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feat: Relocate experiment designer routes under studies, update ROS2 topic paths, and enhance designer hashing and performance.

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This commit is contained in:
Sean O'Connor
2025-11-19 18:05:19 -05:00
parent 86b5ed80c4
commit b21ed8e805
19 changed files with 647 additions and 288 deletions
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75
src/server/api/routers/experiments.ts
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@@ -152,10 +152,10 @@ export const experimentsRouter = createTRPCRouter({
.select({
experimentId: trials.experimentId,
latest: sql`max(GREATEST(
COALESCE(${trials.completedAt}, 'epoch'::timestamptz),
COALESCE(${trials.startedAt}, 'epoch'::timestamptz),
COALESCE(${trials.createdAt}, 'epoch'::timestamptz)
))`.as("latest"),
COALESCE(${trials.completedAt}, 'epoch':: timestamptz),
COALESCE(${trials.startedAt}, 'epoch':: timestamptz),
COALESCE(${trials.createdAt}, 'epoch':: timestamptz)
))`.as("latest"),
})
.from(trials)
.where(inArray(trials.experimentId, experimentIds))
@@ -360,24 +360,24 @@ export const experimentsRouter = createTRPCRouter({
const executionGraphSummary = stepsArray
? {
steps: stepsArray.length,
actions: stepsArray.reduce((total, step) => {
const acts = step.actions;
return (
total +
(Array.isArray(acts)
? acts.reduce(
(aTotal, a) =>
aTotal +
(Array.isArray(a?.actions) ? a.actions.length : 0),
0,
)
: 0)
);
}, 0),
generatedAt: eg?.generatedAt ?? null,
version: eg?.version ?? null,
}
steps: stepsArray.length,
actions: stepsArray.reduce((total, step) => {
const acts = step.actions;
return (
total +
(Array.isArray(acts)
? acts.reduce(
(aTotal, a) =>
aTotal +
(Array.isArray(a?.actions) ? a.actions.length : 0),
0,
)
: 0)
);
}, 0),
generatedAt: eg?.generatedAt ?? null,
version: eg?.version ?? null,
}
: null;
return {
@@ -511,8 +511,7 @@ export const experimentsRouter = createTRPCRouter({
return {
valid: false,
issues: [
`Compilation failed: ${
err instanceof Error ? err.message : "Unknown error"
`Compilation failed: ${err instanceof Error ? err.message : "Unknown error"
}`,
],
pluginDependencies: [],
@@ -541,13 +540,13 @@ export const experimentsRouter = createTRPCRouter({
integrityHash: compiledGraph?.hash ?? null,
compiled: compiledGraph
? {
steps: compiledGraph.steps.length,
actions: compiledGraph.steps.reduce(
(acc, s) => acc + s.actions.length,
0,
),
transportSummary: summarizeTransports(compiledGraph.steps),
}
steps: compiledGraph.steps.length,
actions: compiledGraph.steps.reduce(
(acc, s) => acc + s.actions.length,
0,
),
transportSummary: summarizeTransports(compiledGraph.steps),
}
: null,
};
}),
@@ -570,6 +569,7 @@ export const experimentsRouter = createTRPCRouter({
.mutation(async ({ ctx, input }) => {
const { id, createSteps, compileExecution, ...updateData } = input;
const userId = ctx.session.user.id;
console.log("[DEBUG] experiments.update called", { id, visualDesign: updateData.visualDesign, createSteps });
// Get experiment to check study access
const experiment = await ctx.db.query.experiments.findFirst({
@@ -607,7 +607,7 @@ export const experimentsRouter = createTRPCRouter({
if (issues.length) {
throw new TRPCError({
code: "BAD_REQUEST",
message: `Visual design validation failed:\n- ${issues.join("\n- ")}`,
message: `Visual design validation failed: \n - ${issues.join("\n- ")}`,
});
}
normalizedSteps = guardedSteps;
@@ -637,11 +637,10 @@ export const experimentsRouter = createTRPCRouter({
} catch (compileErr) {
throw new TRPCError({
code: "BAD_REQUEST",
message: `Execution graph compilation failed: ${
compileErr instanceof Error
? compileErr.message
: "Unknown error"
}`,
message: `Execution graph compilation failed: ${compileErr instanceof Error
? compileErr.message
: "Unknown error"
}`,
});
}
}
@@ -735,11 +734,13 @@ export const experimentsRouter = createTRPCRouter({
const updatedExperiment = updatedExperimentResults[0];
if (!updatedExperiment) {
console.error("[DEBUG] Failed to update experiment - no result returned");
throw new TRPCError({
code: "INTERNAL_SERVER_ERROR",
message: "Failed to update experiment",
});
}
console.log("[DEBUG] Experiment updated successfully", { updatedAt: updatedExperiment.updatedAt });
// Log activity
await ctx.db.insert(activityLogs).values({