feat: Add Test Action button, fix ros2 config copying, fix transform functions

- Add Test Action button in experiment designer properties panel - Fix DesignerRoot to copy full ros2 config when adding actions - Add transformToWaveGoodbye and transformToAnimation cases - Fix escape sequences for NAOqi markup - Update TrialForm with FormSection, sidebar, and visible validation - Add db:reset and db:restart scripts - Update docker-compose with configurable PostgreSQL and MinIO vars
2026-05-08 13:58:55 -04:00 · 2026-04-01 17:00:03 -04:00
parent c0e5a4ffb8
commit c05384d1a0
7 changed files with 464 additions and 269 deletions
@@ -1079,14 +1079,18 @@ export function DesignerRoot({
          }
        }

+        const defExec = actionDef.execution as any;
        const execution: ExperimentAction["execution"] =
-          actionDef.execution &&
-          (actionDef.execution.transport === "internal" ||
-            actionDef.execution.transport === "rest" ||
-            actionDef.execution.transport === "ros2")
+          defExec &&
+          (defExec.transport === "internal" ||
+            defExec.transport === "rest" ||
+            defExec.transport === "ros2")
            ? {
-                transport: actionDef.execution.transport,
-                retryable: actionDef.execution.retryable ?? false,
+                transport: defExec.transport,
+                retryable: defExec.retryable ?? false,
+                timeoutMs: defExec.timeoutMs,
+                ros2: defExec.ros2,
+                rest: defExec.rest,
              }
            : undefined;

@@ -43,7 +43,14 @@ import {
  Plus,
  GitBranch,
  Trash2,
+  PlayCircle,
+  Square,
+  Loader2,
+  CheckCircle2,
+  XCircle,
 } from "lucide-react";
+import { toast } from "sonner";
+import { getWizardRosService, initWizardRosService, resetWizardRosService } from "~/lib/ros/wizard-ros-service";

 /**
 * PropertiesPanel
@@ -90,6 +97,10 @@ export function PropertiesPanelBase({
  const [localStepDescription, setLocalStepDescription] = useState("");
  const [localParams, setLocalParams] = useState<Record<string, unknown>>({});

+  // Test action state
+  const [isTesting, setIsTesting] = useState(false);
+  const [testStatus, setTestStatus] = useState<"idle" | "running" | "success" | "error">("idle");
+
  // Debounce timers
  const actionUpdateTimer = useRef<NodeJS.Timeout | undefined>(undefined);
  const stepUpdateTimer = useRef<NodeJS.Timeout | undefined>(undefined);
@@ -168,6 +179,74 @@ export function PropertiesPanelBase({
    selectedAction &&
    design.steps.find((s) => s.actions.some((a) => a.id === selectedAction.id));

+  // Test action handler
+  const handleTestAction = useCallback(async () => {
+    if (!selectedAction || !containingStep) return;
+
+    setIsTesting(true);
+    setTestStatus("running");
+
+    try {
+      console.log("[Test Action] Starting test for action:", selectedAction.name, selectedAction.type);
+      console.log("[Test Action] Execution config:", JSON.stringify(selectedAction.execution, null, 2));
+      console.log("[Test Action] Parameters:", selectedAction.parameters);
+
+      // Reset service to ensure clean state for testing
+      resetWizardRosService();
+      
+      // Initialize with actual robot connection (not simulation)
+      const rosService = await initWizardRosService(false);
+      console.log("[Test Action] ROS service initialized, connected:", rosService.getConnectionStatus());
+
+      // Build action config from execution descriptor
+      const execution = selectedAction.execution;
+      let actionConfig: {
+        topic: string;
+        messageType: string;
+        payloadMapping: {
+          type: string;
+          payload?: Record<string, unknown>;
+          transformFn?: string;
+        };
+      } | undefined;
+
+      if (execution?.transport === "ros2" && execution.ros2) {
+        const ros2 = execution.ros2 as any;
+        actionConfig = {
+          topic: ros2.topic || "/speech",
+          messageType: ros2.messageType || "std_msgs/msg/String",
+          payloadMapping: {
+            type: ros2.payloadMapping?.type || "static",
+            payload: ros2.payloadMapping?.payload,
+            transformFn: ros2.payloadMapping?.transformFn,
+          },
+        };
+        console.log("[Test Action] Action config built:", JSON.stringify(actionConfig, null, 2));
+      }
+
+      // Execute the action on the real robot
+      const result = await rosService.executeRobotAction(
+        selectedAction.source?.kind === "plugin" ? (selectedAction.source?.pluginId || "core") : "core",
+        selectedAction.type,
+        selectedAction.parameters,
+        actionConfig,
+      );
+      console.log("[Test Action] Execution result:", result);
+
+      setTestStatus("success");
+      toast.success(`Action "${selectedAction.name}" executed on robot`);
+    } catch (error) {
+      setTestStatus("error");
+      const message = error instanceof Error ? error.message : "Action execution failed";
+      toast.error(message);
+      console.error("Test action error:", error);
+    } finally {
+      setIsTesting(false);
+      // Reset status after a delay
+      setTimeout(() => setTestStatus("idle"), 2000);
+    }
+  }, [selectedAction, containingStep]);
+
  /* -------------------------- Action Properties View -------------------------- */
  if (selectedAction && containingStep) {
    let def = registry.getAction(selectedAction.type);
@@ -277,6 +356,41 @@ export function PropertiesPanelBase({
          )}
        </div>

+        {/* Test Action Button */}
+        {selectedAction.execution?.transport !== "internal" && (
+          <div className="flex items-center gap-2">
+            <Button
+              variant="outline"
+              size="sm"
+              className="w-full gap-1.5"
+              onClick={handleTestAction}
+              disabled={isTesting}
+            >
+              {testStatus === "running" ? (
+                <>
+                  <Loader2 className="h-4 w-4 animate-spin" />
+                  Running...
+                </>
+              ) : testStatus === "success" ? (
+                <>
+                  <CheckCircle2 className="h-4 w-4 text-green-500" />
+                  Success!
+                </>
+              ) : testStatus === "error" ? (
+                <>
+                  <XCircle className="h-4 w-4 text-red-500" />
+                  Failed
+                </>
+              ) : (
+                <>
+                  <PlayCircle className="h-4 w-4" />
+                  Test Action
+                </>
+              )}
+            </Button>
+          </div>
+        )}
+
        {/* General */}
        <div className="space-y-2">
          <div className="text-muted-foreground text-[10px] tracking-wide uppercase">