- WebSocket broadcasts: Next.js tRPC router now routes broadcasts via
POST /internal/broadcast on the Bun ws-server process, which holds
the actual client connections. Broadcasts were previously silently
dropped due to the split singleton across processes.
- ws-server stubs: request_trial_status and request_trial_events now
use the real async DB methods instead of the stub getTrialStatusSync/
getTrialEventsSync that always returned null/[].
- Duplicate branch case: removed the unreachable second case "branch"
block in executeAction switch; server-side branching is a pass-through
since routing is client-orchestrated.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
When the wizard makes a branch choice, mark all other branch targets as
skipped. Linear progression now advances past skipped steps, so path
1→2→4 no longer executes step 3 when branch A was chosen.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- robot-communication.ts: add sshCommand to payloadMapping type
- trial-execution.ts: fix executeRobotActionWithComm to use ros2 key as
implementation fallback and skip ROS connection for SSH actions
- route.ts: move studyId membership check inside initialize/executeSystemAction
cases so executeSSH works without studyId; fix command param location
- experiments.ts: build tempId→dbUUID map on step insert and replace branch
nextStepId references after all steps are saved
- WizardInterface.tsx: stop filtering branch actions from step action list
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add startTime parameter to executeRobotActionInternal for proper duration tracking
- SSH actions (animations, posture commands) now work without ROS bridge connection
- Refactor executeAction to handle SSH and ROS paths separately
- Add play_animation actions to robots/command API using qicli SSH
- Add SSH-based animation execution to robot-communication service
- Animations: bow, hey, show_floor, show_sole, enthusiastic, think, yes, no, idontknow
This bypasses ROS2 cross-container issues by using direct SSH connection.
- Add AnimationMovement interface: { joint_names, joint_angles, speed?,
delay_after? } for describing individual frames in a joint animation
- Add executeAnimationSequence() public method: steps through frames,
publishing each to /joint_angles with configurable per-frame delays
- Add executeSimulationAnimationSequence() for mock/sim mode
- Fix subscribeToRobotTopics: advertise /joint_angles as
naoqi_bridge_msgs/msg/JointAnglesWithSpeed — without this rosbridge
silently dropped every gesture publish (root cause of broken gestures)
- Fix executeBuiltinAction: correct ROS2 message type for /joint_angles
(was naoqi_bridge_msgs/JointAnglesWithSpeed, ROS1 format)
- Add service payloadMapping type to executeWithConfig: routes actions
to callService() instead of publish() — used by wake_up/rest
- Add wake_up/rest fallback service call chains in executeBuiltinAction
- Route gesture_sequence payloads through executeAnimationSequence
instead of the old inline loop (which used a broken delay formula)
- Improve sim mode to handle gesture_sequence configs with realistic timing
- Update robot-plugins submodule pointer
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add transformToGestureSequence for multi-movement gestures
- Update executeWithConfig to handle gesture sequences
- Add sequence execution with delays between movements
- Fix experiment description to be optional
- 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
- Created migration 0001_seed_data.sql to insert minimal seed data for users, accounts, and roles.
- Added meta journal for migration tracking.
- Implemented FormBuilder component for dynamic form field creation and management.
- Developed FormFieldRenderer component to render various types of form fields based on user input.
- Introduced constants for trust levels and status configurations.
- Defined types for form fields and trial data structures to enhance type safety and clarity.
- Implemented public access to forms with `getPublic` procedure.
- Added `submitPublic` procedure for participants to submit responses.
- Created a new participant form page to handle form display and submission.
- Enhanced form validation and error handling for required fields.
- Introduced CSV export functionality for form responses.
- Updated form listing and template creation procedures.
- Added README for homepage screenshots.
- Add forms system to README key features
- Update router/table counts to reflect new forms router
- Add forms section to quick-reference with types, templates, routes
- Clarify study-level user roles (owner/researcher/wizard/observer)
- Remove EntityView wrapper, use standard space-y-6 pattern
- Full page width instead of container max-w
- Consistent with experiments/participants pages
- Update docker-compose to create hristudio-data bucket instead of hristudio
- Fix files.ts, storage.ts, trials.ts, lib/storage/minio.ts to use consistent bucket name
- All now default to hristudio-data matching compose bucket creation
- Add isTemplate and templateName fields to forms
- Add listTemplates and createFromTemplate API endpoints
- Add template selection to new form page UI
- Add sample templates and forms to seed script:
- Informed Consent template
- Post-Session Survey template
- Demographics questionnaire template
- Add new forms table with type (consent/survey/questionnaire)
- Add formResponses table for submissions
- Add forms API router with full CRUD:
- list, get, create, update, delete
- setActive, createVersion
- getResponses, submitResponse
- Add forms list page with card-based UI
- Add form builder with field types (text, textarea, multiple_choice, checkbox, rating, yes_no, date, signature)
- Add form viewer with edit mode and preview
- Add responses viewing with participant info
- Hide Generate Default Template and Save Changes buttons for wizard/observer
- Backend already enforces owner/researcher for mutations
- UI now provides cleaner experience for read-only roles
- Modern card-based layout with large avatar
- Inline editing for name/email with save/cancel
- Password change dialog with validation
- Security section with danger zone
- Studies access quick link
- Consistent teal theme colors
- Uses PageHeader pattern
- Better loading states
- Simplified dashboard using PageHeader/page-layout
- Fixed dark mode live session banner
- Added AddMemberDialog component for study team management
- Study page now has working member add/remove
- Fixed toast imports to use sonner
- New modern dashboard layout with gradient background
- Quick action cards with teal glow effects
- Live trials banner with pulsing indicator
- Stats grid with colored icons
- Study list with bot icons
- Quick links sidebar
- Recent trials section with status badges
- Proper null safety and type checking
- Fix broken /trials links to use study-scoped routes
- Fix /wizard/ link to proper wizard URL with studyId
- Add studyId to getLiveTrials API response
- Update theme colors to teal/cyan sci-fi style
- Add custom CSS utilities for glow effects and chamfered corners
- Consolidate docs and archive outdated files
- Fixed client bundle contamination by moving child_process-dependent code
- Created standalone /api/robots/command route for SSH robot commands
- Created plugins router to replace robots.plugins for plugin management
- Added getStudyPlugins procedure to studies router
- Fixed trial.studyId references to trial.experiment.studyId
- Updated WizardInterface to use REST API for robot commands
- Create standalone WebSocket server (ws-server.ts) on port 3001 using Bun
- Add ws_connections table to track active connections in database
- Create global WebSocket manager that persists across component unmounts
- Fix useWebSocket hook to prevent infinite re-renders and use refs
- Fix TrialForm Select components with proper default values
- Add trialId to WebSocket URL for server-side tracking
- Update package.json with dev:ws script for separate WS server
- Install better-auth and @better-auth/drizzle-adapter
- Create src/lib/auth.ts with Better Auth configuration using bcrypt
- Update database schema: change auth table IDs from uuid to text
- Update route handler from /api/auth/[...nextauth] to /api/auth/[...all]
- Update tRPC context and middleware for Better Auth session handling
- Update client components to use Better Auth APIs (signIn, signOut)
- Update seed script with text-based IDs and correct account schema
- Fix type errors in wizard components (robotId, optional chaining)
- Fix API paths: api.robots.initialize -> api.robots.plugins.initialize
- Update auth router to use text IDs for Better Auth compatibility
Note: Auth tables were reset - users will need to re-register.
- Add MARCH-2026-SESSION.md with complete summary of work done
- Update nao6-quick-reference.md for Docker-based deployment
- Update quick-reference.md with NAO6 Docker integration section
copilot-swe-agent[bot]
soconnor