diff --git a/arm_control/src/arm_controller.py b/arm_control/src/arm_controller.py index df6d34e3..c0c2a23d 100644 --- a/arm_control/src/arm_controller.py +++ b/arm_control/src/arm_controller.py @@ -8,9 +8,8 @@ from rclpy.node import Node import math from msg_interface.msg import ArmControllerInput -from std_msgs.msg import Float32MultiArray from arm_kinematics import jointLowerLimits, jointUpperLimits -from std_msgs.msg import String +from std_msgs.msg import Float32MultiArray, String class Node_ArmControl(Node): @@ -72,13 +71,18 @@ def __init__(self): self.timer = self.create_timer(timer_period, self.run) def run(self): + self.get_logger().debug("Running Arm Control Node") cmd_brushed = Float32MultiArray() cmd_brushless = Float32MultiArray() + msg_q = Float32MultiArray() q_dDeg = tuple(q_d_i * (180 / np.pi) for q_d_i in self.q_d) cmd_brushed.data = [self.claw_state, q_dDeg[4], q_dDeg[3]] - cmd_brushless.data = [q_dDeg[2], q_dDeg[1], q_dDeg[0]] + #cmd_brushless.data = [q_dDeg[2], q_dDeg[1], q_dDeg[0]] + cmd_brushless.data = [10, 20, 30] + msg_q.data = self.q + self.get_logger().debug("Publishing on /arm_joint_states_2d: " + str(msg_q.data)) self.armBrushedPublisher.publish(cmd_brushed) self.armBrushlessPublisher.publish(cmd_brushless) @@ -262,9 +266,10 @@ def displayError(self, msg: str): def main(args = None): rclpy.init(args=args) + print("Starting Arm Control Node") driver = Node_ArmControl() rclpy.spin(driver) -if __name__ == "__main__": +if __name__ == '__main__': main() #rospy.spin() \ No newline at end of file diff --git a/package-lock.json b/package-lock.json index 2c6f5c7e..b38bda62 100644 --- a/package-lock.json +++ b/package-lock.json @@ -10,6 +10,9 @@ "axios": "^1.7.9", "postcss": "^8.5.1", "tailwindcss": "^4.0.2" + }, + "devDependencies": { + "typescript": "^5.8.3" } }, "node_modules/@types/axios": { @@ -501,6 +504,20 @@ "integrity": "sha512-cjWQjZEbzQNqH4IiSjRcYg96zjlu+rjzTFkqTc/fN3FNnIU4CoNlQvwCsIomwG/2EPWYT9ysFL1QF6Av3fZeNg==", "license": "MIT" }, + "node_modules/typescript": { + "version": "5.8.3", + "resolved": "https://registry.npmjs.org/typescript/-/typescript-5.8.3.tgz", + "integrity": "sha512-p1diW6TqL9L07nNxvRMM7hMMw4c5XOo/1ibL4aAIGmSAt9slTE1Xgw5KWuof2uTOvCg9BY7ZRi+GaF+7sfgPeQ==", + "dev": true, + "license": "Apache-2.0", + "bin": { + "tsc": "bin/tsc", + "tsserver": "bin/tsserver" + }, + "engines": { + "node": ">=14.17" + } + }, "node_modules/update-browserslist-db": { "version": "1.1.2", "resolved": "https://registry.npmjs.org/update-browserslist-db/-/update-browserslist-db-1.1.2.tgz", diff --git a/package.json b/package.json index 6caa4eba..475164e0 100644 --- a/package.json +++ b/package.json @@ -5,5 +5,8 @@ "axios": "^1.7.9", "postcss": "^8.5.1", "tailwindcss": "^4.0.2" + }, + "devDependencies": { + "typescript": "^5.8.3" } } diff --git a/react-ui/package-lock.json b/react-ui/package-lock.json index b786dc1a..6b0b2bff 100644 --- a/react-ui/package-lock.json +++ b/react-ui/package-lock.json @@ -17,13 +17,13 @@ "leaflet.offline": "^3.1.0", "lucide-react": "^0.476.0", "peerjs": "^1.5.4", - 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"license": "MIT", - "dependencies": { - "ansi-regex": "^6.0.1" - }, - "engines": { - "node": ">=12" - }, - "funding": { - "url": "https://github.com/chalk/strip-ansi?sponsor=1" - } - }, - "node_modules/wrappy": { - "version": "1.0.2", - "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz", - "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==", - "license": "ISC" - }, "node_modules/ws": { "version": "8.18.2", "resolved": "https://registry.npmjs.org/ws/-/ws-8.18.2.tgz", @@ -9082,12 +5495,6 @@ "node": ">=10" } }, - "node_modules/yallist": { - "version": "4.0.0", - "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz", - "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==", - "license": "ISC" - }, "node_modules/yargs": { "version": "17.7.2", "resolved": "https://registry.npmjs.org/yargs/-/yargs-17.7.2.tgz", diff --git a/react-ui/package.json b/react-ui/package.json index 118c2098..1785eb7e 100644 --- a/react-ui/package.json +++ b/react-ui/package.json @@ -8,7 +8,7 @@ "drive": "ts-node src/services/drive/drive.js", "start:all": "concurrently \"npm run drive\" \"npm run dev\"", "build": "tsc -b && vite build", - "lint": "eslint .", + "llogint": "eslint .", "preview": "vite preview", "launch_camera": "python3 src/services/drive/webrtc.py" }, @@ -22,13 +22,13 @@ "leaflet.offline": "^3.1.0", "lucide-react": "^0.476.0", "peerjs": "^1.5.4", - "rclnodejs": "^0.30.0", + "rclnodejs": "^1.4.0", "react": "^18.3.1", "react-dom": "^18.3.1", "react-gamepad": "^1.0.3", "react-gamepads": "^1.0.0", "react-router-dom": "^6.27.0", - "ros3d": "^1.1.0", + "ros3d": "^0.17.0", "roslib": "^1.4.1", "vite": "^6.3.5", "ws": "^8.18.0" @@ -38,8 +38,8 @@ "@types/express": "^5.0.0", "@types/node": "^20.11.24", "@types/peerjs": "^0.0.30", - "@types/react": "^18.3.11", - "@types/react-dom": "^18.3.1", + "@types/react": "^18.3.23", + "@types/react-dom": "^18.3.7", "@types/roslib": "^1.3.5", "@types/ws": "^8.5.13", "@vitejs/plugin-react-swc": "^3.5.0", diff --git a/react-ui/src/components/arm/ui/ArmVisualizer.tsx b/react-ui/src/components/arm/ui/ArmVisualizer.tsx index b458b304..ba1da19b 100644 --- a/react-ui/src/components/arm/ui/ArmVisualizer.tsx +++ b/react-ui/src/components/arm/ui/ArmVisualizer.tsx @@ -1,11 +1,152 @@ -import './styles/ArmVisualizer.css' +import './styles/ArmVisualizer.css'; +import React, { useState, useEffect, useRef, useMemo } from 'react'; +import ROSLIB from 'roslib'; + +const ARM_SEGMENT_LENGTHS = { + L1: 100, // Shoulder to elbow + L2: 80, // Elbow to wrist +}; + +interface Float32MultiArrayMessage { + data: number[]; +} + const ArmVisualizer: React.FC = () => { + const [jointAngles, setJointAngles] = useState({ shoulder: Math.PI / 2, elbow: Math.PI / 2, waist: 0 }); + const ros = useRef(null); + const jointStateListener = useRef(null); + + const calculateJointPositions = useMemo(() => (angles: { shoulder: number; elbow: number; waist: number }) => { + const { shoulder, elbow, waist } = angles; + const { L1, L2 } = ARM_SEGMENT_LENGTHS; + + const shoulderX = 150; // Base X position on SVG + const shoulderY = 250; // Base Y position on SVG (visualizing from top-down or side) + + // Elbow position + const elbowX = shoulderX + L1 * Math.cos(shoulder); + const elbowY = shoulderY - L1 * Math.sin(shoulder); // Y decreases upwards in typical SVG coords + + // Wrist position + const waistX = elbowX + L2 * Math.cos(shoulder + elbow); + const waistY = elbowY - L2 * Math.sin(shoulder + elbow); + + return { + shoulder: { x: shoulderX, y: shoulderY }, + elbow: { x: elbowX, y: elbowY }, + waist: { x: waistX, y: waistY }, + }; + }, []); + + const jointPositions = calculateJointPositions(jointAngles); + + + useEffect(() => { + if (!ros.current) { + ros.current = new ROSLIB.Ros({ + url: 'ws://localhost:9090' // rosbridge_server WebSocket URL + }); + + ros.current.on('connection', () => { + console.log('Connected to rosbridge_server.'); + }); + + ros.current.on('error', (error) => { + console.error('Error connecting to rosbridge_server:', error); + }); + + ros.current.on('close', () => { + console.log('Disconnected from rosbridge_server.'); + }); + } + + if (ros.current && !jointStateListener.current) { + jointStateListener.current = new ROSLIB.Topic({ + ros: ros.current, + name: '/armBrushlessFb', + messageType: 'std_msgs/Float32MultiArray' + }); + + jointStateListener.current.subscribe((message: ROSLIB.Message) => { + const floatArrayMessage = message as Float32MultiArrayMessage; + // Check if data has 3 values and is an arrary plss + if (floatArrayMessage.data && floatArrayMessage.data.length === 3) { + // const elbowDegrees = floatArrayMessage.data[0]; + // const shoulderDegrees = floatArrayMessage.data[1]; + // const waistDegrees = floatArrayMessage.data[2]; + + // const elbowRad = elbowDegrees * Math.PI / 180; + // const shoulderRad = shoulderDegrees * Math.PI / 180; + // const waistRad = waistDegrees * Math.PI / 180; + + setJointAngles({ + elbow: floatArrayMessage.data[0], + shoulder: floatArrayMessage.data[1], + waist: floatArrayMessage.data[2] + }); + } else { + console.warn("Received message does not have 'data' property", message); + } + }); + } + + // Cleanup + return () => { + if (jointStateListener.current) { + jointStateListener.current.unsubscribe(); + jointStateListener.current = null; + } + if (ros.current) { + ros.current.close(); + ros.current = null; + } + }; + }, []); + + return (
-

View (From Unity later)

+

2D Arm Visualizer

+ {/* The SVG element will hold our arm drawing */} + + {/* Base / Shoulder Joint */} + + + {/* Upper Arm (Shoulder to Elbow Link) */} + + {/* Elbow Joint */} + + + {/* Forearm (Elbow to Wrist Link) */} + + {/* Wrist Joint */} + + + + {/* Display current joint angles as text */} + + Shoulder: {jointAngles.shoulder.toFixed(2)} rad + + + Elbow: {jointAngles.elbow.toFixed(2)} rad + + + Waist: {jointAngles.waist.toFixed(2)} rad + + +

Current Angles: Shoulder: {jointAngles.shoulder.toFixed(2)}, Elbow: {jointAngles.elbow.toFixed(2)}, Wrist: {jointAngles.waist.toFixed(2)}

+

View (From Unity later) - This text is kept as per your original file structure for now.

- ) + ); }; export default ArmVisualizer; \ No newline at end of file diff --git a/teleop/robot-controller-ui/.gitignore b/teleop/robot-controller-ui/.gitignore new file mode 100644 index 00000000..5ef6a520 --- /dev/null +++ b/teleop/robot-controller-ui/.gitignore @@ -0,0 +1,41 @@ +# See https://help.github.com/articles/ignoring-files/ for more about ignoring files. + +# dependencies +/node_modules +/.pnp +.pnp.* +.yarn/* +!.yarn/patches +!.yarn/plugins +!.yarn/releases +!.yarn/versions + +# testing +/coverage + +# next.js +/.next/ +/out/ + +# production +/build + +# misc +.DS_Store +*.pem + +# debug +npm-debug.log* +yarn-debug.log* +yarn-error.log* +.pnpm-debug.log* + +# env files (can opt-in for committing if needed) +.env* + +# vercel +.vercel + +# typescript +*.tsbuildinfo +next-env.d.ts diff --git a/teleop/robot-controller-ui/README.md b/teleop/robot-controller-ui/README.md new file mode 100644 index 00000000..e215bc4c --- /dev/null +++ b/teleop/robot-controller-ui/README.md @@ -0,0 +1,36 @@ +This is a [Next.js](https://nextjs.org) project bootstrapped with [`create-next-app`](https://nextjs.org/docs/app/api-reference/cli/create-next-app). + +## Getting Started + +First, run the development server: + +```bash +npm run dev +# or +yarn dev +# or +pnpm dev +# or +bun dev +``` + +Open [http://localhost:3000](http://localhost:3000) with your browser to see the result. + +You can start editing the page by modifying `app/page.tsx`. The page auto-updates as you edit the file. + +This project uses [`next/font`](https://nextjs.org/docs/app/building-your-application/optimizing/fonts) to automatically optimize and load [Geist](https://vercel.com/font), a new font family for Vercel. + +## Learn More + +To learn more about Next.js, take a look at the following resources: + +- [Next.js Documentation](https://nextjs.org/docs) - learn about Next.js features and API. +- [Learn Next.js](https://nextjs.org/learn) - an interactive Next.js tutorial. + +You can check out [the Next.js GitHub repository](https://github.com/vercel/next.js) - your feedback and contributions are welcome! + +## Deploy on Vercel + +The easiest way to deploy your Next.js app is to use the [Vercel Platform](https://vercel.com/new?utm_medium=default-template&filter=next.js&utm_source=create-next-app&utm_campaign=create-next-app-readme) from the creators of Next.js. + +Check out our [Next.js deployment documentation](https://nextjs.org/docs/app/building-your-application/deploying) for more details. diff --git a/teleop/robot-controller-ui/eslint.config.mjs b/teleop/robot-controller-ui/eslint.config.mjs new file mode 100644 index 00000000..c85fb67c --- /dev/null +++ b/teleop/robot-controller-ui/eslint.config.mjs @@ -0,0 +1,16 @@ +import { dirname } from "path"; +import { fileURLToPath } from "url"; +import { FlatCompat } from "@eslint/eslintrc"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); + +const compat = new FlatCompat({ + baseDirectory: __dirname, +}); + +const eslintConfig = [ + ...compat.extends("next/core-web-vitals", "next/typescript"), +]; + +export default eslintConfig; diff --git a/teleop/robot-controller-ui/next.config.ts b/teleop/robot-controller-ui/next.config.ts new file mode 100644 index 00000000..e9ffa308 --- /dev/null +++ b/teleop/robot-controller-ui/next.config.ts @@ -0,0 +1,7 @@ +import type { NextConfig } from "next"; + +const nextConfig: NextConfig = { + /* config options here */ +}; + +export default nextConfig; diff --git a/teleop/robot-controller-ui/package-lock.json b/teleop/robot-controller-ui/package-lock.json new file mode 100644 index 00000000..a5b5549d --- /dev/null +++ b/teleop/robot-controller-ui/package-lock.json @@ -0,0 +1,6968 @@ +{ + "name": "robot-controller-ui", + "version": "0.1.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "robot-controller-ui", + "version": "0.1.0", + "dependencies": { + "axios": "^1.10.0", + "lucide-react": "^0.515.0", + "next": "15.3.3", + "react": "^19.0.0", + "react-dom": "^19.0.0", + "recharts": "^2.15.4" + }, + "devDependencies": { + "@eslint/eslintrc": "^3", + "@tailwindcss/postcss": "^4", + "@types/node": "^20", + "@types/react": "^19", + "@types/react-dom": "^19", + "eslint": "^9", + "eslint-config-next": "15.3.3", + "tailwindcss": "^4", + "typescript": "^5" + } + }, + "node_modules/@alloc/quick-lru": { + 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b/teleop/robot-controller-ui/postcss.config.mjs new file mode 100644 index 00000000..c7bcb4b1 --- /dev/null +++ b/teleop/robot-controller-ui/postcss.config.mjs @@ -0,0 +1,5 @@ +const config = { + plugins: ["@tailwindcss/postcss"], +}; + +export default config; diff --git a/teleop/robot-controller-ui/public/gamepads/base.svg b/teleop/robot-controller-ui/public/gamepads/base.svg new file mode 100644 index 00000000..da544cbc --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/base.svg @@ -0,0 +1,379 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/bumper.svg b/teleop/robot-controller-ui/public/gamepads/bumper.svg new file mode 100644 index 00000000..db38b127 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/bumper.svg @@ -0,0 +1,17 @@ + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/circle.svg b/teleop/robot-controller-ui/public/gamepads/circle.svg new file mode 100644 index 00000000..c64d8d1a --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/circle.svg @@ -0,0 +1,16 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/gamepads/connected.svg b/teleop/robot-controller-ui/public/gamepads/connected.svg new file mode 100644 index 00000000..73a7a00b --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/connected.svg @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/disconnected.svg b/teleop/robot-controller-ui/public/gamepads/disconnected.svg new file mode 100644 index 00000000..908d61cc --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/disconnected.svg @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/down.svg b/teleop/robot-controller-ui/public/gamepads/down.svg new file mode 100644 index 00000000..79c83696 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/down.svg @@ -0,0 +1,12 @@ + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/gamepads/left.svg b/teleop/robot-controller-ui/public/gamepads/left.svg new file mode 100644 index 00000000..3b44c571 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/left.svg @@ -0,0 +1,12 @@ + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/gamepads/meta.svg b/teleop/robot-controller-ui/public/gamepads/meta.svg new file mode 100644 index 00000000..2ad6cabc --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/meta.svg @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/right.svg b/teleop/robot-controller-ui/public/gamepads/right.svg new file mode 100644 index 00000000..bdb0a0a2 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/right.svg @@ -0,0 +1,12 @@ + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/gamepads/square.svg b/teleop/robot-controller-ui/public/gamepads/square.svg new file mode 100644 index 00000000..bf15ceda --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/square.svg @@ -0,0 +1,16 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/gamepads/star.svg b/teleop/robot-controller-ui/public/gamepads/star.svg new file mode 100644 index 00000000..ab22feb6 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/star.svg @@ -0,0 +1,16 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/gamepads/start.svg b/teleop/robot-controller-ui/public/gamepads/start.svg new file mode 100644 index 00000000..5aae2860 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/start.svg @@ -0,0 +1,17 @@ + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/sticks.svg b/teleop/robot-controller-ui/public/gamepads/sticks.svg new file mode 100644 index 00000000..a6699cdc --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/sticks.svg @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/touchpad.svg b/teleop/robot-controller-ui/public/gamepads/touchpad.svg new file mode 100644 index 00000000..da3ae5cb --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/touchpad.svg @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/triangle.svg b/teleop/robot-controller-ui/public/gamepads/triangle.svg new file mode 100644 index 00000000..f4e0f86f --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/triangle.svg @@ -0,0 +1,16 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/gamepads/triggers.svg b/teleop/robot-controller-ui/public/gamepads/triggers.svg new file mode 100644 index 00000000..8d191290 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/triggers.svg @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/teleop/robot-controller-ui/public/gamepads/up.svg b/teleop/robot-controller-ui/public/gamepads/up.svg new file mode 100644 index 00000000..4e545552 --- /dev/null +++ b/teleop/robot-controller-ui/public/gamepads/up.svg @@ -0,0 +1,12 @@ + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/public/mcgillRobotics.svg b/teleop/robot-controller-ui/public/mcgillRobotics.svg new file mode 100644 index 00000000..a373e242 --- /dev/null +++ b/teleop/robot-controller-ui/public/mcgillRobotics.svg @@ -0,0 +1,433 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/app/arm/page.tsx b/teleop/robot-controller-ui/src/app/arm/page.tsx new file mode 100644 index 00000000..c1523bcf --- /dev/null +++ b/teleop/robot-controller-ui/src/app/arm/page.tsx @@ -0,0 +1,25 @@ +'use client'; + +import { ArmInfo } from '@/components/sections/arm/info'; +import { ArmView } from '@/components/sections/arm/view'; +import { ArmControl } from '@/components/sections/arm/control'; + +function Arm() { + return ( +
+
+
+ +
+
+ +
+
+ +
+
+
+ ); +} + +export default Arm; diff --git a/teleop/robot-controller-ui/src/app/drive/page.tsx b/teleop/robot-controller-ui/src/app/drive/page.tsx new file mode 100644 index 00000000..64a78944 --- /dev/null +++ b/teleop/robot-controller-ui/src/app/drive/page.tsx @@ -0,0 +1,22 @@ +'use client'; + +import { CameraView } from '@/components/sections/drive/camera'; +import { MobilityPanel } from '@/components/sections/drive/mobility'; + +const Drive: React.FC = () => { + + return ( +
+
+
+ +
+
+ +
+
+
+ ); +}; + +export default Drive; diff --git a/teleop/robot-controller-ui/src/app/globals.css b/teleop/robot-controller-ui/src/app/globals.css new file mode 100644 index 00000000..006c7c9e --- /dev/null +++ b/teleop/robot-controller-ui/src/app/globals.css @@ -0,0 +1,71 @@ +@import url('https://fonts.googleapis.com/css2?family=Quantico:ital,wght@0,400;0,700;1,400;1,700&display=swap'); +@import "tailwindcss"; + +/* CSS Variables for Theme */ +:root { + --background: #24252A; + --foreground: #ffffff; + --font-sans: 'Quantico', serif; + --font-mono: var(--font-geist-mono); +} + +@theme inline { + --color-background: var(--background); + --color-foreground: var(--foreground); + --font-sans: var(--font-sans); + --font-mono: var(--font-mono); +} + +@media (prefers-color-scheme: dark) { + :root { + --background: #0a0a0a; + --foreground: #ededed; + } +} + +/* Base Styling */ +body { + width: 100%; + height: 100%; + background-color: var(--background); + color: var(--foreground); + font-family: var(--font-sans); + font-optical-sizing: auto; + font-weight: 300; + font-style: normal; + user-select: none; + overflow: scroll; +} + +/* Hide scrollbar */ +body::-webkit-scrollbar { + width: 0; + height: 0; +} +body::-webkit-scrollbar-thumb, +body::-webkit-scrollbar-track { + background: transparent; +} + +/* Header and Content Styling */ +header { + margin: 0 auto; + text-align: center; +} + +.content { + border-top: 3px solid black; + padding-top: 15px; + height: 100dvh; + overflow: hidden; +} + +.camera-connection.connected { + background: radial-gradient(circle, #5ffb5f 10%, #2e8b57 90%); + box-shadow: 0 0 6px #5ffb5f, inset 2px 2px 3px rgba(0, 0, 0, 0.2); +} + +.camera-connection.disconnected { + background: radial-gradient(circle, #ff6666 10%, #b30000 90%); + box-shadow: 0 0 6px #ff6666, inset 2px 2px 3px rgba(0, 0, 0, 0.2); +} \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/app/layout.tsx b/teleop/robot-controller-ui/src/app/layout.tsx new file mode 100644 index 00000000..ea372166 --- /dev/null +++ b/teleop/robot-controller-ui/src/app/layout.tsx @@ -0,0 +1,42 @@ +import type { Metadata } from "next"; +import { Geist, Geist_Mono } from "next/font/google"; +import Navbar from '@/components/layout/navbar/Navbar'; +import { NavbarProvider } from '@/context/NavbarContext'; +import "./globals.css"; + +const geistSans = Geist({ + variable: "--font-geist-sans", + subsets: ["latin"], +}); + +const geistMono = Geist_Mono({ + variable: "--font-geist-mono", + subsets: ["latin"], +}); + +export const metadata: Metadata = { + title: 'Rover UI', + description: 'Rover Control Interface', + icons: { + icon: '/mcgillRobotics.svg', + }, +}; + +export default function RootLayout({ + children, +}: Readonly<{ + children: React.ReactNode; +}>) { + return ( + + + + + {children} + + + + ); +} diff --git a/teleop/robot-controller-ui/src/app/page.tsx b/teleop/robot-controller-ui/src/app/page.tsx new file mode 100644 index 00000000..4083939d --- /dev/null +++ b/teleop/robot-controller-ui/src/app/page.tsx @@ -0,0 +1,5 @@ +import { redirect } from 'next/navigation'; + +export default function Home() { + redirect('/status'); +} diff --git a/teleop/robot-controller-ui/src/app/status/page.tsx b/teleop/robot-controller-ui/src/app/status/page.tsx new file mode 100644 index 00000000..e0fda7a1 --- /dev/null +++ b/teleop/robot-controller-ui/src/app/status/page.tsx @@ -0,0 +1,40 @@ +'use client'; + +// import { useEffect, useState } from 'react'; +// import ros from '@/services/ros'; // Update path if needed + +export default function RosStatusPage() { + // const [status, setStatus] = useState('Status'); + + // useEffect(() => { + // ros.on('connection', () => { + // setStatus('✅ Connected'); + // }); + + // ros.on('error', (error: Error) => { + // setStatus(`❌ Error: ${error.message}`); + // }); + + // ros.on('close', () => { + // setStatus('⚠️ Connection closed'); + // }); + // }, []); + + return ( +
+
+

+ ROS Bridge Status +

+ +
+ Status: {status} +
+ + {/*
+ 
{JSON.stringify(ros, null, 2)}
+
*/} +
+
+ ); +} diff --git a/teleop/robot-controller-ui/src/assets/images/logo.png b/teleop/robot-controller-ui/src/assets/images/logo.png new file mode 100644 index 00000000..8efc39b0 Binary files /dev/null and b/teleop/robot-controller-ui/src/assets/images/logo.png differ diff --git a/teleop/robot-controller-ui/src/components/icons/ArrowLeftIcon.tsx b/teleop/robot-controller-ui/src/components/icons/ArrowLeftIcon.tsx new file mode 100644 index 00000000..c552ed03 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/icons/ArrowLeftIcon.tsx @@ -0,0 +1,7 @@ +export const ArrowLeftIcon = ({ className = "w-6 h-6" }: { className?: string }) => ( + + + +); + +export default ArrowLeftIcon; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/icons/ArrowRightIcon.tsx b/teleop/robot-controller-ui/src/components/icons/ArrowRightIcon.tsx new file mode 100644 index 00000000..c3122131 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/icons/ArrowRightIcon.tsx @@ -0,0 +1,7 @@ +export const ArrowRightIcon = ({ className = "w-6 h-6" }: { className?: string }) => ( + + + +); + +export default ArrowRightIcon; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/layout/navbar/BurgerButton.tsx b/teleop/robot-controller-ui/src/components/layout/navbar/BurgerButton.tsx new file mode 100644 index 00000000..d49ee156 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/layout/navbar/BurgerButton.tsx @@ -0,0 +1,17 @@ +'use client'; +import { useNavbar } from '@/context/NavbarContext'; +import { Menu } from 'lucide-react'; +import IconButton from '@/components/ui/IconButton'; + +export default function BurgerButton() { + const { toggleNavbar } = useNavbar(); + + return ( + } + aria-label="Open navbar" + className="fixed top-4 right-4 z-50 bg-[#24252A] text-white hover:bg-white hover:text-black" + /> + ); +} diff --git a/teleop/robot-controller-ui/src/components/layout/navbar/Logo.tsx b/teleop/robot-controller-ui/src/components/layout/navbar/Logo.tsx new file mode 100644 index 00000000..15dcfa01 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/layout/navbar/Logo.tsx @@ -0,0 +1,21 @@ +'use client'; + +import Image from 'next/image'; +import logo from '@/assets/images/logo.png'; +import { useNavbar } from '@/context/NavbarContext'; + +const Logo = () => { + const { toggleNavbar } = useNavbar(); + + return ( + + ); +}; + +export default Logo; diff --git a/teleop/robot-controller-ui/src/components/layout/navbar/NavLink.tsx b/teleop/robot-controller-ui/src/components/layout/navbar/NavLink.tsx new file mode 100644 index 00000000..9c5b6d20 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/layout/navbar/NavLink.tsx @@ -0,0 +1,14 @@ +import Link from 'next/link'; + +const NavLink = ({ label }: { label: string }) => { + const path = label.toLowerCase() === 'status' ? '/' : `/${label.toLowerCase()}`; + return ( +
  • + + {label} + +
    • + ); +}; + +export default NavLink; diff --git a/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx b/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx new file mode 100644 index 00000000..e8897f84 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx @@ -0,0 +1,14 @@ +import NavLink from './NavLink'; + +const navItems = ['Arm', 'Drive', 'Status']; + +const NavLinks = () => ( +
      + {navItems.map((item) => ( + + ))} +
    +); + +export default NavLinks; + diff --git a/teleop/robot-controller-ui/src/components/layout/navbar/Navbar.tsx b/teleop/robot-controller-ui/src/components/layout/navbar/Navbar.tsx new file mode 100644 index 00000000..ded96cf7 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/layout/navbar/Navbar.tsx @@ -0,0 +1,28 @@ +'use client'; + +import { useNavbar } from '@/context/NavbarContext'; +import NavbarContainer from './NavbarContainer'; +import NavLinks from './NavLinks'; +import Logo from './Logo'; +import BurgerButton from './BurgerButton'; + +export default function Navbar() { + const { isVisible } = useNavbar(); + + return ( + <> + {/* Show burger menu only when navbar is hidden */} + {!isVisible && } + + {/* Render navbar when visible */} + {isVisible && ( + +
    + {/* Now used to close the navbar */} +
    + +     + )} + + ); +} diff --git a/teleop/robot-controller-ui/src/components/layout/navbar/NavbarContainer.tsx b/teleop/robot-controller-ui/src/components/layout/navbar/NavbarContainer.tsx new file mode 100644 index 00000000..4398c35b --- /dev/null +++ b/teleop/robot-controller-ui/src/components/layout/navbar/NavbarContainer.tsx @@ -0,0 +1,9 @@ +const NavbarContainer = ({ children }: { children: React.ReactNode }) => ( +
    + +
    +); + +export default NavbarContainer; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/control/ArmControl.tsx b/teleop/robot-controller-ui/src/components/sections/arm/control/ArmControl.tsx new file mode 100644 index 00000000..66d2320f --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/control/ArmControl.tsx @@ -0,0 +1,53 @@ +'use client'; + +import { useState, useRef } from 'react'; +import PowerButton from '@/components/ui/PowerButton'; +import CommandLog from './CommandLog'; +import PS4Controller from './PS4Controller/PS4Controller'; + +const ArmControl: React.FC = () => { + const [output, setOutput] = useState([]); + const [command, setCommand] = useState(undefined); + const [isRunning, setIsRunning] = useState(false); + const eventSourceRef = useRef(null); + + const startRosNode = () => { + if (isRunning) { + if (eventSourceRef.current) { + eventSourceRef.current.close(); + console.log('Connection closed'); + } + setIsRunning(false); + } else { + setIsRunning(true); + eventSourceRef.current = new EventSource('http://localhost:5000/start-ros'); + clearTerminal(); + setCommand('ros2 run cpp_pubsub talker'); + + eventSourceRef.current.onmessage = (event) => { + setOutput((prev) => [...prev, event.data]); + }; + + eventSourceRef.current.onerror = () => { + console.error('Error receiving ROS output'); + eventSourceRef.current?.close(); + setIsRunning(false); + }; + } + }; + + const clearTerminal = () => { + setOutput([]); + setCommand(''); + }; + + return ( +
    + + + +
    + ); +}; + +export default ArmControl; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/control/CommandLog.tsx b/teleop/robot-controller-ui/src/components/sections/arm/control/CommandLog.tsx new file mode 100644 index 00000000..587e6cf5 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/control/CommandLog.tsx @@ -0,0 +1,88 @@ +'use client'; + +import React, { useEffect, useRef, useState } from 'react'; +import { Terminal } from 'lucide-react'; + +interface CommandLogProps { + command?: string; + output: string | string[]; + showPrompt?: boolean; + id: number; + onClear: () => void; +} + +const CommandLog: React.FC = ({ + command, + output, + showPrompt = true, + id, + onClear +}) => { + const [selectedTerminal, setSelectedTerminal] = useState(null); + const [isMouseInside, setIsMouseInside] = useState(false); + const outputArray = Array.isArray(output) ? output : output.split('\n'); + const terminalOutputRef = useRef(null); + + const handleSelectTerminal = () => { + setSelectedTerminal(id); + }; + + useEffect(() => { + if (terminalOutputRef.current && !isMouseInside) { + terminalOutputRef.current.lastElementChild?.scrollIntoView({ + behavior: 'smooth', + block: 'end', + }); + } + }, [output, isMouseInside]); + + const handleMouseEnter = () => setIsMouseInside(true); + const handleMouseLeave = () => setIsMouseInside(false); + + const isSelected = selectedTerminal === id; + + return ( +
    + {/* Header */} +
    + + Command Line {id} + +
    + + {/* Body */} +
    + {command && showPrompt && ( +
    + $ + {command} +
    + )} +
    + {outputArray.map((line, index) => ( +
    + {line} +
    + ))} +
    +
    +
    + ); +}; + +export default CommandLog; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/control/PS4Controller/PS4Controller.css b/teleop/robot-controller-ui/src/components/sections/arm/control/PS4Controller/PS4Controller.css new file mode 100644 index 00000000..acc93780 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/control/PS4Controller/PS4Controller.css @@ -0,0 +1,99 @@ +/* Base background */ +.bg-controller-base { + background-image: url('/gamepads/base.svg'); +} + +/* Triggers */ +.rtrigger.active { + background: url('/gamepads/triggers.svg') no-repeat left / cover; +} +.ltrigger.active { + background: url('/gamepads/triggers.svg') no-repeat right / cover; +} + +/* Bumpers */ +.lbumper.active { + background: url('/gamepads/bumper.svg') no-repeat left / cover; +} +.rbumper.active { + background: url('/gamepads/bumper.svg') no-repeat right / cover; + transform: scaleX(-1); +} + +/* Touchpad */ +.touchpad.active { + position: absolute; + width: 32.5%; + height: 24%; + top: 18.5%; + left: 32.5%; + border-radius: 10%; + background-image: url('/gamepads/touchpad.svg'); +} + +/* Meta button */ +.meta { + position: absolute; + width: 4.5%; + height: 5.75%; + top: 55%; + left: 46.5%; + border-radius: 50%; + background-size: cover; + background-position: center; +} +.meta.active { + background-image: url('/gamepads/meta.svg') !important; +} +.meta.connected { + background-image: url('/gamepads/connected.svg'); +} +.meta.disconnected { + background-image: url('/gamepads/disconnected.svg'); +} + +/* Share/Options */ +.share.active { + background: url('/gamepads/start.svg') no-repeat left / cover; +} +.options.active { + background: url('/gamepads/start.svg') no-repeat right / cover; +} + +/* ABXY buttons */ +.a.active { + background: url('/gamepads/star.svg') center / cover no-repeat; +} +.b.active { + background: url('/gamepads/circle.svg') center / cover no-repeat; +} +.x.active { + background: url('/gamepads/square.svg') center / cover no-repeat; +} +.y.active { + background: url('/gamepads/triangle.svg') center / cover no-repeat; +} + +/* Sticks */ +.lstick.active, +.lstick.moving { + background: url('/gamepads/sticks.svg') center / cover no-repeat; +} +.rstick.active, +.rstick.moving { + background: url('/gamepads/sticks.svg') right / cover no-repeat; +} + +/* Dpad directions */ +.fu.active { + background: url('/gamepads/up.svg') center / cover no-repeat; +} +.fd.active { + background: url('/gamepads/down.svg') left / cover no-repeat; +} +.fl.active { + background: url('/gamepads/left.svg') center / cover no-repeat; +} +.fr.active { + background: url('/gamepads/right.svg') right / cover no-repeat; +} diff --git a/teleop/robot-controller-ui/src/components/sections/arm/control/PS4Controller/PS4Controller.tsx b/teleop/robot-controller-ui/src/components/sections/arm/control/PS4Controller/PS4Controller.tsx new file mode 100644 index 00000000..a0fab335 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/control/PS4Controller/PS4Controller.tsx @@ -0,0 +1,149 @@ +'use client'; + +import { useEffect, useState } from 'react'; +import './PS4Controller.css'; + +interface GamepadState { + buttons: boolean[]; + axes: number[]; +} + +const PS4Controller = () => { + const [gamepadState, setGamepadState] = useState({ + buttons: Array(17).fill(false), + axes: [0, 0, 0, 0, 0, 0], + }); + + const [isConnected, setIsConnected] = useState(false); + + const pollGamepad = () => { + const gamepads = navigator.getGamepads(); + if (gamepads[0]) { + const gp = gamepads[0]; + setGamepadState({ + buttons: gp.buttons.map((b) => b.pressed), + axes: gp.axes.map((a) => a), + }); + } + requestAnimationFrame(pollGamepad); + }; + + useEffect(() => { + const handleConnect = () => { + setIsConnected(true); + pollGamepad(); + }; + const handleDisconnect = () => { + setIsConnected(false); + setGamepadState({ buttons: Array(17).fill(false), axes: [0, 0, 0, 0, 0, 0] }); + }; + + window.addEventListener('gamepadconnected', handleConnect); + window.addEventListener('gamepaddisconnected', handleDisconnect); + return () => { + window.removeEventListener('gamepadconnected', handleConnect); + window.removeEventListener('gamepaddisconnected', handleDisconnect); + }; + }); + + const isActive = (i: number) => (gamepadState.buttons[i] ? 'active' : ''); + + return ( +
    +
    +
    + + {/* Triggers */} +
    +
    + +
    +
    + +
    +
    + + {/* Bumpers */} +
    +
    + +
    +
    + +
    +
    + + {/* Share & Options */} +
    +
    + +
    +
    + +
    +
    + + {/* Touchpad */} +
    + + {/* ABXY */} +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + + {/* Sticks */} +
    +
    + +
    +
    + +
    +
    + + {/* Dpad */} +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    +
    +
    + ); +}; + +export default PS4Controller; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/control/index.ts b/teleop/robot-controller-ui/src/components/sections/arm/control/index.ts new file mode 100644 index 00000000..41876833 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/control/index.ts @@ -0,0 +1,4 @@ +export { default as ArmControl } from './ArmControl'; +export { default as CommandLog } from './CommandLog'; +export { default as PowerButton } from './PowerButton'; +export { default as PS4Controller } from './PS4Controller/PS4Controller'; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/arm/info/ArmInfo.tsx b/teleop/robot-controller-ui/src/components/sections/arm/info/ArmInfo.tsx new file mode 100644 index 00000000..fb6ac4ef --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/info/ArmInfo.tsx @@ -0,0 +1,30 @@ +'use client'; + +import CoordinateDisplay from './CoordinateDisplay'; +import JointSelector from './JointSelector'; +import SpeedControl from './SpeedControl'; +import GraphPanel from './GraphPanel'; + +const ArmInfo: React.FC = () => { + return ( +
    + + +
    +
    +

    Joint Selector

    + +
    + +
    +

    Speed Control

    + +
    +
    + + +
    + ); +}; + +export default ArmInfo; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/info/CoordinateDisplay.tsx b/teleop/robot-controller-ui/src/components/sections/arm/info/CoordinateDisplay.tsx new file mode 100644 index 00000000..2fbfa548 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/info/CoordinateDisplay.tsx @@ -0,0 +1,27 @@ +'use client'; + +const CoordinateDisplay: React.FC = () => { + return ( +
    +
    +

    Position

    +
    +

    Depth (x): 10.00 cm

    +

    Width (y): 10.00 cm

    +

    Height (z): 10.00 cm

    +
    +
    + +
    +

    Orientation

    +
    +

    Row (x): 90.00°

    +

    Pitch (y): 90.00°

    +

    Yaw (z): 90.00°

    +
    +
    +
    + ); +}; + +export default CoordinateDisplay; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/info/GraphPanel.tsx b/teleop/robot-controller-ui/src/components/sections/arm/info/GraphPanel.tsx new file mode 100644 index 00000000..dfce8c12 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/info/GraphPanel.tsx @@ -0,0 +1,10 @@ +const GraphPanel: React.FC = () => { + return ( +
    +

    Graph Panel

    +
    +
    + ) +}; + +export default GraphPanel; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/arm/info/JointSelector.tsx b/teleop/robot-controller-ui/src/components/sections/arm/info/JointSelector.tsx new file mode 100644 index 00000000..6342651a --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/info/JointSelector.tsx @@ -0,0 +1,164 @@ +'use client'; + +// import React, { useState, useRef, useEffect, CSSProperties } from 'react'; + +type Joint = 'Waist' | 'Shoulder' | 'Elbow' | 'Wrist' | 'Hand' | 'Claw'; + +interface JointSelectorProps { + onChange?: (joint: Joint) => void; +} + +const JointSelector: React.FC = ({ onChange }) => { + // const joints = React.useMemo(() => ['Waist', 'Shoulder', 'Elbow', 'Wrist', 'Hand', 'Claw'], []); + // const [selectedJoint, setSelectedJoint] = useState('Elbow'); + // const [isDragging, setIsDragging] = useState(false); + // const [startY, setStartY] = useState(0); + // const [scrollOffset, setScrollOffset] = useState(0); + // const [controlMode, setControlMode] = useState<'JOINT' | 'CTRL'>('JOINT'); + + // const scrollerRef = useRef(null); + // const itemHeight = 30; + + // useEffect(() => { + // const index = joints.indexOf(selectedJoint); + // setScrollOffset(index * itemHeight); + // }, [selectedJoint, joints]); + + // useEffect(() => { + // const index = Math.floor(scrollOffset / itemHeight); + // const boundedIndex = Math.max(0, Math.min(index, joints.length - 1)); + // const newSelectedJoint = joints[boundedIndex]; + + // if (newSelectedJoint !== selectedJoint) { + // setSelectedJoint(newSelectedJoint); + // onChange?.(newSelectedJoint); + // } + // }, [scrollOffset, selectedJoint, joints, onChange]); + + // const handleDragStart = (e: React.MouseEvent | React.TouchEvent) => { + // setIsDragging(true); + // const clientY = 'touches' in e ? e.touches[0].clientY : e.clientY; + // setStartY(clientY); + // }; + + // const handleDragMove = (e: React.MouseEvent | React.TouchEvent) => { + // if (!isDragging) return; + // const clientY = 'touches' in e ? e.touches[0].clientY : e.clientY; + // const deltaY = startY - clientY; + // setStartY(clientY); + // const newOffset = scrollOffset + deltaY; + // const maxOffset = (joints.length - 1) * itemHeight; + // setScrollOffset(Math.max(0, Math.min(newOffset, maxOffset))); + // e.preventDefault(); + // }; + + // const handleDragEnd = () => { + // setIsDragging(false); + // const snappedOffset = Math.round(scrollOffset / itemHeight) * itemHeight; + // const maxOffset = (joints.length - 1) * itemHeight; + // setScrollOffset(Math.max(0, Math.min(snappedOffset, maxOffset))); + // }; + + // const handleWheel = (e: React.WheelEvent) => { + // const newOffset = scrollOffset + e.deltaY; + // const maxOffset = (joints.length - 1) * itemHeight; + // setScrollOffset(Math.max(0, Math.min(newOffset, maxOffset))); + // e.preventDefault(); + // }; + + // const selectJoint = (joint: Joint) => { + // setSelectedJoint(joint); + // onChange?.(joint); + // const index = joints.indexOf(joint); + // setScrollOffset(index * itemHeight); + // }; + + // const getItemStyle = (index: number): CSSProperties => { + // const position = index * itemHeight; + // const translateY = position - scrollOffset; + + // return { + // transform: `translateY(${translateY}px)`, + // opacity: 1, + // position: 'absolute', + // width: '100%', + // top: '50%', + // marginTop: -itemHeight / 2, + // }; + // }; + + return ( +
    Place holder
    + //
    + // {controlMode === 'JOINT' && ( + //
    + //
    + // ▶ + //
    + //
    + // {joints.map((joint, index) => ( + //
    selectJoint(joint)} + // > + // {joint} + //
    + // ))} + //
    + //
    + // )} + + //
    + //
    + //
    + //
    setControlMode('JOINT')} + // > + // JOINT + //
    + //
    setControlMode('CTRL')} + // > + // CTRL + //
    + //
    + //
    + //
    + ); +}; + +export default JointSelector; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/info/SpeedControl.tsx b/teleop/robot-controller-ui/src/components/sections/arm/info/SpeedControl.tsx new file mode 100644 index 00000000..1df3cae6 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/info/SpeedControl.tsx @@ -0,0 +1,34 @@ +'use client'; + +import { useState } from 'react'; + +const SpeedControl: React.FC = () => { + const speeds = [0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0]; + const [speed, setSpeed] = useState(1.5); + + const handleChange = (e: React.ChangeEvent) => { + const newValue = parseFloat(e.target.value); + const closestSpeed = speeds.reduce((prev, curr) => + Math.abs(curr - newValue) < Math.abs(prev - newValue) ? curr : prev + ); + setSpeed(closestSpeed); + }; + + return ( +
    + +
    Speed: {speed}x
    +
    + ); +}; + +export default SpeedControl; diff --git a/teleop/robot-controller-ui/src/components/sections/arm/info/index.ts b/teleop/robot-controller-ui/src/components/sections/arm/info/index.ts new file mode 100644 index 00000000..9258f92e --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/info/index.ts @@ -0,0 +1,5 @@ +export { default as ArmInfo } from './ArmInfo'; +export { default as CoordinateDisplay } from './CoordinateDisplay'; +export { default as GraphPanel } from './GraphPanel'; +export { default as JointSelector } from './JointSelector'; +export { default as SpeedControl } from './SpeedControl'; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/arm/view/ArmView.tsx b/teleop/robot-controller-ui/src/components/sections/arm/view/ArmView.tsx new file mode 100644 index 00000000..25a4fb8a --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/view/ArmView.tsx @@ -0,0 +1,11 @@ +import Visualizer from './Visualizer/Visualizer' + +const ArmView: React.FC = () => { + return ( +
    + +
    + ) +} + +export default ArmView; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/arm/view/Visualizer/Visualizer.tsx b/teleop/robot-controller-ui/src/components/sections/arm/view/Visualizer/Visualizer.tsx new file mode 100644 index 00000000..551d1eb1 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/view/Visualizer/Visualizer.tsx @@ -0,0 +1,9 @@ +const ArmVisualizer: React.FC = () => { + return ( +
    +

    View (From Unity later)

    +
    + ) +}; + +export default ArmVisualizer; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/arm/view/index.ts b/teleop/robot-controller-ui/src/components/sections/arm/view/index.ts new file mode 100644 index 00000000..b49df8be --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/arm/view/index.ts @@ -0,0 +1 @@ +export { default as ArmView } from './ArmView'; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/drive/camera/CameraView.tsx b/teleop/robot-controller-ui/src/components/sections/drive/camera/CameraView.tsx new file mode 100644 index 00000000..53ef3996 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/camera/CameraView.tsx @@ -0,0 +1,98 @@ +"use client"; + +import React, { useState } from "react"; + +import { useWebRTCStream } from "@/hooks/useWebRTCStreams"; +import { useCameraList } from "@/hooks/useCameraList"; +import { useBandwidthStats } from "@/hooks/useBandwidthStats"; + +import DPad from "./DPadController"; +import PowerButton from "@/components/ui/PowerButton"; +import ArrowButton from "@/components/ui/ArrowButton"; + +const CameraView: React.FC = () => { + const cameras = useCameraList(); + const [currentIndex, setCurrentIndex] = useState(0); + const currentCamera = cameras[currentIndex]; + + const { + isStreaming, + startStream, + stopStream, + videoKey, + videoRef, + fps, + isLive, + } = useWebRTCStream({ devicePath: currentCamera?.path || "" }); + + const { bitrateKbps, pingMs } = useBandwidthStats(isStreaming); + + const handleNext = () => { + setCurrentIndex((prev) => (prev + 1) % cameras.length); + }; + + const handlePrevious = () => { + setCurrentIndex((prev) => (prev - 1 + cameras.length) % cameras.length); + }; + + return ( +
    + {currentCamera && isStreaming ? ( +
    + {/* Embedded video element directly */} +
    + ) : ( +
    +

    + No stream yet.
    Click Start to begin. +

    +
    + )} + + {/* Power Button */} +
    + (isStreaming ? stopStream() : startStream())} + size="small" + isActive={isStreaming} + label="Start" + /> +
    +
    + ); +}; + +export default CameraView; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/camera/DPadController.tsx b/teleop/robot-controller-ui/src/components/sections/drive/camera/DPadController.tsx new file mode 100644 index 00000000..c788efa1 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/camera/DPadController.tsx @@ -0,0 +1,26 @@ +'use client'; + +import React, { useEffect, useState } from 'react'; +import DPad from '@/components/ui/DPad'; + +interface DPadControllerProps { + inputStream: string; +} + +const DPadController: React.FC = ({ inputStream }) => { + const [activeDirection, setActiveDirection] = useState< + 'up' | 'down' | 'left' | 'right' | null + >(null); + + useEffect(() => { + if (['up', 'down', 'left', 'right'].includes(inputStream)) { + setActiveDirection(inputStream as 'up' | 'down' | 'left' | 'right'); + } else { + setActiveDirection(null); + } + }, [inputStream]); + + return ; +}; + +export default DPadController; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/camera/index.ts b/teleop/robot-controller-ui/src/components/sections/drive/camera/index.ts new file mode 100644 index 00000000..1726db25 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/camera/index.ts @@ -0,0 +1,2 @@ +export { default as CameraView } from './CameraView'; +export { default as DPad } from './DPadController'; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/MobilityPanel.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/MobilityPanel.tsx new file mode 100644 index 00000000..6cdfa9bd --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/MobilityPanel.tsx @@ -0,0 +1,61 @@ +'use client'; + +import { useState } from 'react'; +import DriveInfo from './info/DriveInfo'; +import DriveControl from './control/DriveControl'; +import GPSPanel from './navigation/GPSPanel'; + +type Mode = 'info' | 'control' | 'gps'; + +const TABS: { key: Mode; label: string }[] = [ + { key: 'info', label: 'Information' }, + { key: 'control', label: 'Controls' }, + { key: 'gps', label: 'GPS' }, +]; + +const MobilityPanel: React.FC = () => { + const [mode, setMode] = useState('info'); + + const renderContent = () => { + switch (mode) { + case 'info': + return ; + case 'control': + return ; + case 'gps': + return ; + default: + return null; + } + }; + + return ( +
    + {/* Toggle Header */} +
    +
    + {TABS.map(({ key, label }) => ( +
    setMode(key)} + className={`flex-1 text-center font-bold py-2 px-3 rounded-full cursor-pointer transition-all duration-150 + ${mode === key + ? 'bg-gradient-to-t from-[#1d1d1d] to-[#131313] text-[#d63f3f]' + : 'text-gray-400 hover:text-white' + }`} + > + {label} +
    + ))} +
    +
    + + {/* Mode Content */} +
    + {renderContent()} +
    +
    + ); +}; + +export default MobilityPanel; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/DriveControl.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/DriveControl.tsx new file mode 100644 index 00000000..55c395ae --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/DriveControl.tsx @@ -0,0 +1,27 @@ +'use client'; + +import Headlight from './Headlight/Headlight'; +import Knob from './MaxSpeedKnob/MaxSpeedKnob'; + +const DriveControl: React.FC = () => { + + return ( +
    +
    + {/* Knob Section */} +
    +

    Maximum speed

    + +
    + + {/* Headlight Section */} +
    +

    Brightness

    + +
    +
    +
    + ); +}; + +export default DriveControl; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.css b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.css new file mode 100644 index 00000000..f6101b03 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.css @@ -0,0 +1,58 @@ +/* Visual brightness indicator segment (like a headlight beam) */ +.pizza-segment { + width: 200px; + height: 200px; + border-radius: 50%; + clip-path: polygon(50% 100%, 20% 0%, 80% 0%); + transition: background 0.3s ease; +} + + +input[type='range'].range-input { + -webkit-appearance: none; + appearance: none; + width: 100%; + height: 10px; + background: transparent; + outline: none; + margin: 0; + padding: 0; + accent-color: #d63f3f; + border-radius: 5px; + transition: background 0.3s ease; +} + +/* WebKit Track */ +input[type='range'].range-input::-webkit-slider-runnable-track { + height: 10px; + background: #d63f3f; + border-radius: 5px; +} + +/* WebKit Thumb */ +input[type='range'].range-input::-webkit-slider-thumb { + -webkit-appearance: none; + height: 20px; + width: 20px; + background: #d63f3f; + border-radius: 50%; + margin-top: -5px; /* Align thumb vertically to center of 10px track */ + cursor: pointer; +} + +/* Firefox Track */ +input[type='range'].range-input::-moz-range-track { + height: 10px; + background: #d63f3f; + border-radius: 5px; +} + +/* Firefox Thumb */ +input[type='range'].range-input::-moz-range-thumb { + height: 20px; + width: 20px; + background: #d63f3f; + border-radius: 50%; + cursor: pointer; + border: none; +} diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.tsx new file mode 100644 index 00000000..29f21480 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.tsx @@ -0,0 +1,35 @@ +import { useState } from 'react'; +import './Headlight.css'; + +const Headlight: React.FC = () => { + const [brightness, setBrightness] = useState(100); + + const handleBrightnessChange = (event: React.ChangeEvent) => { + const value = Number(event.target.value); + setBrightness(value); + }; + + return ( +
    +
    +
    +
    + + {brightness}% +
    + ); +}; + +export default Headlight; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.css b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.css new file mode 100644 index 00000000..cad2030b --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.css @@ -0,0 +1,43 @@ +/* CodePen Example Credit: + Original design and implementation by Kevin Lam + URL: https://codepen.io/kevin-lam-the-scripter/pen/QWNeNvo */ + +.wheel::before { + content: ''; + position: absolute; + bottom: 19%; + left: 19%; + width: 3%; + height: 3%; + background-color: #e91e63; + border-radius: 50%; + box-shadow: 0 0 0.4em 0 #d63f3f; +} + +.tick::after { + content: ''; + width: 0.08em; + height: 0.6em; + background-color: rgba(255, 255, 255, 0.2); + position: absolute; + top: -1.5em; + left: 50%; + transform: translateX(-50%); + transition: all 180ms ease-out; +} + +.activetick::after { + background-color: #e91e63; + box-shadow: 0 0 0.3em 0.08em #d63f3f; + transition: all 50ms ease-in; +} + +.neon { + color: #d63f3f; + text-shadow: + 0 0 5px #f44336, + 0 0 10px #f44336, + 0 0 15px #f44336, + 0 0 20px #e91e63, + 0 0 30px #e91e63; +} diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.tsx new file mode 100644 index 00000000..0e8231cf --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.tsx @@ -0,0 +1,76 @@ +'use client'; + +import React, { useRef, useState, useEffect } from 'react'; +import './MaxSpeedKnob.css'; + +// CodePen Example Credit: +// Original design and implementation by Kevin Lam +// URL: https://codepen.io/kevin-lam-the-scripter/pen/QWNeNvo + +const speedValues = [10, 30, 50, 70, 80]; +const stepAngle = 270 / (speedValues.length - 1); + +export default function Knob() { + const [speedIndex, setSpeedIndex] = useState(0); + const knobRef = useRef(null); + const tickContainerRef = useRef(null); + const minRef = useRef(null); + const maxRef = useRef(null); + + useEffect(() => { + updateVisuals(speedIndex); + }); + + const updateVisuals = (index: number) => { + const newAngle = index * stepAngle; + if (knobRef.current) knobRef.current.style.transform = `rotate(${newAngle}deg)`; + if (tickContainerRef.current) createTicks(tickContainerRef.current, speedValues.length, index); + if (minRef.current) minRef.current.classList.toggle('neon', index === 0); + if (maxRef.current) maxRef.current.classList.toggle('neon', index === speedValues.length - 1); + }; + + const handleKnobClick = () => { + setSpeedIndex((prev) => (prev + 1) % speedValues.length); + }; + + const createTicks = (container: HTMLDivElement, total: number, active: number) => { + container.innerHTML = ''; + let angle = -135; + + for (let i = 0; i < total; i++) { + const tick = document.createElement('div'); + tick.className = `absolute w-full h-full top-0 left-0 z-5 tick ${i <= active ? 'activetick' : ''}`; + tick.style.transform = `rotate(${angle}deg)`; + container.appendChild(tick); + angle += stepAngle; + } + }; + + return ( +
    +
    +
    + + {speedValues[speedIndex]} km/h + + + Min + + + Max + +
    +
    +
    + ); +} diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/index.ts b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/index.ts new file mode 100644 index 00000000..9727ca4f --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/control/index.ts @@ -0,0 +1,3 @@ +export { default as DriveControl } from './DriveControl'; +export { default as Headlight } from './Headlight/Headlight'; +export { default as MaxSpeedKnob } from './MaxSpeedKnob/MaxSpeedKnob'; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/index.ts b/teleop/robot-controller-ui/src/components/sections/drive/mobility/index.ts new file mode 100644 index 00000000..9be15b60 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/index.ts @@ -0,0 +1,5 @@ +export { default as MobilityPanel } from './MobilityPanel'; + +export * from './control' +export * from './info' +export * from './navigation' diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/ChartPanel/ChartPanel.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/ChartPanel/ChartPanel.tsx new file mode 100644 index 00000000..ff335742 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/ChartPanel/ChartPanel.tsx @@ -0,0 +1,83 @@ +'use client'; + +import React, { useEffect, useState } from 'react'; +import MotorChart from './MotorChart'; + +const MOTOR_NAMES = ['FL', 'FR', 'BL', 'BR']; + +interface DataPoint { + timestamp: number; + voltage: number; + current: number; + temp: number; +} + +interface MotorData { + name: string; + data: DataPoint[]; +} + +const generateMockData = (): DataPoint => { + return { + timestamp: Date.now(), + voltage: +(12 + Math.random() * 2).toFixed(2), + current: +(1 + Math.random() * 3).toFixed(2), + temp: +(30 + Math.random() * 15).toFixed(1), + }; +}; + +const ChartPanel: React.FC = () => { + const [motorData, setMotorData] = useState( + MOTOR_NAMES.map((name) => ({ + name, + data: [], + })) + ); + + const [activeMotor, setActiveMotor] = useState('FL'); + + useEffect(() => { + const interval = setInterval(() => { + setMotorData((prev) => + prev.map((motor) => { + const newData = [...motor.data, generateMockData()].slice(-30); // keep last 30 + return { ...motor, data: newData }; + }) + ); + }, 1000); + + return () => clearInterval(interval); + }, []); + + const currentMotor = motorData.find((m) => m.name === activeMotor); + + return ( +
    + {/* Header */} +
    +

    Motor: {activeMotor}

    +
    + {MOTOR_NAMES.map((name) => ( + + ))} +
    +
    + + {/* Chart area fills the rest */} +
    + {currentMotor && } +
    +
    + ); +}; + +export default ChartPanel; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/ChartPanel/MotorChart.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/ChartPanel/MotorChart.tsx new file mode 100644 index 00000000..9f277222 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/ChartPanel/MotorChart.tsx @@ -0,0 +1,63 @@ +import React from 'react'; +import { + LineChart, Line, XAxis, YAxis, CartesianGrid, Tooltip, ResponsiveContainer +} from 'recharts'; + +interface DataPoint { + timestamp: number; + voltage: number; + current: number; + temp: number; +} + +interface Props { + motor: { + name: string; + data: DataPoint[]; + }; +} + +const MotorChart: React.FC = ({ motor }) => { + return ( +
    +

    {motor.name}

    +
    + + + + `${Math.round((t % 1000000) / 1000)}s`} + stroke="#aaa" + /> + + + {/* Legend removed */} + + + + + +
    + + {/* Custom Legend */} +
    +
    + + Voltage (V) +
    +
    + + Current (A) +
    +
    + + Temp (°C) +
    +
    +
    + ); +}; + + +export default MotorChart; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/DriveInfo.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/DriveInfo.tsx new file mode 100644 index 00000000..0c2a5bf5 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/DriveInfo.tsx @@ -0,0 +1,24 @@ +'use client'; + +import { motorStats } from './MotorPanel/motorData'; +import SpeedometerCluster from './Speedometer/SpeedometerCluster'; +import MotorDiagnosticsTabs from './MotorPanel/MotorDiagnosticTabs'; + +const DriveInfo: React.FC = () => { + + return ( +
    + {/* Speedometer section */} + + + {/* MotorDiagnostics fills */} +
    + +
    +
    + ); +}; + +export default DriveInfo; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/MotorDiagnosticTabs.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/MotorDiagnosticTabs.tsx new file mode 100644 index 00000000..d9136290 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/MotorDiagnosticTabs.tsx @@ -0,0 +1,56 @@ +'use client'; + +import React, { useState } from 'react'; +import MotorPanel from './MotorPanel'; +import { BarChart3, PanelLeft } from 'lucide-react'; // or any icon set +import ChartPanel from '../ChartPanel/ChartPanel'; + +interface Props { + motorStats: { + name: string; + speed: number; + pos: number; + volt: number; + curr: number; + temp: number; + alert?: string; + }[]; +} + +const MotorDiagnosticsTabs: React.FC = ({ motorStats }) => { + const [view, setView] = useState<'overview' | 'charts'>('overview'); + const MOTOR_PANEL_HEIGHT = 'h-[360px]'; + + return ( +
    + {/* Header */} +
    +

    Motor Diagnostics

    + +
    + + {/* View Container (same height) */} +
    + {view === 'overview' ? ( +
    + {motorStats.map((motor) => ( + + ))} +
    + ) : ( +
    + +
    + )} +
    +
    + ); +}; + +export default MotorDiagnosticsTabs; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/MotorPanel.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/MotorPanel.tsx new file mode 100644 index 00000000..ad3a04d5 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/MotorPanel.tsx @@ -0,0 +1,49 @@ +import React from 'react'; + +interface MotorPanelProps { + name: string; + speed: number; + pos: number; + volt: number; + curr: number; + temp: number; + alert?: string; +} + +const MotorPanel: React.FC = ({ + name, speed, pos, volt, curr, temp, alert +}) => { + return ( +
    + {/* Header: Name + Status */} +
    +

    {name}

    +
    + + {/* Optionally add ✔/✖ icons here */} +
    +
    + + {/* Stats Grid */} +
    + Speed: {speed} + Pos: {pos}° + Volt: {volt}V + Curr: {curr}A + Temp: {temp}°C +
    + + {/* Ping + Alert */} +
    + + {alert && ( + + ⚠ {alert} + + )} +
    +
    + ); +}; + +export default MotorPanel; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/motorData.ts b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/motorData.ts new file mode 100644 index 00000000..146bc223 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/MotorPanel/motorData.ts @@ -0,0 +1,37 @@ +// components/DriveInfo/motorData.ts + +export const motorStats = [ + { + name: 'FL', + speed: 139, + pos: 226, + volt: 13.7, + curr: 1.4, + temp: 32, + alert: 'Overcurrent', + }, + { + name: 'FR', + speed: 146, + pos: 42, + volt: 9.5, + curr: 3.3, + temp: 50, + }, + { + name: 'BL', + speed: 66, + pos: 144, + volt: 16.6, + curr: 1.6, + temp: 17, + }, + { + name: 'BR', + speed: 163, + pos: 120, + volt: 14.3, + curr: 0.7, + temp: 41, + }, +]; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.css b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.css new file mode 100644 index 00000000..5ee69a5a --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.css @@ -0,0 +1,5 @@ +/* SVG Stroke Animation */ +.meter-bg-bar { + animation: dash 4s linear infinite; + stroke-dasharray: 615; +} \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.tsx new file mode 100644 index 00000000..cb4175bd --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.tsx @@ -0,0 +1,150 @@ +import React, { useEffect, useState, useRef } from "react"; +import "./Speedometer.css"; + +// CodePen Example Credit: +// Original design and implementation by Yudiz Solutions Limited +// URL: https://codepen.io/yudizsolutions/pen/LYaVmjx + +interface SpeedometerProps { + initialSpeed?: number; +} + +const Speedometer: React.FC = ({ initialSpeed = 0 }) => { + const [speed] = useState(initialSpeed); + const svgContainerRef = useRef(null); + const meterBarRef = useRef(null); + const meterFrameRef = useRef(null); + const innerCircleRef = useRef(null); + const speedUnitRef = useRef(null); + const [viewBoxWidth, setViewBoxWidth] = useState(349); // Default width + const [viewBoxHeight, setViewBoxHeight] = useState(266); // Default height + + // Original positions for the speeds + const originalPositions = [ + { speed: 0, x: 95.30, y: 220.40 }, + { speed: 10, x: 85.39, y: 165.63 }, + { speed: 20, x: 100.34, y: 114.85 }, + { speed: 30, x: 137.64, y: 78.31 }, + { speed: 40, x: 188.22, y: 60.99 }, + { speed: 50, x: 238.42, y: 78.31 }, + { speed: 60, x: 274.31, y: 114.85 }, + { speed: 70, x: 290.93, y: 165.63 }, + { speed: 80, x: 274.43, y: 220.40 }, + ]; + + const updateViewBoxSize = () => { + if (svgContainerRef.current) { + const containerWidth = svgContainerRef.current.offsetWidth; + const containerHeight = svgContainerRef.current.offsetHeight; + + setViewBoxWidth(containerWidth); + setViewBoxHeight(containerHeight); + } + }; + + useEffect(() => { + updateViewBoxSize(); + + window.addEventListener("resize", updateViewBoxSize); + return () => { + window.removeEventListener("resize", updateViewBoxSize); + }; + }, []); + + // Calculate scale factor based on current viewBox size + const scaleX = viewBoxWidth / 349; // Original width: 349 + const scaleY = viewBoxHeight / 266; // Original height: 266 + + // Calculate scaled positions + const scaledPositions = originalPositions.map((pos) => ({ + speed: pos.speed, + x: pos.x * scaleX, + y: pos.y * scaleY, + })); + + useEffect(() => { + const updateSpeed = () => { + if (meterBarRef.current) { + const maxStrokeLength = 615; // Length of the path + const maxSpeed = 80; // Max speed value + const strokeDashoffset = ((maxSpeed - speed) / maxSpeed) * maxStrokeLength; + meterBarRef.current.style.strokeDashoffset = strokeDashoffset.toString(); + } + }; + + updateSpeed(); + }, [speed]); + + return ( +
    + + + {/* Background Meter Path */} + + + {/* Meter Frame Path */} + + + {/* Inner Circle Path */} + + + {/* Text Elements */} + {scaledPositions.map((pos, idx) => ( + + + {pos.speed} + + + ))} + + {/* Speed Unit Path */} + + + {/* Speed Display Text (Inside SVG) */} + + + {speed} + + + +
    + ); +}; + +export default Speedometer; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/SpeedometerCluster.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/SpeedometerCluster.tsx new file mode 100644 index 00000000..e47d5ef8 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/SpeedometerCluster.tsx @@ -0,0 +1,34 @@ +// components/DriveInfo/SpeedometerCluster.tsx + +import React from 'react'; +import Speedometer from './Speedometer'; + +const SpeedometerCluster: React.FC = () => { + return ( +
    + +
    + +
    + +
    + {[ + { label: 'FL', className: 'top-[18px] left-[5px]' }, + { label: 'FR', className: 'top-[18px] right-[5px]' }, + { label: 'BL', className: 'top-[52px] left-[102px]' }, + { label: 'BR', className: 'top-[52px] right-[102px]' }, + ].map(({ label, className }) => ( +
    + + {label} +
    + ))} +
    +
    + ); +}; + +export default SpeedometerCluster; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/index.ts b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/index.ts new file mode 100644 index 00000000..086730b3 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/info/index.ts @@ -0,0 +1,2 @@ +export { default as DriveInfo } from './DriveInfo'; +export { default as Speedometer } from './Speedometer/Speedometer'; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/GPSPanel.tsx b/teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/GPSPanel.tsx new file mode 100644 index 00000000..4967226c --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/GPSPanel.tsx @@ -0,0 +1,5 @@ +export default function GPS() { + return ( +
    + ); +} \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/index.ts b/teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/index.ts new file mode 100644 index 00000000..08f155c4 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/index.ts @@ -0,0 +1 @@ +export { default as GPSPanel } from './GPSPanel'; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/components/ui/ArrowButton.tsx b/teleop/robot-controller-ui/src/components/ui/ArrowButton.tsx new file mode 100644 index 00000000..4e480500 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/ui/ArrowButton.tsx @@ -0,0 +1,41 @@ +'use client'; + +import React from 'react'; +import { cn } from '@/lib/utils'; +import ArrowLeftIcon from '@/components/icons/ArrowLeftIcon'; +import ArrowRightIcon from '@/components/icons/ArrowRightIcon'; + +interface ArrowButtonProps { + direction: 'left' | 'right'; + onClick: () => void; + className?: string; + icon?: React.ReactNode; +} + +const ArrowButton: React.FC = ({ + direction, + onClick, + className = '', + icon, +}) => { + const positionClasses = + direction === 'left' + ? 'left-4' + : 'right-4'; + + return ( + + ); +}; + +export default ArrowButton; diff --git a/teleop/robot-controller-ui/src/components/ui/DPad.tsx b/teleop/robot-controller-ui/src/components/ui/DPad.tsx new file mode 100644 index 00000000..cb4b6d41 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/ui/DPad.tsx @@ -0,0 +1,29 @@ +import React from 'react'; +import DPadButton from './DPadButton'; + +interface DPadProps { + activeDirection: 'up' | 'down' | 'left' | 'right' | null; +} + +const DPad: React.FC = ({ activeDirection }) => { + return ( +
    + + {['up', 'down', 'left', 'right'].map((dir) => ( + + ))} + +
    + ); +}; + +export default DPad; diff --git a/teleop/robot-controller-ui/src/components/ui/DPadButton.tsx b/teleop/robot-controller-ui/src/components/ui/DPadButton.tsx new file mode 100644 index 00000000..c86d873a --- /dev/null +++ b/teleop/robot-controller-ui/src/components/ui/DPadButton.tsx @@ -0,0 +1,39 @@ +import React from 'react'; + +interface DPadButtonProps { + direction: 'up' | 'down' | 'left' | 'right'; + active: boolean; +} + +const rotationMap = { + up: 0, + down: 180, + left: -90, + right: 90, +}; + +const DPadButton: React.FC = ({ direction, active }) => { + const fill = active ? 'black' : 'lightgrey'; + const rotation = rotationMap[direction]; + + return ( + + + + + ); +}; + +export default DPadButton; diff --git a/teleop/robot-controller-ui/src/components/ui/IconButton.tsx b/teleop/robot-controller-ui/src/components/ui/IconButton.tsx new file mode 100644 index 00000000..e7a9284e --- /dev/null +++ b/teleop/robot-controller-ui/src/components/ui/IconButton.tsx @@ -0,0 +1,17 @@ +import { ButtonHTMLAttributes } from 'react'; + +type IconButtonProps = ButtonHTMLAttributes & { + icon: React.ReactNode; + className?: string; +}; + +export default function IconButton({ icon, className, ...props }: IconButtonProps) { + return ( + + ); +} diff --git a/teleop/robot-controller-ui/src/components/ui/PowerButton.tsx b/teleop/robot-controller-ui/src/components/ui/PowerButton.tsx new file mode 100644 index 00000000..2de13474 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/ui/PowerButton.tsx @@ -0,0 +1,107 @@ +'use client'; + +import React, { useState } from 'react'; +import { cn } from '@/lib/utils'; + +interface PowerButtonProps { + onClick?: () => void; + size?: 'small' | 'medium' | 'large'; + isActive?: boolean; + label?: string; +} + +const sizeClasses = { + small: 'w-[60px] h-[60px]', + medium: 'w-[100px] h-[100px]', + large: 'w-[150px] h-[150px]', +}; + +const labelSizeClasses = { + small: 'text-[8px]', + medium: 'text-[12px]', + large: 'text-[16px] mt-2', +}; + +const PowerButton: React.FC = ({ + onClick, + size = 'medium', + isActive = false, + label = 'POWER', +}) => { + const [active, setActive] = useState(isActive); + + const handleClick = () => { + setActive(!active); + if (onClick) onClick(); + }; + + return ( +
    + +
    + ); +}; + +export default PowerButton; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/config/camera.ts b/teleop/robot-controller-ui/src/config/camera.ts new file mode 100644 index 00000000..29f1aa01 --- /dev/null +++ b/teleop/robot-controller-ui/src/config/camera.ts @@ -0,0 +1,6 @@ +export const TARGET_CAMERA_NAMES = [ + "USB 2.0 Camera", + "Logitech HD Webcam", + "VGA USB Camera", + "CC HD webcam " +]; \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/config/network.ts b/teleop/robot-controller-ui/src/config/network.ts new file mode 100644 index 00000000..626c278b --- /dev/null +++ b/teleop/robot-controller-ui/src/config/network.ts @@ -0,0 +1 @@ +export const CAMERAIP = "localhost" // IP used for the cameras, should be the jetson for comp \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/context/NavbarContext.tsx b/teleop/robot-controller-ui/src/context/NavbarContext.tsx new file mode 100644 index 00000000..fb58aa2f --- /dev/null +++ b/teleop/robot-controller-ui/src/context/NavbarContext.tsx @@ -0,0 +1,24 @@ +'use client'; + +import { createContext, useContext, useState, ReactNode } from 'react'; + +const NavbarContext = createContext<{ + isVisible: boolean; + toggleNavbar: () => void; +}>({ + isVisible: true, + toggleNavbar: () => {}, +}); + +export const NavbarProvider = ({ children }: { children: ReactNode }) => { + const [isVisible, setIsVisible] = useState(true); + const toggleNavbar = () => setIsVisible((prev) => !prev); + + return ( + + {children} + + ); +}; + +export const useNavbar = () => useContext(NavbarContext); \ No newline at end of file diff --git a/teleop/robot-controller-ui/src/hooks/useBandwidthStats.ts b/teleop/robot-controller-ui/src/hooks/useBandwidthStats.ts new file mode 100644 index 00000000..a390e236 --- /dev/null +++ b/teleop/robot-controller-ui/src/hooks/useBandwidthStats.ts @@ -0,0 +1,34 @@ +import { useEffect, useState } from "react"; +import axios from "axios"; +import { CAMERAIP } from "@/config/network"; + +export function useBandwidthStats(isStreaming: boolean) { + const [bitrateKbps, setBitrate] = useState("0"); + const [pingMs, setPing] = useState(null); + + useEffect(() => { + if (!isStreaming) return; + + const fetchStats = async () => { + try { + const res = await axios.get(`http://${CAMERAIP}:8081/bandwidth-stats`); + const stats = res.data.bandwidth_stats?.[0]; + + if (typeof stats?.bitrate_kbps === "number") { + setBitrate(String(stats.bitrate_kbps)); + } + if (typeof stats?.rtt_ms === "number") { + setPing(stats.rtt_ms); + } + } catch (err) { + console.error("Failed to fetch bandwidth stats:", err); + } + }; + + fetchStats(); // initial fetch + const intervalId = setInterval(fetchStats, 2000); // repeat every 2s + return () => clearInterval(intervalId); + }, [isStreaming]); + + return { bitrateKbps, pingMs }; +} diff --git a/teleop/robot-controller-ui/src/hooks/useCameraList.ts b/teleop/robot-controller-ui/src/hooks/useCameraList.ts new file mode 100644 index 00000000..eb431db2 --- /dev/null +++ b/teleop/robot-controller-ui/src/hooks/useCameraList.ts @@ -0,0 +1,38 @@ +import { useEffect, useState } from "react"; +import axios from "axios"; +import { CAMERAIP } from "@/config/network"; +import { TARGET_CAMERA_NAMES } from "@/config/camera"; + +export interface CameraInfo { + name: string; + path: string; +} + +export function useCameraList() { + const [cameras, setCameras] = useState([]); + + useEffect(() => { + const fetchCameraPaths = async () => { + try { + const res = await axios.get(`http://${CAMERAIP}:8081/video-devices`); + const found: CameraInfo[] = []; + + res.data.devices.forEach((entry: { name: string; devices: string[] }) => { + TARGET_CAMERA_NAMES.forEach((target) => { + if (entry.name.includes(target)) { + found.push({ name: target, path: entry.devices[0] }); + } + }); + }); + + setCameras(found); + } catch (err) { + console.error("Failed to fetch camera devices:", err); + } + }; + + fetchCameraPaths(); + }, []); + + return cameras; +} diff --git a/teleop/robot-controller-ui/src/hooks/useWebRTCStreams.ts b/teleop/robot-controller-ui/src/hooks/useWebRTCStreams.ts new file mode 100644 index 00000000..8a959293 --- /dev/null +++ b/teleop/robot-controller-ui/src/hooks/useWebRTCStreams.ts @@ -0,0 +1,169 @@ +import { useCallback, useEffect, useRef, useState } from "react"; + +export interface WebRTCStreamOptions { + devicePath: string; + stallTimeout?: number; + restartDelay?: number; +} + +export function useWebRTCStream({ + devicePath, + stallTimeout = 3000, + restartDelay = 500, +}: WebRTCStreamOptions) { + const [isStreaming, setIsStreaming] = useState(false); + const [videoKey, setVideoKey] = useState(0); + const [frameTimestamps, setFrameTimestamps] = useState([]); + + const videoRef = useRef(null); + const lastSeenTimeRef = useRef(0); + const lastFrameTimeRef = useRef(null); + + const resetStats = useCallback(() => { + setFrameTimestamps([]); + lastSeenTimeRef.current = 0; + lastFrameTimeRef.current = null; + }, []); + + const startStream = useCallback(() => { + if (!devicePath) return; + setIsStreaming(true); + resetStats(); + }, [devicePath, resetStats]); + + const stopStream = useCallback(() => { + setIsStreaming(false); + }, []); + + useEffect(() => { + if (isStreaming) { + resetStats(); + setVideoKey((prev) => prev + 1); + } + }, [devicePath, isStreaming, resetStats]); + + useEffect(() => { + if (!isStreaming || !devicePath) return; + + const pc = new RTCPeerConnection(); + let isCancelled = false; + + const attachStream = (stream: MediaStream) => { + if (videoRef.current) { + videoRef.current.srcObject = stream; + } + }; + + const negotiate = async () => { + try { + pc.addTransceiver("video", { direction: "recvonly" }); + + pc.ontrack = (event) => { + if (!isCancelled) attachStream(event.streams[0]); + }; + + pc.oniceconnectionstatechange = () => { + const state = pc.iceConnectionState; + console.log("[ICE] State:", state); + if (["disconnected", "failed"].includes(state)) { + console.warn("[WebRTC] Connection lost"); + } + }; + + await pc.setLocalDescription(await pc.createOffer()); + + const response = await fetch( + `http://${location.hostname}:8081/offer?id=${encodeURIComponent(devicePath)}`, + { + method: "POST", + body: JSON.stringify(pc.localDescription), + headers: { "Content-Type": "application/json" }, + } + ); + + const answer = await response.json(); + if (!answer?.sdp || !answer?.type) throw new Error("Invalid SDP"); + + await pc.setRemoteDescription(new RTCSessionDescription(answer)); + } catch (err) { + if (!isCancelled) console.error("[WebRTC] Negotiation failed:", err); + pc.close(); + } + }; + + negotiate(); + + return () => { + isCancelled = true; + pc.getSenders().forEach((s) => s.track?.stop()); + pc.getReceivers().forEach((r) => r.track?.stop()); + pc.close(); + }; + }, [devicePath, isStreaming]); + + useEffect(() => { + if (!isStreaming || !devicePath) return; + + let animationId: number; + + const monitor = () => { + const video = videoRef.current; + if (!video || video.readyState < 2) { + animationId = requestAnimationFrame(monitor); + return; + } + + const now = Date.now(); + const currentTime = video.currentTime; + + if (currentTime !== lastSeenTimeRef.current) { + lastSeenTimeRef.current = currentTime; + setFrameTimestamps((prev) => + [...prev, now].filter((t) => now - t <= 2000) + ); + lastFrameTimeRef.current = now; + } + + if ( + lastFrameTimeRef.current && + now - lastFrameTimeRef.current > stallTimeout + ) { + console.warn("[WebRTC] Stream stalled. Reconnecting..."); + setIsStreaming(false); + setTimeout(() => { + resetStats(); + setVideoKey((k) => k + 1); + setIsStreaming(true); + }, restartDelay); + } + + animationId = requestAnimationFrame(monitor); + }; + + monitor(); + + return () => cancelAnimationFrame(animationId); + }, [devicePath, isStreaming, stallTimeout, restartDelay, resetStats]); + + const fps = + frameTimestamps.length > 1 + ? ( + (frameTimestamps.length - 1) / + ((frameTimestamps.at(-1)! - frameTimestamps[0]) / 1000) + ).toFixed(1) + : "0.0"; + + const isLive = + lastFrameTimeRef.current != null && + Date.now() - lastFrameTimeRef.current < 2000; + + return { + isStreaming, + startStream, + stopStream, + videoKey, + videoRef, + fps, + isLive, + }; +} diff --git a/teleop/robot-controller-ui/src/lib/utils.ts b/teleop/robot-controller-ui/src/lib/utils.ts new file mode 100644 index 00000000..426c1daf --- /dev/null +++ b/teleop/robot-controller-ui/src/lib/utils.ts @@ -0,0 +1,3 @@ +export function cn(...classes: (string | false | null | undefined)[]) { + return classes.filter(Boolean).join(' '); +} \ No newline at end of file diff --git a/teleop/robot-controller-ui/tsconfig.json b/teleop/robot-controller-ui/tsconfig.json new file mode 100644 index 00000000..f571de89 --- /dev/null +++ b/teleop/robot-controller-ui/tsconfig.json @@ -0,0 +1,28 @@ +{ + "compilerOptions": { + "jsx": "react-jsx", + "target": "ES2017", + "lib": ["dom", "dom.iterable", "esnext"], + "allowJs": true, + "skipLibCheck": true, + "strict": true, + "noEmit": true, + "esModuleInterop": true, + "module": "esnext", + "moduleResolution": "bundler", + "resolveJsonModule": true, + "isolatedModules": true, + "jsx": "preserve", + "incremental": true, + "plugins": [ + { + "name": "next" + } + ], + "paths": { + "@/*": ["./src/*"] + } + }, + "include": ["next-env.d.ts", "**/*.ts", "**/*.tsx", ".next/types/**/*.ts"], + "exclude": ["node_modules"] +} diff --git a/teleop/services/drive/webrtc.py b/teleop/services/drive/webrtc.py new file mode 100644 index 00000000..c294de29 --- /dev/null +++ b/teleop/services/drive/webrtc.py @@ -0,0 +1,279 @@ +import asyncio +import json +import re +import time +import traceback +import subprocess +import argparse +import logging + +from aiohttp import web +from aiortc import RTCPeerConnection, RTCSessionDescription +from aiortc.contrib.media import MediaPlayer + +# ------------------------- Globals ------------------------- + +pcs = set() +previous_stats = {} +last_stats_time = 0 +STATS_INTERVAL = 2 # seconds + +MAX_RETRIES = 3 +RETRY_BACKOFF = [1, 2, 4] # seconds + +logger = logging.getLogger("webrtc") +DEBUG = False + +# ------------------------- Middleware ------------------------- + +@web.middleware +async def cors_middleware(request, handler): + response = await handler(request) + response.headers['Access-Control-Allow-Origin'] = '*' + response.headers['Access-Control-Allow-Methods'] = 'GET, POST, OPTIONS' + response.headers['Access-Control-Allow-Headers'] = 'Content-Type' + return response + +# ------------------------- Camera Force-Kill ------------------------- + +async def force_kill_device_users(device_path): + try: + result = subprocess.run(["fuser", "-v", device_path], capture_output=True, text=True) + output = result.stdout + pids = [] + + for line in output.splitlines(): + parts = line.strip().split() + if parts and parts[0] == device_path: + pids = [int(p) for p in parts[1:] if p.isdigit()] + + if not pids: + logger.warning(f"No processes found using {device_path}") + return + + for pid in pids: + logger.info(f"Killing PID {pid} using {device_path}") + subprocess.run(["kill", "-9", str(pid)]) + + except Exception as e: + logger.error(f"Failed to kill process using {device_path}: {e}") + +# ------------------------- /offer ------------------------- + +async def offer(request): + device_path = request.rel_url.query.get("id") + if not device_path: + return web.json_response({"error": "Missing 'id' query param for video device"}, status=400) + + logger.info(f"Requested v4l2 device: {device_path}") + + try: + params = await request.json() + offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"]) + except Exception as e: + return web.json_response({"error": f"Invalid SDP: {str(e)}"}, status=400) + + pc = RTCPeerConnection() + pcs.add(pc) + + @pc.on("iceconnectionstatechange") + async def on_iceconnectionstatechange(): + logger.debug(f"ICE State: {pc.iceConnectionState}") + if pc.iceConnectionState in ["failed", "disconnected", "closed"]: + await pc.close() + pcs.discard(pc) + logger.info("PeerConnection closed and cleaned up.") + + player = None + for attempt in range(MAX_RETRIES): + try: + player = MediaPlayer( + device_path, + format="v4l2", + options={"framerate": "30", "video_size": "640x480"} + ) + logger.info(f"MediaPlayer started on {device_path}") + break + except Exception as e: + logger.warning(f"MediaPlayer attempt {attempt+1} failed: {e}") + if "Device or resource busy" in str(e) and attempt == 0: + logger.info(f"Attempting to force-kill blocker on {device_path}") + await force_kill_device_users(device_path) + + if attempt < MAX_RETRIES - 1: + await asyncio.sleep(RETRY_BACKOFF[attempt]) + else: + logger.exception("Failed to open MediaPlayer after retries") + return web.json_response({"error": f"Could not open device: {str(e)}"}, status=500) + + try: + await pc.setRemoteDescription(offer) + logger.debug("Remote description set.") + + for t in pc.getTransceivers(): + logger.debug(f"Transceiver kind: {t.kind}") + if t.kind == "video" and player.video: + pc.addTrack(player.video) + logger.info("Video track added to PeerConnection.") + else: + logger.debug(f"Skipping transceiver {t.kind} or no video source") + + answer = await pc.createAnswer() + await pc.setLocalDescription(answer) + logger.debug("Answer created and set.") + + return web.json_response({ + "sdp": pc.localDescription.sdp, + "type": pc.localDescription.type + }) + + except Exception as e: + logger.exception("WebRTC setup failed") + await pc.close() + pcs.discard(pc) + if player: + await player.stop() + return web.json_response({"error": f"WebRTC setup failed: {str(e)}"}, status=500) + +# ------------------------- /bandwidth-stats ------------------------- + +async def get_bandwidth_stats(request): + global previous_stats, last_stats_time + now = time.time() + + if now - last_stats_time < STATS_INTERVAL: + return web.json_response({"bandwidth_stats": [], "ping_ms": None}) + + logger.debug(f"Running bandwidth-stats for {len(pcs)} peer(s)") + start_time = time.perf_counter() + stats_list = [] + + for pc in pcs: + logger.debug(f"Getting stats for PC {id(pc)}") + stats = await pc.getStats() + bitrate_kbps = None + rtt_ms = None + + for report in stats.values(): + if report.type == "outbound-rtp" and getattr(report, "kind", None) == "video": + if hasattr(report, "bytesSent") and hasattr(report, "timestamp"): + timestamp_ms = report.timestamp.timestamp() * 1000 + prev = previous_stats.get(pc) + if prev: + time_diff = (timestamp_ms - prev["timestamp"]) / 1000 + byte_diff = report.bytesSent - prev["bytesSent"] + if time_diff > 0: + bitrate_kbps = (byte_diff * 8) / time_diff / 1000 + previous_stats[pc] = { + "bytesSent": report.bytesSent, + "timestamp": timestamp_ms + } + + elif report.type == "candidate-pair": + if ( + getattr(report, "state", "") == "succeeded" and + getattr(report, "nominated", False) and + hasattr(report, "currentRoundTripTime") + ): + rtt_ms = report.currentRoundTripTime * 1000 + + elif report.type == "remote-inbound-rtp" and getattr(report, "kind", "") == "video": + rtt = getattr(report, "roundTripTime", None) + if rtt is not None: + rtt_ms = rtt * 1000 + + stats_list.append({ + "bitrate_kbps": round(bitrate_kbps, 1) if bitrate_kbps is not None else None, + "rtt_ms": round(rtt_ms, 1) if rtt_ms is not None else None + }) + + end_time = time.perf_counter() + ping_ms = round((end_time - start_time) * 1000, 1) + last_stats_time = now + + return web.json_response({ + "bandwidth_stats": stats_list, + "ping_ms": ping_ms + }) + +# ------------------------- /video-devices ------------------------- + +async def list_video_devices(request): + try: + result = await asyncio.create_subprocess_shell( + "v4l2-ctl --list-devices", + stdout=asyncio.subprocess.PIPE, + stderr=asyncio.subprocess.PIPE + ) + stdout, stderr = await result.communicate() + + if result.returncode != 0: + return web.json_response({"error": stderr.decode()}, status=500) + + lines = stdout.decode().splitlines() + devices = [] + current = None + + for line in lines: + if line.strip() == "": + continue + if not line.startswith("\t"): + if current: + devices.append(current) + name = re.sub(r"\s*\(.*\):?$", "", line.strip()) + current = {"name": name, "devices": []} + else: + if current: + current["devices"].append(line.strip()) + + if current: + devices.append(current) + + return web.json_response({"devices": devices}) + + except Exception as e: + return web.json_response({"error": str(e)}, status=500) + +# ------------------------- OPTIONS ------------------------- + +async def handle_options(request): + requested_headers = request.headers.get('Access-Control-Request-Headers', '') + return web.Response( + status=200, + headers={ + 'Access-Control-Allow-Origin': '*', + 'Access-Control-Allow-Methods': 'POST, OPTIONS, GET', + 'Access-Control-Allow-Headers': requested_headers, + }, + ) + +# ------------------------- Shutdown ------------------------- + +async def on_shutdown(app): + logger.info("Closing all peer connections...") + await asyncio.gather(*[pc.close() for pc in pcs]) + pcs.clear() + +# ------------------------- Main ------------------------- + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Start the WebRTC server.") + parser.add_argument("--debug", action="store_true", help="Enable debug logging") + args = parser.parse_args() + + DEBUG = args.debug + logging.basicConfig( + level=logging.DEBUG if DEBUG else logging.INFO, + format="%(asctime)s [%(levelname)s] %(message)s", + ) + + app = web.Application(middlewares=[cors_middleware]) + app.on_shutdown.append(on_shutdown) + + app.router.add_options("/offer", handle_options) + app.router.add_post("/offer", offer) + app.router.add_get("/video-devices", list_video_devices) + app.router.add_get("/bandwidth-stats", get_bandwidth_stats) + + logger.info("WebRTC server running on port 8081") + web.run_app(app, host="0.0.0.0", port=8081, ssl_context=None)