">
|
||||||
<strong>{selectedPluginData.plugin.name}</strong> -{" "}
|
<div className="space-y-2 p-2">
|
||||||
{selectedPluginData.plugin.description}
|
{selectedPluginData &&
|
||||||
<br />
|
Object.entries(
|
||||||
<span className="text-xs">
|
groupActionsByCategory(
|
||||||
Installed:{" "}
|
(selectedPluginData.plugin
|
||||||
{selectedPluginData.installation.installedAt.toLocaleDateString()}{" "}
|
.actionDefinitions as RobotAction[]) ?? [],
|
||||||
| Trust Level: {selectedPluginData.plugin.trustLevel} | Actions:{" "}
|
),
|
||||||
{
|
).map(([category, actions]) => {
|
||||||
(
|
const CategoryIcon = getCategoryIcon(category);
|
||||||
(selectedPluginData.plugin
|
const isExpanded = expandedCategories.has(category);
|
||||||
.actionDefinitions as RobotAction[]) || []
|
|
||||||
).length
|
return (
|
||||||
}
|
<Collapsible
|
||||||
</span>
|
key={category}
|
||||||
</AlertDescription>
|
open={isExpanded}
|
||||||
</Alert>
|
onOpenChange={() => toggleCategory(category)}
|
||||||
|
>
|
||||||
|
<CollapsibleTrigger asChild>
|
||||||
|
<Button
|
||||||
|
variant="ghost"
|
||||||
|
className="w-full justify-start p-2"
|
||||||
|
>
|
||||||
|
<CategoryIcon className="mr-2 h-4 w-4" />
|
||||||
|
{category.charAt(0).toUpperCase() + category.slice(1)}
|
||||||
|
<Badge variant="secondary" className="ml-auto">
|
||||||
|
{actions.length}
|
||||||
|
</Badge>
|
||||||
|
</Button>
|
||||||
|
</CollapsibleTrigger>
|
||||||
|
<CollapsibleContent className="ml-6 space-y-1">
|
||||||
|
{actions.map((action) => (
|
||||||
|
<Button
|
||||||
|
key={action.id}
|
||||||
|
variant={
|
||||||
|
selectedAction?.id === action.id
|
||||||
|
? "default"
|
||||||
|
: "ghost"
|
||||||
|
}
|
||||||
|
className="w-full justify-start text-sm"
|
||||||
|
onClick={() => setSelectedAction(action)}
|
||||||
|
>
|
||||||
|
{action.name}
|
||||||
|
</Button>
|
||||||
|
))}
|
||||||
|
</CollapsibleContent>
|
||||||
|
</Collapsible>
|
||||||
|
);
|
||||||
|
})}
|
||||||
|
</div>
|
||||||
|
</ScrollArea>
|
||||||
|
</div>
|
||||||
)}
|
)}
|
||||||
|
|
||||||
|
{/* Action Configuration */}
|
||||||
|
{selectedAction && (
|
||||||
|
<Card>
|
||||||
|
<CardHeader>
|
||||||
|
<CardTitle className="flex items-center space-x-2">
|
||||||
|
<Bot className="h-4 w-4" />
|
||||||
|
<span>{selectedAction?.name}</span>
|
||||||
|
</CardTitle>
|
||||||
|
<CardDescription>{selectedAction?.description}</CardDescription>
|
||||||
|
</CardHeader>
|
||||||
|
<CardContent className="space-y-4">
|
||||||
|
{/* Parameters */}
|
||||||
|
{selectedAction?.parameters &&
|
||||||
|
(selectedAction.parameters?.length ?? 0) > 0 ? (
|
||||||
|
<div className="space-y-4">
|
||||||
|
<Label className="text-base">Parameters</Label>
|
||||||
|
{selectedAction?.parameters?.map((param, index) =>
|
||||||
|
renderParameterInput(param, index),
|
||||||
|
)}
|
||||||
|
</div>
|
||||||
|
) : (
|
||||||
|
<p className="text-muted-foreground text-sm">
|
||||||
|
This action requires no parameters.
|
||||||
|
</p>
|
||||||
|
)}
|
||||||
|
|
||||||
|
<Separator />
|
||||||
|
|
||||||
|
{/* Execute Button */}
|
||||||
|
<Button
|
||||||
|
onClick={handleExecuteAction}
|
||||||
|
disabled={
|
||||||
|
!selectedPluginData ||
|
||||||
|
!selectedAction ||
|
||||||
|
executingActions.has(
|
||||||
|
`${selectedPluginData?.plugin.name}.${selectedAction?.id}`,
|
||||||
|
)
|
||||||
|
}
|
||||||
|
className="w-full"
|
||||||
|
>
|
||||||
|
{selectedPluginData &&
|
||||||
|
selectedAction &&
|
||||||
|
executingActions.has(
|
||||||
|
`${selectedPluginData?.plugin.name}.${selectedAction?.id}`,
|
||||||
|
) ? (
|
||||||
|
<>
|
||||||
|
<Loader2 className="mr-2 h-4 w-4 animate-spin" />
|
||||||
|
Executing...
|
||||||
|
</>
|
||||||
|
) : (
|
||||||
|
<>
|
||||||
|
<Play className="mr-2 h-4 w-4" />
|
||||||
|
Execute Action
|
||||||
|
</>
|
||||||
|
)}
|
||||||
|
</Button>
|
||||||
|
</CardContent>
|
||||||
|
</Card>
|
||||||
|
)}
|
||||||
|
|
||||||
|
{/* Quick Actions */}
|
||||||
|
<Card>
|
||||||
|
<CardHeader>
|
||||||
|
<CardTitle className="flex items-center space-x-2">
|
||||||
|
<Zap className="h-4 w-4" />
|
||||||
|
<span>Quick Actions</span>
|
||||||
|
</CardTitle>
|
||||||
|
<CardDescription>
|
||||||
|
Common robot actions for quick execution
|
||||||
|
</CardDescription>
|
||||||
|
</CardHeader>
|
||||||
|
<CardContent className="space-y-2">
|
||||||
|
<div className="grid grid-cols-2 gap-2">
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "say_text", {
|
||||||
|
text: "Hello, I am ready!",
|
||||||
|
}).catch((error: unknown) => {
|
||||||
|
console.error("Quick action failed:", error);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<Volume2 className="mr-1 h-3 w-3" />
|
||||||
|
Say Hello
|
||||||
|
</Button>
|
||||||
|
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "emergency_stop", {}).catch(
|
||||||
|
(error: unknown) => {
|
||||||
|
console.error("Emergency stop failed:", error);
|
||||||
|
},
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<AlertCircle className="mr-1 h-3 w-3" />
|
||||||
|
Stop
|
||||||
|
</Button>
|
||||||
|
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "turn_head", {
|
||||||
|
yaw: 0,
|
||||||
|
pitch: 0,
|
||||||
|
speed: 0.3,
|
||||||
|
}).catch((error: unknown) => {
|
||||||
|
console.error("Head center failed:", error);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<Eye className="mr-1 h-3 w-3" />
|
||||||
|
Center Head
|
||||||
|
</Button>
|
||||||
|
|
||||||
|
<Button
|
||||||
|
size="sm"
|
||||||
|
variant="outline"
|
||||||
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction("nao6-ros2", "walk_forward", {
|
||||||
|
speed: 0.1,
|
||||||
|
duration: 2,
|
||||||
|
}).catch((error: unknown) => {
|
||||||
|
console.error("Walk forward failed:", error);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}}
|
||||||
|
disabled={!rosConnected || rosConnecting}
|
||||||
|
>
|
||||||
|
<Move className="mr-1 h-3 w-3" />
|
||||||
|
Walk Test
|
||||||
|
</Button>
|
||||||
|
</div>
|
||||||
|
</CardContent>
|
||||||
|
</Card>
|
||||||
</div>
|
</div>
|
||||||
);
|
);
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -10,7 +10,7 @@ import { WizardControlPanel } from "./panels/WizardControlPanel";
|
|||||||
import { WizardExecutionPanel } from "./panels/WizardExecutionPanel";
|
import { WizardExecutionPanel } from "./panels/WizardExecutionPanel";
|
||||||
import { WizardMonitoringPanel } from "./panels/WizardMonitoringPanel";
|
import { WizardMonitoringPanel } from "./panels/WizardMonitoringPanel";
|
||||||
import { api } from "~/trpc/react";
|
import { api } from "~/trpc/react";
|
||||||
// import { useTrialWebSocket } from "~/hooks/useWebSocket"; // Removed WebSocket dependency
|
import { useWizardRos } from "~/hooks/useWizardRos";
|
||||||
import { toast } from "sonner";
|
import { toast } from "sonner";
|
||||||
|
|
||||||
interface WizardInterfaceProps {
|
interface WizardInterfaceProps {
|
||||||
@@ -47,10 +47,10 @@ interface StepData {
|
|||||||
name: string;
|
name: string;
|
||||||
description: string | null;
|
description: string | null;
|
||||||
type:
|
type:
|
||||||
| "wizard_action"
|
| "wizard_action"
|
||||||
| "robot_action"
|
| "robot_action"
|
||||||
| "parallel_steps"
|
| "parallel_steps"
|
||||||
| "conditional_branch";
|
| "conditional_branch";
|
||||||
parameters: Record<string, unknown>;
|
parameters: Record<string, unknown>;
|
||||||
order: number;
|
order: number;
|
||||||
}
|
}
|
||||||
@@ -116,17 +116,59 @@ export const WizardInterface = React.memo(function WizardInterface({
|
|||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
// Use polling for real-time updates (no WebSocket dependency)
|
// Memoized callbacks to prevent infinite re-renders
|
||||||
|
const onActionCompleted = useCallback((execution: { actionId: string }) => {
|
||||||
|
toast.success(`Robot action completed: ${execution.actionId}`);
|
||||||
|
}, []);
|
||||||
|
|
||||||
|
const onActionFailed = useCallback((execution: { actionId: string; error?: string }) => {
|
||||||
|
toast.error(`Robot action failed: ${execution.actionId}`, {
|
||||||
|
description: execution.error,
|
||||||
|
});
|
||||||
|
}, []);
|
||||||
|
|
||||||
|
// ROS WebSocket connection for robot control
|
||||||
|
const {
|
||||||
|
isConnected: rosConnected,
|
||||||
|
isConnecting: rosConnecting,
|
||||||
|
connectionError: rosError,
|
||||||
|
robotStatus,
|
||||||
|
connect: connectRos,
|
||||||
|
disconnect: disconnectRos,
|
||||||
|
executeRobotAction: executeRosAction,
|
||||||
|
} = useWizardRos({
|
||||||
|
autoConnect: true,
|
||||||
|
onActionCompleted,
|
||||||
|
onActionFailed,
|
||||||
|
});
|
||||||
|
|
||||||
|
// Use polling for trial status updates (no trial WebSocket server exists)
|
||||||
const { data: pollingData } = api.trials.get.useQuery(
|
const { data: pollingData } = api.trials.get.useQuery(
|
||||||
{ id: trial.id },
|
{ id: trial.id },
|
||||||
{
|
{
|
||||||
refetchInterval: trial.status === "in_progress" ? 10000 : 30000, // Poll less frequently
|
refetchInterval: trial.status === "in_progress" ? 5000 : 15000,
|
||||||
staleTime: 5000, // Consider data fresh for 5 seconds
|
staleTime: 2000,
|
||||||
refetchOnWindowFocus: false, // Don't refetch on window focus
|
refetchOnWindowFocus: false,
|
||||||
},
|
},
|
||||||
);
|
);
|
||||||
|
|
||||||
// Memoized trial events to prevent re-creation on every render
|
// Update local trial state from polling
|
||||||
|
useEffect(() => {
|
||||||
|
if (pollingData) {
|
||||||
|
setTrial((prev) => ({
|
||||||
|
...prev,
|
||||||
|
status: pollingData.status,
|
||||||
|
startedAt: pollingData.startedAt
|
||||||
|
? new Date(pollingData.startedAt)
|
||||||
|
: prev.startedAt,
|
||||||
|
completedAt: pollingData.completedAt
|
||||||
|
? new Date(pollingData.completedAt)
|
||||||
|
: prev.completedAt,
|
||||||
|
}));
|
||||||
|
}
|
||||||
|
}, [pollingData]);
|
||||||
|
|
||||||
|
// Trial events from robot actions
|
||||||
const trialEvents = useMemo<
|
const trialEvents = useMemo<
|
||||||
Array<{
|
Array<{
|
||||||
type: string;
|
type: string;
|
||||||
@@ -136,39 +178,6 @@ export const WizardInterface = React.memo(function WizardInterface({
|
|||||||
}>
|
}>
|
||||||
>(() => [], []);
|
>(() => [], []);
|
||||||
|
|
||||||
// Update trial data from polling (optimized to prevent unnecessary re-renders)
|
|
||||||
const updateTrial = useCallback((newTrialData: typeof pollingData) => {
|
|
||||||
if (!newTrialData) return;
|
|
||||||
|
|
||||||
setTrial((prevTrial) => {
|
|
||||||
// Only update if data actually changed
|
|
||||||
if (
|
|
||||||
prevTrial.id === newTrialData.id &&
|
|
||||||
prevTrial.status === newTrialData.status &&
|
|
||||||
prevTrial.startedAt === newTrialData.startedAt &&
|
|
||||||
prevTrial.completedAt === newTrialData.completedAt
|
|
||||||
) {
|
|
||||||
return prevTrial; // No changes, keep existing state
|
|
||||||
}
|
|
||||||
|
|
||||||
return {
|
|
||||||
...newTrialData,
|
|
||||||
metadata: newTrialData.metadata as Record<string, unknown> | null,
|
|
||||||
participant: {
|
|
||||||
...newTrialData.participant,
|
|
||||||
demographics: newTrialData.participant.demographics as Record<
|
|
||||||
string,
|
|
||||||
unknown
|
|
||||||
> | null,
|
|
||||||
},
|
|
||||||
};
|
|
||||||
});
|
|
||||||
}, []);
|
|
||||||
|
|
||||||
useEffect(() => {
|
|
||||||
updateTrial(pollingData);
|
|
||||||
}, [pollingData, updateTrial]);
|
|
||||||
|
|
||||||
// Transform experiment steps to component format
|
// Transform experiment steps to component format
|
||||||
const steps: StepData[] =
|
const steps: StepData[] =
|
||||||
experimentSteps?.map((step, index) => ({
|
experimentSteps?.map((step, index) => ({
|
||||||
@@ -338,22 +347,63 @@ export const WizardInterface = React.memo(function WizardInterface({
|
|||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
const handleExecuteRobotAction = async (
|
const handleExecuteRobotAction = useCallback(
|
||||||
pluginName: string,
|
async (
|
||||||
actionId: string,
|
pluginName: string,
|
||||||
parameters: Record<string, unknown>,
|
actionId: string,
|
||||||
) => {
|
parameters: Record<string, unknown>,
|
||||||
try {
|
) => {
|
||||||
await executeRobotActionMutation.mutateAsync({
|
try {
|
||||||
trialId: trial.id,
|
// Try direct WebSocket execution first for better performance
|
||||||
pluginName,
|
if (rosConnected) {
|
||||||
actionId,
|
try {
|
||||||
parameters,
|
await executeRosAction(pluginName, actionId, parameters);
|
||||||
});
|
|
||||||
} catch (error) {
|
// Log to trial events for data capture
|
||||||
console.error("Failed to execute robot action:", error);
|
await executeRobotActionMutation.mutateAsync({
|
||||||
}
|
trialId: trial.id,
|
||||||
};
|
pluginName,
|
||||||
|
actionId,
|
||||||
|
parameters,
|
||||||
|
});
|
||||||
|
|
||||||
|
toast.success(`Robot action executed: ${actionId}`);
|
||||||
|
} catch (rosError) {
|
||||||
|
console.warn(
|
||||||
|
"WebSocket execution failed, falling back to tRPC:",
|
||||||
|
rosError,
|
||||||
|
);
|
||||||
|
|
||||||
|
// Fallback to tRPC-only execution
|
||||||
|
await executeRobotActionMutation.mutateAsync({
|
||||||
|
trialId: trial.id,
|
||||||
|
pluginName,
|
||||||
|
actionId,
|
||||||
|
parameters,
|
||||||
|
});
|
||||||
|
|
||||||
|
toast.success(`Robot action executed via fallback: ${actionId}`);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
// Use tRPC execution if WebSocket not connected
|
||||||
|
await executeRobotActionMutation.mutateAsync({
|
||||||
|
trialId: trial.id,
|
||||||
|
pluginName,
|
||||||
|
actionId,
|
||||||
|
parameters,
|
||||||
|
});
|
||||||
|
|
||||||
|
toast.success(`Robot action executed: ${actionId}`);
|
||||||
|
}
|
||||||
|
} catch (error) {
|
||||||
|
console.error("Failed to execute robot action:", error);
|
||||||
|
toast.error(`Failed to execute robot action: ${actionId}`, {
|
||||||
|
description: error instanceof Error ? error.message : "Unknown error",
|
||||||
|
});
|
||||||
|
}
|
||||||
|
},
|
||||||
|
[rosConnected, executeRosAction, executeRobotActionMutation, trial.id],
|
||||||
|
);
|
||||||
|
|
||||||
return (
|
return (
|
||||||
<div className="flex h-full flex-col">
|
<div className="flex h-full flex-col">
|
||||||
@@ -391,20 +441,17 @@ export const WizardInterface = React.memo(function WizardInterface({
|
|||||||
<div className="text-muted-foreground flex items-center gap-4 text-sm">
|
<div className="text-muted-foreground flex items-center gap-4 text-sm">
|
||||||
<div>{trial.experiment.name}</div>
|
<div>{trial.experiment.name}</div>
|
||||||
<div>{trial.participant.participantCode}</div>
|
<div>{trial.participant.participantCode}</div>
|
||||||
<Badge variant="outline" className="text-xs">
|
<Badge
|
||||||
Polling
|
variant={rosConnected ? "default" : "outline"}
|
||||||
|
className="text-xs"
|
||||||
|
>
|
||||||
|
{rosConnected ? "ROS Connected" : "ROS Offline"}
|
||||||
</Badge>
|
</Badge>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
{/* Connection Status */}
|
{/* No connection status alert - ROS connection shown in monitoring panel */}
|
||||||
<Alert className="mx-4 mt-2">
|
|
||||||
<AlertCircle className="h-4 w-4" />
|
|
||||||
<AlertDescription>
|
|
||||||
Using polling mode for trial updates (refreshes every 2 seconds).
|
|
||||||
</AlertDescription>
|
|
||||||
</Alert>
|
|
||||||
|
|
||||||
{/* Main Content - Three Panel Layout */}
|
{/* Main Content - Three Panel Layout */}
|
||||||
<div className="min-h-0 flex-1">
|
<div className="min-h-0 flex-1">
|
||||||
@@ -423,7 +470,7 @@ export const WizardInterface = React.memo(function WizardInterface({
|
|||||||
onExecuteAction={handleExecuteAction}
|
onExecuteAction={handleExecuteAction}
|
||||||
onExecuteRobotAction={handleExecuteRobotAction}
|
onExecuteRobotAction={handleExecuteRobotAction}
|
||||||
studyId={trial.experiment.studyId}
|
studyId={trial.experiment.studyId}
|
||||||
_isConnected={true}
|
_isConnected={rosConnected}
|
||||||
activeTab={controlPanelTab}
|
activeTab={controlPanelTab}
|
||||||
onTabChange={setControlPanelTab}
|
onTabChange={setControlPanelTab}
|
||||||
isStarting={startTrialMutation.isPending}
|
isStarting={startTrialMutation.isPending}
|
||||||
@@ -446,10 +493,17 @@ export const WizardInterface = React.memo(function WizardInterface({
|
|||||||
<WizardMonitoringPanel
|
<WizardMonitoringPanel
|
||||||
trial={trial}
|
trial={trial}
|
||||||
trialEvents={trialEvents}
|
trialEvents={trialEvents}
|
||||||
isConnected={true}
|
isConnected={rosConnected}
|
||||||
wsError={undefined}
|
wsError={undefined}
|
||||||
activeTab={monitoringPanelTab}
|
activeTab={monitoringPanelTab}
|
||||||
onTabChange={setMonitoringPanelTab}
|
onTabChange={setMonitoringPanelTab}
|
||||||
|
rosConnected={rosConnected}
|
||||||
|
rosConnecting={rosConnecting}
|
||||||
|
rosError={rosError ?? undefined}
|
||||||
|
robotStatus={robotStatus}
|
||||||
|
connectRos={connectRos}
|
||||||
|
disconnectRos={disconnectRos}
|
||||||
|
executeRosAction={executeRosAction}
|
||||||
/>
|
/>
|
||||||
}
|
}
|
||||||
showDividers={true}
|
showDividers={true}
|
||||||
|
|||||||
@@ -13,6 +13,9 @@ import {
|
|||||||
Power,
|
Power,
|
||||||
PowerOff,
|
PowerOff,
|
||||||
Eye,
|
Eye,
|
||||||
|
Volume2,
|
||||||
|
Move,
|
||||||
|
Hand,
|
||||||
} from "lucide-react";
|
} from "lucide-react";
|
||||||
import { Badge } from "~/components/ui/badge";
|
import { Badge } from "~/components/ui/badge";
|
||||||
import { Separator } from "~/components/ui/separator";
|
import { Separator } from "~/components/ui/separator";
|
||||||
@@ -61,6 +64,25 @@ interface WizardMonitoringPanelProps {
|
|||||||
wsError?: string;
|
wsError?: string;
|
||||||
activeTab: "status" | "robot" | "events";
|
activeTab: "status" | "robot" | "events";
|
||||||
onTabChange: (tab: "status" | "robot" | "events") => void;
|
onTabChange: (tab: "status" | "robot" | "events") => void;
|
||||||
|
// ROS connection props
|
||||||
|
rosConnected: boolean;
|
||||||
|
rosConnecting: boolean;
|
||||||
|
rosError?: string;
|
||||||
|
robotStatus: {
|
||||||
|
connected: boolean;
|
||||||
|
battery: number;
|
||||||
|
position: { x: number; y: number; theta: number };
|
||||||
|
joints: Record<string, unknown>;
|
||||||
|
sensors: Record<string, unknown>;
|
||||||
|
lastUpdate: Date;
|
||||||
|
};
|
||||||
|
connectRos: () => Promise<void>;
|
||||||
|
disconnectRos: () => void;
|
||||||
|
executeRosAction: (
|
||||||
|
pluginName: string,
|
||||||
|
actionId: string,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
) => Promise<unknown>;
|
||||||
}
|
}
|
||||||
|
|
||||||
const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
||||||
@@ -70,331 +92,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
wsError,
|
wsError,
|
||||||
activeTab,
|
activeTab,
|
||||||
onTabChange,
|
onTabChange,
|
||||||
|
rosConnected,
|
||||||
|
rosConnecting,
|
||||||
|
rosError,
|
||||||
|
robotStatus,
|
||||||
|
connectRos,
|
||||||
|
disconnectRos,
|
||||||
|
executeRosAction,
|
||||||
}: WizardMonitoringPanelProps) {
|
}: WizardMonitoringPanelProps) {
|
||||||
// ROS Bridge connection state
|
// ROS connection is now passed as props, no need for separate hook
|
||||||
const [rosConnected, setRosConnected] = useState(false);
|
|
||||||
const [rosConnecting, setRosConnecting] = useState(false);
|
|
||||||
const [rosError, setRosError] = useState<string | null>(null);
|
|
||||||
const [rosSocket, setRosSocket] = useState<WebSocket | null>(null);
|
|
||||||
const [robotStatus, setRobotStatus] = useState({
|
|
||||||
connected: false,
|
|
||||||
battery: 0,
|
|
||||||
position: { x: 0, y: 0, theta: 0 },
|
|
||||||
joints: {},
|
|
||||||
sensors: {},
|
|
||||||
lastUpdate: new Date(),
|
|
||||||
});
|
|
||||||
|
|
||||||
const ROS_BRIDGE_URL = "ws://134.82.159.25:9090";
|
|
||||||
|
|
||||||
// Use refs to persist connection state across re-renders
|
|
||||||
const connectionAttemptRef = useRef(false);
|
|
||||||
const socketRef = useRef<WebSocket | null>(null);
|
|
||||||
|
|
||||||
const connectRos = () => {
|
|
||||||
// Prevent multiple connection attempts
|
|
||||||
if (connectionAttemptRef.current) {
|
|
||||||
console.log("Connection already in progress, skipping");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (
|
|
||||||
rosSocket?.readyState === WebSocket.OPEN ||
|
|
||||||
socketRef.current?.readyState === WebSocket.OPEN
|
|
||||||
) {
|
|
||||||
console.log("Already connected, skipping");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Prevent rapid reconnection attempts
|
|
||||||
if (rosConnecting) {
|
|
||||||
console.log("Connection in progress, please wait");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
connectionAttemptRef.current = true;
|
|
||||||
setRosConnecting(true);
|
|
||||||
setRosError(null);
|
|
||||||
|
|
||||||
console.log("🔌 Connecting to ROS Bridge:", ROS_BRIDGE_URL);
|
|
||||||
const socket = new WebSocket(ROS_BRIDGE_URL);
|
|
||||||
socketRef.current = socket;
|
|
||||||
|
|
||||||
// Add connection timeout
|
|
||||||
const connectionTimeout = setTimeout(() => {
|
|
||||||
if (socket.readyState === WebSocket.CONNECTING) {
|
|
||||||
socket.close();
|
|
||||||
connectionAttemptRef.current = false;
|
|
||||||
setRosConnecting(false);
|
|
||||||
setRosError("Connection timeout (10s) - ROS Bridge not responding");
|
|
||||||
}
|
|
||||||
}, 10000);
|
|
||||||
|
|
||||||
socket.onopen = () => {
|
|
||||||
clearTimeout(connectionTimeout);
|
|
||||||
connectionAttemptRef.current = false;
|
|
||||||
console.log("Connected to ROS Bridge successfully");
|
|
||||||
setRosConnected(true);
|
|
||||||
setRosConnecting(false);
|
|
||||||
setRosSocket(socket);
|
|
||||||
setRosError(null);
|
|
||||||
|
|
||||||
// Just log connection success - no auto actions
|
|
||||||
console.log("WebSocket connected successfully to ROS Bridge");
|
|
||||||
|
|
||||||
setRobotStatus((prev) => ({
|
|
||||||
...prev,
|
|
||||||
connected: true,
|
|
||||||
lastUpdate: new Date(),
|
|
||||||
}));
|
|
||||||
};
|
|
||||||
|
|
||||||
socket.onmessage = (event) => {
|
|
||||||
try {
|
|
||||||
const data = JSON.parse(event.data as string) as {
|
|
||||||
topic?: string;
|
|
||||||
msg?: Record<string, unknown>;
|
|
||||||
op?: string;
|
|
||||||
level?: string;
|
|
||||||
};
|
|
||||||
|
|
||||||
// Handle status messages
|
|
||||||
if (data.op === "status") {
|
|
||||||
console.log("ROS Bridge status:", data.msg, "Level:", data.level);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Handle topic messages
|
|
||||||
if (data.topic === "/joint_states" && data.msg) {
|
|
||||||
setRobotStatus((prev) => ({
|
|
||||||
...prev,
|
|
||||||
joints: data.msg ?? {},
|
|
||||||
lastUpdate: new Date(),
|
|
||||||
}));
|
|
||||||
} else if (data.topic === "/naoqi_driver/battery" && data.msg) {
|
|
||||||
const batteryPercent = (data.msg.percentage as number) || 0;
|
|
||||||
setRobotStatus((prev) => ({
|
|
||||||
...prev,
|
|
||||||
battery: Math.round(batteryPercent),
|
|
||||||
lastUpdate: new Date(),
|
|
||||||
}));
|
|
||||||
} else if (data.topic === "/diagnostics" && data.msg) {
|
|
||||||
// Handle diagnostic messages for battery
|
|
||||||
console.log("Diagnostics received:", data.msg);
|
|
||||||
}
|
|
||||||
} catch (error) {
|
|
||||||
console.error("Error parsing ROS message:", error);
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
socket.onclose = (event) => {
|
|
||||||
clearTimeout(connectionTimeout);
|
|
||||||
connectionAttemptRef.current = false;
|
|
||||||
setRosConnected(false);
|
|
||||||
setRosConnecting(false);
|
|
||||||
setRosSocket(null);
|
|
||||||
socketRef.current = null;
|
|
||||||
setRobotStatus((prev) => ({
|
|
||||||
...prev,
|
|
||||||
connected: false,
|
|
||||||
battery: 0,
|
|
||||||
joints: {},
|
|
||||||
sensors: {},
|
|
||||||
}));
|
|
||||||
|
|
||||||
// Only show error if it wasn't a normal closure (code 1000)
|
|
||||||
if (event.code !== 1000) {
|
|
||||||
let errorMsg = "Connection lost";
|
|
||||||
if (event.code === 1006) {
|
|
||||||
errorMsg =
|
|
||||||
"ROS Bridge not responding - check if rosbridge_server is running";
|
|
||||||
} else if (event.code === 1011) {
|
|
||||||
errorMsg = "Server error in ROS Bridge";
|
|
||||||
} else if (event.code === 1002) {
|
|
||||||
errorMsg = "Protocol error - check ROS Bridge version";
|
|
||||||
} else if (event.code === 1001) {
|
|
||||||
errorMsg = "Server going away - ROS Bridge may have restarted";
|
|
||||||
}
|
|
||||||
console.log(
|
|
||||||
`🔌 Connection closed - Code: ${event.code}, Reason: ${event.reason}`,
|
|
||||||
);
|
|
||||||
setRosError(`${errorMsg} (${event.code})`);
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
socket.onerror = (error) => {
|
|
||||||
clearTimeout(connectionTimeout);
|
|
||||||
connectionAttemptRef.current = false;
|
|
||||||
console.error("ROS Bridge WebSocket error:", error);
|
|
||||||
setRosConnected(false);
|
|
||||||
setRosConnecting(false);
|
|
||||||
setRosError(
|
|
||||||
"Failed to connect to ROS bridge - check if rosbridge_server is running",
|
|
||||||
);
|
|
||||||
setRobotStatus((prev) => ({ ...prev, connected: false }));
|
|
||||||
};
|
|
||||||
};
|
|
||||||
|
|
||||||
const disconnectRos = () => {
|
|
||||||
console.log("Manually disconnecting from ROS Bridge");
|
|
||||||
connectionAttemptRef.current = false;
|
|
||||||
if (rosSocket) {
|
|
||||||
// Close with normal closure code to avoid error messages
|
|
||||||
rosSocket.close(1000, "User disconnected");
|
|
||||||
}
|
|
||||||
if (socketRef.current) {
|
|
||||||
socketRef.current.close(1000, "User disconnected");
|
|
||||||
}
|
|
||||||
// Clear all state
|
|
||||||
setRosSocket(null);
|
|
||||||
socketRef.current = null;
|
|
||||||
setRosConnected(false);
|
|
||||||
setRosConnecting(false);
|
|
||||||
setRosError(null);
|
|
||||||
setRobotStatus({
|
|
||||||
connected: false,
|
|
||||||
battery: 0,
|
|
||||||
position: { x: 0, y: 0, theta: 0 },
|
|
||||||
joints: {},
|
|
||||||
sensors: {},
|
|
||||||
lastUpdate: new Date(),
|
|
||||||
});
|
|
||||||
};
|
|
||||||
|
|
||||||
const executeRobotAction = (
|
|
||||||
action: string,
|
|
||||||
parameters?: Record<string, unknown>,
|
|
||||||
) => {
|
|
||||||
if (!rosSocket || !rosConnected) {
|
|
||||||
setRosError("Robot not connected");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
let message: {
|
|
||||||
op: string;
|
|
||||||
topic: string;
|
|
||||||
type: string;
|
|
||||||
msg: Record<string, unknown>;
|
|
||||||
};
|
|
||||||
|
|
||||||
switch (action) {
|
|
||||||
case "say_text":
|
|
||||||
const speechText = parameters?.text ?? "Hello from wizard interface!";
|
|
||||||
console.log("🔊 Preparing speech command:", speechText);
|
|
||||||
message = {
|
|
||||||
op: "publish",
|
|
||||||
topic: "/speech",
|
|
||||||
type: "std_msgs/String",
|
|
||||||
msg: { data: speechText },
|
|
||||||
};
|
|
||||||
console.log(
|
|
||||||
"📤 Speech message constructed:",
|
|
||||||
JSON.stringify(message, null, 2),
|
|
||||||
);
|
|
||||||
break;
|
|
||||||
|
|
||||||
case "move_forward":
|
|
||||||
case "move_backward":
|
|
||||||
case "turn_left":
|
|
||||||
case "turn_right":
|
|
||||||
const speed = (parameters?.speed as number) || 0.1;
|
|
||||||
const linear = action.includes("forward")
|
|
||||||
? speed
|
|
||||||
: action.includes("backward")
|
|
||||||
? -speed
|
|
||||||
: 0;
|
|
||||||
const angular = action.includes("left")
|
|
||||||
? speed
|
|
||||||
: action.includes("right")
|
|
||||||
? -speed
|
|
||||||
: 0;
|
|
||||||
|
|
||||||
message = {
|
|
||||||
op: "publish",
|
|
||||||
topic: "/cmd_vel",
|
|
||||||
type: "geometry_msgs/Twist",
|
|
||||||
msg: {
|
|
||||||
linear: { x: linear, y: 0, z: 0 },
|
|
||||||
angular: { x: 0, y: 0, z: angular },
|
|
||||||
},
|
|
||||||
};
|
|
||||||
break;
|
|
||||||
|
|
||||||
case "stop_movement":
|
|
||||||
message = {
|
|
||||||
op: "publish",
|
|
||||||
topic: "/cmd_vel",
|
|
||||||
type: "geometry_msgs/Twist",
|
|
||||||
msg: {
|
|
||||||
linear: { x: 0, y: 0, z: 0 },
|
|
||||||
angular: { x: 0, y: 0, z: 0 },
|
|
||||||
},
|
|
||||||
};
|
|
||||||
break;
|
|
||||||
|
|
||||||
case "head_movement":
|
|
||||||
case "turn_head":
|
|
||||||
const yaw = (parameters?.yaw as number) || 0;
|
|
||||||
const pitch = (parameters?.pitch as number) || 0;
|
|
||||||
const headSpeed = (parameters?.speed as number) || 0.3;
|
|
||||||
|
|
||||||
message = {
|
|
||||||
op: "publish",
|
|
||||||
topic: "/joint_angles",
|
|
||||||
type: "naoqi_bridge_msgs/JointAnglesWithSpeed",
|
|
||||||
msg: {
|
|
||||||
joint_names: ["HeadYaw", "HeadPitch"],
|
|
||||||
joint_angles: [yaw, pitch],
|
|
||||||
speed: headSpeed,
|
|
||||||
},
|
|
||||||
};
|
|
||||||
break;
|
|
||||||
|
|
||||||
case "play_animation":
|
|
||||||
const animation = (parameters?.animation as string) ?? "Hello";
|
|
||||||
|
|
||||||
message = {
|
|
||||||
op: "publish",
|
|
||||||
topic: "/naoqi_driver/animation",
|
|
||||||
type: "std_msgs/String",
|
|
||||||
msg: { data: animation },
|
|
||||||
};
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
setRosError(`Unknown action: ${String(action)}`);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
try {
|
|
||||||
const messageStr = JSON.stringify(message);
|
|
||||||
console.log("📡 Sending to ROS Bridge:", messageStr);
|
|
||||||
rosSocket.send(messageStr);
|
|
||||||
console.log(`✅ Sent robot action: ${action}`, parameters);
|
|
||||||
} catch (error) {
|
|
||||||
console.error("❌ Failed to send command:", error);
|
|
||||||
setRosError(`Failed to send command: ${String(error)}`);
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
const subscribeToTopic = (topic: string, messageType: string) => {
|
|
||||||
if (!rosSocket || !rosConnected) {
|
|
||||||
setRosError("Cannot subscribe - not connected");
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
try {
|
|
||||||
const subscribeMsg = {
|
|
||||||
op: "subscribe",
|
|
||||||
topic: topic,
|
|
||||||
type: messageType,
|
|
||||||
};
|
|
||||||
rosSocket.send(JSON.stringify(subscribeMsg));
|
|
||||||
console.log(`Manually subscribed to ${topic}`);
|
|
||||||
} catch (error) {
|
|
||||||
setRosError(`Failed to subscribe to ${topic}: ${String(error)}`);
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
// Don't close connection on unmount to prevent disconnection issues
|
// Don't close connection on unmount to prevent disconnection issues
|
||||||
// Connection will persist across component re-renders
|
// Connection will persist across component re-renders
|
||||||
@@ -526,7 +232,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
<div className="space-y-2">
|
<div className="space-y-2">
|
||||||
<div className="flex items-center justify-between">
|
<div className="flex items-center justify-between">
|
||||||
<span className="text-muted-foreground text-xs">
|
<span className="text-muted-foreground text-xs">
|
||||||
WebSocket
|
ROS Bridge
|
||||||
</span>
|
</span>
|
||||||
<Badge
|
<Badge
|
||||||
variant={isConnected ? "default" : "secondary"}
|
variant={isConnected ? "default" : "secondary"}
|
||||||
@@ -759,7 +465,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="w-full text-xs"
|
className="w-full text-xs"
|
||||||
onClick={connectRos}
|
onClick={() => connectRos()}
|
||||||
disabled={rosConnecting || rosConnected}
|
disabled={rosConnecting || rosConnected}
|
||||||
>
|
>
|
||||||
<Bot className="mr-1 h-3 w-3" />
|
<Bot className="mr-1 h-3 w-3" />
|
||||||
@@ -774,7 +480,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="w-full text-xs"
|
className="w-full text-xs"
|
||||||
onClick={disconnectRos}
|
onClick={() => disconnectRos()}
|
||||||
>
|
>
|
||||||
<PowerOff className="mr-1 h-3 w-3" />
|
<PowerOff className="mr-1 h-3 w-3" />
|
||||||
Disconnect
|
Disconnect
|
||||||
@@ -801,7 +507,7 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
<div>
|
<div>
|
||||||
1. Check ROS Bridge:{" "}
|
1. Check ROS Bridge:{" "}
|
||||||
<code className="bg-muted rounded px-1 text-xs">
|
<code className="bg-muted rounded px-1 text-xs">
|
||||||
telnet 134.82.159.25 9090
|
telnet localhost 9090
|
||||||
</code>
|
</code>
|
||||||
</div>
|
</div>
|
||||||
<div>2. NAO6 must be awake and connected</div>
|
<div>2. NAO6 must be awake and connected</div>
|
||||||
@@ -850,10 +556,10 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
))}
|
))}
|
||||||
{trialEvents.filter((e) => e.type.includes("robot"))
|
{trialEvents.filter((e) => e.type.includes("robot"))
|
||||||
.length === 0 && (
|
.length === 0 && (
|
||||||
<div className="text-muted-foreground py-2 text-center text-xs">
|
<div className="text-muted-foreground py-2 text-center text-xs">
|
||||||
No robot events yet
|
No robot events yet
|
||||||
</div>
|
</div>
|
||||||
)}
|
)}
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
@@ -905,15 +611,17 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
<Button
|
<Button
|
||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
onClick={() => {
|
||||||
onClick={() =>
|
if (rosConnected) {
|
||||||
executeRobotAction("say_text", {
|
executeRosAction("nao6-ros2", "say_text", {
|
||||||
text: "Connection test - can you hear me?",
|
text: "Connection test - can you hear me?",
|
||||||
})
|
}).catch(console.error);
|
||||||
}
|
}
|
||||||
|
}}
|
||||||
disabled={!rosConnected}
|
disabled={!rosConnected}
|
||||||
>
|
>
|
||||||
{rosConnected ? "🔊 Test Speech" : "🔊 Not Ready"}
|
<Volume2 className="mr-1 h-3 w-3" />
|
||||||
|
Test Speech
|
||||||
</Button>
|
</Button>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
@@ -923,45 +631,9 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
Subscribe to Topics:
|
Subscribe to Topics:
|
||||||
</div>
|
</div>
|
||||||
<div className="grid grid-cols-1 gap-1">
|
<div className="grid grid-cols-1 gap-1">
|
||||||
<Button
|
<div className="text-muted-foreground text-xs">
|
||||||
size="sm"
|
Subscriptions managed automatically
|
||||||
variant="ghost"
|
</div>
|
||||||
className="justify-start text-xs"
|
|
||||||
onClick={() =>
|
|
||||||
subscribeToTopic(
|
|
||||||
"/naoqi_driver/battery",
|
|
||||||
"naoqi_bridge_msgs/Battery",
|
|
||||||
)
|
|
||||||
}
|
|
||||||
>
|
|
||||||
🔋 Battery Status
|
|
||||||
</Button>
|
|
||||||
<Button
|
|
||||||
size="sm"
|
|
||||||
variant="ghost"
|
|
||||||
className="justify-start text-xs"
|
|
||||||
onClick={() =>
|
|
||||||
subscribeToTopic(
|
|
||||||
"/naoqi_driver/joint_states",
|
|
||||||
"sensor_msgs/JointState",
|
|
||||||
)
|
|
||||||
}
|
|
||||||
>
|
|
||||||
🤖 Joint States
|
|
||||||
</Button>
|
|
||||||
<Button
|
|
||||||
size="sm"
|
|
||||||
variant="ghost"
|
|
||||||
className="justify-start text-xs"
|
|
||||||
onClick={() =>
|
|
||||||
subscribeToTopic(
|
|
||||||
"/naoqi_driver/bumper",
|
|
||||||
"naoqi_bridge_msgs/Bumper",
|
|
||||||
)
|
|
||||||
}
|
|
||||||
>
|
|
||||||
👟 Bumper Sensors
|
|
||||||
</Button>
|
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
@@ -978,9 +650,14 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("move_forward", { speed: 0.05 })
|
if (rosConnected) {
|
||||||
}
|
executeRosAction("nao6-ros2", "walk_forward", {
|
||||||
|
speed: 0.05,
|
||||||
|
duration: 2,
|
||||||
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Forward
|
Forward
|
||||||
</Button>
|
</Button>
|
||||||
@@ -988,9 +665,14 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("turn_left", { speed: 0.3 })
|
if (rosConnected) {
|
||||||
}
|
executeRosAction("nao6-ros2", "turn_left", {
|
||||||
|
speed: 0.3,
|
||||||
|
duration: 2,
|
||||||
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Turn Left
|
Turn Left
|
||||||
</Button>
|
</Button>
|
||||||
@@ -998,9 +680,14 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("turn_right", { speed: 0.3 })
|
if (rosConnected) {
|
||||||
}
|
executeRosAction("nao6-ros2", "turn_right", {
|
||||||
|
speed: 0.3,
|
||||||
|
duration: 2,
|
||||||
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Turn Right
|
Turn Right
|
||||||
</Button>
|
</Button>
|
||||||
@@ -1012,13 +699,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("turn_head", {
|
if (rosConnected) {
|
||||||
yaw: 0,
|
executeRosAction("nao6-ros2", "turn_head", {
|
||||||
pitch: 0,
|
yaw: 0,
|
||||||
speed: 0.3,
|
pitch: 0,
|
||||||
})
|
speed: 0.3,
|
||||||
}
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Center Head
|
Center Head
|
||||||
</Button>
|
</Button>
|
||||||
@@ -1026,13 +715,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("turn_head", {
|
if (rosConnected) {
|
||||||
yaw: 0.5,
|
executeRosAction("nao6-ros2", "turn_head", {
|
||||||
pitch: 0,
|
yaw: 0.5,
|
||||||
speed: 0.3,
|
pitch: 0,
|
||||||
})
|
speed: 0.3,
|
||||||
}
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Look Left
|
Look Left
|
||||||
</Button>
|
</Button>
|
||||||
@@ -1040,13 +731,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("turn_head", {
|
if (rosConnected) {
|
||||||
yaw: -0.5,
|
executeRosAction("nao6-ros2", "turn_head", {
|
||||||
pitch: 0,
|
yaw: -0.5,
|
||||||
speed: 0.3,
|
pitch: 0,
|
||||||
})
|
speed: 0.3,
|
||||||
}
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Look Right
|
Look Right
|
||||||
</Button>
|
</Button>
|
||||||
@@ -1058,23 +751,27 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("play_animation", {
|
if (rosConnected) {
|
||||||
animation: "Hello",
|
executeRosAction("nao6-ros2", "say_text", {
|
||||||
})
|
text: "Hello! I am NAO!",
|
||||||
}
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Wave Hello
|
Say Hello
|
||||||
</Button>
|
</Button>
|
||||||
<Button
|
<Button
|
||||||
size="sm"
|
size="sm"
|
||||||
variant="outline"
|
variant="outline"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() =>
|
onClick={() => {
|
||||||
executeRobotAction("say_text", {
|
if (rosConnected) {
|
||||||
text: "Experiment ready!",
|
executeRosAction("nao6-ros2", "say_text", {
|
||||||
})
|
text: "Experiment ready!",
|
||||||
}
|
}).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
Say Ready
|
Say Ready
|
||||||
</Button>
|
</Button>
|
||||||
@@ -1086,7 +783,15 @@ const WizardMonitoringPanel = React.memo(function WizardMonitoringPanel({
|
|||||||
size="sm"
|
size="sm"
|
||||||
variant="destructive"
|
variant="destructive"
|
||||||
className="text-xs"
|
className="text-xs"
|
||||||
onClick={() => executeRobotAction("stop_movement", {})}
|
onClick={() => {
|
||||||
|
if (rosConnected) {
|
||||||
|
executeRosAction(
|
||||||
|
"nao6-ros2",
|
||||||
|
"emergency_stop",
|
||||||
|
{},
|
||||||
|
).catch(console.error);
|
||||||
|
}
|
||||||
|
}}
|
||||||
>
|
>
|
||||||
🛑 Emergency Stop
|
🛑 Emergency Stop
|
||||||
</Button>
|
</Button>
|
||||||
|
|||||||
296
src/hooks/useWizardRos.ts
Normal file
296
src/hooks/useWizardRos.ts
Normal file
@@ -0,0 +1,296 @@
|
|||||||
|
"use client";
|
||||||
|
|
||||||
|
import { useEffect, useState, useCallback, useRef } from "react";
|
||||||
|
import {
|
||||||
|
WizardRosService,
|
||||||
|
type RobotStatus,
|
||||||
|
type RobotActionExecution,
|
||||||
|
getWizardRosService,
|
||||||
|
} from "~/lib/ros/wizard-ros-service";
|
||||||
|
|
||||||
|
export interface UseWizardRosOptions {
|
||||||
|
autoConnect?: boolean;
|
||||||
|
onConnected?: () => void;
|
||||||
|
onDisconnected?: () => void;
|
||||||
|
onError?: (error: unknown) => void;
|
||||||
|
onActionCompleted?: (execution: RobotActionExecution) => void;
|
||||||
|
onActionFailed?: (execution: RobotActionExecution) => void;
|
||||||
|
}
|
||||||
|
|
||||||
|
export interface UseWizardRosReturn {
|
||||||
|
isConnected: boolean;
|
||||||
|
isConnecting: boolean;
|
||||||
|
connectionError: string | null;
|
||||||
|
robotStatus: RobotStatus;
|
||||||
|
activeActions: RobotActionExecution[];
|
||||||
|
connect: () => Promise<void>;
|
||||||
|
disconnect: () => void;
|
||||||
|
executeRobotAction: (
|
||||||
|
pluginName: string,
|
||||||
|
actionId: string,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
actionConfig?: {
|
||||||
|
topic: string;
|
||||||
|
messageType: string;
|
||||||
|
payloadMapping: {
|
||||||
|
type: string;
|
||||||
|
payload?: Record<string, unknown>;
|
||||||
|
transformFn?: string;
|
||||||
|
};
|
||||||
|
},
|
||||||
|
) => Promise<RobotActionExecution>;
|
||||||
|
}
|
||||||
|
|
||||||
|
export function useWizardRos(
|
||||||
|
options: UseWizardRosOptions = {},
|
||||||
|
): UseWizardRosReturn {
|
||||||
|
const {
|
||||||
|
autoConnect = true,
|
||||||
|
onConnected,
|
||||||
|
onDisconnected,
|
||||||
|
onError,
|
||||||
|
onActionCompleted,
|
||||||
|
onActionFailed,
|
||||||
|
} = options;
|
||||||
|
|
||||||
|
const [isConnected, setIsConnected] = useState(false);
|
||||||
|
const [isConnecting, setIsConnecting] = useState(false);
|
||||||
|
const [connectionError, setConnectionError] = useState<string | null>(null);
|
||||||
|
const [robotStatus, setRobotStatus] = useState<RobotStatus>({
|
||||||
|
connected: false,
|
||||||
|
battery: 0,
|
||||||
|
position: { x: 0, y: 0, theta: 0 },
|
||||||
|
joints: {},
|
||||||
|
sensors: {},
|
||||||
|
lastUpdate: new Date(),
|
||||||
|
});
|
||||||
|
const [activeActions, setActiveActions] = useState<RobotActionExecution[]>(
|
||||||
|
[],
|
||||||
|
);
|
||||||
|
|
||||||
|
// Prevent multiple connections
|
||||||
|
const isInitializedRef = useRef(false);
|
||||||
|
const connectAttemptRef = useRef(false);
|
||||||
|
|
||||||
|
const serviceRef = useRef<WizardRosService | null>(null);
|
||||||
|
const mountedRef = useRef(true);
|
||||||
|
|
||||||
|
// Use refs for callbacks to prevent infinite re-renders
|
||||||
|
const onConnectedRef = useRef(onConnected);
|
||||||
|
const onDisconnectedRef = useRef(onDisconnected);
|
||||||
|
const onErrorRef = useRef(onError);
|
||||||
|
const onActionCompletedRef = useRef(onActionCompleted);
|
||||||
|
const onActionFailedRef = useRef(onActionFailed);
|
||||||
|
|
||||||
|
// Update refs when callbacks change
|
||||||
|
onConnectedRef.current = onConnected;
|
||||||
|
onDisconnectedRef.current = onDisconnected;
|
||||||
|
onErrorRef.current = onError;
|
||||||
|
onActionCompletedRef.current = onActionCompleted;
|
||||||
|
onActionFailedRef.current = onActionFailed;
|
||||||
|
|
||||||
|
// Initialize service (only once)
|
||||||
|
useEffect(() => {
|
||||||
|
if (!isInitializedRef.current) {
|
||||||
|
serviceRef.current = getWizardRosService();
|
||||||
|
isInitializedRef.current = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
return () => {
|
||||||
|
mountedRef.current = false;
|
||||||
|
};
|
||||||
|
}, []);
|
||||||
|
|
||||||
|
// Set up event listeners with stable callbacks
|
||||||
|
useEffect(() => {
|
||||||
|
const service = serviceRef.current;
|
||||||
|
if (!service) return;
|
||||||
|
|
||||||
|
const handleConnected = () => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
console.log("[useWizardRos] Connected to ROS bridge");
|
||||||
|
setIsConnected(true);
|
||||||
|
setIsConnecting(false);
|
||||||
|
setConnectionError(null);
|
||||||
|
onConnectedRef.current?.();
|
||||||
|
};
|
||||||
|
|
||||||
|
const handleDisconnected = () => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
console.log("[useWizardRos] Disconnected from ROS bridge");
|
||||||
|
setIsConnected(false);
|
||||||
|
setIsConnecting(false);
|
||||||
|
onDisconnectedRef.current?.();
|
||||||
|
};
|
||||||
|
|
||||||
|
const handleError = (error: unknown) => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
console.error("[useWizardRos] ROS connection error:", error);
|
||||||
|
setConnectionError(
|
||||||
|
error instanceof Error ? error.message : "Connection error",
|
||||||
|
);
|
||||||
|
setIsConnecting(false);
|
||||||
|
onErrorRef.current?.(error);
|
||||||
|
};
|
||||||
|
|
||||||
|
const handleRobotStatusUpdated = (status: RobotStatus) => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
setRobotStatus(status);
|
||||||
|
};
|
||||||
|
|
||||||
|
const handleActionStarted = (execution: RobotActionExecution) => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
setActiveActions((prev) => {
|
||||||
|
const filtered = prev.filter((action) => action.id !== execution.id);
|
||||||
|
return [...filtered, execution];
|
||||||
|
});
|
||||||
|
};
|
||||||
|
|
||||||
|
const handleActionCompleted = (execution: RobotActionExecution) => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
setActiveActions((prev) =>
|
||||||
|
prev.map((action) => (action.id === execution.id ? execution : action)),
|
||||||
|
);
|
||||||
|
onActionCompletedRef.current?.(execution);
|
||||||
|
};
|
||||||
|
|
||||||
|
const handleActionFailed = (execution: RobotActionExecution) => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
setActiveActions((prev) =>
|
||||||
|
prev.map((action) => (action.id === execution.id ? execution : action)),
|
||||||
|
);
|
||||||
|
onActionFailedRef.current?.(execution);
|
||||||
|
};
|
||||||
|
|
||||||
|
const handleMaxReconnectsReached = () => {
|
||||||
|
if (!mountedRef.current) return;
|
||||||
|
setConnectionError("Maximum reconnection attempts reached");
|
||||||
|
setIsConnecting(false);
|
||||||
|
};
|
||||||
|
|
||||||
|
// Add event listeners
|
||||||
|
service.on("connected", handleConnected);
|
||||||
|
service.on("disconnected", handleDisconnected);
|
||||||
|
service.on("error", handleError);
|
||||||
|
service.on("robot_status_updated", handleRobotStatusUpdated);
|
||||||
|
service.on("action_started", handleActionStarted);
|
||||||
|
service.on("action_completed", handleActionCompleted);
|
||||||
|
service.on("action_failed", handleActionFailed);
|
||||||
|
service.on("max_reconnects_reached", handleMaxReconnectsReached);
|
||||||
|
|
||||||
|
// Initialize connection status
|
||||||
|
setIsConnected(service.getConnectionStatus());
|
||||||
|
setRobotStatus(service.getRobotStatus());
|
||||||
|
setActiveActions(service.getActiveActions());
|
||||||
|
|
||||||
|
return () => {
|
||||||
|
service.off("connected", handleConnected);
|
||||||
|
service.off("disconnected", handleDisconnected);
|
||||||
|
service.off("error", handleError);
|
||||||
|
service.off("robot_status_updated", handleRobotStatusUpdated);
|
||||||
|
service.off("action_started", handleActionStarted);
|
||||||
|
service.off("action_completed", handleActionCompleted);
|
||||||
|
service.off("action_failed", handleActionFailed);
|
||||||
|
service.off("max_reconnects_reached", handleMaxReconnectsReached);
|
||||||
|
};
|
||||||
|
}, []); // Empty deps since we use refs
|
||||||
|
|
||||||
|
const connect = useCallback(async (): Promise<void> => {
|
||||||
|
const service = serviceRef.current;
|
||||||
|
if (!service || isConnected || isConnecting || connectAttemptRef.current)
|
||||||
|
return;
|
||||||
|
|
||||||
|
connectAttemptRef.current = true;
|
||||||
|
setIsConnecting(true);
|
||||||
|
setConnectionError(null);
|
||||||
|
|
||||||
|
try {
|
||||||
|
await service.connect();
|
||||||
|
} catch (error) {
|
||||||
|
if (mountedRef.current) {
|
||||||
|
setIsConnecting(false);
|
||||||
|
setConnectionError(
|
||||||
|
error instanceof Error ? error.message : "Connection failed",
|
||||||
|
);
|
||||||
|
}
|
||||||
|
throw error;
|
||||||
|
} finally {
|
||||||
|
connectAttemptRef.current = false;
|
||||||
|
}
|
||||||
|
}, [isConnected, isConnecting]);
|
||||||
|
|
||||||
|
// Auto-connect if enabled (only once per hook instance)
|
||||||
|
useEffect(() => {
|
||||||
|
if (
|
||||||
|
autoConnect &&
|
||||||
|
serviceRef.current &&
|
||||||
|
!isConnected &&
|
||||||
|
!isConnecting &&
|
||||||
|
!connectAttemptRef.current
|
||||||
|
) {
|
||||||
|
const timeoutId = setTimeout(() => {
|
||||||
|
connect().catch((error) => {
|
||||||
|
console.error("[useWizardRos] Auto-connect failed:", error);
|
||||||
|
});
|
||||||
|
}, 100); // Small delay to prevent immediate connection attempts
|
||||||
|
|
||||||
|
return () => clearTimeout(timeoutId);
|
||||||
|
}
|
||||||
|
}, [autoConnect, isConnected, isConnecting, connect]);
|
||||||
|
|
||||||
|
const disconnect = useCallback((): void => {
|
||||||
|
const service = serviceRef.current;
|
||||||
|
if (!service) return;
|
||||||
|
|
||||||
|
connectAttemptRef.current = false;
|
||||||
|
service.disconnect();
|
||||||
|
setIsConnected(false);
|
||||||
|
setIsConnecting(false);
|
||||||
|
setConnectionError(null);
|
||||||
|
}, []);
|
||||||
|
|
||||||
|
const executeRobotAction = useCallback(
|
||||||
|
async (
|
||||||
|
pluginName: string,
|
||||||
|
actionId: string,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
actionConfig?: {
|
||||||
|
topic: string;
|
||||||
|
messageType: string;
|
||||||
|
payloadMapping: {
|
||||||
|
type: string;
|
||||||
|
payload?: Record<string, unknown>;
|
||||||
|
transformFn?: string;
|
||||||
|
};
|
||||||
|
},
|
||||||
|
): Promise<RobotActionExecution> => {
|
||||||
|
const service = serviceRef.current;
|
||||||
|
if (!service) {
|
||||||
|
throw new Error("ROS service not initialized");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!isConnected) {
|
||||||
|
throw new Error("Not connected to ROS bridge");
|
||||||
|
}
|
||||||
|
|
||||||
|
return service.executeRobotAction(
|
||||||
|
pluginName,
|
||||||
|
actionId,
|
||||||
|
parameters,
|
||||||
|
actionConfig,
|
||||||
|
);
|
||||||
|
},
|
||||||
|
[isConnected],
|
||||||
|
);
|
||||||
|
|
||||||
|
return {
|
||||||
|
isConnected,
|
||||||
|
isConnecting,
|
||||||
|
connectionError,
|
||||||
|
robotStatus,
|
||||||
|
activeActions,
|
||||||
|
connect,
|
||||||
|
disconnect,
|
||||||
|
executeRobotAction,
|
||||||
|
};
|
||||||
|
}
|
||||||
671
src/lib/ros/wizard-ros-service.ts
Normal file
671
src/lib/ros/wizard-ros-service.ts
Normal file
@@ -0,0 +1,671 @@
|
|||||||
|
"use client";
|
||||||
|
|
||||||
|
import { EventEmitter } from "events";
|
||||||
|
|
||||||
|
export interface RosMessage {
|
||||||
|
op: string;
|
||||||
|
topic?: string;
|
||||||
|
type?: string;
|
||||||
|
msg?: Record<string, unknown>;
|
||||||
|
service?: string;
|
||||||
|
args?: Record<string, unknown>;
|
||||||
|
id?: string;
|
||||||
|
result?: boolean;
|
||||||
|
values?: Record<string, unknown>;
|
||||||
|
}
|
||||||
|
|
||||||
|
export interface RobotStatus {
|
||||||
|
connected: boolean;
|
||||||
|
battery: number;
|
||||||
|
position: { x: number; y: number; theta: number };
|
||||||
|
joints: Record<string, number>;
|
||||||
|
sensors: Record<string, unknown>;
|
||||||
|
lastUpdate: Date;
|
||||||
|
}
|
||||||
|
|
||||||
|
export interface RobotActionExecution {
|
||||||
|
id: string;
|
||||||
|
actionId: string;
|
||||||
|
pluginName: string;
|
||||||
|
parameters: Record<string, unknown>;
|
||||||
|
status: "pending" | "executing" | "completed" | "failed";
|
||||||
|
startTime: Date;
|
||||||
|
endTime?: Date;
|
||||||
|
error?: string;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Unified ROS WebSocket service for wizard interface
|
||||||
|
* Manages connection to rosbridge and handles robot action execution
|
||||||
|
*/
|
||||||
|
export class WizardRosService extends EventEmitter {
|
||||||
|
private ws: WebSocket | null = null;
|
||||||
|
private url: string;
|
||||||
|
private reconnectInterval = 3000;
|
||||||
|
private reconnectTimer: NodeJS.Timeout | null = null;
|
||||||
|
private messageId = 0;
|
||||||
|
private isConnected = false;
|
||||||
|
private connectionAttempts = 0;
|
||||||
|
private maxReconnectAttempts = 5;
|
||||||
|
private isConnecting = false;
|
||||||
|
|
||||||
|
// Robot state
|
||||||
|
private robotStatus: RobotStatus = {
|
||||||
|
connected: false,
|
||||||
|
battery: 0,
|
||||||
|
position: { x: 0, y: 0, theta: 0 },
|
||||||
|
joints: {},
|
||||||
|
sensors: {},
|
||||||
|
lastUpdate: new Date(),
|
||||||
|
};
|
||||||
|
|
||||||
|
// Active action tracking
|
||||||
|
private activeActions: Map<string, RobotActionExecution> = new Map();
|
||||||
|
|
||||||
|
constructor(url: string = "ws://localhost:9090") {
|
||||||
|
super();
|
||||||
|
this.url = url;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Connect to ROS bridge WebSocket
|
||||||
|
*/
|
||||||
|
async connect(): Promise<void> {
|
||||||
|
return new Promise((resolve, reject) => {
|
||||||
|
if (
|
||||||
|
this.isConnected ||
|
||||||
|
this.ws?.readyState === WebSocket.OPEN ||
|
||||||
|
this.isConnecting
|
||||||
|
) {
|
||||||
|
if (this.isConnected) resolve();
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
this.isConnecting = true;
|
||||||
|
console.log(`[WizardROS] Connecting to ${this.url}`);
|
||||||
|
this.ws = new WebSocket(this.url);
|
||||||
|
|
||||||
|
const connectionTimeout = setTimeout(() => {
|
||||||
|
if (this.ws?.readyState !== WebSocket.OPEN) {
|
||||||
|
this.ws?.close();
|
||||||
|
reject(new Error("Connection timeout"));
|
||||||
|
}
|
||||||
|
}, 10000);
|
||||||
|
|
||||||
|
this.ws.onopen = () => {
|
||||||
|
clearTimeout(connectionTimeout);
|
||||||
|
console.log("[WizardROS] Connected successfully");
|
||||||
|
this.isConnected = true;
|
||||||
|
this.isConnecting = false;
|
||||||
|
this.connectionAttempts = 0;
|
||||||
|
this.clearReconnectTimer();
|
||||||
|
|
||||||
|
// Subscribe to robot topics
|
||||||
|
this.subscribeToRobotTopics();
|
||||||
|
|
||||||
|
this.emit("connected");
|
||||||
|
resolve();
|
||||||
|
};
|
||||||
|
|
||||||
|
this.ws.onmessage = (event) => {
|
||||||
|
try {
|
||||||
|
const message = JSON.parse(event.data) as RosMessage;
|
||||||
|
this.handleMessage(message);
|
||||||
|
} catch (error) {
|
||||||
|
console.error("[WizardROS] Failed to parse message:", error);
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
this.ws.onclose = (event) => {
|
||||||
|
console.log(
|
||||||
|
`[WizardROS] Connection closed: ${event.code} - ${event.reason}`,
|
||||||
|
);
|
||||||
|
this.isConnected = false;
|
||||||
|
this.isConnecting = false;
|
||||||
|
this.emit("disconnected");
|
||||||
|
|
||||||
|
// Schedule reconnect if not manually closed
|
||||||
|
if (
|
||||||
|
event.code !== 1000 &&
|
||||||
|
this.connectionAttempts < this.maxReconnectAttempts
|
||||||
|
) {
|
||||||
|
this.scheduleReconnect();
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
this.ws.onerror = (error) => {
|
||||||
|
console.error("[WizardROS] WebSocket error:", error);
|
||||||
|
clearTimeout(connectionTimeout);
|
||||||
|
this.isConnecting = false;
|
||||||
|
this.emit("error", error);
|
||||||
|
reject(error);
|
||||||
|
};
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Disconnect from ROS bridge
|
||||||
|
*/
|
||||||
|
disconnect(): void {
|
||||||
|
this.clearReconnectTimer();
|
||||||
|
|
||||||
|
if (this.ws) {
|
||||||
|
this.ws.close(1000, "Manual disconnect");
|
||||||
|
this.ws = null;
|
||||||
|
}
|
||||||
|
|
||||||
|
this.isConnected = false;
|
||||||
|
this.isConnecting = false;
|
||||||
|
this.robotStatus.connected = false;
|
||||||
|
this.emit("disconnected");
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Check if connected to ROS bridge
|
||||||
|
*/
|
||||||
|
getConnectionStatus(): boolean {
|
||||||
|
return this.isConnected && this.ws?.readyState === WebSocket.OPEN;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get current robot status
|
||||||
|
*/
|
||||||
|
getRobotStatus(): RobotStatus {
|
||||||
|
return { ...this.robotStatus };
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute robot action using plugin configuration
|
||||||
|
*/
|
||||||
|
async executeRobotAction(
|
||||||
|
pluginName: string,
|
||||||
|
actionId: string,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
actionConfig?: {
|
||||||
|
topic: string;
|
||||||
|
messageType: string;
|
||||||
|
payloadMapping: {
|
||||||
|
type: string;
|
||||||
|
payload?: Record<string, unknown>;
|
||||||
|
transformFn?: string;
|
||||||
|
};
|
||||||
|
},
|
||||||
|
): Promise<RobotActionExecution> {
|
||||||
|
if (!this.isConnected) {
|
||||||
|
throw new Error("Not connected to ROS bridge");
|
||||||
|
}
|
||||||
|
|
||||||
|
const executionId = `${pluginName}_${actionId}_${Date.now()}`;
|
||||||
|
const execution: RobotActionExecution = {
|
||||||
|
id: executionId,
|
||||||
|
actionId,
|
||||||
|
pluginName,
|
||||||
|
parameters,
|
||||||
|
status: "pending",
|
||||||
|
startTime: new Date(),
|
||||||
|
};
|
||||||
|
|
||||||
|
this.activeActions.set(executionId, execution);
|
||||||
|
this.emit("action_started", execution);
|
||||||
|
|
||||||
|
try {
|
||||||
|
execution.status = "executing";
|
||||||
|
this.activeActions.set(executionId, execution);
|
||||||
|
|
||||||
|
// Execute based on action configuration or built-in mappings
|
||||||
|
if (actionConfig) {
|
||||||
|
await this.executeWithConfig(actionConfig, parameters);
|
||||||
|
} else {
|
||||||
|
await this.executeBuiltinAction(actionId, parameters);
|
||||||
|
}
|
||||||
|
|
||||||
|
execution.status = "completed";
|
||||||
|
execution.endTime = new Date();
|
||||||
|
this.emit("action_completed", execution);
|
||||||
|
} catch (error) {
|
||||||
|
execution.status = "failed";
|
||||||
|
execution.error = error instanceof Error ? error.message : String(error);
|
||||||
|
execution.endTime = new Date();
|
||||||
|
this.emit("action_failed", execution);
|
||||||
|
}
|
||||||
|
|
||||||
|
this.activeActions.set(executionId, execution);
|
||||||
|
return execution;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get list of active actions
|
||||||
|
*/
|
||||||
|
getActiveActions(): RobotActionExecution[] {
|
||||||
|
return Array.from(this.activeActions.values());
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Subscribe to robot sensor topics
|
||||||
|
*/
|
||||||
|
private subscribeToRobotTopics(): void {
|
||||||
|
const topics = [
|
||||||
|
{ topic: "/joint_states", type: "sensor_msgs/JointState" },
|
||||||
|
{
|
||||||
|
topic: "/naoqi_driver/battery",
|
||||||
|
type: "naoqi_bridge_msgs/BatteryState",
|
||||||
|
},
|
||||||
|
{ topic: "/naoqi_driver/bumper", type: "naoqi_bridge_msgs/Bumper" },
|
||||||
|
{
|
||||||
|
topic: "/naoqi_driver/hand_touch",
|
||||||
|
type: "naoqi_bridge_msgs/HandTouch",
|
||||||
|
},
|
||||||
|
{
|
||||||
|
topic: "/naoqi_driver/head_touch",
|
||||||
|
type: "naoqi_bridge_msgs/HeadTouch",
|
||||||
|
},
|
||||||
|
{ topic: "/naoqi_driver/sonar/left", type: "sensor_msgs/Range" },
|
||||||
|
{ topic: "/naoqi_driver/sonar/right", type: "sensor_msgs/Range" },
|
||||||
|
];
|
||||||
|
|
||||||
|
topics.forEach(({ topic, type }) => {
|
||||||
|
this.subscribe(topic, type);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Subscribe to a ROS topic
|
||||||
|
*/
|
||||||
|
private subscribe(topic: string, messageType: string): void {
|
||||||
|
const message: RosMessage = {
|
||||||
|
op: "subscribe",
|
||||||
|
topic,
|
||||||
|
type: messageType,
|
||||||
|
id: `sub_${this.messageId++}`,
|
||||||
|
};
|
||||||
|
|
||||||
|
this.send(message);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Publish message to ROS topic
|
||||||
|
*/
|
||||||
|
private publish(
|
||||||
|
topic: string,
|
||||||
|
messageType: string,
|
||||||
|
msg: Record<string, unknown>,
|
||||||
|
): void {
|
||||||
|
const message: RosMessage = {
|
||||||
|
op: "publish",
|
||||||
|
topic,
|
||||||
|
type: messageType,
|
||||||
|
msg,
|
||||||
|
};
|
||||||
|
|
||||||
|
this.send(message);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Send WebSocket message
|
||||||
|
*/
|
||||||
|
private send(message: RosMessage): void {
|
||||||
|
if (this.ws?.readyState === WebSocket.OPEN) {
|
||||||
|
this.ws.send(JSON.stringify(message));
|
||||||
|
} else {
|
||||||
|
console.warn("[WizardROS] Cannot send message - not connected");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Handle incoming ROS messages
|
||||||
|
*/
|
||||||
|
private handleMessage(message: RosMessage): void {
|
||||||
|
if (message.topic) {
|
||||||
|
this.handleTopicMessage(message);
|
||||||
|
}
|
||||||
|
|
||||||
|
this.emit("message", message);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Handle topic-specific messages
|
||||||
|
*/
|
||||||
|
private handleTopicMessage(message: RosMessage): void {
|
||||||
|
if (!message.topic || !message.msg) return;
|
||||||
|
|
||||||
|
switch (message.topic) {
|
||||||
|
case "/joint_states":
|
||||||
|
this.updateJointStates(message.msg);
|
||||||
|
break;
|
||||||
|
case "/naoqi_driver/battery":
|
||||||
|
this.updateBatteryStatus(message.msg);
|
||||||
|
break;
|
||||||
|
case "/naoqi_driver/bumper":
|
||||||
|
case "/naoqi_driver/hand_touch":
|
||||||
|
case "/naoqi_driver/head_touch":
|
||||||
|
case "/naoqi_driver/sonar/left":
|
||||||
|
case "/naoqi_driver/sonar/right":
|
||||||
|
this.updateSensorData(message.topic, message.msg);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
this.robotStatus.lastUpdate = new Date();
|
||||||
|
this.emit("robot_status_updated", this.robotStatus);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update joint states from ROS message
|
||||||
|
*/
|
||||||
|
private updateJointStates(msg: Record<string, unknown>): void {
|
||||||
|
if (
|
||||||
|
msg.name &&
|
||||||
|
msg.position &&
|
||||||
|
Array.isArray(msg.name) &&
|
||||||
|
Array.isArray(msg.position)
|
||||||
|
) {
|
||||||
|
const joints: Record<string, number> = {};
|
||||||
|
|
||||||
|
for (let i = 0; i < msg.name.length; i++) {
|
||||||
|
const jointName = msg.name[i] as string;
|
||||||
|
const position = msg.position[i] as number;
|
||||||
|
if (jointName && typeof position === "number") {
|
||||||
|
joints[jointName] = position;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
this.robotStatus.joints = joints;
|
||||||
|
this.robotStatus.connected = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update battery status from ROS message
|
||||||
|
*/
|
||||||
|
private updateBatteryStatus(msg: Record<string, unknown>): void {
|
||||||
|
if (typeof msg.percentage === "number") {
|
||||||
|
this.robotStatus.battery = msg.percentage;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Update sensor data from ROS message
|
||||||
|
*/
|
||||||
|
private updateSensorData(topic: string, msg: Record<string, unknown>): void {
|
||||||
|
this.robotStatus.sensors[topic] = msg;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute action with plugin configuration
|
||||||
|
*/
|
||||||
|
private async executeWithConfig(
|
||||||
|
config: {
|
||||||
|
topic: string;
|
||||||
|
messageType: string;
|
||||||
|
payloadMapping: {
|
||||||
|
type: string;
|
||||||
|
payload?: Record<string, unknown>;
|
||||||
|
transformFn?: string;
|
||||||
|
};
|
||||||
|
},
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
): Promise<void> {
|
||||||
|
let msg: Record<string, unknown>;
|
||||||
|
|
||||||
|
if (
|
||||||
|
config.payloadMapping.type === "template" &&
|
||||||
|
config.payloadMapping.payload
|
||||||
|
) {
|
||||||
|
// Template-based payload construction
|
||||||
|
msg = this.buildTemplatePayload(
|
||||||
|
config.payloadMapping.payload,
|
||||||
|
parameters,
|
||||||
|
);
|
||||||
|
} else if (config.payloadMapping.transformFn) {
|
||||||
|
// Custom transform function
|
||||||
|
msg = this.applyTransformFunction(
|
||||||
|
config.payloadMapping.transformFn,
|
||||||
|
parameters,
|
||||||
|
);
|
||||||
|
} else {
|
||||||
|
// Direct parameter mapping
|
||||||
|
msg = parameters;
|
||||||
|
}
|
||||||
|
|
||||||
|
this.publish(config.topic, config.messageType, msg);
|
||||||
|
|
||||||
|
// Wait for action completion (simple delay for now)
|
||||||
|
await new Promise((resolve) => setTimeout(resolve, 100));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute built-in robot actions
|
||||||
|
*/
|
||||||
|
private async executeBuiltinAction(
|
||||||
|
actionId: string,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
): Promise<void> {
|
||||||
|
switch (actionId) {
|
||||||
|
case "say_text":
|
||||||
|
this.publish("/speech", "std_msgs/String", {
|
||||||
|
data: parameters.text || "Hello",
|
||||||
|
});
|
||||||
|
break;
|
||||||
|
|
||||||
|
case "walk_forward":
|
||||||
|
case "walk_backward":
|
||||||
|
case "turn_left":
|
||||||
|
case "turn_right":
|
||||||
|
this.executeMovementAction(actionId, parameters);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case "turn_head":
|
||||||
|
this.executeTurnHead(parameters);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case "emergency_stop":
|
||||||
|
this.publish("/cmd_vel", "geometry_msgs/Twist", {
|
||||||
|
linear: { x: 0, y: 0, z: 0 },
|
||||||
|
angular: { x: 0, y: 0, z: 0 },
|
||||||
|
});
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
throw new Error(`Unknown action: ${actionId}`);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Wait for action completion
|
||||||
|
await new Promise((resolve) => setTimeout(resolve, 100));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute movement actions
|
||||||
|
*/
|
||||||
|
private executeMovementAction(
|
||||||
|
actionId: string,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
): void {
|
||||||
|
let linear = { x: 0, y: 0, z: 0 };
|
||||||
|
let angular = { x: 0, y: 0, z: 0 };
|
||||||
|
|
||||||
|
const speed = Number(parameters.speed) || 0.1;
|
||||||
|
|
||||||
|
switch (actionId) {
|
||||||
|
case "walk_forward":
|
||||||
|
linear.x = speed;
|
||||||
|
break;
|
||||||
|
case "walk_backward":
|
||||||
|
linear.x = -speed;
|
||||||
|
break;
|
||||||
|
case "turn_left":
|
||||||
|
angular.z = speed;
|
||||||
|
break;
|
||||||
|
case "turn_right":
|
||||||
|
angular.z = -speed;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
this.publish("/cmd_vel", "geometry_msgs/Twist", { linear, angular });
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute head turn action
|
||||||
|
*/
|
||||||
|
private executeTurnHead(parameters: Record<string, unknown>): void {
|
||||||
|
const yaw = Number(parameters.yaw) || 0;
|
||||||
|
const pitch = Number(parameters.pitch) || 0;
|
||||||
|
const speed = Number(parameters.speed) || 0.3;
|
||||||
|
|
||||||
|
this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
|
||||||
|
joint_names: ["HeadYaw", "HeadPitch"],
|
||||||
|
joint_angles: [yaw, pitch],
|
||||||
|
speed: speed,
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Build template-based payload
|
||||||
|
*/
|
||||||
|
private buildTemplatePayload(
|
||||||
|
template: Record<string, unknown>,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
): Record<string, unknown> {
|
||||||
|
const result: Record<string, unknown> = {};
|
||||||
|
|
||||||
|
for (const [key, value] of Object.entries(template)) {
|
||||||
|
if (typeof value === "string" && value.includes("{{")) {
|
||||||
|
// Template substitution
|
||||||
|
let substituted = value;
|
||||||
|
for (const [paramKey, paramValue] of Object.entries(parameters)) {
|
||||||
|
const placeholder = `{{${paramKey}}}`;
|
||||||
|
substituted = substituted.replace(
|
||||||
|
new RegExp(placeholder.replace(/[.*+?^${}()|[\]\\]/g, "\\$&"), "g"),
|
||||||
|
String(paramValue ?? ""),
|
||||||
|
);
|
||||||
|
}
|
||||||
|
result[key] = isNaN(Number(substituted))
|
||||||
|
? substituted
|
||||||
|
: Number(substituted);
|
||||||
|
} else if (typeof value === "object" && value !== null) {
|
||||||
|
result[key] = this.buildTemplatePayload(
|
||||||
|
value as Record<string, unknown>,
|
||||||
|
parameters,
|
||||||
|
);
|
||||||
|
} else {
|
||||||
|
result[key] = value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Apply transform function for NAO6 actions
|
||||||
|
*/
|
||||||
|
private applyTransformFunction(
|
||||||
|
transformFn: string,
|
||||||
|
parameters: Record<string, unknown>,
|
||||||
|
): Record<string, unknown> {
|
||||||
|
switch (transformFn) {
|
||||||
|
case "naoVelocityTransform":
|
||||||
|
return {
|
||||||
|
linear: {
|
||||||
|
x: Number(parameters.linear) || 0,
|
||||||
|
y: 0,
|
||||||
|
z: 0,
|
||||||
|
},
|
||||||
|
angular: {
|
||||||
|
x: 0,
|
||||||
|
y: 0,
|
||||||
|
z: Number(parameters.angular) || 0,
|
||||||
|
},
|
||||||
|
};
|
||||||
|
|
||||||
|
case "naoSpeechTransform":
|
||||||
|
return {
|
||||||
|
data: String(parameters.text || "Hello"),
|
||||||
|
};
|
||||||
|
|
||||||
|
case "naoHeadTransform":
|
||||||
|
return {
|
||||||
|
joint_names: ["HeadYaw", "HeadPitch"],
|
||||||
|
joint_angles: [
|
||||||
|
Number(parameters.yaw) || 0,
|
||||||
|
Number(parameters.pitch) || 0,
|
||||||
|
],
|
||||||
|
speed: Number(parameters.speed) || 0.3,
|
||||||
|
};
|
||||||
|
|
||||||
|
default:
|
||||||
|
console.warn(`Unknown transform function: ${transformFn}`);
|
||||||
|
return parameters;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Schedule reconnection attempt
|
||||||
|
*/
|
||||||
|
private scheduleReconnect(): void {
|
||||||
|
if (this.reconnectTimer) return;
|
||||||
|
|
||||||
|
this.connectionAttempts++;
|
||||||
|
console.log(
|
||||||
|
`[WizardROS] Scheduling reconnect attempt ${this.connectionAttempts}/${this.maxReconnectAttempts}`,
|
||||||
|
);
|
||||||
|
|
||||||
|
this.reconnectTimer = setTimeout(async () => {
|
||||||
|
this.reconnectTimer = null;
|
||||||
|
try {
|
||||||
|
await this.connect();
|
||||||
|
} catch (error) {
|
||||||
|
console.error("[WizardROS] Reconnect failed:", error);
|
||||||
|
if (this.connectionAttempts < this.maxReconnectAttempts) {
|
||||||
|
this.scheduleReconnect();
|
||||||
|
} else {
|
||||||
|
this.emit("max_reconnects_reached");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}, this.reconnectInterval);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Clear reconnect timer
|
||||||
|
*/
|
||||||
|
private clearReconnectTimer(): void {
|
||||||
|
if (this.reconnectTimer) {
|
||||||
|
clearTimeout(this.reconnectTimer);
|
||||||
|
this.reconnectTimer = null;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Global service instance
|
||||||
|
let wizardRosService: WizardRosService | null = null;
|
||||||
|
let isCreatingInstance = false;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get or create the global wizard ROS service (true singleton)
|
||||||
|
*/
|
||||||
|
export function getWizardRosService(): WizardRosService {
|
||||||
|
// Prevent multiple instances during creation
|
||||||
|
if (isCreatingInstance && !wizardRosService) {
|
||||||
|
throw new Error("WizardRosService is being initialized, please wait");
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!wizardRosService) {
|
||||||
|
isCreatingInstance = true;
|
||||||
|
try {
|
||||||
|
wizardRosService = new WizardRosService();
|
||||||
|
} finally {
|
||||||
|
isCreatingInstance = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return wizardRosService;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize wizard ROS service with connection
|
||||||
|
*/
|
||||||
|
export async function initWizardRosService(): Promise<WizardRosService> {
|
||||||
|
const service = getWizardRosService();
|
||||||
|
|
||||||
|
if (!service.getConnectionStatus()) {
|
||||||
|
await service.connect();
|
||||||
|
}
|
||||||
|
|
||||||
|
return service;
|
||||||
|
}
|
||||||
@@ -9,28 +9,34 @@
|
|||||||
"moduleDetection": "force",
|
"moduleDetection": "force",
|
||||||
"isolatedModules": true,
|
"isolatedModules": true,
|
||||||
"verbatimModuleSyntax": true,
|
"verbatimModuleSyntax": true,
|
||||||
|
|
||||||
/* Strictness */
|
/* Strictness */
|
||||||
"strict": true,
|
"strict": true,
|
||||||
"noUncheckedIndexedAccess": true,
|
"noUncheckedIndexedAccess": true,
|
||||||
"checkJs": true,
|
"checkJs": true,
|
||||||
|
|
||||||
/* Bundled projects */
|
/* Bundled projects */
|
||||||
"lib": ["dom", "dom.iterable", "ES2022"],
|
"lib": [
|
||||||
|
"dom",
|
||||||
|
"dom.iterable",
|
||||||
|
"ES2022"
|
||||||
|
],
|
||||||
"noEmit": true,
|
"noEmit": true,
|
||||||
"module": "ESNext",
|
"module": "ESNext",
|
||||||
"moduleResolution": "Bundler",
|
"moduleResolution": "Bundler",
|
||||||
"jsx": "preserve",
|
"jsx": "react-jsx",
|
||||||
"plugins": [{ "name": "next" }],
|
"plugins": [
|
||||||
|
{
|
||||||
|
"name": "next"
|
||||||
|
}
|
||||||
|
],
|
||||||
"incremental": true,
|
"incremental": true,
|
||||||
|
|
||||||
/* Path Aliases */
|
/* Path Aliases */
|
||||||
"baseUrl": ".",
|
"baseUrl": ".",
|
||||||
"paths": {
|
"paths": {
|
||||||
"~/*": ["./src/*"]
|
"~/*": [
|
||||||
|
"./src/*"
|
||||||
|
]
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
|
||||||
"include": [
|
"include": [
|
||||||
// FlowWorkspace (flow/FlowWorkspace.tsx) and new designer modules are included via recursive globs
|
// FlowWorkspace (flow/FlowWorkspace.tsx) and new designer modules are included via recursive globs
|
||||||
"next-env.d.ts",
|
"next-env.d.ts",
|
||||||
@@ -40,7 +46,11 @@
|
|||||||
"**/*.js",
|
"**/*.js",
|
||||||
".next/types/**/*.ts",
|
".next/types/**/*.ts",
|
||||||
"src/components/experiments/designer/**/*.ts",
|
"src/components/experiments/designer/**/*.ts",
|
||||||
"src/components/experiments/designer/**/*.tsx"
|
"src/components/experiments/designer/**/*.tsx",
|
||||||
|
".next/dev/types/**/*.ts"
|
||||||
],
|
],
|
||||||
"exclude": ["node_modules", "robot-plugins"]
|
"exclude": [
|
||||||
|
"node_modules",
|
||||||
|
"robot-plugins"
|
||||||
|
]
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user