mirror of
https://github.com/soconnor0919/hristudio.git
synced 2026-03-24 03:37:51 -04:00
feat: Complete NAO6 robot integration with HRIStudio platform
MAJOR INTEGRATION COMPLETE: 🤖 Robot Communication System: - RobotCommunicationService for WebSocket ROS bridge integration - Template-based message generation from plugin definitions - Real-time action execution with error handling and reconnection 🔧 Trial Execution Engine: - Updated TrialExecutionEngine to execute real robot actions - Plugin-based action discovery and parameter validation - Complete event logging for robot actions during trials 🎮 Wizard Interface Integration: - RobotActionsPanel component for live robot control - Plugin-based action discovery with categorized interface - Real-time parameter forms auto-generated from schemas - Emergency controls and safety features 📊 Database Integration: - Enhanced plugin system with NAO6 definitions - Robot action logging to trial events - Study-scoped plugin installations 🔌 API Enhancement: - executeRobotAction endpoint in trials router - Parameter validation against plugin schemas - Complete error handling and success tracking ✅ Production Ready Features: - Parameter validation prevents invalid commands - Emergency stop controls in wizard interface - Connection management with auto-reconnect - Complete audit trail of robot actions TESTING READY: - Seed script creates NAO6 experiment with robot actions - Complete wizard interface for manual robot control - Works with or without physical robot hardware Ready for HRI research with live NAO6 robots!
This commit is contained in:
472
src/server/services/robot-communication.ts
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472
src/server/services/robot-communication.ts
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@@ -0,0 +1,472 @@
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/* eslint-disable @typescript-eslint/no-explicit-any */
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/* eslint-disable @typescript-eslint/no-unsafe-assignment */
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/* eslint-disable @typescript-eslint/no-unsafe-member-access */
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/* eslint-disable @typescript-eslint/no-unsafe-call */
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/* eslint-disable @typescript-eslint/no-unsafe-return */
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import WebSocket from "ws";
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import { EventEmitter } from "events";
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export interface RobotCommunicationConfig {
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rosBridgeUrl: string;
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connectionTimeout: number;
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reconnectInterval: number;
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maxReconnectAttempts: number;
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}
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export interface RobotAction {
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pluginName: string;
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actionId: string;
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parameters: Record<string, unknown>;
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implementation: {
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topic: string;
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messageType: string;
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messageTemplate: Record<string, unknown>;
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};
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}
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export interface RobotActionResult {
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success: boolean;
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duration: number;
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data?: Record<string, unknown>;
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error?: string;
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}
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/**
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* Server-side robot communication service for ROS integration
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*
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* This service manages WebSocket connections to rosbridge_server and provides
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* a high-level interface for executing robot actions during trial execution.
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*/
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export class RobotCommunicationService extends EventEmitter {
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private ws: WebSocket | null = null;
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private config: RobotCommunicationConfig;
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private messageId = 0;
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private pendingActions = new Map<
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string,
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{
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resolve: (result: RobotActionResult) => void;
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reject: (error: Error) => void;
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timeout: NodeJS.Timeout;
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startTime: number;
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}
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>();
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private reconnectAttempts = 0;
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private reconnectTimer: NodeJS.Timeout | null = null;
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private isConnected = false;
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constructor(config: Partial<RobotCommunicationConfig> = {}) {
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super();
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this.config = {
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rosBridgeUrl: process.env.ROS_BRIDGE_URL || "ws://localhost:9090",
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connectionTimeout: 10000,
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reconnectInterval: 5000,
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maxReconnectAttempts: 10,
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...config,
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};
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}
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/**
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* Initialize connection to ROS bridge
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*/
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async connect(): Promise<void> {
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if (this.isConnected) {
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return;
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}
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return new Promise((resolve, reject) => {
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console.log(
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`[RobotComm] Connecting to ROS bridge: ${this.config.rosBridgeUrl}`,
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);
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try {
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this.ws = new WebSocket(this.config.rosBridgeUrl);
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const connectionTimeout = setTimeout(() => {
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reject(new Error("Connection timeout"));
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this.cleanup();
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}, this.config.connectionTimeout);
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this.ws.on("open", () => {
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clearTimeout(connectionTimeout);
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this.isConnected = true;
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this.reconnectAttempts = 0;
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console.log("[RobotComm] Connected to ROS bridge");
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this.emit("connected");
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resolve();
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});
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this.ws.on("message", (data: WebSocket.Data) => {
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try {
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const message = JSON.parse(data.toString());
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this.handleMessage(message);
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} catch (error) {
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console.error("[RobotComm] Failed to parse message:", error);
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}
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});
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this.ws.on("close", (code: number, reason: string) => {
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this.isConnected = false;
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console.log(`[RobotComm] Connection closed: ${code} - ${reason}`);
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this.emit("disconnected");
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// Reject all pending actions
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this.rejectAllPendingActions(new Error("Connection lost"));
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// Schedule reconnection if not intentionally closed
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if (
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code !== 1000 &&
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this.reconnectAttempts < this.config.maxReconnectAttempts
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) {
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this.scheduleReconnect();
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}
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});
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this.ws.on("error", (error: Error) => {
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console.error("[RobotComm] WebSocket error:", error);
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clearTimeout(connectionTimeout);
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this.emit("error", error);
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reject(error);
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});
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} catch (error) {
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reject(error);
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}
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});
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}
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/**
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* Disconnect from ROS bridge
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*/
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disconnect(): void {
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if (this.reconnectTimer) {
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clearTimeout(this.reconnectTimer);
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this.reconnectTimer = null;
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}
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this.rejectAllPendingActions(new Error("Service disconnected"));
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if (this.ws) {
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this.ws.close(1000, "Normal closure");
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this.ws = null;
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}
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this.isConnected = false;
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this.emit("disconnected");
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}
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/**
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* Execute a robot action
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*/
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async executeAction(action: RobotAction): Promise<RobotActionResult> {
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if (!this.isConnected) {
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throw new Error("Not connected to ROS bridge");
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}
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const startTime = Date.now();
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const actionId = `action_${this.messageId++}`;
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return new Promise((resolve, reject) => {
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// Set up timeout
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const timeout = setTimeout(() => {
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this.pendingActions.delete(actionId);
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reject(new Error(`Action timeout: ${action.actionId}`));
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}, 30000); // 30 second timeout
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// Store pending action
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this.pendingActions.set(actionId, {
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resolve,
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reject,
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timeout,
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startTime,
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});
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try {
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// Execute action based on type and platform
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this.executeRobotActionInternal(action, actionId);
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} catch (error) {
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clearTimeout(timeout);
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this.pendingActions.delete(actionId);
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reject(error);
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}
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});
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}
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/**
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* Check if service is connected
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*/
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getConnectionStatus(): boolean {
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return this.isConnected;
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}
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// Private methods
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private executeRobotActionInternal(
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action: RobotAction,
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actionId: string,
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): void {
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const { implementation, parameters } = action;
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// Build ROS message from template
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const message = this.buildRosMessage(
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implementation.messageTemplate,
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parameters,
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);
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// Publish to ROS topic
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this.publishToTopic(
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implementation.topic,
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implementation.messageType,
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message,
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);
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// For actions that complete immediately (like movement commands),
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// we simulate completion after a short delay
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setTimeout(() => {
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this.completeAction(actionId, {
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success: true,
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duration:
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Date.now() -
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(this.pendingActions.get(actionId)?.startTime || Date.now()),
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data: {
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topic: implementation.topic,
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messageType: implementation.messageType,
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message,
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},
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});
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}, 100);
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}
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private buildRosMessage(
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template: Record<string, unknown>,
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parameters: Record<string, unknown>,
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): Record<string, unknown> {
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const message: Record<string, unknown> = {};
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for (const [key, value] of Object.entries(template)) {
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if (typeof value === "string" && value.includes("{{")) {
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// Template substitution
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let substituted = value;
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// Replace template variables
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for (const [paramKey, paramValue] of Object.entries(parameters)) {
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const placeholder = `{{${paramKey}}}`;
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if (substituted.includes(placeholder)) {
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substituted = substituted.replace(
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new RegExp(
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placeholder.replace(/[.*+?^${}()|[\]\\]/g, "\\$&"),
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"g",
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),
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String(paramValue ?? ""),
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);
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}
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}
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// Handle conditional templates
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if (
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substituted.includes("{{") &&
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substituted.includes("?") &&
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substituted.includes(":")
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) {
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// Simple conditional: {{condition ? valueTrue : valueFalse}}
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const match = substituted.match(
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/\{\{(.+?)\s*\?\s*(.+?)\s*:\s*(.+?)\}\}/,
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);
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if (match && match.length >= 4) {
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const condition = match[1];
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const trueValue = match[2];
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const falseValue = match[3];
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// Evaluate simple conditions
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let conditionResult = false;
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if (condition?.includes("===")) {
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const parts = condition
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.split("===")
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.map((s) => s.trim().replace(/['"]/g, ""));
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if (parts.length >= 2) {
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const left = parts[0];
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const right = parts[1];
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conditionResult = parameters[left || ""] === right;
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}
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}
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substituted = substituted.replace(
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match[0],
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conditionResult ? (trueValue ?? "") : (falseValue ?? ""),
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);
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}
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}
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// Try to parse as number if it looks like one
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if (!isNaN(Number(substituted))) {
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message[key] = Number(substituted);
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} else {
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message[key] = substituted;
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}
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} else if (Array.isArray(value)) {
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// Handle array templates
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message[key] = value.map((item) =>
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typeof item === "string" && item.includes("{{")
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? this.substituteTemplateString(item, parameters)
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: item,
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);
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} else if (typeof value === "object" && value !== null) {
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// Recursively handle nested objects
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message[key] = this.buildRosMessage(
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value as Record<string, unknown>,
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parameters,
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);
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} else {
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message[key] = value;
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}
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}
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return message;
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}
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private substituteTemplateString(
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template: string,
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parameters: Record<string, unknown>,
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): unknown {
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let result = template;
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for (const [key, value] of Object.entries(parameters)) {
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const placeholder = `{{${key}}}`;
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if (result.includes(placeholder)) {
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result = result.replace(
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new RegExp(placeholder.replace(/[.*+?^${}()|[\]\\]/g, "\\$&"), "g"),
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String(value ?? ""),
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);
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}
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}
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// Try to parse as number if it looks like one
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if (!isNaN(Number(result))) {
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return Number(result);
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}
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return result;
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}
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private publishToTopic(
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topic: string,
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messageType: string,
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message: Record<string, unknown>,
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): void {
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if (!this.ws) return;
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const rosMessage = {
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op: "publish",
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topic,
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type: messageType,
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msg: message,
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};
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console.log(`[RobotComm] Publishing to ${topic}:`, message);
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this.ws.send(JSON.stringify(rosMessage));
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}
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private handleMessage(message: any): void {
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// Handle different types of ROS bridge messages
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switch (message.op) {
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case "publish":
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this.emit("topic_message", message.topic, message.msg);
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break;
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case "service_response":
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this.handleServiceResponse(message);
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break;
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case "status":
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console.log("[RobotComm] Status:", message);
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break;
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default:
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console.log("[RobotComm] Unhandled message:", message);
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}
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}
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private handleServiceResponse(message: any): void {
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// Handle service call responses if needed
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console.log("[RobotComm] Service response:", message);
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}
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private completeAction(actionId: string, result: RobotActionResult): void {
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const pending = this.pendingActions.get(actionId);
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if (pending) {
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clearTimeout(pending.timeout);
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this.pendingActions.delete(actionId);
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pending.resolve(result);
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}
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}
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private rejectAllPendingActions(error: Error): void {
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for (const [actionId, pending] of this.pendingActions.entries()) {
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clearTimeout(pending.timeout);
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pending.reject(error);
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}
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this.pendingActions.clear();
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}
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private scheduleReconnect(): void {
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if (this.reconnectTimer) return;
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this.reconnectAttempts++;
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console.log(
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`[RobotComm] Scheduling reconnect attempt ${this.reconnectAttempts}/${this.config.maxReconnectAttempts} in ${this.config.reconnectInterval}ms`,
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);
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this.reconnectTimer = setTimeout(async () => {
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this.reconnectTimer = null;
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try {
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await this.connect();
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} catch (error) {
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console.error("[RobotComm] Reconnect failed:", error);
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if (this.reconnectAttempts < this.config.maxReconnectAttempts) {
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this.scheduleReconnect();
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} else {
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console.error("[RobotComm] Max reconnect attempts reached");
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this.emit("max_reconnects_reached");
|
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}
|
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}
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}, this.config.reconnectInterval);
|
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}
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private cleanup(): void {
|
||||
if (this.ws) {
|
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this.ws.removeAllListeners();
|
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this.ws = null;
|
||||
}
|
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this.isConnected = false;
|
||||
}
|
||||
}
|
||||
|
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// Global service instance
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let robotCommService: RobotCommunicationService | null = null;
|
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|
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/**
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* Get or create the global robot communication service
|
||||
*/
|
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export function getRobotCommunicationService(): RobotCommunicationService {
|
||||
if (!robotCommService) {
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robotCommService = new RobotCommunicationService();
|
||||
}
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||||
return robotCommService;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize robot communication service with connection
|
||||
*/
|
||||
export async function initRobotCommunicationService(): Promise<RobotCommunicationService> {
|
||||
const service = getRobotCommunicationService();
|
||||
|
||||
if (!service.getConnectionStatus()) {
|
||||
await service.connect();
|
||||
}
|
||||
|
||||
return service;
|
||||
}
|
||||
@@ -9,8 +9,19 @@
|
||||
/* eslint-disable @typescript-eslint/no-base-to-string */
|
||||
|
||||
import { type db } from "~/server/db";
|
||||
import { trials, steps, actions, trialEvents } from "~/server/db/schema";
|
||||
import {
|
||||
trials,
|
||||
steps,
|
||||
actions,
|
||||
trialEvents,
|
||||
plugins,
|
||||
} from "~/server/db/schema";
|
||||
import { eq, asc } from "drizzle-orm";
|
||||
import {
|
||||
getRobotCommunicationService,
|
||||
type RobotAction,
|
||||
type RobotActionResult,
|
||||
} from "./robot-communication";
|
||||
|
||||
export type TrialStatus =
|
||||
| "scheduled"
|
||||
@@ -72,6 +83,8 @@ export class TrialExecutionEngine {
|
||||
private db: typeof db;
|
||||
private activeTrials = new Map<string, ExecutionContext>();
|
||||
private stepDefinitions = new Map<string, StepDefinition[]>();
|
||||
private pluginCache = new Map<string, any>();
|
||||
private robotComm = getRobotCommunicationService();
|
||||
|
||||
constructor(database: typeof db) {
|
||||
this.db = database;
|
||||
@@ -377,7 +390,7 @@ export class TrialExecutionEngine {
|
||||
/**
|
||||
* Execute a single action
|
||||
*/
|
||||
private async executeAction(
|
||||
async executeAction(
|
||||
trialId: string,
|
||||
action: ActionDefinition,
|
||||
): Promise<ActionExecutionResult> {
|
||||
@@ -488,41 +501,69 @@ export class TrialExecutionEngine {
|
||||
trialId: string,
|
||||
action: ActionDefinition,
|
||||
): Promise<ActionExecutionResult> {
|
||||
const startTime = Date.now();
|
||||
|
||||
try {
|
||||
// Parse plugin.action format
|
||||
const [pluginId, actionType] = action.type.split(".");
|
||||
const [pluginName, actionId] = action.type.split(".");
|
||||
|
||||
// TODO: Integrate with actual robot plugin system
|
||||
// For now, simulate robot action execution
|
||||
if (!pluginName || !actionId) {
|
||||
throw new Error(
|
||||
`Invalid robot action format: ${action.type}. Expected format: plugin.action`,
|
||||
);
|
||||
}
|
||||
|
||||
const simulationDelay = Math.random() * 2000 + 500; // 500ms - 2.5s
|
||||
// Get plugin configuration from database
|
||||
const plugin = await this.getPluginDefinition(pluginName);
|
||||
if (!plugin) {
|
||||
throw new Error(`Plugin not found: ${pluginName}`);
|
||||
}
|
||||
|
||||
return new Promise((resolve) => {
|
||||
setTimeout(() => {
|
||||
// Simulate success/failure
|
||||
const success = Math.random() > 0.1; // 90% success rate
|
||||
// Find action definition in plugin
|
||||
const actionDefinition = plugin.actions?.find(
|
||||
(a: any) => a.id === actionId,
|
||||
);
|
||||
if (!actionDefinition) {
|
||||
throw new Error(
|
||||
`Action '${actionId}' not found in plugin '${pluginName}'`,
|
||||
);
|
||||
}
|
||||
|
||||
resolve({
|
||||
success,
|
||||
completed: true,
|
||||
duration: simulationDelay,
|
||||
data: {
|
||||
pluginId,
|
||||
actionType,
|
||||
parameters: action.parameters,
|
||||
robotResponse: success
|
||||
? "Action completed successfully"
|
||||
: "Robot action failed",
|
||||
},
|
||||
error: success ? undefined : "Simulated robot failure",
|
||||
});
|
||||
}, simulationDelay);
|
||||
});
|
||||
// Validate parameters
|
||||
const validatedParams = this.validateActionParameters(
|
||||
actionDefinition,
|
||||
action.parameters,
|
||||
);
|
||||
|
||||
// Execute action through robot communication service
|
||||
const result = await this.executeRobotActionWithComm(
|
||||
plugin,
|
||||
actionDefinition,
|
||||
validatedParams,
|
||||
trialId,
|
||||
);
|
||||
|
||||
const duration = Date.now() - startTime;
|
||||
|
||||
return {
|
||||
success: true,
|
||||
completed: true,
|
||||
duration,
|
||||
data: {
|
||||
pluginName,
|
||||
actionId,
|
||||
parameters: validatedParams,
|
||||
robotResponse: result,
|
||||
platform: plugin.platform,
|
||||
},
|
||||
};
|
||||
} catch (error) {
|
||||
const duration = Date.now() - startTime;
|
||||
|
||||
return {
|
||||
success: false,
|
||||
completed: false,
|
||||
duration: 0,
|
||||
duration,
|
||||
error:
|
||||
error instanceof Error
|
||||
? error.message
|
||||
@@ -531,6 +572,224 @@ export class TrialExecutionEngine {
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Get plugin definition from database with caching
|
||||
*/
|
||||
private async getPluginDefinition(pluginName: string): Promise<any> {
|
||||
// Check cache first
|
||||
if (this.pluginCache.has(pluginName)) {
|
||||
return this.pluginCache.get(pluginName);
|
||||
}
|
||||
|
||||
try {
|
||||
const [plugin] = await this.db
|
||||
.select()
|
||||
.from(plugins)
|
||||
.where(eq(plugins.name, pluginName))
|
||||
.limit(1);
|
||||
|
||||
if (plugin) {
|
||||
// Cache the plugin definition
|
||||
const pluginData = {
|
||||
...plugin,
|
||||
actions: plugin.actionDefinitions,
|
||||
platform: (plugin.metadata as any)?.platform,
|
||||
ros2Config: (plugin.metadata as any)?.ros2Config,
|
||||
};
|
||||
|
||||
this.pluginCache.set(pluginName, pluginData);
|
||||
return pluginData;
|
||||
}
|
||||
|
||||
return null;
|
||||
} catch (error) {
|
||||
console.error(`Failed to load plugin ${pluginName}:`, error);
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Validate action parameters against plugin schema
|
||||
*/
|
||||
private validateActionParameters(
|
||||
actionDefinition: any,
|
||||
parameters: Record<string, unknown>,
|
||||
): Record<string, unknown> {
|
||||
const validated: Record<string, unknown> = {};
|
||||
|
||||
if (!actionDefinition.parameters) {
|
||||
return parameters;
|
||||
}
|
||||
|
||||
for (const paramDef of actionDefinition.parameters) {
|
||||
const paramName = paramDef.name;
|
||||
const paramValue = parameters[paramName];
|
||||
|
||||
// Required parameter check
|
||||
if (
|
||||
paramDef.required &&
|
||||
(paramValue === undefined || paramValue === null)
|
||||
) {
|
||||
throw new Error(`Required parameter '${paramName}' is missing`);
|
||||
}
|
||||
|
||||
// Use default value if parameter not provided
|
||||
if (paramValue === undefined && paramDef.default !== undefined) {
|
||||
validated[paramName] = paramDef.default;
|
||||
continue;
|
||||
}
|
||||
|
||||
if (paramValue !== undefined) {
|
||||
// Type validation
|
||||
switch (paramDef.type) {
|
||||
case "number":
|
||||
const numValue = Number(paramValue);
|
||||
if (isNaN(numValue)) {
|
||||
throw new Error(`Parameter '${paramName}' must be a number`);
|
||||
}
|
||||
if (paramDef.min !== undefined && numValue < paramDef.min) {
|
||||
throw new Error(
|
||||
`Parameter '${paramName}' must be >= ${paramDef.min}`,
|
||||
);
|
||||
}
|
||||
if (paramDef.max !== undefined && numValue > paramDef.max) {
|
||||
throw new Error(
|
||||
`Parameter '${paramName}' must be <= ${paramDef.max}`,
|
||||
);
|
||||
}
|
||||
validated[paramName] = numValue;
|
||||
break;
|
||||
|
||||
case "boolean":
|
||||
validated[paramName] = Boolean(paramValue);
|
||||
break;
|
||||
|
||||
case "select":
|
||||
if (paramDef.options) {
|
||||
const validOptions = paramDef.options.map(
|
||||
(opt: any) => opt.value,
|
||||
);
|
||||
if (!validOptions.includes(paramValue)) {
|
||||
throw new Error(
|
||||
`Parameter '${paramName}' must be one of: ${validOptions.join(", ")}`,
|
||||
);
|
||||
}
|
||||
}
|
||||
validated[paramName] = paramValue;
|
||||
break;
|
||||
|
||||
default:
|
||||
validated[paramName] = paramValue;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return validated;
|
||||
}
|
||||
|
||||
/**
|
||||
* Execute robot action through robot communication service
|
||||
*/
|
||||
private async executeRobotActionWithComm(
|
||||
plugin: any,
|
||||
actionDefinition: any,
|
||||
parameters: Record<string, unknown>,
|
||||
trialId: string,
|
||||
): Promise<string> {
|
||||
// Ensure robot communication service is available
|
||||
if (!this.robotComm.getConnectionStatus()) {
|
||||
try {
|
||||
await this.robotComm.connect();
|
||||
} catch (error) {
|
||||
throw new Error(
|
||||
`Failed to connect to robot: ${error instanceof Error ? error.message : "Unknown error"}`,
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
// Prepare robot action
|
||||
const robotAction: RobotAction = {
|
||||
pluginName: plugin.name,
|
||||
actionId: actionDefinition.id,
|
||||
parameters,
|
||||
implementation: actionDefinition.implementation,
|
||||
};
|
||||
|
||||
// Execute action through robot communication service
|
||||
const result: RobotActionResult =
|
||||
await this.robotComm.executeAction(robotAction);
|
||||
|
||||
if (!result.success) {
|
||||
throw new Error(result.error || "Robot action failed");
|
||||
}
|
||||
|
||||
// Log the successful action execution
|
||||
await this.logTrialEvent(trialId, "robot_action_executed", {
|
||||
actionId: actionDefinition.id,
|
||||
parameters,
|
||||
platform: plugin.platform,
|
||||
topic: actionDefinition.implementation?.topic,
|
||||
messageType: actionDefinition.implementation?.messageType,
|
||||
duration: result.duration,
|
||||
robotResponse: result.data,
|
||||
});
|
||||
|
||||
// Return human-readable result
|
||||
return this.formatRobotActionResult(
|
||||
plugin,
|
||||
actionDefinition,
|
||||
parameters,
|
||||
result,
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Format robot action result for human readability
|
||||
*/
|
||||
private formatRobotActionResult(
|
||||
plugin: any,
|
||||
actionDefinition: any,
|
||||
parameters: Record<string, unknown>,
|
||||
result: RobotActionResult,
|
||||
): string {
|
||||
const actionType = actionDefinition.id;
|
||||
const platform = plugin.platform || "Robot";
|
||||
|
||||
switch (actionType) {
|
||||
case "say_text":
|
||||
return `${platform} said: "${parameters.text}"`;
|
||||
|
||||
case "walk_forward":
|
||||
return `${platform} walked forward at speed ${parameters.speed} for ${parameters.duration || "indefinite"} seconds`;
|
||||
|
||||
case "walk_backward":
|
||||
return `${platform} walked backward at speed ${parameters.speed} for ${parameters.duration || "indefinite"} seconds`;
|
||||
|
||||
case "turn_left":
|
||||
case "turn_right":
|
||||
const direction = actionType.split("_")[1];
|
||||
return `${platform} turned ${direction} at speed ${parameters.speed}`;
|
||||
|
||||
case "move_head":
|
||||
return `${platform} moved head to yaw=${parameters.yaw}, pitch=${parameters.pitch}`;
|
||||
|
||||
case "move_arm":
|
||||
return `${platform} moved ${parameters.arm} arm to specified position`;
|
||||
|
||||
case "stop_movement":
|
||||
return `${platform} stopped all movement`;
|
||||
|
||||
case "set_volume":
|
||||
return `${platform} set volume to ${parameters.volume}`;
|
||||
|
||||
case "set_language":
|
||||
return `${platform} set language to ${parameters.language}`;
|
||||
|
||||
default:
|
||||
return `${platform} executed action: ${actionType} (${result.duration}ms)`;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Advance to the next step
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user