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Add ROS2 bridge

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Sean O'Connor
2025-10-16 16:08:49 -04:00
parent 9431bb549b
commit 816b2b9e31
27 changed files with 6360 additions and 507 deletions
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THESIS_PROJECT_BACKLOG.md
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@@ -17,10 +17,10 @@
- **Development Environment**: Comprehensive seed data and documentation
### Critical Gaps
- **Wizard Interface**: Needs complete revamp - current implementation insufficient
- **Robot Control**: Not working yet - core functionality missing
- **Wizard Interface**: ✅ COMPLETE - Role-based views implemented (Wizard, Observer, Participant)
- **Robot Control**: Not working yet - core functionality missing (NEXT PRIORITY)
- **NAO6 Integration**: Cannot test without working robot control
- **Trial Execution**: Dependent on wizard interface completion
- **Trial Execution**: WebSocket implementation needed for real-time functionality
### Platform Constraints
- **Device Target**: Laptop-only (no mobile/tablet optimization needed)
@@ -65,25 +65,37 @@
#### Week 1-2: Foundation (Sept 23 - Oct 6)
**WIZARD-001: Wizard Interface Architecture** - CRITICAL
**WIZARD-001: Wizard Interface Architecture** - ✅ COMPLETE (December 2024)
- **Story**: As a wizard, I need a functional interface to control experiments
- **Tasks**:
- Design wizard interface wireframes and user flow
- Implement basic panel layout (trial info, current step, controls)
- Create trial state management (start/pause/stop/complete)
- Build step navigation and progress tracking
- **Deliverable**: Basic wizard interface shell with navigation
- **Effort**: 8 days
- ✅ Design wizard interface wireframes and user flow
- ✅ Implement three-panel layout (trial controls, execution view, monitoring)
- ✅ Create role-based views (Wizard, Observer, Participant)
- ✅ Build step navigation and progress tracking
- ✅ Fix layout issues (double headers, bottom cut-off)
- **Deliverable**: Complete wizard interface with role-based views
- **Effort**: 12 days (completed)
**ROBOT-001: Robot Control Foundation** - CRITICAL
**ROBOT-001: Robot Control Foundation** - CRITICAL (NEXT PRIORITY)
- **Story**: As a wizard, I need to send commands to NAO6 robot
- **Tasks**:
- Research and implement NAO6 WebSocket connection
- Create basic action execution engine
- Implement mock robot mode for development
- Build connection status monitoring
- Integrate with existing wizard interface
- **Deliverable**: Robot connection established with basic commands
- **Effort**: 6 days
- **Effort**: 8 days (increased due to WebSocket server implementation needed)
**WEBSOCKET-001: Real-Time Infrastructure** - CRITICAL (NEW PRIORITY)
- **Story**: As a system, I need real-time communication between clients and robots
- **Tasks**:
- Implement WebSocket server for real-time trial coordination
- Create multi-client session management (wizard, observers, participants)
- Build event broadcasting system for live trial updates
- Add robust connection recovery and fallback mechanisms
- **Deliverable**: Working real-time infrastructure for trial execution
- **Effort**: 10 days
#### Week 3-4: Core Functionality (Oct 7 - Oct 20)
@@ -95,19 +107,20 @@
- Create simple gesture library
- Add LED color control
- Implement error handling and recovery
- **Deliverable**: NAO6 performs essential experiment actions reliably
- **Effort**: 8 days
- Integrate with WebSocket infrastructure for real-time control
- **Deliverable**: NAO6 performs essential experiment actions reliably via wizard interface
- **Effort**: 10 days (increased due to real-time integration)
**TRIAL-001: Trial Execution Engine** - CRITICAL
**TRIAL-001: Trial Execution Engine** - HIGH PRIORITY
- **Story**: As a wizard, I need to execute experiment protocols step-by-step
- **Tasks**:
- Build trial state machine with database persistence
- Implement step-by-step execution workflow
- Create event logging with timestamps
- Add manual intervention controls
- ✅ Basic trial state machine exists (needs WebSocket integration)
- Connect existing wizard interface to real-time execution
- Enhance event logging with real-time broadcasting
- Add manual intervention controls via WebSocket
- Build trial completion and data export
- **Deliverable**: Complete trial execution with data capture
- **Effort**: 6 days
- **Deliverable**: Complete trial execution with real-time data capture
- **Effort**: 8 days (integration with existing wizard interface)
#### Week 5-6: Integration & Testing (Oct 21 - Oct 31)