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soconnor/hristudio:main soconnor/hristudio:copilot/update-dependencies-next-drizzle-orm soconnor/hristudio:nao_ros2 soconnor/hristudio:hristudio-next soconnor/hristudio:original-with-updates
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compare: soconnor/hristudio:copilot/update-dependencies-next-drizzle-orm
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soconnor/hristudio:main soconnor/hristudio:copilot/update-dependencies-next-drizzle-orm soconnor/hristudio:nao_ros2 soconnor/hristudio:hristudio-next soconnor/hristudio:original-with-updates
3 Commits
e9910e416a .. copilot/update-dependencies-next-drizzle-orm
Author SHA1 Message Date
copilot-swe-agent[bot]andsoconnor0919 b147f81322 chore: bump next to 16.2.6 for additional CVE fixes 
Agent-Logs-Url: https://github.com/soconnor0919/hristudio/sessions/7450cc95-9c00-40dc-b652-fca3024486d9

Co-authored-by: soconnor0919 <44291434+soconnor0919@users.noreply.github.com>
 2026-05-13 15:45:42 +00:00
copilot-swe-agent[bot]andsoconnor0919 880980dccd chore: upgrade next and drizzle-orm for security fixes 
Agent-Logs-Url: https://github.com/soconnor0919/hristudio/sessions/7450cc95-9c00-40dc-b652-fca3024486d9

Co-authored-by: soconnor0919 <44291434+soconnor0919@users.noreply.github.com>
 2026-05-13 15:42:32 +00:00
copilot-swe-agent[bot] 356084a3f1 Initial plan 2026-05-13 15:39:11 +00:00
29 changed files with 1285 additions and 1269 deletions
Expand all files Collapse all files
bun.lock
+939 -686
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File diff suppressed because it is too large Load Diff
eslint.config.js
+7 -24
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@@ -1,13 +1,17 @@
import { FlatCompat } from "@eslint/eslintrc";
import tseslint from "typescript-eslint"; import tseslint from "typescript-eslint";
// @ts-ignore -- no types for this plugin // @ts-ignore -- no types for this plugin
import drizzle from "eslint-plugin-drizzle"; import drizzle from "eslint-plugin-drizzle";
import nextVitals from "eslint-config-next/core-web-vitals";
const compat = new FlatCompat({
baseDirectory: import.meta.dirname,
});
export default tseslint.config( export default tseslint.config(
{ {
ignores: [".next", "src/trpc/*.js"], ignores: [".next"],
}, },
...nextVitals, ...compat.extends("next/core-web-vitals"),
{ {
files: ["**/*.ts", "**/*.tsx"], files: ["**/*.ts", "**/*.tsx"],
plugins: { plugins: {
@@ -34,27 +38,6 @@ export default tseslint.config(
"error", "error",
{ checksVoidReturn: { attributes: false } }, { checksVoidReturn: { attributes: false } },
], ],
"@typescript-eslint/no-explicit-any": "warn",
"@typescript-eslint/no-unsafe-assignment": "warn",
"@typescript-eslint/no-unsafe-member-access": "warn",
"@typescript-eslint/no-unsafe-call": "warn",
"@typescript-eslint/no-unsafe-argument": "warn",
"@typescript-eslint/no-unsafe-return": "warn",
"@typescript-eslint/no-unnecessary-type-assertion": "off",
"@typescript-eslint/non-nullable-type-assertion-style": "off",
"@typescript-eslint/no-base-to-string": "warn",
"@typescript-eslint/no-floating-promises": "warn",
"@typescript-eslint/restrict-template-expressions": "warn",
"@typescript-eslint/prefer-promise-reject-errors": "warn",
"@typescript-eslint/prefer-nullish-coalescing": "warn",
"@typescript-eslint/no-empty-function": "warn",
"react-hooks/refs": "warn",
"react-hooks/set-state-in-effect": "warn",
"react-hooks/immutability": "warn",
"react-hooks/static-components": "warn",
"react-hooks/purity": "warn",
"react-hooks/error-boundaries": "warn",
"react-hooks/preserve-manual-memoization": "warn",
"drizzle/enforce-delete-with-where": [ "drizzle/enforce-delete-with-where": [
"error", "error",
{ drizzleObjectName: ["db", "ctx.db"] }, { drizzleObjectName: ["db", "ctx.db"] },
package.json
+66 -79
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@@ -28,106 +28,107 @@
"typecheck": "tsc --noEmit" "typecheck": "tsc --noEmit"
}, },
"dependencies": { "dependencies": {
"@auth/drizzle-adapter": "^1.11.3", "@auth/drizzle-adapter": "^1.11.1",
"@aws-sdk/client-s3": "^3.1132.0", "@aws-sdk/client-s3": "^3.989.0",
"@aws-sdk/s3-request-presigner": "^3.1132.0", "@aws-sdk/s3-request-presigner": "^3.989.0",
"@better-auth/drizzle-adapter": "~1.6.33", "@better-auth/drizzle-adapter": "^1.5.5",
"@dnd-kit/core": "^6.3.1", "@dnd-kit/core": "^6.3.1",
"@dnd-kit/sortable": "^10.0.0", "@dnd-kit/sortable": "^10.0.0",
"@dnd-kit/utilities": "^3.2.2", "@dnd-kit/utilities": "^3.2.2",
"@hookform/resolvers": "^5.9.1", "@hookform/resolvers": "^5.2.2",
"@radix-ui/react-accordion": "^1.2.20", "@radix-ui/react-accordion": "^1.2.12",
"@radix-ui/react-alert-dialog": "^1.1.23", "@radix-ui/react-alert-dialog": "^1.1.15",
"@radix-ui/react-aspect-ratio": "^1.1.15", "@radix-ui/react-aspect-ratio": "^1.1.8",
"@radix-ui/react-avatar": "^1.2.6", "@radix-ui/react-avatar": "^1.1.11",
"@radix-ui/react-checkbox": "^1.3.11", "@radix-ui/react-checkbox": "^1.3.3",
"@radix-ui/react-collapsible": "^1.1.20", "@radix-ui/react-collapsible": "^1.1.12",
"@radix-ui/react-dialog": "^1.1.23", "@radix-ui/react-dialog": "^1.1.15",
"@radix-ui/react-dropdown-menu": "^2.1.24", "@radix-ui/react-dropdown-menu": "^2.1.16",
"@radix-ui/react-label": "^2.1.15", "@radix-ui/react-label": "^2.1.8",
"@radix-ui/react-popover": "^1.1.23", "@radix-ui/react-popover": "^1.1.15",
"@radix-ui/react-progress": "^1.1.16", "@radix-ui/react-progress": "^1.1.8",
"@radix-ui/react-scroll-area": "^1.2.18", "@radix-ui/react-scroll-area": "^1.2.10",
"@radix-ui/react-select": "^2.3.7", "@radix-ui/react-select": "^2.2.6",
"@radix-ui/react-separator": "^1.1.15", "@radix-ui/react-separator": "^1.1.8",
"@radix-ui/react-slider": "^1.4.7", "@radix-ui/react-slider": "^1.3.6",
"@radix-ui/react-slot": "^1.3.3", "@radix-ui/react-slot": "^1.2.4",
"@radix-ui/react-switch": "^1.3.7", "@radix-ui/react-switch": "^1.2.6",
"@radix-ui/react-tabs": "^1.1.21", "@radix-ui/react-tabs": "^1.1.13",
"@radix-ui/react-tooltip": "^1.2.16", "@radix-ui/react-tooltip": "^1.2.8",
"@shadcn/ui": "^0.0.4", "@shadcn/ui": "^0.0.4",
"@t3-oss/env-nextjs": "^0.13.11", "@t3-oss/env-nextjs": "^0.13.10",
"@tailwindcss/typography": "^0.5.20", "@tailwindcss/typography": "^0.5.19",
"@tanstack/react-query": "^5.102.8", "@tanstack/react-query": "^5.90.21",
"@tanstack/react-table": "^8.21.3", "@tanstack/react-table": "^8.21.3",
"@tiptap/extension-table": "^3.31.3", "@tiptap/extension-table": "^3.20.0",
"@tiptap/extension-table-cell": "^3.31.3", "@tiptap/extension-table-cell": "^3.20.0",
"@tiptap/extension-table-header": "^3.31.3", "@tiptap/extension-table-header": "^3.20.0",
"@tiptap/extension-table-row": "^3.31.3", "@tiptap/extension-table-row": "^3.20.0",
"@tiptap/pm": "^3.31.3", "@tiptap/pm": "^3.20.0",
"@tiptap/react": "^3.31.3", "@tiptap/react": "^3.20.0",
"@tiptap/starter-kit": "^3.31.3", "@tiptap/starter-kit": "^3.20.0",
"@trpc/client": "^11.18.0", "@trpc/client": "^11.10.0",
"@trpc/react-query": "^11.18.0", "@trpc/react-query": "^11.10.0",
"@trpc/server": "^11.18.0", "@trpc/server": "^11.10.0",
"@types/js-cookie": "^3.0.6", "@types/js-cookie": "^3.0.6",
"@types/ws": "^8.18.1", "@types/ws": "^8.18.1",
"bcryptjs": "^3.0.3", "bcryptjs": "^3.0.3",
"better-auth": "~1.6.33", "better-auth": "^1.5.5",
"class-variance-authority": "^0.7.1", "class-variance-authority": "^0.7.1",
"clsx": "^2.1.1", "clsx": "^2.1.1",
"cmdk": "^1.1.1", "cmdk": "^1.1.1",
"date-fns": "^4.4.0", "date-fns": "^4.1.0",
"driver.js": "^1.8.0", "driver.js": "^1.4.0",
"drizzle-orm": "^0.45.2", "drizzle-orm": "^0.45.2",
"html2pdf.js": "^0.14.0", "html2pdf.js": "^0.14.0",
"js-cookie": "^3.0.8", "js-cookie": "^3.0.5",
"lucide-react": "^0.536.0", "lucide-react": "^0.536.0",
"minio": "^8.0.7", "minio": "^8.0.6",
"next": "16", "next": "16.2.6",
"next-auth": "^5.0.0-beta.32", "next-auth": "^5.0.0-beta.30",
"next-themes": "^0.4.6", "next-themes": "^0.4.6",
"postgres": "^3.4.9", "postgres": "^3.4.8",
"radix-ui": "^1.6.7", "radix-ui": "^1.4.3",
"react": "19.2.4", "react": "19.2.4",
"react-day-picker": "^9.14.0", "react-day-picker": "^9.13.2",
"react-dom": "19.2.4", "react-dom": "19.2.4",
"react-hook-form": "^7.88.0", "react-hook-form": "^7.71.1",
"react-resizable-panels": "^3.0.6", "react-resizable-panels": "^3.0.6",
"react-signature-canvas": "^1.1.0-alpha.2", "react-signature-canvas": "^1.1.0-alpha.2",
"react-webcam": "^7.2.0", "react-webcam": "^7.2.0",
"server-only": "^0.0.1", "server-only": "^0.0.1",
"sonner": "^2.0.8", "sonner": "^2.0.7",
"superjson": "^2.2.6", "superjson": "^2.2.6",
"tailwind-merge": "^3.7.0", "tailwind-merge": "^3.4.0",
"tiptap-markdown": "^0.9.0", "tiptap-markdown": "^0.9.0",
"uuid": "^13.0.2", "uuid": "^13.0.0",
"ws": "^8.21.3", "ws": "^8.19.0",
"zod": "^4.6.5", "zod": "^4.3.6",
"zustand": "^4.5.7" "zustand": "^4.5.7"
}, },
"devDependencies": { "devDependencies": {
"@tailwindcss/postcss": "^4.3.3", "@eslint/eslintrc": "^3.3.3",
"@tailwindcss/postcss": "^4.1.18",
"@types/bcryptjs": "^3.0.0", "@types/bcryptjs": "^3.0.0",
"@types/bun": "^1.4.2", "@types/bun": "^1.3.9",
"@types/crypto-js": "^4.2.2", "@types/crypto-js": "^4.2.2",
"@types/node": "^20.19.43", "@types/node": "^20.19.33",
"@types/react": "19.2.14", "@types/react": "19.2.14",
"@types/react-dom": "19.2.3", "@types/react-dom": "19.2.3",
"@types/uuid": "^11.0.0", "@types/uuid": "^11.0.0",
"drizzle-kit": "^0.31.10", "drizzle-kit": "^0.30.6",
"eslint": "^9.39.5", "eslint": "^9.39.2",
"eslint-config-next": "16.3.5", "eslint-config-next": "16.2.1",
"eslint-plugin-drizzle": "^0.2.3", "eslint-plugin-drizzle": "^0.2.3",
"postcss": "^8.5.28", "postcss": "^8.5.6",
"prettier": "^3.9.6", "prettier": "^3.8.1",
"prettier-plugin-tailwindcss": "^0.6.14", "prettier-plugin-tailwindcss": "^0.6.14",
"tailwindcss": "^4.3.3", "tailwindcss": "^4.1.18",
"ts-unused-exports": "^11.0.1", "ts-unused-exports": "^11.0.1",
"tw-animate-css": "^1.4.0", "tw-animate-css": "^1.4.0",
"typescript": "^5.9.3", "typescript": "^5.9.3",
"typescript-eslint": "^8.70.0", "typescript-eslint": "^8.55.0",
"vitest": "^4.1.11" "vitest": "^4.0.18"
}, },
"ct3aMetadata": { "ct3aMetadata": {
"initVersion": "7.39.3" "initVersion": "7.39.3"
@@ -140,20 +141,6 @@
], ],
"overrides": { "overrides": {
"@types/react": "19.2.14", "@types/react": "19.2.14",
"@types/react-dom": "19.2.3", "@types/react-dom": "19.2.3"
"@better-auth/core": "1.6.33",
"minio": {
"fast-xml-parser": "^5.7.0",
"stream-json": "^3.6.0"
},
"query-string": {
"decode-uri-component": "^0.5.0"
},
"@esbuild-kit/core-utils": {
"esbuild": "^0.25.12"
},
"vite": {
"esbuild": "^0.28.0"
}
} }
} }
scripts/archive/test-seed-data.ts
+1 -1
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@@ -185,7 +185,7 @@ function validateSeedData() {
const seanRole = userRoles.find( const seanRole = userRoles.find(
(r) => r.userId === "01234567-89ab-cdef-0123-456789abcde0", (r) => r.userId === "01234567-89ab-cdef-0123-456789abcde0",
); );
if (seanRole?.role === "administrator") { if (seanRole && seanRole.role === "administrator") {
console.log(` ✅ Sean has administrator role`); console.log(` ✅ Sean has administrator role`);
} else { } else {
console.error(` ❌ Sean missing administrator role`); console.error(` ❌ Sean missing administrator role`);
scripts/mock-robot/src/server.ts
+1 -1
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@@ -20,7 +20,7 @@ interface Subscriber {
const PORT = parseInt(process.env.MOCK_ROBOT_PORT || "9090", 10); const PORT = parseInt(process.env.MOCK_ROBOT_PORT || "9090", 10);
const PUBLISH_INTERVAL = parseInt(process.env.MOCK_PUBLISH_INTERVAL || "100", 10); const PUBLISH_INTERVAL = parseInt(process.env.MOCK_PUBLISH_INTERVAL || "100", 10);
const subscribers = new Map<string, Subscriber>(); const subscribers: Map<string, Subscriber> = new Map();
let subscriberIdCounter = 0; let subscriberIdCounter = 0;
const mockRobotState = { const mockRobotState = {
src/app/(dashboard)/help/tutorials/robot-integration/page.tsx
+67 -163
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@@ -29,28 +29,12 @@ export default function RobotIntegrationTutorial() {
<p>HRIStudio supports multiple robot platforms:</p> <p>HRIStudio supports multiple robot platforms:</p>
<table> <table>
<thead> <thead>
<tr> <tr><th>Robot</th><th>Protocol</th><th>Capabilities</th></tr>
<th>Robot</th>
<th>Protocol</th>
<th>Capabilities</th>
</tr>
</thead> </thead>
<tbody> <tbody>
<tr> <tr><td>NAO6</td><td>ROS2</td><td>Speech, movement, gestures, sensors</td></tr>
<td>NAO6</td> <tr><td>TurtleBot3</td><td>ROS2</td><td>Navigation, sensors</td></tr>
<td>ROS2</td> <tr><td>Mock Robot</td><td>WebSocket</td><td>All actions (simulation)</td></tr>
<td>Speech, movement, gestures, sensors</td>
</tr>
<tr>
<td>TurtleBot3</td>
<td>ROS2</td>
<td>Navigation, sensors</td>
</tr>
<tr>
<td>Mock Robot</td>
<td>WebSocket</td>
<td>All actions (simulation)</td>
</tr>
</tbody> </tbody>
</table> </table>
@@ -59,70 +43,44 @@ export default function RobotIntegrationTutorial() {
<h3>Network Configuration</h3> <h3>Network Configuration</h3>
<ol> <ol>
<li>Connect NAO6 to your network</li> <li>Connect NAO6 to your network</li>
<li> <li>Note the robot&apos;s IP address:
Note the robot&apos;s IP address: <pre><code># On the robot, say &quot;What is my IP address?&quot;
<pre> # Or check robot&apos;s network settings</code></pre>
<code>
# On the robot, say &quot;What is my IP address?&quot; # Or check
robot&apos;s network settings
</code>
</pre>
</li> </li>
<li> <li>Verify network access:
Verify network access: <pre><code>ping nao.local
<pre> # Or ping the IP directly:
<code> ping 192.168.1.100</code></pre>
ping nao.local # Or ping the IP directly: ping 192.168.1.100
</code>
</pre>
</li> </li>
</ol> </ol>
<h3>Wake Up Robot</h3> <h3>Wake Up Robot</h3>
<p>Before connecting, wake up the robot:</p> <p>Before connecting, wake up the robot:</p>
<pre> <pre><code>ssh nao@192.168.1.100
<code> # Enter password when prompted
ssh nao@192.168.1.100 # Enter password when prompted # Wake up the
robot python -c &quot;from naoqi import ALProxy; proxy = # Wake up the robot
ALProxy(&apos;ALMotion&apos;, &apos;192.168.1.100&apos;, 9559); python -c &quot;from naoqi import ALProxy; proxy = ALProxy('ALMotion', '192.168.1.100', 9559); proxy.wakeUp()&quot;</code></pre>
proxy.wakeUp()&quot;
</code>
</pre>
<h2>Step 2: Start Docker Services</h2> <h2>Step 2: Start Docker Services</h2>
<pre> <pre><code>cd ~/nao6-hristudio-integration
<code>
cd ~/nao6-hristudio-integration # Set robot IP export # Set robot IP
NAO_IP=192.168.1.100 # Start services docker compose up -d export NAO_IP=192.168.1.100
</code>
</pre> # Start services
docker compose up -d</code></pre>
<h3>Services Overview</h3> <h3>Services Overview</h3>
<table> <table>
<thead> <thead>
<tr> <tr><th>Service</th><th>Port</th><th>Purpose</th></tr>
<th>Service</th>
<th>Port</th>
<th>Purpose</th>
</tr>
</thead> </thead>
<tbody> <tbody>
<tr> <tr><td>nao_driver</td><td>-</td><td>ROS2 driver for NAO</td></tr>
<td>nao_driver</td> <tr><td>ros_bridge</td><td>9090</td><td>WebSocket bridge</td></tr>
<td>-</td> <tr><td>ros_api</td><td>-</td><td>Topic introspection</td></tr>
<td>ROS2 driver for NAO</td>
</tr>
<tr>
<td>ros_bridge</td>
<td>9090</td>
<td>WebSocket bridge</td>
</tr>
<tr>
<td>ros_api</td>
<td>-</td>
<td>Topic introspection</td>
</tr>
</tbody> </tbody>
</table> </table>
@@ -130,49 +88,32 @@ export default function RobotIntegrationTutorial() {
<h3>Install Robot Plugin</h3> <h3>Install Robot Plugin</h3>
<ol> <ol>
<li> <li>Go to <strong>Plugins</strong> in sidebar</li>
Go to <strong>Plugins</strong> in sidebar
</li>
<li>Select your study</li> <li>Select your study</li>
<li> <li>Click <strong>Browse Plugins</strong></li>
Click <strong>Browse Plugins</strong> <li>Find <strong>NAO6 Robot (ROS2 Integration)</strong></li>
</li> <li>Click <strong>Install</strong></li>
<li>
Find <strong>NAO6 Robot (ROS2 Integration)</strong>
</li>
<li>
Click <strong>Install</strong>
</li>
</ol> </ol>
<h3>Configure Plugin</h3> <h3>Configure Plugin</h3>
<pre> <pre><code>Robot Name: NAO6-Lab
<code> Robot IP: 192.168.1.100
Robot Name: NAO6-Lab Robot IP: 192.168.1.100 WebSocket URL: WebSocket URL: ws://localhost:9090</code></pre>
ws://localhost:9090
</code>
</pre>
<h3>Environment Variables</h3> <h3>Environment Variables</h3>
<p> <p>Create <code>hristudio/.env.local</code>:</p>
Create <code>hristudio/.env.local</code>: <pre><code># Robot connection
</p> NAO_ROBOT_IP=192.168.1.100
<pre> NAO_PASSWORD=robolab
<code> NAO_USERNAME=nao
# Robot connection NAO_ROBOT_IP=192.168.1.100 NAO_PASSWORD=robolab
NAO_USERNAME=nao # WebSocket bridge # WebSocket bridge
NEXT_PUBLIC_ROS_BRIDGE_URL=ws://localhost:9090 NEXT_PUBLIC_ROS_BRIDGE_URL=ws://localhost:9090</code></pre>
</code>
</pre>
<h2>Step 4: Test Connection</h2> <h2>Step 4: Test Connection</h2>
<ol> <ol>
<li> <li>Navigate to: <code>http://localhost:3000/nao-test</code></li>
Navigate to: <code>http://localhost:3000/nao-test</code> <li>Click <strong>Connect</strong></li>
</li>
<li>
Click <strong>Connect</strong>
</li>
<li>Verify connection status shows &quot;Connected&quot;</li> <li>Verify connection status shows &quot;Connected&quot;</li>
<li>Test basic actions (Say, Wave, Move)</li> <li>Test basic actions (Say, Wave, Move)</li>
</ol> </ol>
@@ -182,84 +123,47 @@ export default function RobotIntegrationTutorial() {
<h3>Speech Actions</h3> <h3>Speech Actions</h3>
<table> <table>
<thead> <thead>
<tr> <tr><th>Action</th><th>Parameters</th><th>Description</th></tr>
<th>Action</th>
<th>Parameters</th>
<th>Description</th>
</tr>
</thead> </thead>
<tbody> <tbody>
<tr> <tr><td>say_text</td><td>text</td><td>Speak text</td></tr>
<td>say_text</td> <tr><td>say_with_emotion</td><td>text, emotion</td><td>Emotional speech</td></tr>
<td>text</td> <tr><td>set_volume</td><td>level</td><td>Set speech volume</td></tr>
<td>Speak text</td>
</tr>
<tr>
<td>say_with_emotion</td>
<td>text, emotion</td>
<td>Emotional speech</td>
</tr>
<tr>
<td>set_volume</td>
<td>level</td>
<td>Set speech volume</td>
</tr>
</tbody> </tbody>
</table> </table>
<h3>Movement Actions</h3> <h3>Movement Actions</h3>
<table> <table>
<thead> <thead>
<tr> <tr><th>Action</th><th>Parameters</th><th>Description</th></tr>
<th>Action</th>
<th>Parameters</th>
<th>Description</th>
</tr>
</thead> </thead>
<tbody> <tbody>
<tr> <tr><td>walk_forward</td><td>speed, duration</td><td>Walk forward</td></tr>
<td>walk_forward</td> <tr><td>walk_backward</td><td>speed</td><td>Walk backward</td></tr>
<td>speed, duration</td> <tr><td>turn_left</td><td>speed</td><td>Turn left</td></tr>
<td>Walk forward</td> <tr><td>turn_right</td><td>speed</td><td>Turn right</td></tr>
</tr>
<tr>
<td>walk_backward</td>
<td>speed</td>
<td>Walk backward</td>
</tr>
<tr>
<td>turn_left</td>
<td>speed</td>
<td>Turn left</td>
</tr>
<tr>
<td>turn_right</td>
<td>speed</td>
<td>Turn right</td>
</tr>
</tbody> </tbody>
</table> </table>
<h2>Troubleshooting</h2> <h2>Troubleshooting</h2>
<h3>Robot Not Found</h3> <h3>Robot Not Found</h3>
<pre> <pre><code>Error: Cannot connect to robot at 192.168.1.100
<code>
Error: Cannot connect to robot at 192.168.1.100 Solutions: 1. Verify Solutions:
IP address: ping 192.168.1.100 2. Check robot is powered on 3. Verify 1. Verify IP address: ping 192.168.1.100
network connectivity 4. Try nao.local hostname 2. Check robot is powered on
</code> 3. Verify network connectivity
</pre> 4. Try nao.local hostname</code></pre>
<h3>WebSocket Connection Failed</h3> <h3>WebSocket Connection Failed</h3>
<pre> <pre><code>Error: WebSocket connection to ws://localhost:9090 failed
<code>
Error: WebSocket connection to ws://localhost:9090 failed Solutions: Solutions:
1. Check Docker is running: docker ps 2. Verify ros_bridge container 1. Check Docker is running: docker ps
3. Check port 9090 is not blocked 4. Restart services: docker compose 2. Verify ros_bridge container
restart 3. Check port 9090 is not blocked
</code> 4. Restart services: docker compose restart</code></pre>
</pre>
<div className="mt-8 flex justify-between"> <div className="mt-8 flex justify-between">
<Button variant="outline" asChild> <Button variant="outline" asChild>
src/app/(dashboard)/nao-test/page.tsx
+1 -1
View File
@@ -169,7 +169,7 @@ export default function NaoTestPage() {
}; };
const publishMessage = (topic: string, type: string, msg: any) => { const publishMessage = (topic: string, type: string, msg: any) => {
if (rosSocket?.readyState !== WebSocket.OPEN) { if (!rosSocket || rosSocket.readyState !== WebSocket.OPEN) {
addLog("Error: Not connected to ROS bridge"); addLog("Error: Not connected to ROS bridge");
return; return;
} }
src/app/(dashboard)/studies/[id]/forms/[formId]/page.tsx
+10 -13
View File
@@ -191,7 +191,7 @@ export default function FormViewPage({ params }: FormViewPageProps) {
'<div style="margin-top: 4px;"><input type="radio" name="yn" /> Yes &nbsp; <input type="radio" name="yn" /> No</div>'; '<div style="margin-top: 4px;"><input type="radio" name="yn" /> Yes &nbsp; <input type="radio" name="yn" /> No</div>';
break; break;
case "rating": case "rating":
const scale = field.settings?.scale ?? 5; const scale = (field.settings?.scale as number) || 5;
inputField = `<div style="margin-top: 4px;">${Array.from( inputField = `<div style="margin-top: 4px;">${Array.from(
{ length: scale }, { length: scale },
(_, i) => `<input type="radio" name="rating" /> ${i + 1} `, (_, i) => `<input type="radio" name="rating" /> ${i + 1} `,
@@ -422,14 +422,12 @@ export default function FormViewPage({ params }: FormViewPageProps) {
<div className="flex items-center gap-3"> <div className="flex items-center gap-3">
<Badge variant="outline" className="text-xs"> <Badge variant="outline" className="text-xs">
{ {
FORM_FIELD_TYPES.find( FORM_FIELD_TYPES.find((f) => f.value === field.type)
(f) => f.value === field.type, ?.icon
)?.icon
}{" "} }{" "}
{ {
FORM_FIELD_TYPES.find( FORM_FIELD_TYPES.find((f) => f.value === field.type)
(f) => f.value === field.type, ?.label
)?.label
} }
</Badge> </Badge>
<Input <Input
@@ -549,9 +547,8 @@ export default function FormViewPage({ params }: FormViewPageProps) {
<p className="font-medium">{field.label}</p> <p className="font-medium">{field.label}</p>
<p className="text-muted-foreground text-xs"> <p className="text-muted-foreground text-xs">
{ {
FORM_FIELD_TYPES.find( FORM_FIELD_TYPES.find((f) => f.value === field.type)
(f) => f.value === field.type, ?.label
)?.label
} }
{field.required && " • Required"} {field.required && " • Required"}
{field.type === "multiple_choice" && {field.type === "multiple_choice" &&
@@ -627,7 +624,7 @@ export default function FormViewPage({ params }: FormViewPageProps) {
{field.type === "rating" && ( {field.type === "rating" && (
<div className="flex gap-2"> <div className="flex gap-2">
{Array.from( {Array.from(
{ length: field.settings?.scale ?? 5 }, { length: (field.settings?.scale as number) || 5 },
(_, i) => ( (_, i) => (
<button <button
key={i} key={i}
@@ -812,7 +809,7 @@ export default function FormViewPage({ params }: FormViewPageProps) {
</SelectTrigger> </SelectTrigger>
<SelectContent> <SelectContent>
{Array.from( {Array.from(
{ length: field.settings?.scale ?? 5 }, { length: (field.settings?.scale as number) || 5 },
(_, i) => ( (_, i) => (
<SelectItem key={i} value={String(i + 1)}> <SelectItem key={i} value={String(i + 1)}>
{i + 1} {i + 1}
@@ -929,7 +926,7 @@ export default function FormViewPage({ params }: FormViewPageProps) {
</span> </span>
</div> </div>
<Badge <Badge
className={`text-xs ${formStatusColors[response.status!]}`} className={`text-xs ${formStatusColors[response.status as keyof typeof formStatusColors]}`}
> >
{response.status} {response.status}
</Badge> </Badge>
src/app/(dashboard)/studies/[id]/participants/[participantId]/edit/page.tsx
+1 -1
View File
@@ -16,7 +16,7 @@ export default async function EditParticipantPage({
const participant = await api.participants.get({ id: participantId }); const participant = await api.participants.get({ id: participantId });
if (participant?.studyId !== studyId) { if (!participant || participant.studyId !== studyId) {
notFound(); notFound();
} }
src/app/api/robots/command/route.ts
+1 -1
View File
@@ -1,4 +1,4 @@
import { type NextRequest, NextResponse } from "next/server"; import { NextRequest, NextResponse } from "next/server";
import { auth } from "~/lib/auth"; import { auth } from "~/lib/auth";
import { db } from "~/server/db"; import { db } from "~/server/db";
import { studyMembers } from "~/server/db/schema"; import { studyMembers } from "~/server/db/schema";
src/app/api/websocket/route.ts
+51 -53
View File
@@ -1,4 +1,4 @@
import { type NextRequest } from "next/server"; import { NextRequest } from "next/server";
import { headers } from "next/headers"; import { headers } from "next/headers";
import { wsManager } from "~/server/services/websocket-manager"; import { wsManager } from "~/server/services/websocket-manager";
import { auth } from "~/lib/auth"; import { auth } from "~/lib/auth";
@@ -48,7 +48,7 @@ export async function GET(request: NextRequest) {
const pair = new WebSocketPair(); const pair = new WebSocketPair();
const clientId = generateClientId(); const clientId = generateClientId();
const serverWebSocket = Object.values(pair)[0]!; const serverWebSocket = Object.values(pair)[0] as WebSocket;
clientConnections.set(clientId, { socket: serverWebSocket, clientId }); clientConnections.set(clientId, { socket: serverWebSocket, clientId });
@@ -56,61 +56,59 @@ export async function GET(request: NextRequest) {
serverWebSocket.accept(); serverWebSocket.accept();
serverWebSocket.addEventListener("message", (event) => { serverWebSocket.addEventListener("message", async (event) => {
void (async () => { try {
try { const message = JSON.parse(event.data as string);
const message = JSON.parse(event.data as string);
switch (message.type) { switch (message.type) {
case "heartbeat": case "heartbeat":
wsManager.sendToClient(clientId, { wsManager.sendToClient(clientId, {
type: "heartbeat_response", type: "heartbeat_response",
data: { timestamp: Date.now() }, data: { timestamp: Date.now() },
}); });
break; break;
case "request_trial_status": { case "request_trial_status": {
const status = await wsManager.getTrialStatus(trialId); const status = await wsManager.getTrialStatus(trialId);
wsManager.sendToClient(clientId, { wsManager.sendToClient(clientId, {
type: "trial_status", type: "trial_status",
data: { data: {
trial: status?.trial ?? null, trial: status?.trial ?? null,
current_step_index: status?.currentStepIndex ?? 0, current_step_index: status?.currentStepIndex ?? 0,
timestamp: Date.now(), timestamp: Date.now(),
}, },
}); });
break; break;
}
case "request_trial_events": {
const events = await wsManager.getTrialEvents(
trialId,
message.data?.limit ?? 100,
);
wsManager.sendToClient(clientId, {
type: "trial_events_snapshot",
data: { events, timestamp: Date.now() },
});
break;
}
case "ping":
wsManager.sendToClient(clientId, {
type: "pong",
data: { timestamp: Date.now() },
});
break;
default:
console.log(
`[WS] Unknown message type from client ${clientId}:`,
message.type,
);
} }
} catch (error) {
console.error(`[WS] Error processing message from ${clientId}:`, error); case "request_trial_events": {
const events = await wsManager.getTrialEvents(
trialId,
message.data?.limit ?? 100,
);
wsManager.sendToClient(clientId, {
type: "trial_events_snapshot",
data: { events, timestamp: Date.now() },
});
break;
}
case "ping":
wsManager.sendToClient(clientId, {
type: "pong",
data: { timestamp: Date.now() },
});
break;
default:
console.log(
`[WS] Unknown message type from client ${clientId}:`,
message.type,
);
} }
})(); } catch (error) {
console.error(`[WS] Error processing message from ${clientId}:`, error);
}
}); });
serverWebSocket.addEventListener("close", () => { serverWebSocket.addEventListener("close", () => {
src/components/experiments/designer/DesignerRoot.tsx
+14 -11
View File
@@ -495,14 +495,12 @@ export function DesignerRoot({
// console.log('[DesignerRoot] Steps changed, scheduling hash recomputation'); // console.log('[DesignerRoot] Steps changed, scheduling hash recomputation');
const timeoutId = setTimeout(() => { const timeoutId = setTimeout(async () => {
void (async () => { // console.log('[DesignerRoot] Executing debounced hash recomputation');
// console.log('[DesignerRoot] Executing debounced hash recomputation'); const result = await recomputeHash();
const result = await recomputeHash(); if (result) {
if (result) { // console.log('[DesignerRoot] Hash recomputed:', result.designHash.slice(0, 16));
// console.log('[DesignerRoot] Hash recomputed:', result.designHash.slice(0, 16)); }
}
})();
}, 300); // Debounce 300ms }, 300); // Debounce 300ms
return () => clearTimeout(timeoutId); return () => clearTimeout(timeoutId);
@@ -901,7 +899,7 @@ export function DesignerRoot({
// Detect target based on over id // Detect target based on over id
if (overId.startsWith("s-act-")) { if (overId.startsWith("s-act-")) {
const data = over.data.current; const data = over.data.current;
if (data?.stepId) { if (data && data.stepId) {
stepId = data.stepId; stepId = data.stepId;
parentId = data.parentId ?? null; // Use parentId from the action we are hovering over parentId = data.parentId ?? null; // Use parentId from the action we are hovering over
// Use sortable index (insertion point provided by dnd-kit sortable strategy) // Use sortable index (insertion point provided by dnd-kit sortable strategy)
@@ -910,7 +908,7 @@ export function DesignerRoot({
} else if (overId.startsWith("container-")) { } else if (overId.startsWith("container-")) {
// Dropping into a container (e.g. Loop) // Dropping into a container (e.g. Loop)
const data = over.data.current; const data = over.data.current;
if (data?.stepId) { if (data && data.stepId) {
stepId = data.stepId; stepId = data.stepId;
parentId = data.parentId ?? overId.slice("container-".length); parentId = data.parentId ?? overId.slice("container-".length);
// If dropping into container, appending is a safe default if specific index logic is missing // If dropping into container, appending is a safe default if specific index logic is missing
@@ -946,7 +944,12 @@ export function DesignerRoot({
if (stepId) { if (stepId) {
const current = store.insertionProjection; const current = store.insertionProjection;
// Optimization: avoid redundant updates if projection matches // Optimization: avoid redundant updates if projection matches
if (current?.stepId === stepId && current?.index === index) { if (
current &&
current.stepId === stepId &&
current.parentId === parentId &&
current.index === index
) {
return; return;
} }
src/components/experiments/designer/state/store.ts
+1 -1
View File
@@ -460,7 +460,7 @@ export const createDesignerStore = (props: {
reorderAction: (stepId: string, from: number, to: number) => reorderAction: (stepId: string, from: number, to: number) =>
get().moveAction( get().moveAction(
stepId, stepId,
get().steps.find((s) => s.id === stepId)?.actions[from]?.id as string, get().steps.find((s) => s.id === stepId)?.actions[from]?.id!,
null, null,
to, to,
), // Legacy compat support (only works for root level reorder) ), // Legacy compat support (only works for root level reorder)
src/components/forms/FormFieldRenderer.tsx
+1 -1
View File
@@ -43,7 +43,7 @@ export function FormFieldRenderer({
className: error ? "border-destructive" : "", className: error ? "border-destructive" : "",
}; };
const scale = field.settings?.scale ?? 5; const scale = (field.settings?.scale as number) || 5;
switch (field.type) { switch (field.type) {
case "text": case "text":
src/components/participants/ConsentUploadForm.tsx
+1 -1
View File
@@ -40,7 +40,7 @@ export function ConsentUploadForm({
const recordConsentMutation = api.participants.recordConsent.useMutation(); const recordConsentMutation = api.participants.recordConsent.useMutation();
const handleFileChange = (e: React.ChangeEvent<HTMLInputElement>) => { const handleFileChange = (e: React.ChangeEvent<HTMLInputElement>) => {
if (e.target.files?.[0]) { if (e.target.files && e.target.files[0]) {
const selectedFile = e.target.files[0]; const selectedFile = e.target.files[0];
// Validate size (10MB) // Validate size (10MB)
if (selectedFile.size > 10 * 1024 * 1024) { if (selectedFile.size > 10 * 1024 * 1024) {
src/components/participants/DigitalSignatureModal.tsx
+3 -4
View File
@@ -246,10 +246,9 @@ export function DigitalSignatureModal({
Agreement Agreement
</h4> </h4>
<p className="text-muted-foreground text-xs leading-relaxed"> <p className="text-muted-foreground text-xs leading-relaxed">
By clicking &quot;Submit Signed Document&quot;, you confirm that By clicking "Submit Signed Document", you confirm that you have
you have read and understood the information provided in the read and understood the information provided in the document
document preview, and you voluntarily agree to participate in preview, and you voluntarily agree to participate in this study.
this study.
</p> </p>
<Button <Button
className="mt-2 w-full" className="mt-2 w-full"
src/components/trials/analysis/events-data-table.tsx
+4 -2
View File
@@ -103,7 +103,9 @@ export function EventsDataTable({ data, startTime }: EventsDataTableProps) {
return null; return null;
}, [events, currentEventIndex]); }, [events, currentEventIndex]);
const rowRefs = React.useRef<Record<string, HTMLTableRowElement | null>>({}); const rowRefs = React.useRef<{ [key: string]: HTMLTableRowElement | null }>(
{},
);
React.useEffect(() => { React.useEffect(() => {
if (activeEventId && rowRefs.current[activeEventId]) { if (activeEventId && rowRefs.current[activeEventId]) {
@@ -279,7 +281,7 @@ export function EventsDataTable({ data, startTime }: EventsDataTableProps) {
<strong>{d?.command || d?.type || "Action"}</strong> <strong>{d?.command || d?.type || "Action"}</strong>
{text && ( {text && (
<span className="text-muted-foreground ml-1"> <span className="text-muted-foreground ml-1">
&quot;{text}&quot; "{text}"
</span> </span>
)} )}
</span> </span>
src/components/trials/wizard/ActionControls.tsx
+1 -1
View File
@@ -309,7 +309,7 @@ export function ActionControls({
</Card> </Card>
{/* Step-Specific Controls */} {/* Step-Specific Controls */}
{currentStep?.type === "wizard_action" && ( {currentStep && currentStep.type === "wizard_action" && (
<Card> <Card>
<CardHeader> <CardHeader>
<CardTitle className="flex items-center space-x-2"> <CardTitle className="flex items-center space-x-2">
src/components/trials/wizard/RobotSettingsModal.tsx
+2 -2
View File
@@ -80,7 +80,7 @@ export function RobotSettingsModal({
}); });
// Initialize settings from current configuration // Initialize settings from current configuration
// eslint-disable-next-line react-hooks/exhaustive-deps
useState(() => { useState(() => {
if (currentSettings) { if (currentSettings) {
setSettings(currentSettings as Record<string, unknown>); setSettings(currentSettings as Record<string, unknown>);
@@ -103,7 +103,7 @@ export function RobotSettingsModal({
const renderField = ( const renderField = (
key: string, key: string,
schema: PropertySchema, schema: PropertySchema,
parentPath = "", parentPath: string = "",
) => { ) => {
const fullPath = parentPath ? `${parentPath}.${key}` : key; const fullPath = parentPath ? `${parentPath}.${key}` : key;
const value = getNestedValue(settings, fullPath); const value = getNestedValue(settings, fullPath);
src/components/trials/wizard/panels/WebcamPanel.tsx
+4 -1
View File
@@ -78,7 +78,10 @@ export function WebcamPanel({
const handleStartRecording = () => { const handleStartRecording = () => {
if (!webcamRef.current?.stream) return; if (!webcamRef.current?.stream) return;
if (mediaRecorderRef.current?.state === "recording") { if (
mediaRecorderRef.current &&
mediaRecorderRef.current.state === "recording"
) {
console.log("Already recording, skipping start"); console.log("Already recording, skipping start");
return; return;
} }
src/hooks/useWebSocket.ts
+2 -2
View File
@@ -151,8 +151,8 @@ type StateListener = (state: GlobalWSState) => void;
class GlobalWebSocketManager { class GlobalWebSocketManager {
private ws: WebSocket | null = null; private ws: WebSocket | null = null;
private subscriptions = new Map<string, Subscription>(); private subscriptions: Map<string, Subscription> = new Map();
private stateListeners = new Set<StateListener>(); private stateListeners: Set<StateListener> = new Set();
private sessionRef: { user: { id: string } } | null = null; private sessionRef: { user: { id: string } } | null = null;
private heartbeatInterval: ReturnType<typeof setInterval> | null = null; private heartbeatInterval: ReturnType<typeof setInterval> | null = null;
private reconnectTimeout: ReturnType<typeof setTimeout> | null = null; private reconnectTimeout: ReturnType<typeof setTimeout> | null = null;
src/hooks/useWizardRos.ts
+1 -1
View File
@@ -2,7 +2,7 @@
import { useEffect, useState, useCallback, useRef } from "react"; import { useEffect, useState, useCallback, useRef } from "react";
import { import {
type WizardRosService, WizardRosService,
type RobotStatus, type RobotStatus,
type RobotActionExecution, type RobotActionExecution,
getWizardRosService, getWizardRosService,
src/lib/experiment-designer/__tests__/block-converter.test.ts
+1 -1
View File
@@ -97,7 +97,7 @@ const steps: ExperimentStep[] = [
} }
const first = converted[0]; const first = converted[0];
if (first?.actions.length !== 2) { if (!first || first.actions.length !== 2) {
throw new Error( throw new Error(
`Expected first converted step to contain 2 actions, got ${first?.actions.length ?? "undefined"}`, `Expected first converted step to contain 2 actions, got ${first?.actions.length ?? "undefined"}`,
); );
src/lib/experiment-designer/block-converter.ts
+1 -1
View File
@@ -229,7 +229,7 @@ export function convertDatabaseToAction(dbAction: any): ExperimentAction {
// Robust Inference: If properties are missing but Type suggests a plugin (e.g., "nao6-ros2.say_text"), // Robust Inference: If properties are missing but Type suggests a plugin (e.g., "nao6-ros2.say_text"),
// assume/infer the pluginId to ensure validation passes. // assume/infer the pluginId to ensure validation passes.
if (dbAction.type?.includes(".") && !source.pluginId) { if (dbAction.type && dbAction.type.includes(".") && !source.pluginId) {
const parts = dbAction.type.split("."); const parts = dbAction.type.split(".");
if (parts.length === 2) { if (parts.length === 2) {
source.kind = "plugin"; source.kind = "plugin";
src/lib/pdf-generator.ts
+2 -2
View File
@@ -44,7 +44,7 @@ export async function downloadPdfFromHtml(
htmlContent: string, htmlContent: string,
options: PdfOptions = {}, options: PdfOptions = {},
): Promise<void> { ): Promise<void> {
// Dynamic import to prevent SSR issues with window/document // @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); const { printWrapper, element } = createPrintWrapper(htmlContent);
@@ -61,7 +61,7 @@ export async function generatePdfBlobFromHtml(
htmlContent: string, htmlContent: string,
options: PdfOptions = {}, options: PdfOptions = {},
): Promise<Blob> { ): Promise<Blob> {
// Dynamic import to prevent SSR issues with window/document // @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); const { printWrapper, element } = createPrintWrapper(htmlContent);
src/lib/ros/wizard-ros-service.ts
+61 -160
View File
@@ -90,15 +90,13 @@ export class WizardRosService extends EventEmitter {
}; };
// Active action tracking // Active action tracking
private activeActions = new Map<string, RobotActionExecution>(); private activeActions: Map<string, RobotActionExecution> = new Map();
constructor(url = "ws://localhost:9090", simulationMode = false) { constructor(url: string = "ws://localhost:9090", simulationMode: boolean = false) {
super(); super();
this.url = url; this.url = url;
this.simulationMode = this.simulationMode = simulationMode ||
simulationMode || (typeof window !== "undefined" && process.env.NEXT_PUBLIC_SIMULATION_MODE === "true");
(typeof window !== "undefined" &&
process.env.NEXT_PUBLIC_SIMULATION_MODE === "true");
} }
/** /**
@@ -244,13 +242,10 @@ export class WizardRosService extends EventEmitter {
connected: true, connected: true,
battery: 85, battery: 85,
position: { x: 0, y: 0, theta: 0 }, position: { x: 0, y: 0, theta: 0 },
joints: mockStates.names.reduce( joints: mockStates.names.reduce((acc, name, i) => {
(acc, name, i) => { acc[name] = mockStates.positions[i] ?? 0;
acc[name] = mockStates.positions[i] ?? 0; return acc;
return acc; }, {} as Record<string, number>),
},
{} as Record<string, number>,
),
sensors: {}, sensors: {},
lastUpdate: new Date(), lastUpdate: new Date(),
}; };
@@ -303,32 +298,11 @@ export class WizardRosService extends EventEmitter {
*/ */
private getMockJointStates(): { names: string[]; positions: number[] } { private getMockJointStates(): { names: string[]; positions: number[] } {
const names = [ const names = [
"HeadYaw", "HeadYaw", "HeadPitch",
"HeadPitch", "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw", "LHand",
"LShoulderPitch", "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand",
"LShoulderRoll", "LHipYawPitch", "LHipRoll", "LHipPitch", "LKneePitch", "LAnklePitch", "LAnkleRoll",
"LElbowYaw", "RHipYawPitch", "RHipRoll", "RHipPitch", "RKneePitch", "RAnklePitch", "RAnkleRoll",
"LElbowRoll",
"LWristYaw",
"LHand",
"RShoulderPitch",
"RShoulderRoll",
"RElbowYaw",
"RElbowRoll",
"RWristYaw",
"RHand",
"LHipYawPitch",
"LHipRoll",
"LHipPitch",
"LKneePitch",
"LAnklePitch",
"LAnkleRoll",
"RHipYawPitch",
"RHipRoll",
"RHipPitch",
"RKneePitch",
"RAnklePitch",
"RAnkleRoll",
]; ];
const positions = names.map(() => (Math.random() - 0.5) * 0.1); const positions = names.map(() => (Math.random() - 0.5) * 0.1);
return { names, positions }; return { names, positions };
@@ -368,17 +342,11 @@ export class WizardRosService extends EventEmitter {
execution.status = "executing"; execution.status = "executing";
this.activeActions.set(executionId, execution); this.activeActions.set(executionId, execution);
console.log( console.log(`[WizardROS] SIMULATION MODE - Executing ${actionId}:`, parameters);
`[WizardROS] SIMULATION MODE - Executing ${actionId}:`,
parameters,
);
// If the action config carries a gesture_sequence payload, run the sim animation handler // If the action config carries a gesture_sequence payload, run the sim animation handler
if (actionConfig?.payloadMapping?.payload) { if (actionConfig?.payloadMapping?.payload) {
const payload = actionConfig.payloadMapping.payload as { const payload = actionConfig.payloadMapping.payload as { type?: string; movements?: AnimationMovement[] };
type?: string;
movements?: AnimationMovement[];
};
if (payload.type === "gesture_sequence" && payload.movements?.length) { if (payload.type === "gesture_sequence" && payload.movements?.length) {
await this.executeSimulationAnimationSequence(payload.movements); await this.executeSimulationAnimationSequence(payload.movements);
execution.status = "completed"; execution.status = "completed";
@@ -392,19 +360,11 @@ export class WizardRosService extends EventEmitter {
// Simulate action execution based on action type // Simulate action execution based on action type
let duration = 500; let duration = 500;
if ( if (actionId === "say_text" || actionId === "say_with_emotion" || actionConfig?.topic === "/speech") {
actionId === "say_text" ||
actionId === "say_with_emotion" ||
actionConfig?.topic === "/speech"
) {
const text = String(parameters.text || parameters.data || "Hello"); const text = String(parameters.text || parameters.data || "Hello");
const wordCount = text.split(/\s+/).filter(Boolean).length; const wordCount = text.split(/\s+/).filter(Boolean).length;
duration = 1500 + Math.max(1000, wordCount * 300); duration = 1500 + Math.max(1000, wordCount * 300);
} else if ( } else if (actionId.includes("walk") || actionId === "stop_walking" || actionConfig?.topic === "/cmd_vel") {
actionId.includes("walk") ||
actionId === "stop_walking" ||
actionConfig?.topic === "/cmd_vel"
) {
duration = 500; duration = 500;
const speed = Number(parameters.speed) || 0.1; const speed = Number(parameters.speed) || 0.1;
if (actionId === "walk_forward") { if (actionId === "walk_forward") {
@@ -418,11 +378,7 @@ export class WizardRosService extends EventEmitter {
} }
} else if (actionConfig?.topic === "/joint_angles") { } else if (actionConfig?.topic === "/joint_angles") {
duration = 1000; duration = 1000;
} else if ( } else if (actionId === "wake_up" || actionId === "rest" || actionId === "set_posture") {
actionId === "wake_up" ||
actionId === "rest" ||
actionId === "set_posture"
) {
duration = 2000; duration = 2000;
} }
@@ -443,6 +399,8 @@ export class WizardRosService extends EventEmitter {
return execution; return execution;
} }
/** /**
* Check if connected to ROS bridge * Check if connected to ROS bridge
*/ */
@@ -483,12 +441,7 @@ export class WizardRosService extends EventEmitter {
// Simulation mode - simulate action execution // Simulation mode - simulate action execution
if (this.simulationMode) { if (this.simulationMode) {
return this.executeSimulationAction( return this.executeSimulationAction(pluginName, actionId, parameters, actionConfig);
pluginName,
actionId,
parameters,
actionConfig,
);
} }
const executionId = `${pluginName}_${actionId}_${Date.now()}`; const executionId = `${pluginName}_${actionId}_${Date.now()}`;
@@ -541,13 +494,9 @@ export class WizardRosService extends EventEmitter {
* Each frame is published to /joint_angles then held for delay_after ms * Each frame is published to /joint_angles then held for delay_after ms
* (default 800 ms) before the next frame is sent. * (default 800 ms) before the next frame is sent.
*/ */
async executeAnimationSequence( async executeAnimationSequence(movements: AnimationMovement[]): Promise<void> {
movements: AnimationMovement[],
): Promise<void> {
if (!movements.length) { if (!movements.length) {
console.warn( console.warn("[WizardROS] executeAnimationSequence called with empty movements");
"[WizardROS] executeAnimationSequence called with empty movements",
);
return; return;
} }
@@ -614,10 +563,7 @@ export class WizardRosService extends EventEmitter {
this.advertise("/speech", "std_msgs/String"); this.advertise("/speech", "std_msgs/String");
this.advertise("/cmd_vel", "geometry_msgs/Twist"); this.advertise("/cmd_vel", "geometry_msgs/Twist");
this.advertise( this.advertise("/joint_angles", "naoqi_bridge_msgs/msg/JointAnglesWithSpeed");
"/joint_angles",
"naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
);
this.advertise("/robot_pose", "geometry_msgs/Pose"); this.advertise("/robot_pose", "geometry_msgs/Pose");
this.advertise("/animation", "std_msgs/String"); this.advertise("/animation", "std_msgs/String");
} }
@@ -779,10 +725,7 @@ export class WizardRosService extends EventEmitter {
actionId?: string, actionId?: string,
): Promise<void> { ): Promise<void> {
// SSH command actions // SSH command actions
if ( if (config.payloadMapping.type === "ssh" && config.payloadMapping.sshCommand) {
config.payloadMapping.type === "ssh" &&
config.payloadMapping.sshCommand
) {
await this.executeSSHCommand(config.payloadMapping.sshCommand); await this.executeSSHCommand(config.payloadMapping.sshCommand);
return; return;
} }
@@ -804,15 +747,9 @@ export class WizardRosService extends EventEmitter {
config.payloadMapping.type === "static") && config.payloadMapping.type === "static") &&
config.payloadMapping.payload config.payloadMapping.payload
) { ) {
msg = this.buildTemplatePayload( msg = this.buildTemplatePayload(config.payloadMapping.payload, parameters);
config.payloadMapping.payload,
parameters,
);
} else if (config.payloadMapping.transformFn) { } else if (config.payloadMapping.transformFn) {
msg = this.applyTransformFunction( msg = this.applyTransformFunction(config.payloadMapping.transformFn, parameters);
config.payloadMapping.transformFn,
parameters,
);
} else { } else {
msg = parameters; msg = parameters;
} }
@@ -824,18 +761,13 @@ export class WizardRosService extends EventEmitter {
console.warn("[WizardROS] gesture_sequence payload has no movements"); console.warn("[WizardROS] gesture_sequence payload has no movements");
return; return;
} }
console.log( console.log(`[WizardROS] Delegating to animation handler (${movements.length} frames)`);
`[WizardROS] Delegating to animation handler (${movements.length} frames)`,
);
await this.executeAnimationSequence(movements); await this.executeAnimationSequence(movements);
return; return;
} }
// Route /animation topic through SSH instead of ROS to avoid crashes // Route /animation topic through SSH instead of ROS to avoid crashes
if ( if (config.topic === "/animation" && actionId?.startsWith("play_animation_")) {
config.topic === "/animation" &&
actionId?.startsWith("play_animation_")
) {
await this.executeAnimationSSH(actionId); await this.executeAnimationSSH(actionId);
return; return;
} }
@@ -1037,10 +969,7 @@ export class WizardRosService extends EventEmitter {
// Simulation mode - return mock responses // Simulation mode - return mock responses
if (this.simulationMode) { if (this.simulationMode) {
console.log( console.log(`[WizardROS] SIMULATION MODE - Service call: ${service}`, args);
`[WizardROS] SIMULATION MODE - Service call: ${service}`,
args,
);
const mockResponses: Record<string, ServiceResponse> = { const mockResponses: Record<string, ServiceResponse> = {
"/naoqi_driver/get_robot_info": { "/naoqi_driver/get_robot_info": {
@@ -1055,32 +984,13 @@ export class WizardRosService extends EventEmitter {
result: true, result: true,
values: { values: {
joint_names: [ joint_names: [
"HeadYaw", "HeadYaw", "HeadPitch", "LShoulderPitch", "LShoulderRoll",
"HeadPitch", "LElbowYaw", "LElbowRoll", "LWristYaw", "LHand",
"LShoulderPitch", "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll",
"LShoulderRoll", "RWristYaw", "RHand", "LHipYawPitch", "LHipRoll",
"LElbowYaw", "LHipPitch", "LKneePitch", "LAnklePitch", "LAnkleRoll",
"LElbowRoll", "RHipYawPitch", "RHipRoll", "RHipPitch", "RKneePitch",
"LWristYaw", "RAnklePitch", "RAnkleRoll",
"LHand",
"RShoulderPitch",
"RShoulderRoll",
"RElbowYaw",
"RElbowRoll",
"RWristYaw",
"RHand",
"LHipYawPitch",
"LHipRoll",
"LHipPitch",
"LKneePitch",
"LAnklePitch",
"LAnkleRoll",
"RHipYawPitch",
"RHipRoll",
"RHipPitch",
"RKneePitch",
"RAnklePitch",
"RAnkleRoll",
], ],
}, },
}, },
@@ -1131,13 +1041,13 @@ export class WizardRosService extends EventEmitter {
*/ */
private async executeAnimationSSH(actionId: string): Promise<void> { private async executeAnimationSSH(actionId: string): Promise<void> {
const animationMap: Record<string, string> = { const animationMap: Record<string, string> = {
play_animation_bow: "animations/Stand/Gestures/BowShort_1", "play_animation_bow": "animations/Stand/Gestures/BowShort_1",
play_animation_hey: "animations/Stand/Gestures/Hey_1", "play_animation_hey": "animations/Stand/Gestures/Hey_1",
play_animation_show_floor: "animations/Stand/Gestures/ShowFloor_1", "play_animation_show_floor": "animations/Stand/Gestures/ShowFloor_1",
play_animation_enthusiastic: "animations/Stand/Gestures/Enthusiastic_4", "play_animation_enthusiastic": "animations/Stand/Gestures/Enthusiastic_4",
play_animation_yes: "animations/Stand/Gestures/Yes_1", "play_animation_yes": "animations/Stand/Gestures/Yes_1",
play_animation_no: "animations/Stand/Gestures/No_3", "play_animation_no": "animations/Stand/Gestures/No_3",
play_animation_idontknow: "animations/Stand/Gestures/IDontKnow_1", "play_animation_idontknow": "animations/Stand/Gestures/IDontKnow_1",
}; };
const animation = animationMap[actionId]; const animation = animationMap[actionId];
@@ -1148,9 +1058,7 @@ export class WizardRosService extends EventEmitter {
console.log(`[WizardROS] Executing animation via API: ${animation}`); console.log(`[WizardROS] Executing animation via API: ${animation}`);
// Use executeSSH to run animation via qicli (bypasses studyId requirement) // Use executeSSH to run animation via qicli (bypasses studyId requirement)
await this.executeSSHCommand( await this.executeSSHCommand(`qicli call ALAnimationPlayer.run '${animation}'`);
`qicli call ALAnimationPlayer.run '${animation}'`,
);
console.log(`[WizardROS] Animation completed: ${animation}`); console.log(`[WizardROS] Animation completed: ${animation}`);
} }
@@ -1455,20 +1363,18 @@ export class WizardRosService extends EventEmitter {
`[WizardROS] Scheduling reconnect attempt ${this.connectionAttempts}/${this.maxReconnectAttempts}`, `[WizardROS] Scheduling reconnect attempt ${this.connectionAttempts}/${this.maxReconnectAttempts}`,
); );
this.reconnectTimer = setTimeout(() => { this.reconnectTimer = setTimeout(async () => {
void (async () => { this.reconnectTimer = null;
this.reconnectTimer = null; try {
try { await this.connect();
await this.connect(); } catch (error) {
} catch (error) { console.warn("[WizardROS] Reconnect failed:", error);
console.warn("[WizardROS] Reconnect failed:", error); if (this.connectionAttempts < this.maxReconnectAttempts) {
if (this.connectionAttempts < this.maxReconnectAttempts) { this.scheduleReconnect();
this.scheduleReconnect(); } else {
} else { this.emit("max_reconnects_reached");
this.emit("max_reconnects_reached");
}
} }
})(); }
}, this.reconnectInterval); }, this.reconnectInterval);
} }
@@ -1490,9 +1396,7 @@ let isCreatingInstance = false;
/** /**
* Get or create the global wizard ROS service (true singleton) * Get or create the global wizard ROS service (true singleton)
*/ */
export function getWizardRosService( export function getWizardRosService(simulationMode?: boolean): WizardRosService {
simulationMode?: boolean,
): WizardRosService {
// Prevent multiple instances during creation // Prevent multiple instances during creation
if (isCreatingInstance && !wizardRosService) { if (isCreatingInstance && !wizardRosService) {
throw new Error("WizardRosService is being initialized, please wait"); throw new Error("WizardRosService is being initialized, please wait");
@@ -1501,10 +1405,9 @@ export function getWizardRosService(
if (!wizardRosService) { if (!wizardRosService) {
isCreatingInstance = true; isCreatingInstance = true;
try { try {
const url = const url = typeof window !== "undefined"
typeof window !== "undefined" ? (process.env.NEXT_PUBLIC_ROS_BRIDGE_URL || "ws://localhost:9090")
? process.env.NEXT_PUBLIC_ROS_BRIDGE_URL || "ws://localhost:9090" : "ws://localhost:9090";
: "ws://localhost:9090";
wizardRosService = new WizardRosService(url, simulationMode); wizardRosService = new WizardRosService(url, simulationMode);
} finally { } finally {
isCreatingInstance = false; isCreatingInstance = false;
@@ -1516,9 +1419,7 @@ export function getWizardRosService(
/** /**
* Initialize wizard ROS service with connection * Initialize wizard ROS service with connection
*/ */
export async function initWizardRosService( export async function initWizardRosService(simulationMode?: boolean): Promise<WizardRosService> {
simulationMode?: boolean,
): Promise<WizardRosService> {
const service = getWizardRosService(simulationMode); const service = getWizardRosService(simulationMode);
if (simulationMode !== undefined) { if (simulationMode !== undefined) {
src/server/api/routers/studies.ts
+2 -2
View File
@@ -501,7 +501,7 @@ export const studiesRouter = createTRPCRouter({
), ),
}); });
if (membership?.role !== "owner") { if (!membership || membership.role !== "owner") {
throw new TRPCError({ throw new TRPCError({
code: "FORBIDDEN", code: "FORBIDDEN",
message: "Only study owners can remove members", message: "Only study owners can remove members",
@@ -521,7 +521,7 @@ export const studiesRouter = createTRPCRouter({
}, },
}); });
if (memberToRemove?.studyId !== studyId) { if (!memberToRemove || memberToRemove.studyId !== studyId) {
throw new TRPCError({ throw new TRPCError({
code: "NOT_FOUND", code: "NOT_FOUND",
message: "Member not found", message: "Member not found",
src/server/services/robot-communication.ts
+31 -45
View File
@@ -1,7 +1,7 @@
/* eslint-disable @typescript-eslint/no-explicit-any */ /* eslint-disable @typescript-eslint/no-explicit-any */
/* eslint-disable @typescript-eslint/no-unsafe-assignment */ /* eslint-disable @typescript-eslint/no-unsafe-assignment */
/* eslint-disable @typescript-eslint/no-unsafe-member-access */ /* eslint-disable @typescript-eslint/no-unsafe-member-access */
/* eslint-disable @typescript-eslint/no-unsafe-call */
/* eslint-disable @typescript-eslint/no-unsafe-return */ /* eslint-disable @typescript-eslint/no-unsafe-return */
import WebSocket from "ws"; import WebSocket from "ws";
@@ -193,9 +193,8 @@ export class RobotCommunicationService extends EventEmitter {
: actionType; : actionType;
const isAnimationAction = baseActionId?.startsWith("play_animation_"); const isAnimationAction = baseActionId?.startsWith("play_animation_");
const sshCommand = const sshCommand = implementation.payloadMapping?.sshCommand
implementation.payloadMapping?.sshCommand || || implementation.ros2?.payloadMapping?.sshCommand;
implementation.ros2?.payloadMapping?.sshCommand;
// SSH actions don't require ROS connection // SSH actions don't require ROS connection
if (isAnimationAction || sshCommand) { if (isAnimationAction || sshCommand) {
@@ -205,11 +204,7 @@ export class RobotCommunicationService extends EventEmitter {
try { try {
console.log(`[RobotComm] Executing SSH action: ${action.actionId}`); console.log(`[RobotComm] Executing SSH action: ${action.actionId}`);
const result = await this.executeRobotActionInternal( const result = await this.executeRobotActionInternal(action, actionId, startTime);
action,
actionId,
startTime,
);
clearTimeout(timeout); clearTimeout(timeout);
return result; return result;
} catch (error) { } catch (error) {
@@ -287,9 +282,8 @@ export class RobotCommunicationService extends EventEmitter {
} }
// Check for SSH command type // Check for SSH command type
const sshCommand = const sshCommand = implementation.payloadMapping?.sshCommand
implementation.payloadMapping?.sshCommand || || implementation.ros2?.payloadMapping?.sshCommand;
implementation.ros2?.payloadMapping?.sshCommand;
if (sshCommand) { if (sshCommand) {
await this.executeSSHCommand(sshCommand); await this.executeSSHCommand(sshCommand);
@@ -302,9 +296,8 @@ export class RobotCommunicationService extends EventEmitter {
// Apply transform if specified // Apply transform if specified
let message: Record<string, unknown>; let message: Record<string, unknown>;
const transformFn = const transformFn = implementation.payloadMapping?.transformFn
implementation.payloadMapping?.transformFn || || implementation.ros2?.payloadMapping?.transformFn;
implementation.ros2?.payloadMapping?.transformFn;
if (transformFn) { if (transformFn) {
message = this.applyTransform(transformFn, parameters); message = this.applyTransform(transformFn, parameters);
@@ -359,13 +352,13 @@ export class RobotCommunicationService extends EventEmitter {
private async executeAnimationViaSSH(actionType: string): Promise<void> { private async executeAnimationViaSSH(actionType: string): Promise<void> {
const animationMap: Record<string, string> = { const animationMap: Record<string, string> = {
play_animation_bow: "animations/Stand/Gestures/BowShort_1", "play_animation_bow": "animations/Stand/Gestures/BowShort_1",
play_animation_hey: "animations/Stand/Gestures/Hey_1", "play_animation_hey": "animations/Stand/Gestures/Hey_1",
play_animation_show_floor: "animations/Stand/Gestures/ShowFloor_1", "play_animation_show_floor": "animations/Stand/Gestures/ShowFloor_1",
play_animation_enthusiastic: "animations/Stand/Gestures/Enthusiastic_4", "play_animation_enthusiastic": "animations/Stand/Gestures/Enthusiastic_4",
play_animation_yes: "animations/Stand/Gestures/Yes_1", "play_animation_yes": "animations/Stand/Gestures/Yes_1",
play_animation_no: "animations/Stand/Gestures/No_3", "play_animation_no": "animations/Stand/Gestures/No_3",
play_animation_idontknow: "animations/Stand/Gestures/IDontKnow_1", "play_animation_idontknow": "animations/Stand/Gestures/IDontKnow_1",
}; };
const animation = animationMap[actionType]; const animation = animationMap[actionType];
@@ -389,9 +382,7 @@ export class RobotCommunicationService extends EventEmitter {
console.log(`[RobotComm] Animation result: ${stdout}`); console.log(`[RobotComm] Animation result: ${stdout}`);
} }
private transformToEmotionalSpeech(parameters: Record<string, unknown>): { private transformToEmotionalSpeech(parameters: Record<string, unknown>): { data: string } {
data: string;
} {
const text = String(parameters.text || "Hello"); const text = String(parameters.text || "Hello");
const emotion = String(parameters.emotion || "neutral"); const emotion = String(parameters.emotion || "neutral");
@@ -406,10 +397,7 @@ export class RobotCommunicationService extends EventEmitter {
} }
} }
private applyTransform( private applyTransform(transformFn: string, parameters: Record<string, unknown>): Record<string, unknown> {
transformFn: string,
parameters: Record<string, unknown>,
): Record<string, unknown> {
switch (transformFn) { switch (transformFn) {
case "transformToEmotionalSpeech": case "transformToEmotionalSpeech":
case "transformToEmotionSpeech": case "transformToEmotionSpeech":
@@ -452,8 +440,8 @@ export class RobotCommunicationService extends EventEmitter {
substituted.includes(":") substituted.includes(":")
) { ) {
// Simple conditional: {{condition ? valueTrue : valueFalse}} // Simple conditional: {{condition ? valueTrue : valueFalse}}
const match = /\{\{(.+?)\s*\?\s*(.+?)\s*:\s*(.+?)\}\}/.exec( const match = substituted.match(
substituted, /\{\{(.+?)\s*\?\s*(.+?)\s*:\s*(.+?)\}\}/,
); );
if (match && match.length >= 4) { if (match && match.length >= 4) {
const condition = match[1]; const condition = match[1];
@@ -599,23 +587,21 @@ export class RobotCommunicationService extends EventEmitter {
`[RobotComm] Scheduling reconnect attempt ${this.reconnectAttempts}/${this.config.maxReconnectAttempts} in ${this.config.reconnectInterval}ms`, `[RobotComm] Scheduling reconnect attempt ${this.reconnectAttempts}/${this.config.maxReconnectAttempts} in ${this.config.reconnectInterval}ms`,
); );
this.reconnectTimer = setTimeout(() => { this.reconnectTimer = setTimeout(async () => {
void (async () => { this.reconnectTimer = null;
this.reconnectTimer = null;
try { try {
await this.connect(); await this.connect();
} catch (error) { } catch (error) {
console.error("[RobotComm] Reconnect failed:", error); console.error("[RobotComm] Reconnect failed:", error);
if (this.reconnectAttempts < this.config.maxReconnectAttempts) { if (this.reconnectAttempts < this.config.maxReconnectAttempts) {
this.scheduleReconnect(); this.scheduleReconnect();
} else { } else {
console.error("[RobotComm] Max reconnect attempts reached"); console.error("[RobotComm] Max reconnect attempts reached");
this.emit("max_reconnects_reached"); this.emit("max_reconnects_reached");
}
} }
})(); }
}, this.config.reconnectInterval); }, this.config.reconnectInterval);
} }
src/server/services/websocket-manager.ts
+5 -5
View File
@@ -20,9 +20,9 @@ type OutgoingMessage = {
}; };
class WebSocketManager { class WebSocketManager {
private clients = new Map<string, ClientConnection>(); private clients: Map<string, ClientConnection> = new Map();
private heartbeatIntervals = private heartbeatIntervals: Map<string, ReturnType<typeof setInterval>> =
new Map<string, ReturnType<typeof setInterval>>(); new Map();
private getTrialRoomClients(trialId: string): ClientConnection[] { private getTrialRoomClients(trialId: string): ClientConnection[] {
const clients: ClientConnection[] = []; const clients: ClientConnection[] = [];
@@ -224,7 +224,7 @@ class WebSocketManager {
async getTrialEvents( async getTrialEvents(
trialId: string, trialId: string,
limit = 100, limit: number = 100,
): Promise<unknown[]> { ): Promise<unknown[]> {
const events = await db const events = await db
.select() .select()
@@ -248,7 +248,7 @@ class WebSocketManager {
return null; return null;
} }
getTrialEventsSync(trialId: string, limit = 100): unknown[] { getTrialEventsSync(trialId: string, limit: number = 100): unknown[] {
return []; return [];
} }