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

scripts/archive/seed-story-red-rock.ts

@@ -35,7 +35,8 @@ async function main() {
       .values({
         studyId: study.id,
         name: "Story: Red Rock",
-        description: "A story about a red rock on Mars with comprehension check and branching.",
+        description:
+          "A story about a red rock on Mars with comprehension check and branching.",
         version: 1,
         status: "draft",
         robotId: robot.id,
@@ -53,23 +54,31 @@ async function main() {
     const checkId = uuidv4();
 
     // Step 1: The Hook
-    const [step1] = await db.insert(schema.steps).values({
+    const [step1] = await db
+      .insert(schema.steps)
+      .values({
         experimentId: experiment.id,
         name: "The Hook",
         type: "wizard",
         orderIndex: 0,
-    }).returning();
+      })
+      .returning();
 
     // Step 2: The Narrative
-    const [step2] = await db.insert(schema.steps).values({
+    const [step2] = await db
+      .insert(schema.steps)
+      .values({
         experimentId: experiment.id,
         name: "The Narrative",
         type: "wizard",
         orderIndex: 1,
-    }).returning();
+      })
+      .returning();
 
     // Step 3: Comprehension Check (Conditional)
-    const [step3] = await db.insert(schema.steps).values({
+    const [step3] = await db
+      .insert(schema.steps)
+      .values({
         id: checkId,
         experimentId: experiment.id,
         name: "Comprehension Check",
@@ -78,77 +87,179 @@ async function main() {
         conditions: {
           variable: "last_wizard_response",
           options: [
-          { label: "Answer: Red (Correct)", value: "Red", variant: "default", nextStepId: branchAId },
+            {
-          { label: "Answer: Other (Incorrect)", value: "Incorrect", variant: "destructive", nextStepId: branchBId }
+              label: "Answer: Red (Correct)",
-        ]
+              value: "Red",
-      }
+              variant: "default",
-    }).returning();
+              nextStepId: branchAId,
+            },
+            {
+              label: "Answer: Other (Incorrect)",
+              value: "Incorrect",
+              variant: "destructive",
+              nextStepId: branchBId,
+            },
+          ],
+        },
+      })
+      .returning();
 
     // Step 4: Branch A (Correct)
-    const [step4] = await db.insert(schema.steps).values({
+    const [step4] = await db
+      .insert(schema.steps)
+      .values({
         id: branchAId,
         experimentId: experiment.id,
         name: "Branch A: Correct Response",
         type: "wizard",
         orderIndex: 3,
-      conditions: { nextStepId: conclusionId } // SKIP BRANCH B
+        conditions: { nextStepId: conclusionId }, // SKIP BRANCH B
-    }).returning();
+      })
+      .returning();
 
     // Step 5: Branch B (Incorrect)
-    const [step5] = await db.insert(schema.steps).values({
+    const [step5] = await db
+      .insert(schema.steps)
+      .values({
         id: branchBId,
         experimentId: experiment.id,
         name: "Branch B: Incorrect Response",
         type: "wizard",
         orderIndex: 4,
-      conditions: { nextStepId: conclusionId }
+        conditions: { nextStepId: conclusionId },
-    }).returning();
+      })
+      .returning();
 
     // Step 6: Conclusion
-    const [step6] = await db.insert(schema.steps).values({
+    const [step6] = await db
+      .insert(schema.steps)
+      .values({
         id: conclusionId,
         experimentId: experiment.id,
         name: "Conclusion",
         type: "wizard",
         orderIndex: 5,
-    }).returning();
+      })
+      .returning();
 
     // 4. Create Actions
 
     // The Hook
     await db.insert(schema.actions).values([
-      { stepId: step1!.id, name: "Say Hello", type: "nao6-ros2.say_text", orderIndex: 0, parameters: { text: "Hello! Are you ready for a story?" } },
+      {
-      { stepId: step1!.id, name: "Wave", type: "nao6-ros2.move_arm", orderIndex: 1, parameters: { arm: "right", shoulder_pitch: 0.5 } }
+        stepId: step1!.id,
+        name: "Say Hello",
+        type: "nao6-ros2.say_text",
+        orderIndex: 0,
+        parameters: { text: "Hello! Are you ready for a story?" },
+      },
+      {
+        stepId: step1!.id,
+        name: "Wave",
+        type: "nao6-ros2.move_arm",
+        orderIndex: 1,
+        parameters: { arm: "right", shoulder_pitch: 0.5 },
+      },
     ]);
 
     // The Narrative
     await db.insert(schema.actions).values([
-      { stepId: step2!.id, name: "The Story", type: "nao6-ros2.say_text", orderIndex: 0, parameters: { text: "Once, a traveler went to Mars. He found a bright red rock that glowed." } },
+      {
-      { stepId: step2!.id, name: "Look Left", type: "nao6-ros2.turn_head", orderIndex: 1, parameters: { yaw: 0.5, speed: 0.3 } },
+        stepId: step2!.id,
-      { stepId: step2!.id, name: "Look Right", type: "nao6-ros2.turn_head", orderIndex: 2, parameters: { yaw: -0.5, speed: 0.3 } }
+        name: "The Story",
+        type: "nao6-ros2.say_text",
+        orderIndex: 0,
+        parameters: {
+          text: "Once, a traveler went to Mars. He found a bright red rock that glowed.",
+        },
+      },
+      {
+        stepId: step2!.id,
+        name: "Look Left",
+        type: "nao6-ros2.turn_head",
+        orderIndex: 1,
+        parameters: { yaw: 0.5, speed: 0.3 },
+      },
+      {
+        stepId: step2!.id,
+        name: "Look Right",
+        type: "nao6-ros2.turn_head",
+        orderIndex: 2,
+        parameters: { yaw: -0.5, speed: 0.3 },
+      },
     ]);
 
     // Comprehension Check
     await db.insert(schema.actions).values([
-      { stepId: step3!.id, name: "Ask Color", type: "nao6-ros2.say_text", orderIndex: 0, parameters: { text: "What color was the rock I found on Mars?" } },
+      {
-      { stepId: step3!.id, name: "Wait for Color", type: "wizard_wait_for_response", orderIndex: 1, parameters: { options: ["Red", "Blue", "Green", "Incorrect"], prompt_text: "What color did the participant say?" } }
+        stepId: step3!.id,
+        name: "Ask Color",
+        type: "nao6-ros2.say_text",
+        orderIndex: 0,
+        parameters: { text: "What color was the rock I found on Mars?" },
+      },
+      {
+        stepId: step3!.id,
+        name: "Wait for Color",
+        type: "wizard_wait_for_response",
+        orderIndex: 1,
+        parameters: {
+          options: ["Red", "Blue", "Green", "Incorrect"],
+          prompt_text: "What color did the participant say?",
+        },
+      },
     ]);
 
     // Branch A (Using say_with_emotion)
-    await db.insert(schema.actions).values([
+    await db
-      { stepId: step4!.id, name: "Happy Response", type: "nao6-ros2.say_with_emotion", orderIndex: 0, parameters: { text: "Exacty! It was a glowing red rock.", emotion: "happy" } }
+      .insert(schema.actions)
+      .values([
+        {
+          stepId: step4!.id,
+          name: "Happy Response",
+          type: "nao6-ros2.say_with_emotion",
+          orderIndex: 0,
+          parameters: {
+            text: "Exacty! It was a glowing red rock.",
+            emotion: "happy",
+          },
+        },
       ]);
 
     // Branch B
     await db.insert(schema.actions).values([
-      { stepId: step5!.id, name: "Correct them", type: "nao6-ros2.say_text", orderIndex: 0, parameters: { text: "Actually, it was red." } },
+      {
-      { stepId: step5!.id, name: "Shake Head", type: "nao6-ros2.turn_head", orderIndex: 1, parameters: { yaw: 0.3, speed: 0.5 } }
+        stepId: step5!.id,
+        name: "Correct them",
+        type: "nao6-ros2.say_text",
+        orderIndex: 0,
+        parameters: { text: "Actually, it was red." },
+      },
+      {
+        stepId: step5!.id,
+        name: "Shake Head",
+        type: "nao6-ros2.turn_head",
+        orderIndex: 1,
+        parameters: { yaw: 0.3, speed: 0.5 },
+      },
     ]);
 
     // Conclusion
     await db.insert(schema.actions).values([
-      { stepId: step6!.id, name: "Final Goodbye", type: "nao6-ros2.say_text", orderIndex: 0, parameters: { text: "That is all for today. Goodbye!" } },
+      {
-      { stepId: step6!.id, name: "Rest", type: "nao6-ros2.move_arm", orderIndex: 1, parameters: { shoulder_pitch: 1.5 } }
+        stepId: step6!.id,
+        name: "Final Goodbye",
+        type: "nao6-ros2.say_text",
+        orderIndex: 0,
+        parameters: { text: "That is all for today. Goodbye!" },
+      },
+      {
+        stepId: step6!.id,
+        name: "Rest",
+        type: "nao6-ros2.move_arm",
+        orderIndex: 1,
+        parameters: { shoulder_pitch: 1.5 },
+      },
     ]);
 
     console.log("✅ Seed completed successfully!");

scripts/migrate-add-identifier.ts

@@ -5,21 +5,27 @@ async function migrate() {
   console.log("Adding identifier column to hs_plugin...");
 
   try {
-    await db.execute(sql`ALTER TABLE hs_plugin ADD COLUMN identifier varchar(100)`);
+    await db.execute(
+      sql`ALTER TABLE hs_plugin ADD COLUMN identifier varchar(100)`,
+    );
     console.log("✓ Added identifier column");
   } catch (e: any) {
     console.log("Column may already exist:", e.message);
   }
 
   try {
-    await db.execute(sql`UPDATE hs_plugin SET identifier = name WHERE identifier IS NULL`);
+    await db.execute(
+      sql`UPDATE hs_plugin SET identifier = name WHERE identifier IS NULL`,
+    );
     console.log("✓ Copied name to identifier");
   } catch (e: any) {
     console.log("Error copying:", e.message);
   }
 
   try {
-    await db.execute(sql`ALTER TABLE hs_plugin ADD CONSTRAINT hs_plugin_identifier_unique UNIQUE (identifier)`);
+    await db.execute(
+      sql`ALTER TABLE hs_plugin ADD CONSTRAINT hs_plugin_identifier_unique UNIQUE (identifier)`,
+    );
     console.log("✓ Added unique constraint");
   } catch (e: any) {
     console.log("Constraint may already exist:", e.message);

src/app/(dashboard)/studies/[id]/forms/page.tsx

@@ -3,7 +3,15 @@
 import { useEffect, useState } from "react";
 import { useSession } from "next-auth/react";
 import { notFound } from "next/navigation";
-import { FileText, Loader2, Plus, Download, Edit2, Eye, Save } from "lucide-react";
+import {
+  FileText,
+  Loader2,
+  Plus,
+  Download,
+  Edit2,
+  Eye,
+  Save,
+} from "lucide-react";
 import {
   EntityView,
   EntityViewHeader,
@@ -16,14 +24,23 @@ import { Badge } from "~/components/ui/badge";
 import { api } from "~/trpc/react";
 import { toast } from "sonner";
 import { PageHeader } from "~/components/ui/page-header";
-import { useEditor, EditorContent } from '@tiptap/react';
+import { useEditor, EditorContent } from "@tiptap/react";
-import StarterKit from '@tiptap/starter-kit';
+import StarterKit from "@tiptap/starter-kit";
-import { Markdown } from 'tiptap-markdown';
+import { Markdown } from "tiptap-markdown";
-import { Table } from '@tiptap/extension-table';
+import { Table } from "@tiptap/extension-table";
-import { TableRow } from '@tiptap/extension-table-row';
+import { TableRow } from "@tiptap/extension-table-row";
-import { TableCell } from '@tiptap/extension-table-cell';
+import { TableCell } from "@tiptap/extension-table-cell";
-import { TableHeader } from '@tiptap/extension-table-header';
+import { TableHeader } from "@tiptap/extension-table-header";
-import { Bold, Italic, List, ListOrdered, Heading1, Heading2, Quote, Table as TableIcon } from "lucide-react";
+import {
+  Bold,
+  Italic,
+  List,
+  ListOrdered,
+  Heading1,
+  Heading2,
+  Quote,
+  Table as TableIcon,
+} from "lucide-react";
 import { downloadPdfFromHtml } from "~/lib/pdf-generator";
 
 const Toolbar = ({ editor }: { editor: any }) => {
@@ -32,13 +49,13 @@ const Toolbar = ({ editor }: { editor: any }) => {
   }
 
   return (
-        <div className="border border-input bg-transparent rounded-tr-md rounded-tl-md p-1 flex items-center gap-1 flex-wrap">
+    <div className="border-input flex flex-wrap items-center gap-1 rounded-tl-md rounded-tr-md border bg-transparent p-1">
       <Button
         variant="ghost"
         size="sm"
         onClick={() => editor.chain().focus().toggleBold().run()}
         disabled={!editor.can().chain().focus().toggleBold().run()}
-                className={editor.isActive('bold') ? 'bg-muted' : ''}
+        className={editor.isActive("bold") ? "bg-muted" : ""}
       >
         <Bold className="h-4 w-4" />
       </Button>
@@ -47,16 +64,16 @@ const Toolbar = ({ editor }: { editor: any }) => {
         size="sm"
         onClick={() => editor.chain().focus().toggleItalic().run()}
         disabled={!editor.can().chain().focus().toggleItalic().run()}
-                className={editor.isActive('italic') ? 'bg-muted' : ''}
+        className={editor.isActive("italic") ? "bg-muted" : ""}
       >
         <Italic className="h-4 w-4" />
       </Button>
-            <div className="w-[1px] h-6 bg-border mx-1" />
+      <div className="bg-border mx-1 h-6 w-[1px]" />
       <Button
         variant="ghost"
         size="sm"
         onClick={() => editor.chain().focus().toggleHeading({ level: 1 }).run()}
-                className={editor.isActive('heading', { level: 1 }) ? 'bg-muted' : ''}
+        className={editor.isActive("heading", { level: 1 }) ? "bg-muted" : ""}
       >
         <Heading1 className="h-4 w-4" />
       </Button>
@@ -64,16 +81,16 @@ const Toolbar = ({ editor }: { editor: any }) => {
         variant="ghost"
         size="sm"
         onClick={() => editor.chain().focus().toggleHeading({ level: 2 }).run()}
-                className={editor.isActive('heading', { level: 2 }) ? 'bg-muted' : ''}
+        className={editor.isActive("heading", { level: 2 }) ? "bg-muted" : ""}
       >
         <Heading2 className="h-4 w-4" />
       </Button>
-            <div className="w-[1px] h-6 bg-border mx-1" />
+      <div className="bg-border mx-1 h-6 w-[1px]" />
       <Button
         variant="ghost"
         size="sm"
         onClick={() => editor.chain().focus().toggleBulletList().run()}
-                className={editor.isActive('bulletList') ? 'bg-muted' : ''}
+        className={editor.isActive("bulletList") ? "bg-muted" : ""}
       >
         <List className="h-4 w-4" />
       </Button>
@@ -81,7 +98,7 @@ const Toolbar = ({ editor }: { editor: any }) => {
         variant="ghost"
         size="sm"
         onClick={() => editor.chain().focus().toggleOrderedList().run()}
-                className={editor.isActive('orderedList') ? 'bg-muted' : ''}
+        className={editor.isActive("orderedList") ? "bg-muted" : ""}
       >
         <ListOrdered className="h-4 w-4" />
       </Button>
@@ -89,15 +106,21 @@ const Toolbar = ({ editor }: { editor: any }) => {
         variant="ghost"
         size="sm"
         onClick={() => editor.chain().focus().toggleBlockquote().run()}
-                className={editor.isActive('blockquote') ? 'bg-muted' : ''}
+        className={editor.isActive("blockquote") ? "bg-muted" : ""}
       >
         <Quote className="h-4 w-4" />
       </Button>
-            <div className="w-[1px] h-6 bg-border mx-1" />
+      <div className="bg-border mx-1 h-6 w-[1px]" />
       <Button
         variant="ghost"
         size="sm"
-                onClick={() => editor.chain().focus().insertTable({ rows: 3, cols: 3, withHeaderRow: true }).run()}
+        onClick={() =>
+          editor
+            .chain()
+            .focus()
+            .insertTable({ rows: 3, cols: 3, withHeaderRow: true })
+            .run()
+        }
       >
         <TableIcon className="h-4 w-4" />
       </Button>
@@ -114,7 +137,9 @@ interface StudyFormsPageProps {
 export default function StudyFormsPage({ params }: StudyFormsPageProps) {
   const { data: session } = useSession();
   const utils = api.useUtils();
-    const [resolvedParams, setResolvedParams] = useState<{ id: string } | null>(null);
+  const [resolvedParams, setResolvedParams] = useState<{ id: string } | null>(
+    null,
+  );
   const [editorTarget, setEditorTarget] = useState<string>("");
 
   useEffect(() => {
@@ -156,7 +181,7 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
         transformPastedText: true,
       }),
     ],
-        content: editorTarget || '',
+    content: editorTarget || "",
     immediatelyRender: false,
     onUpdate: ({ editor }) => {
       // @ts-ignore
@@ -177,10 +202,14 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
       setEditorTarget(data.content);
       editor?.commands.setContent(data.content);
       void refetchConsentForm();
-            void utils.studies.getActivity.invalidate({ studyId: resolvedParams?.id ?? "" });
+      void utils.studies.getActivity.invalidate({
+        studyId: resolvedParams?.id ?? "",
+      });
     },
     onError: (error) => {
-            toast.error("Error generating consent form", { description: error.message });
+      toast.error("Error generating consent form", {
+        description: error.message,
+      });
     },
   });
 
@@ -188,7 +217,9 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
     onSuccess: () => {
       toast.success("Consent Form Saved Successfully!");
       void refetchConsentForm();
-            void utils.studies.getActivity.invalidate({ studyId: resolvedParams?.id ?? "" });
+      void utils.studies.getActivity.invalidate({
+        studyId: resolvedParams?.id ?? "",
+      });
     },
     onError: (error) => {
       toast.error("Error saving consent form", { description: error.message });
@@ -201,7 +232,7 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
     try {
       toast.loading("Generating Document...", { id: "pdf-gen" });
       await downloadPdfFromHtml(editor.getHTML(), {
-                filename: `Consent_Form_${study.name.replace(/\s+/g, "_")}_v${activeConsentForm.version}.pdf`
+        filename: `Consent_Form_${study.name.replace(/\s+/g, "_")}_v${activeConsentForm.version}.pdf`,
       });
       toast.success("Document Downloaded Successfully!", { id: "pdf-gen" });
     } catch (error) {
@@ -241,8 +272,13 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
               <Button
                 variant="outline"
                 size="sm"
-                                onClick={() => generateConsentMutation.mutate({ studyId: study.id })}
+                onClick={() =>
-                                disabled={generateConsentMutation.isPending || updateConsentMutation.isPending}
+                  generateConsentMutation.mutate({ studyId: study.id })
+                }
+                disabled={
+                  generateConsentMutation.isPending ||
+                  updateConsentMutation.isPending
+                }
               >
                 {generateConsentMutation.isPending ? (
                   <Loader2 className="mr-2 h-4 w-4 animate-spin" />
@@ -254,8 +290,16 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
               {activeConsentForm && (
                 <Button
                   size="sm"
-                                    onClick={() => updateConsentMutation.mutate({ studyId: study.id, content: editorTarget })}
+                  onClick={() =>
-                                    disabled={updateConsentMutation.isPending || editorTarget === activeConsentForm.content}
+                    updateConsentMutation.mutate({
+                      studyId: study.id,
+                      content: editorTarget,
+                    })
+                  }
+                  disabled={
+                    updateConsentMutation.isPending ||
+                    editorTarget === activeConsentForm.content
+                  }
                 >
                   {updateConsentMutation.isPending ? (
                     <Loader2 className="mr-2 h-4 w-4 animate-spin" />
@@ -272,10 +316,10 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
             <div className="space-y-4">
               <div className="flex items-center justify-between">
                 <div className="space-y-1">
-                                    <p className="text-sm font-medium leading-none">
+                  <p className="text-sm leading-none font-medium">
                     {activeConsentForm.title}
                   </p>
-                                    <p className="text-sm text-muted-foreground">
+                  <p className="text-muted-foreground text-sm">
                     v{activeConsentForm.version} • Status: Active
                   </p>
                 </div>
@@ -288,17 +332,25 @@ export default function StudyFormsPage({ params }: StudyFormsPageProps) {
                     <Download className="mr-2 h-4 w-4" />
                     Download PDF
                   </Button>
-                                    <Badge variant="outline" className="bg-green-50 text-green-700 hover:bg-green-50">Active</Badge>
+                  <Badge
+                    variant="outline"
+                    className="bg-green-50 text-green-700 hover:bg-green-50"
+                  >
+                    Active
+                  </Badge>
                 </div>
               </div>
 
-                            <div className="w-full flex justify-center bg-muted/30 p-8 rounded-md border border-border overflow-hidden">
+              <div className="bg-muted/30 border-border flex w-full justify-center overflow-hidden rounded-md border p-8">
-                                <div className="max-w-4xl w-full bg-white dark:bg-card shadow-xl ring-1 ring-border rounded-sm flex flex-col">
+                <div className="dark:bg-card ring-border flex w-full max-w-4xl flex-col rounded-sm bg-white shadow-xl ring-1">
-                                    <div className="border-b border-border bg-muted/50 dark:bg-muted/10">
+                  <div className="border-border bg-muted/50 dark:bg-muted/10 border-b">
                     <Toolbar editor={editor} />
                   </div>
-                                    <div className="min-h-[850px] px-16 py-20 text-sm editor-container bg-white dark:bg-card">
+                  <div className="editor-container dark:bg-card min-h-[850px] bg-white px-16 py-20 text-sm">
-                                        <EditorContent editor={editor} className="prose prose-sm dark:prose-invert max-w-none h-full outline-none focus:outline-none focus-visible:outline-none" />
+                    <EditorContent
+                      editor={editor}
+                      className="prose prose-sm dark:prose-invert h-full max-w-none outline-none focus:outline-none focus-visible:outline-none"
+                    />
                   </div>
                 </div>
               </div>

src/app/(dashboard)/studies/[id]/page.tsx

@@ -273,7 +273,8 @@ export default function StudyDetailPage({ params }: StudyDetailPageProps) {
                           </Link>
                         </h4>
                         <span
-                          className={`inline-flex items-center rounded-full px-2 py-1 text-xs font-medium ${experiment.status === "draft"
+                          className={`inline-flex items-center rounded-full px-2 py-1 text-xs font-medium ${
+                            experiment.status === "draft"
                               ? "bg-gray-100 text-gray-800"
                               : experiment.status === "ready"
                                 ? "bg-green-100 text-green-800"

src/app/api/upload/route.ts

@@ -9,7 +9,12 @@ import {
 } from "~/lib/storage/minio";
 import { auth } from "~/server/auth";
 import { db } from "~/server/db";
-import { experiments, mediaCaptures, studyMembers, trials } from "~/server/db/schema";
+import {
+  experiments,
+  mediaCaptures,
+  studyMembers,
+  trials,
+} from "~/server/db/schema";
 
 const uploadSchema = z.object({
   trialId: z.string().optional(),
@@ -91,15 +96,15 @@ export async function POST(request: NextRequest) {
         .where(
           and(
             eq(studyMembers.studyId, trial[0].studyId),
-            eq(studyMembers.userId, session.user.id)
+            eq(studyMembers.userId, session.user.id),
-          )
+          ),
         )
         .limit(1);
 
       if (!membership.length) {
         return NextResponse.json(
           { error: "Insufficient permissions to upload to this trial" },
-          { status: 403 }
+          { status: 403 },
         );
       }
     }

src/components/participants/DigitalSignatureModal.tsx

@@ -46,12 +46,16 @@ export function DigitalSignatureModal({
   const sigCanvas = useRef<any>(null);
 
   // Mutations
-    const getUploadUrlMutation = api.participants.getConsentUploadUrl.useMutation();
+  const getUploadUrlMutation =
+    api.participants.getConsentUploadUrl.useMutation();
   const recordConsentMutation = api.participants.recordConsent.useMutation();
 
   // Create a preview version of the text
   let previewMd = activeForm.content;
-    previewMd = previewMd.replace(/{{PARTICIPANT_NAME}}/g, participantName ?? "_________________");
+  previewMd = previewMd.replace(
+    /{{PARTICIPANT_NAME}}/g,
+    participantName ?? "_________________",
+  );
   previewMd = previewMd.replace(/{{PARTICIPANT_CODE}}/g, participantCode);
   const today = new Date().toLocaleDateString();
   previewMd = previewMd.replace(/{{DATE}}/g, today);
@@ -70,7 +74,9 @@ export function DigitalSignatureModal({
 
   const handleSubmit = async () => {
     if (sigCanvas.current?.isEmpty()) {
-            toast.error("Signature required", { description: "Please sign the document before submitting." });
+      toast.error("Signature required", {
+        description: "Please sign the document before submitting.",
+      });
       return;
     }
 
@@ -79,17 +85,32 @@ export function DigitalSignatureModal({
       toast.loading("Generating Signed Document...", { id: "sig-upload" });
 
       // 1. Get Signature Image Data URL
-            const signatureDataUrl = sigCanvas.current.getTrimmedCanvas().toDataURL("image/png");
+      const signatureDataUrl = sigCanvas.current
+        .getTrimmedCanvas()
+        .toDataURL("image/png");
 
       // 2. Prepare final Markdown and HTML
       let finalMd = activeForm.content;
-            finalMd = finalMd.replace(/{{PARTICIPANT_NAME}}/g, participantName ?? "_________________");
+      finalMd = finalMd.replace(
+        /{{PARTICIPANT_NAME}}/g,
+        participantName ?? "_________________",
+      );
       finalMd = finalMd.replace(/{{PARTICIPANT_CODE}}/g, participantCode);
       finalMd = finalMd.replace(/{{DATE}}/g, today);
-            finalMd = finalMd.replace(/{{SIGNATURE_IMAGE}}/g, `<img src="${signatureDataUrl}" style="height: 60px; max-width: 250px;" />`);
+      finalMd = finalMd.replace(
+        /{{SIGNATURE_IMAGE}}/g,
+        `<img src="${signatureDataUrl}" style="height: 60px; max-width: 250px;" />`,
+      );
 
       const headlessEditor = new Editor({
-                extensions: [StarterKit, Table, TableRow, TableHeader, TableCell, Markdown],
+        extensions: [
+          StarterKit,
+          Table,
+          TableRow,
+          TableHeader,
+          TableCell,
+          Markdown,
+        ],
         content: finalMd,
       });
       const htmlContent = headlessEditor.getHTML();
@@ -148,26 +169,31 @@ export function DigitalSignatureModal({
   return (
     <Dialog open={isOpen} onOpenChange={setIsOpen}>
       <DialogTrigger asChild>
-                <Button variant="default" size="sm" className="bg-primary/90 hover:bg-primary">
+        <Button
+          variant="default"
+          size="sm"
+          className="bg-primary/90 hover:bg-primary"
+        >
           <PenBox className="mr-2 h-4 w-4" />
           Sign Digitally
         </Button>
       </DialogTrigger>
-            <DialogContent className="max-w-4xl h-[90vh] flex flex-col p-6">
+      <DialogContent className="flex h-[90vh] max-w-4xl flex-col p-6">
         <DialogHeader>
           <DialogTitle>Digital Consent Signature</DialogTitle>
           <DialogDescription>
-                        Please review the document below and provide your digital signature to consent to this study.
+            Please review the document below and provide your digital signature
+            to consent to this study.
           </DialogDescription>
         </DialogHeader>
 
-                <div className="flex-1 min-h-0 grid grid-cols-1 md:grid-cols-2 gap-6 mt-4">
+        <div className="mt-4 grid min-h-0 flex-1 grid-cols-1 gap-6 md:grid-cols-2">
           {/* Document Preview (Left) */}
-                    <div className="flex flex-col border rounded-md overflow-hidden bg-muted/20">
+          <div className="bg-muted/20 flex flex-col overflow-hidden rounded-md border">
-                        <div className="bg-muted px-4 py-2 border-b text-xs font-semibold text-muted-foreground uppercase tracking-wider">
+            <div className="bg-muted text-muted-foreground border-b px-4 py-2 text-xs font-semibold tracking-wider uppercase">
               Document Preview
             </div>
-                        <ScrollArea className="flex-1 w-full bg-white p-6 shadow-inner">
+            <ScrollArea className="w-full flex-1 bg-white p-6 shadow-inner">
               <div className="prose prose-sm max-w-none text-black">
                 <EditorContent editor={previewEditor} />
               </div>
@@ -176,26 +202,37 @@ export function DigitalSignatureModal({
 
           {/* Signature Panel (Right) */}
           <div className="flex flex-col space-y-4">
-                        <div className="border rounded-md overflow-hidden bg-white shadow-sm flex flex-col">
+            <div className="flex flex-col overflow-hidden rounded-md border bg-white shadow-sm">
-                            <div className="bg-muted px-4 py-2 border-b text-xs font-semibold text-muted-foreground uppercase tracking-wider">
+              <div className="bg-muted text-muted-foreground border-b px-4 py-2 text-xs font-semibold tracking-wider uppercase">
                 Digital Signature Pad
               </div>
-                            <div className="p-4 bg-muted/10 relative">
+              <div className="bg-muted/10 relative p-4">
                 <div className="absolute top-4 right-4">
-                                    <Button variant="ghost" size="sm" onClick={handleClear} disabled={isSubmitting}>
+                  <Button
-                                        <Eraser className="h-4 w-4 mr-2" />
+                    variant="ghost"
+                    size="sm"
+                    onClick={handleClear}
+                    disabled={isSubmitting}
+                  >
+                    <Eraser className="mr-2 h-4 w-4" />
                     Clear
                   </Button>
                 </div>
-                                <div className="border-2 border-dashed border-input rounded-md bg-white mt-10" style={{ height: "250px" }}>
+                <div
+                  className="border-input mt-10 rounded-md border-2 border-dashed bg-white"
+                  style={{ height: "250px" }}
+                >
                   <SignatureCanvas
                     ref={sigCanvas}
                     penColor="black"
-                                        canvasProps={{ className: "w-full h-full cursor-crosshair rounded-md" }}
+                    canvasProps={{
+                      className: "w-full h-full cursor-crosshair rounded-md",
+                    }}
                   />
                 </div>
-                                <p className="text-center text-xs text-muted-foreground mt-2">
+                <p className="text-muted-foreground mt-2 text-center text-xs">
-                                    Draw your signature using your mouse or touch screen inside the box above.
+                  Draw your signature using your mouse or touch screen inside
+                  the box above.
                 </p>
               </div>
             </div>
@@ -203,16 +240,18 @@ export function DigitalSignatureModal({
             <div className="flex-1" />
 
             {/* Submission Actions */}
-                        <div className="flex flex-col space-y-3 p-4 bg-primary/5 rounded-lg border border-primary/20">
+            <div className="bg-primary/5 border-primary/20 flex flex-col space-y-3 rounded-lg border p-4">
-                            <h4 className="flex items-center text-sm font-semibold text-primary">
+              <h4 className="text-primary flex items-center text-sm font-semibold">
-                                <CheckCircle className="h-4 w-4 mr-2" />
+                <CheckCircle className="mr-2 h-4 w-4" />
                 Agreement
               </h4>
-                            <p className="text-xs text-muted-foreground leading-relaxed">
+              <p className="text-muted-foreground text-xs leading-relaxed">
-                                By clicking "Submit Signed Document", you confirm that you have read and understood the information provided in the document preview, and you voluntarily agree to participate in this study.
+                By clicking "Submit Signed Document", you confirm that you have
+                read and understood the information provided in the document
+                preview, and you voluntarily agree to participate in this study.
               </p>
               <Button
-                                className="w-full mt-2"
+                className="mt-2 w-full"
                 size="lg"
                 onClick={handleSubmit}
                 disabled={isSubmitting}

src/components/participants/ParticipantConsentManager.tsx

@@ -56,7 +56,10 @@ export function ParticipantConsentManager({
   existingConsent,
   participantName,
   participantCode,
-}: ParticipantConsentManagerProps & { participantName?: string | null; participantCode: string }) {
+}: ParticipantConsentManagerProps & {
+  participantName?: string | null;
+  participantCode: string;
+}) {
   const [isOpen, setIsOpen] = useState(false);
   const utils = api.useUtils();
 
@@ -99,14 +102,24 @@ export function ParticipantConsentManager({
 
       // Substitute placeholders in markdown
       let customMd = activeForm.content;
-      customMd = customMd.replace(/{{PARTICIPANT_NAME}}/g, participantName ?? "_________________");
+      customMd = customMd.replace(
+        /{{PARTICIPANT_NAME}}/g,
+        participantName ?? "_________________",
+      );
       customMd = customMd.replace(/{{PARTICIPANT_CODE}}/g, participantCode);
       customMd = customMd.replace(/{{DATE}}/g, "_________________");
       customMd = customMd.replace(/{{SIGNATURE_IMAGE}}/g, ""); // Blank ready for physical signature
 
       // Use headless Tiptap to parse MD to HTML via same extensions
       const editor = new Editor({
-        extensions: [StarterKit, Table, TableRow, TableHeader, TableCell, Markdown],
+        extensions: [
+          StarterKit,
+          Table,
+          TableRow,
+          TableHeader,
+          TableCell,
+          Markdown,
+        ],
         content: customMd,
       });
 
@@ -195,7 +208,11 @@ export function ParticipantConsentManager({
                     activeForm={activeForm}
                     onSuccess={handleSuccess}
                   />
-                  <Button variant="outline" size="sm" onClick={handleDownloadUnsigned}>
+                  <Button
+                    variant="outline"
+                    size="sm"
+                    onClick={handleDownloadUnsigned}
+                  >
                     <Download className="mr-2 h-4 w-4" />
                     Print Empty Form
                   </Button>

src/components/participants/ParticipantForm.tsx

@@ -291,7 +291,7 @@ export function ParticipantForm({
               readOnly={true}
               className={cn(
                 "bg-muted text-muted-foreground",
-                form.formState.errors.participantCode ? "border-red-500" : ""
+                form.formState.errors.participantCode ? "border-red-500" : "",
               )}
             />
             {form.formState.errors.participantCode && (
@@ -338,7 +338,11 @@ export function ParticipantForm({
 
       <FormSection
         title={contextStudyId ? "Demographics" : "Demographics & Study"}
-        description={contextStudyId ? "Participant demographic details." : "Study association and demographic details."}
+        description={
+          contextStudyId
+            ? "Participant demographic details."
+            : "Study association and demographic details."
+        }
       >
         <div className="grid grid-cols-1 gap-6 md:grid-cols-3">
           {!contextStudyId && (
@@ -358,7 +362,9 @@ export function ParticipantForm({
                     }
                   >
                     <SelectValue
-                      placeholder={studiesLoading ? "Loading..." : "Select study"}
+                      placeholder={
+                        studiesLoading ? "Loading..." : "Select study"
+                      }
                     />
                   </SelectTrigger>
                   <SelectContent>

src/components/trials/wizard/WizardInterface.tsx

@@ -187,7 +187,8 @@ export const WizardInterface = React.memo(function WizardInterface({
     },
   });
 
-  const executeSystemActionMutation = api.robots.executeSystemAction.useMutation();
+  const executeSystemActionMutation =
+    api.robots.executeSystemAction.useMutation();
   const [isCompleting, setIsCompleting] = useState(false);
 
   // Map database step types to component step types
@@ -632,7 +633,8 @@ export const WizardInterface = React.memo(function WizardInterface({
 
       if (matchedOption) {
         // Handle both string options and object options for nextStepId
-        const nextStepId = typeof matchedOption === "string"
+        const nextStepId =
+          typeof matchedOption === "string"
             ? null // String options don't have nextStepId
             : matchedOption.nextStepId;
 
@@ -640,7 +642,8 @@ export const WizardInterface = React.memo(function WizardInterface({
           // Find index of the target step
           const targetIndex = steps.findIndex((s) => s.id === nextStepId);
           if (targetIndex !== -1) {
-            const label = typeof matchedOption === "string"
+            const label =
+              typeof matchedOption === "string"
                 ? matchedOption
                 : matchedOption.label;
 

src/hooks/useWizardRos.ts

@@ -345,7 +345,8 @@ export function useWizardRos(
             ...execution,
             status: "failed",
             endTime: new Date(),
-            error: error instanceof Error ? error.message : "System action failed",
+            error:
+              error instanceof Error ? error.message : "System action failed",
           };
           service.emit("action_failed", failedExecution);
           throw error;

src/lib/pdf-generator.ts

@@ -4,10 +4,19 @@ export interface PdfOptions {
 
 const getHtml2PdfOptions = (filename?: string) => ({
   margin: 0.5,
-    filename: filename ?? 'document.pdf',
+  filename: filename ?? "document.pdf",
-    image: { type: 'jpeg' as const, quality: 0.98 },
+  image: { type: "jpeg" as const, quality: 0.98 },
-    html2canvas: { scale: 2, useCORS: true, backgroundColor: "#ffffff", windowWidth: 800 },
+  html2canvas: {
-    jsPDF: { unit: 'in', format: 'letter' as const, orientation: 'portrait' as const }
+    scale: 2,
+    useCORS: true,
+    backgroundColor: "#ffffff",
+    windowWidth: 800,
+  },
+  jsPDF: {
+    unit: "in",
+    format: "letter" as const,
+    orientation: "portrait" as const,
+  },
 });
 
 const createPrintWrapper = (htmlContent: string) => {
@@ -31,9 +40,12 @@ const createPrintWrapper = (htmlContent: string) => {
   return { printWrapper, element };
 };
 
-export async function downloadPdfFromHtml(htmlContent: string, options: PdfOptions = {}): Promise<void> {
+export async function downloadPdfFromHtml(
+  htmlContent: string,
+  options: PdfOptions = {},
+): Promise<void> {
   // @ts-ignore - Dynamic import to prevent SSR issues with window/document
-    const html2pdf = (await import('html2pdf.js')).default;
+  const html2pdf = (await import("html2pdf.js")).default;
 
   const { printWrapper, element } = createPrintWrapper(htmlContent);
 
@@ -45,15 +57,18 @@ export async function downloadPdfFromHtml(htmlContent: string, options: PdfOptio
   }
 }
 
-export async function generatePdfBlobFromHtml(htmlContent: string, options: PdfOptions = {}): Promise<Blob> {
+export async function generatePdfBlobFromHtml(
+  htmlContent: string,
+  options: PdfOptions = {},
+): Promise<Blob> {
   // @ts-ignore - Dynamic import to prevent SSR issues with window/document
-    const html2pdf = (await import('html2pdf.js')).default;
+  const html2pdf = (await import("html2pdf.js")).default;
 
   const { printWrapper, element } = createPrintWrapper(htmlContent);
 
   try {
     const opt = getHtml2PdfOptions(options.filename);
-        const pdfBlob = await html2pdf().set(opt).from(element).output('blob');
+    const pdfBlob = await html2pdf().set(opt).from(element).output("blob");
     return pdfBlob;
   } finally {
     document.body.removeChild(printWrapper);

src/server/api/routers/robots.ts

@@ -499,7 +499,8 @@ 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}`);
@@ -514,7 +515,10 @@ export const robotsRouter = createTRPCRouter({
           // 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...");
@@ -538,7 +542,8 @@ 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}`);