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Various improvements: study forms, participant management, PDF generator, robot integration

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This commit is contained in:
Sean O'Connor
2026-03-21 20:21:18 -04:00
parent bbc34921b5
commit bbbe397ba8
15 changed files with 936 additions and 675 deletions
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45
src/server/api/routers/robots.ts
View File

@@ -4,7 +4,7 @@ import { z } from "zod";
import { createTRPCRouter, protectedProcedure } from "~/server/api/trpc";
import { exec } from "child_process";
import { promisify } from "util";
const execAsync = promisify(exec);
import type { db } from "~/server/db";
import {
@@ -491,7 +491,7 @@ export const robotsRouter = createTRPCRouter({
return installedPlugins;
}),
initialize: protectedProcedure
.input(
z.object({
@@ -499,27 +499,31 @@ export const robotsRouter = createTRPCRouter({
}),
)
.mutation(async ({ ctx, input }) => {
const robotIp = process.env.NAO_ROBOT_IP || process.env.NAO_IP || "134.82.159.168";
const robotIp =
process.env.NAO_ROBOT_IP || process.env.NAO_IP || "134.82.159.168";
const password = process.env.NAO_PASSWORD || "robolab";
console.log(`[Robots] Initializing robot ${input.id} at ${robotIp}`);
try {
// 1. Disable Autonomous Life
const disableAlCmd = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "python2 -c \\"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; al = naoqi.ALProxy('ALAutonomousLife', '127.0.0.1', 9559); al.setState('disabled')\\""`;
// 2. Wake Up (Stand Up)
const wakeUpCmd = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "python2 -c \\"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; m = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559); m.wakeUp()\\""`;
// Execute commands sequentially
console.log("[Robots] Executing AL disable...");
await execAsync(disableAlCmd).catch((e) =>
console.warn("AL disable failed (non-critical/already disabled):", e),
console.warn(
"AL disable failed (non-critical/already disabled):",
e,
),
);
console.log("[Robots] Executing Wake Up...");
await execAsync(wakeUpCmd);
return { success: true };
} catch (error) {
console.error("Robot initialization failed:", error);
@@ -529,7 +533,7 @@ export const robotsRouter = createTRPCRouter({
});
}
}),
executeSystemAction: protectedProcedure
.input(
z.object({
@@ -538,14 +542,15 @@ export const robotsRouter = createTRPCRouter({
}),
)
.mutation(async ({ ctx, input }) => {
const robotIp = process.env.NAO_ROBOT_IP || process.env.NAO_IP || "134.82.159.168";
const robotIp =
process.env.NAO_ROBOT_IP || process.env.NAO_IP || "134.82.159.168";
const password = process.env.NAO_PASSWORD || "robolab";
console.log(`[Robots] Executing system action ${input.id}`);
try {
let command = "";
switch (input.id) {
case "say_with_emotion":
case "say_text_with_emotion": {
@@ -560,23 +565,23 @@ export const robotsRouter = createTRPCRouter({
: emotion === "thinking"
? "^thoughtful"
: "^joyful";
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "python2 -c \\"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; s = naoqi.ALProxy('ALAnimatedSpeech', '127.0.0.1', 9559); s.say('${tag} ${text.replace(/'/g, "\\'")}')\\""`;
break;
}
case "wake_up":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "python2 -c \\"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; m = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559); m.wakeUp()\\""`;
break;
case "rest":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "python2 -c \\"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; m = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559); m.rest()\\""`;
break;
default:
throw new Error(`System action ${input.id} not implemented`);
}
await execAsync(command);
return { success: true };
} catch (error) {

2
src/server/services/robot-communication.ts
View File

@@ -188,7 +188,7 @@ export class RobotCommunicationService extends EventEmitter {
console.log(`[RobotComm] Executing robot action: ${action.actionId}`);
console.log(`[RobotComm] Topic: ${action.implementation.topic}`);
console.log(`[RobotComm] Parameters:`, action.parameters);
// Execute action based on type and platform
this.executeRobotActionInternal(action, actionId);
} catch (error) {

2
src/server/services/trial-execution.ts
View File

@@ -668,7 +668,7 @@ export class TrialExecutionEngine {
.from(plugins)
.where(eq(plugins.identifier, pluginName))
.limit(1);
if (byIdentifier) {
plugin = byIdentifier;
} else {