From 12e6dee14e4a912306e78a73a2070a1ac3e4ee66 Mon Sep 17 00:00:00 2001 From: ExoPrisma Date: Sun, 15 Jun 2025 16:28:48 +0000 Subject: [PATCH 01/10] Created new nextjs UI --- teleop/robot-controller-ui/.gitignore | 41 + teleop/robot-controller-ui/README.md | 36 + teleop/robot-controller-ui/eslint.config.mjs | 16 + teleop/robot-controller-ui/next.config.ts | 7 + teleop/robot-controller-ui/package-lock.json | 6146 +++++++++++++++++ teleop/robot-controller-ui/package.json | 28 + teleop/robot-controller-ui/postcss.config.mjs | 5 + .../robot-controller-ui/src/app/favicon.ico | Bin 0 -> 25931 bytes .../robot-controller-ui/src/app/globals.css | 62 + teleop/robot-controller-ui/src/app/layout.tsx | 39 + teleop/robot-controller-ui/src/app/page.tsx | 5 + .../src/app/status/page.tsx | 40 + .../src/assets/images/logo.png | Bin 0 -> 106945 bytes .../src/assets/images/logo.svg | 433 ++ .../components/layout/navbar/BurgerButton.tsx | 17 + .../src/components/layout/navbar/Logo.tsx | 21 + .../src/components/layout/navbar/NavLink.tsx | 14 + .../src/components/layout/navbar/NavLinks.tsx | 14 + .../src/components/layout/navbar/Navbar.tsx | 28 + .../layout/navbar/NavbarContainer.tsx | 9 + .../src/components/ui/IconButton.tsx | 17 + .../src/context/NavbarContext.tsx | 24 + teleop/robot-controller-ui/tsconfig.json | 27 + 23 files changed, 7029 insertions(+) create mode 100644 teleop/robot-controller-ui/.gitignore create mode 100644 teleop/robot-controller-ui/README.md create mode 100644 teleop/robot-controller-ui/eslint.config.mjs create mode 100644 teleop/robot-controller-ui/next.config.ts create mode 100644 teleop/robot-controller-ui/package-lock.json create mode 100644 teleop/robot-controller-ui/package.json create mode 100644 teleop/robot-controller-ui/postcss.config.mjs create mode 100644 teleop/robot-controller-ui/src/app/favicon.ico create mode 100644 teleop/robot-controller-ui/src/app/globals.css create mode 100644 teleop/robot-controller-ui/src/app/layout.tsx create mode 100644 teleop/robot-controller-ui/src/app/page.tsx create mode 100644 teleop/robot-controller-ui/src/app/status/page.tsx create mode 100644 teleop/robot-controller-ui/src/assets/images/logo.png create mode 100644 teleop/robot-controller-ui/src/assets/images/logo.svg create mode 100644 teleop/robot-controller-ui/src/components/layout/navbar/BurgerButton.tsx create mode 100644 teleop/robot-controller-ui/src/components/layout/navbar/Logo.tsx create mode 100644 teleop/robot-controller-ui/src/components/layout/navbar/NavLink.tsx create mode 100644 teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx create mode 100644 teleop/robot-controller-ui/src/components/layout/navbar/Navbar.tsx create mode 100644 teleop/robot-controller-ui/src/components/layout/navbar/NavbarContainer.tsx create mode 100644 teleop/robot-controller-ui/src/components/ui/IconButton.tsx create mode 100644 teleop/robot-controller-ui/src/context/NavbarContext.tsx create mode 100644 teleop/robot-controller-ui/tsconfig.json 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 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"lint": "next lint" + }, + "dependencies": { + "lucide-react": "^0.515.0", + "next": "15.3.3", + "react": "^19.0.0", + "react-dom": "^19.0.0" + }, + "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" + } +} diff --git a/teleop/robot-controller-ui/postcss.config.mjs 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/src/app/favicon.ico b/teleop/robot-controller-ui/src/app/favicon.ico new file mode 100644 index 0000000000000000000000000000000000000000..718d6fea4835ec2d246af9800eddb7ffb276240c GIT binary patch literal 25931 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LrJugUA?W`A8`#=m literal 0 HcmV?d00001 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..0f9c37f2 --- /dev/null +++ b/teleop/robot-controller-ui/src/app/globals.css @@ -0,0 +1,62 @@ +@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; +} + 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..27bc8664 --- /dev/null +++ b/teleop/robot-controller-ui/src/app/layout.tsx @@ -0,0 +1,39 @@ +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', +}; + +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)}
+
*/} +
+
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b/teleop/robot-controller-ui/src/assets/images/logo.svg @@ -0,0 +1,433 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + \ 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..4e424fa8 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx @@ -0,0 +1,14 @@ +import NavLink from './NavLink'; + +const navItems = ['Status', 'Control', 'Dashboard']; + +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/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/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/tsconfig.json b/teleop/robot-controller-ui/tsconfig.json new file mode 100644 index 00000000..c1334095 --- /dev/null +++ b/teleop/robot-controller-ui/tsconfig.json @@ -0,0 +1,27 @@ +{ + "compilerOptions": { + "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"] +} From a0f9e5b1234d3e3650ae760a36f33e70fc341009 Mon Sep 17 00:00:00 2001 From: ExoPrisma Date: Sun, 15 Jun 2025 23:46:18 +0000 Subject: [PATCH 02/10] FEAT: Added drive page --- teleop/robot-controller-ui/package-lock.json | 526 +++++++++++++++++- teleop/robot-controller-ui/package.json | 1 + .../logo.svg => public/mcgillRobotics.svg} | 0 .../robot-controller-ui/src/app/arm/page.tsx | 0 .../src/app/drive/page.tsx | 22 + .../robot-controller-ui/src/app/favicon.ico | Bin 25931 -> 0 bytes .../robot-controller-ui/src/app/globals.css | 9 + teleop/robot-controller-ui/src/app/layout.tsx | 3 + .../src/components/layout/navbar/NavLinks.tsx | 2 +- .../sections/drive/camera/CameraView.tsx | 161 ++++++ .../components/sections/drive/camera/DPad.tsx | 107 ++++ .../sections/drive/camera/WebRTCPlayer.tsx | 86 +++ .../components/sections/drive/camera/index.ts | 3 + .../sections/drive/mobility/MobilityPanel.tsx | 42 ++ .../drive/mobility/control/DriveControl.tsx | 27 + .../mobility/control/Headlight/Headlight.css | 58 ++ .../mobility/control/Headlight/Headlight.tsx | 35 ++ .../control/MaxSpeedKnob/MaxSpeedKnob.css | 43 ++ .../control/MaxSpeedKnob/MaxSpeedKnob.tsx | 76 +++ .../sections/drive/mobility/control/index.ts | 3 + .../sections/drive/mobility/index.ts | 5 + .../drive/mobility/info/DriveInfo.tsx | 41 ++ .../mobility/info/Speedometer/Speedometer.css | 5 + .../mobility/info/Speedometer/Speedometer.tsx | 150 +++++ .../sections/drive/mobility/info/index.ts | 2 + .../drive/mobility/navigation/GPSPanel.tsx | 5 + .../drive/mobility/navigation/index.ts | 1 + .../robot-controller-ui/src/config/config.ts | 1 + .../src/hooks/useWebRTCStreams.ts | 100 ++++ 29 files changed, 1491 insertions(+), 23 deletions(-) rename teleop/robot-controller-ui/{src/assets/images/logo.svg => public/mcgillRobotics.svg} (100%) create mode 100644 teleop/robot-controller-ui/src/app/arm/page.tsx create mode 100644 teleop/robot-controller-ui/src/app/drive/page.tsx delete mode 100644 teleop/robot-controller-ui/src/app/favicon.ico create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/camera/CameraView.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/camera/DPad.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/camera/WebRTCPlayer.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/camera/index.ts create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/MobilityPanel.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/control/DriveControl.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.css create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/control/Headlight/Headlight.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.css create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/control/MaxSpeedKnob/MaxSpeedKnob.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/control/index.ts create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/index.ts create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/info/DriveInfo.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.css create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/info/Speedometer/Speedometer.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/info/index.ts create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/GPSPanel.tsx create mode 100644 teleop/robot-controller-ui/src/components/sections/drive/mobility/navigation/index.ts create mode 100644 teleop/robot-controller-ui/src/config/config.ts create mode 100644 teleop/robot-controller-ui/src/hooks/useWebRTCStreams.ts diff --git a/teleop/robot-controller-ui/package-lock.json b/teleop/robot-controller-ui/package-lock.json index 3bbae969..01ada112 100644 --- a/teleop/robot-controller-ui/package-lock.json +++ b/teleop/robot-controller-ui/package-lock.json @@ -8,6 +8,7 @@ "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", @@ -959,6 +960,330 @@ "node": ">=12.4.0" } }, + "node_modules/@parcel/watcher": { + "version": "2.5.1", + "resolved": "https://registry.npmjs.org/@parcel/watcher/-/watcher-2.5.1.tgz", + "integrity": 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"2.1.1", "resolved": "https://registry.npmjs.org/is-extglob/-/is-extglob-2.1.1.tgz", "integrity": "sha512-SbKbANkN603Vi4jEZv49LeVJMn4yGwsbzZworEoyEiutsN3nJYdbO36zfhGJ6QEDpOZIFkDtnq5JRxmvl3jsoQ==", - "dev": true, + "devOptional": true, "license": "MIT", "engines": { "node": ">=0.10.0" @@ -3835,7 +4246,7 @@ "version": "4.0.3", "resolved": "https://registry.npmjs.org/is-glob/-/is-glob-4.0.3.tgz", "integrity": "sha512-xelSayHH36ZgE7ZWhli7pW34hNbNl8Ojv5KVmkJD4hBdD3th8Tfk9vYasLM+mXWOZhFkgZfxhLSnrwRr4elSSg==", - "dev": true, + "devOptional": true, "license": "MIT", "dependencies": { "is-extglob": "^2.1.1" @@ -3874,7 +4285,7 @@ "version": "7.0.0", "resolved": "https://registry.npmjs.org/is-number/-/is-number-7.0.0.tgz", "integrity": "sha512-41Cifkg6e8TylSpdtTpeLVMqvSBEVzTttHvERD741+pnZ8ANv0004MRL43QKPDlK9cGvNp6NZWZUBlbGXYxxng==", - "dev": true, + "devOptional": true, "license": "MIT", "engines": { "node": ">=0.12.0" @@ -4496,7 +4907,6 @@ "version": "1.1.0", "resolved": "https://registry.npmjs.org/math-intrinsics/-/math-intrinsics-1.1.0.tgz", "integrity": "sha512-/IXtbwEk5HTPyEwyKX6hGkYXxM9nbj64B+ilVJnC/R6B0pH5G4V3b0pVbL7DBj4tkhBAppbQUlf6F6Xl9LHu1g==", - "dev": true, "license": "MIT", "engines": { "node": ">= 0.4" @@ -4516,7 +4926,7 @@ "version": "4.0.8", "resolved": "https://registry.npmjs.org/micromatch/-/micromatch-4.0.8.tgz", "integrity": "sha512-PXwfBhYu0hBCPw8Dn0E+WDYb7af3dSLVWKi3HGv84IdF4TyFoC0ysxFd0Goxw7nSv4T/PzEJQxsYsEiFCKo2BA==", - "dev": true, + "devOptional": true, "license": "MIT", "dependencies": { "braces": "^3.0.3", @@ -4526,6 +4936,27 @@ "node": ">=8.6" } }, + "node_modules/mime-db": { + "version": "1.52.0", + "resolved": "https://registry.npmjs.org/mime-db/-/mime-db-1.52.0.tgz", + "integrity": "sha512-sPU4uV7dYlvtWJxwwxHD0PuihVNiE7TyAbQ5SWxDCB9mUYvOgroQOwYQQOKPJ8CIbE+1ETVlOoK1UC2nU3gYvg==", + "license": "MIT", + "engines": { + "node": ">= 0.6" + } + }, + "node_modules/mime-types": { + "version": "2.1.35", + "resolved": "https://registry.npmjs.org/mime-types/-/mime-types-2.1.35.tgz", + "integrity": "sha512-ZDY+bPm5zTTF+YpCrAU9nK0UgICYPT0QtT1NZWFv4s++TNkcgVaT0g6+4R2uI4MjQjzysHB1zxuWL50hzaeXiw==", + "license": "MIT", + "dependencies": { + "mime-db": "1.52.0" + }, + "engines": { + "node": ">= 0.6" + } + }, "node_modules/minimatch": { "version": "3.1.2", "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.1.2.tgz", @@ -4718,6 +5149,14 @@ "node": "^10 || ^12 || >=14" } }, + "node_modules/node-addon-api": { + "version": "7.1.1", + "resolved": "https://registry.npmjs.org/node-addon-api/-/node-addon-api-7.1.1.tgz", + "integrity": "sha512-5m3bsyrjFWE1xf7nz7YXdN4udnVtXK6/Yfgn5qnahL6bCkf2yKt4k3nuTKAtT4r3IG8JNR2ncsIMdZuAzJjHQQ==", + "license": "MIT", + "optional": true, + "peer": true + }, "node_modules/object-assign": { "version": "4.1.1", "resolved": "https://registry.npmjs.org/object-assign/-/object-assign-4.1.1.tgz", @@ -4959,7 +5398,7 @@ "version": "2.3.1", "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-2.3.1.tgz", "integrity": "sha512-JU3teHTNjmE2VCGFzuY8EXzCDVwEqB2a8fsIvwaStHhAWJEeVd1o1QD80CU6+ZdEXXSLbSsuLwJjkCBWqRQUVA==", - "dev": true, + "devOptional": true, "license": "MIT", "engines": { "node": ">=8.6" @@ -5029,6 +5468,12 @@ "react-is": "^16.13.1" } }, + "node_modules/proxy-from-env": { + "version": "1.1.0", + "resolved": "https://registry.npmjs.org/proxy-from-env/-/proxy-from-env-1.1.0.tgz", + "integrity": "sha512-D+zkORCbA9f1tdWRK0RaCR3GPv50cMxcrz4X8k5LTSUD1Dkw47mKJEZQNunItRTkWwgtaUSo1RVFRIG9ZXiFYg==", + "license": "MIT" + }, "node_modules/punycode": { "version": "2.3.1", "resolved": "https://registry.npmjs.org/punycode/-/punycode-2.3.1.tgz", @@ -5088,6 +5533,21 @@ "dev": true, "license": "MIT" }, + "node_modules/readdirp": { + "version": "4.1.2", + "resolved": "https://registry.npmjs.org/readdirp/-/readdirp-4.1.2.tgz", + "integrity": "sha512-GDhwkLfywWL2s6vEjyhri+eXmfH6j1L7JE27WhqLeYzoh/A3DBaYGEj2H/HFZCn/kMfim73FXxEJTw06WtxQwg==", + "license": "MIT", + "optional": true, + "peer": true, + "engines": { + "node": ">= 14.18.0" + }, + "funding": { + "type": "individual", + "url": "https://paulmillr.com/funding/" + } + }, "node_modules/reflect.getprototypeof": { "version": "1.0.10", "resolved": "https://registry.npmjs.org/reflect.getprototypeof/-/reflect.getprototypeof-1.0.10.tgz", @@ -5263,6 +5723,28 @@ "url": "https://github.com/sponsors/ljharb" } }, + "node_modules/sass": { + "version": "1.89.2", + "resolved": "https://registry.npmjs.org/sass/-/sass-1.89.2.tgz", + "integrity": "sha512-xCmtksBKd/jdJ9Bt9p7nPKiuqrlBMBuuGkQlkhZjjQk3Ty48lv93k5Dq6OPkKt4XwxDJ7tvlfrTa1MPA9bf+QA==", + "license": "MIT", + "optional": true, + "peer": true, + "dependencies": { + "chokidar": "^4.0.0", + "immutable": "^5.0.2", + "source-map-js": ">=0.6.2 <2.0.0" + }, + "bin": { + "sass": "sass.js" + }, + "engines": { + "node": ">=14.0.0" + }, + "optionalDependencies": { + "@parcel/watcher": "^2.4.1" + } + }, "node_modules/scheduler": { "version": "0.26.0", "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.26.0.tgz", @@ -5789,7 +6271,7 @@ "version": "5.0.1", "resolved": "https://registry.npmjs.org/to-regex-range/-/to-regex-range-5.0.1.tgz", "integrity": "sha512-65P7iz6X5yEr1cwcgvQxbbIw7Uk3gOy5dIdtZ4rDveLqhrdJP+Li/Hx6tyK0NEb+2GCyneCMJiGqrADCSNk8sQ==", - "dev": true, + "devOptional": true, "license": "MIT", "dependencies": { "is-number": "^7.0.0" diff --git a/teleop/robot-controller-ui/package.json b/teleop/robot-controller-ui/package.json index a9c8403f..77c02375 100644 --- a/teleop/robot-controller-ui/package.json +++ b/teleop/robot-controller-ui/package.json @@ -9,6 +9,7 @@ "lint": "next lint" }, "dependencies": { + "axios": "^1.10.0", "lucide-react": "^0.515.0", "next": "15.3.3", "react": "^19.0.0", diff --git a/teleop/robot-controller-ui/src/assets/images/logo.svg b/teleop/robot-controller-ui/public/mcgillRobotics.svg similarity index 100% rename from teleop/robot-controller-ui/src/assets/images/logo.svg rename to teleop/robot-controller-ui/public/mcgillRobotics.svg 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..e69de29b 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/favicon.ico b/teleop/robot-controller-ui/src/app/favicon.ico deleted file mode 100644 index 718d6fea4835ec2d246af9800eddb7ffb276240c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 25931 zcmeHv30#a{`}aL_*G&7qml|y<+KVaDM2m#dVr!KsA!#An?kSQM(q<_dDNCpjEux83 zLb9Z^XxbDl(w>%i@8hT6>)&Gu{h#Oeyszu?xtw#Zb1mO{pgX9699l+Qppw7jXaYf~-84xW z)w4x8?=youko|}Vr~(D$UXIbiXABHh`p1?nn8Po~fxRJv}|0e(BPs|G`(TT%kKVJAdg5*Z|x0leQq0 zkdUBvb#>9F()jo|T~kx@OM8$9wzs~t2l;K=woNssA3l6|sx2r3+kdfVW@e^8e*E}v zA1y5{bRi+3Z`uD3{F7LgFJDdvm;nJilkzDku>BwXH(8ItVCXk*-lSJnR?-2UN%hJ){&rlvg`CDTj z)Bzo!3v7Ou#83zEDEFcKt(f1E0~=rqeEbTnMvWR#{+9pg%7G8y>u1OVRUSoox-ovF z2Ydma(;=YuBY(eI|04{hXzZD6_f(v~H;C~y5=DhAC{MMS>2fm~1H_t2$56pc$NH8( z5bH|<)71dV-_oCHIrzrT`2s-5w_+2CM0$95I6X8p^r!gHp+j_gd;9O<1~CEQQGS8) zS9Qh3#p&JM-G8rHekNmKVewU;pJRcTAog68KYo^dRo}(M>36U4Us zfgYWSiHZL3;lpWT=zNAW>Dh#mB!_@Lg%$ms8N-;aPqMn+C2HqZgz&9~Eu 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b/teleop/robot-controller-ui/src/app/layout.tsx index 27bc8664..ea372166 100644 --- a/teleop/robot-controller-ui/src/app/layout.tsx +++ b/teleop/robot-controller-ui/src/app/layout.tsx @@ -17,6 +17,9 @@ const geistMono = Geist_Mono({ export const metadata: Metadata = { title: 'Rover UI', description: 'Rover Control Interface', + icons: { + icon: '/mcgillRobotics.svg', + }, }; export default function RootLayout({ diff --git a/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx b/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx index 4e424fa8..e8897f84 100644 --- a/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx +++ b/teleop/robot-controller-ui/src/components/layout/navbar/NavLinks.tsx @@ -1,6 +1,6 @@ import NavLink from './NavLink'; -const navItems = ['Status', 'Control', 'Dashboard']; +const navItems = ['Arm', 'Drive', 'Status']; const NavLinks = () => (
      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..9732e4cc --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/camera/CameraView.tsx @@ -0,0 +1,161 @@ +"use client"; + +import React, { useEffect, useState } from "react"; +import WebRTCPlayer from "./WebRTCPlayer"; +import DPad from "./DPad"; +// import PowerButton from "../arm/ui/PowerButton"; +import axios from "axios"; +import { useWebRTCStream } from "@/hooks/useWebRTCStreams"; +import { CAMERAIP } from "@/config/config" + +const targetCameraNames = [ + "USB 2.0 Camera", + "Logitech HD Webcam", + "VGA USB Camera", + "CC HD webcam " +]; + +interface CameraInfo { + name: string; + path: string; +} + +const CameraView: React.FC = () => { + const [cameras, setCameras] = useState([]); + const [currentIndex, setCurrentIndex] = useState(0); + const [bitrate_kbps, setBitrate] = useState("N/A"); + const [ping_ms, setPing] = useState(null); + + const currentCamera = cameras[currentIndex]; + const { + isStreaming, + startStream, + stopStream, + videoKey, + videoRef, + fps, + isLive, + } = useWebRTCStream({ devicePath: currentCamera?.path || "" }); + + useEffect(() => { + const fetchCameraPaths = async () => { + try { + const res = await axios.get(`http://${CAMERAIP}:8081/video-devices`); + const deviceMap: CameraInfo[] = []; + + res.data.devices.forEach((entry: { name: string; devices: string[] }) => { + for (const targetName of targetCameraNames) { + if (entry.name.includes(targetName)) { + deviceMap.push({ name: targetName, path: entry.devices[0] }); + } + } + }); + + setCameras(deviceMap); + } catch (error) { + console.error("Failed to fetch camera devices:", error); + } + }; + + fetchCameraPaths(); + }, []); + + // Automatically reconnect stream when camera changes + useEffect(() => { + if (!currentCamera?.path) return; + + if (isStreaming) { + stopStream(); + setTimeout(() => { + startStream(); + }, 100); + } + }, [currentCamera?.path, isStreaming, startStream, stopStream]); + + useEffect(() => { + let intervalId: NodeJS.Timeout; + + const fetchStats = async () => { + try { + const res = await axios.get(`http://${CAMERAIP}:8081/bandwidth-stats`); + const stats = res.data.bandwidth_stats?.[0]; + if (stats?.rtt_ms != null) setBitrate(stats.bitrate_kbps); + if (res.data?.ping_ms != null) setPing(res.data.ping_ms); + } catch (err) { + console.error("Failed to fetch bandwidth stats:", err); + } + }; + + if (isStreaming) { + fetchStats(); + intervalId = setInterval(fetchStats, 2000); + } + + return () => clearInterval(intervalId); + }, [isStreaming]); + + const handleNext = () => { + setCurrentIndex((prev) => (prev + 1) % cameras.length); + }; + + const handlePrevious = () => { + setCurrentIndex((prev) => (prev - 1 + cameras.length) % cameras.length); + }; + + return ( +
      + {currentCamera && isStreaming ? ( +
      + + + {/* Camera Info Top Left */} +
      + {currentCamera.name}
      + + Live +
      + + {/* Stream Stats Top Right */} +
      + FPS: {fps}
      + Bitrate: {bitrate_kbps ? `${bitrate_kbps} kbps` : "N/A"}
      + Ping: {ping_ms ? `${ping_ms} ms` : "N/A"} +
      + + {/* Previous Button */} + + + {/* Next Button */} + + + {/* DPad Overlay */} + {currentCamera.name.includes("USB 2.0 Camera") && ( +
      + +
      + )} +
      + ) : ( +
      +

      + No stream yet.
      Click Start to begin. +

      +
      + )} + + {/* Power Button */} +
      + {/* (isStreaming ? stopStream() : startStream())} + /> */} +
      +
      + ); +}; + +export default CameraView; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/camera/DPad.tsx b/teleop/robot-controller-ui/src/components/sections/drive/camera/DPad.tsx new file mode 100644 index 00000000..06aac056 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/camera/DPad.tsx @@ -0,0 +1,107 @@ +'use client'; + +import React, { useState, useEffect } from 'react'; + +interface DPadProps { + inputStream: string; // "up", "down", "left", "right" +} + +const DPad: React.FC = ({ inputStream }) => { + const [activeButton, setActiveButton] = useState(null); + + useEffect(() => { + setActiveButton(inputStream); + }, [inputStream]); + + const getFill = (dir: string) => (activeButton === dir ? 'black' : 'lightgrey'); + + return ( +
      + + {/* Top */} + + + + + + {/* Bottom */} + + + + + + {/* Left */} + + + + + + {/* Right */} + + + + + +
      + ); +}; + +export default DPad; diff --git a/teleop/robot-controller-ui/src/components/sections/drive/camera/WebRTCPlayer.tsx b/teleop/robot-controller-ui/src/components/sections/drive/camera/WebRTCPlayer.tsx new file mode 100644 index 00000000..885a8647 --- /dev/null +++ b/teleop/robot-controller-ui/src/components/sections/drive/camera/WebRTCPlayer.tsx @@ -0,0 +1,86 @@ +import React, { useEffect, useRef } from "react"; +import { CAMERAIP } from "@/config/config"; + +interface WebRTCPlayerProps { + devicePath: string; + forwardedRef?: React.RefObject; +} + +const WebRTCPlayer: React.FC = ({ devicePath, forwardedRef }) => { + const localRef = useRef(null); + const videoRef = forwardedRef || localRef; + + useEffect(() => { + const pc = new RTCPeerConnection(); + let isCancelled = false; + + pc.addTransceiver("video", { direction: "recvonly" }); + + pc.ontrack = (event) => { + if (!isCancelled && videoRef.current) { + videoRef.current.srcObject = event.streams[0]; + } + }; + + pc.oniceconnectionstatechange = () => { + console.log("[ICE] Connection state:", pc.iceConnectionState); + if (pc.iceConnectionState === "failed" || pc.iceConnectionState === "disconnected") { + console.warn("[ICE] Connection lost."); + } + }; + + const negotiate = async () => { + try { + const offer = await pc.createOffer(); + await pc.setLocalDescription(offer); + + const start = performance.now(); + const response = await fetch( + `http://${CAMERAIP}:8081/offer?id=${encodeURIComponent(devicePath)}`, + { + method: "POST", + body: JSON.stringify({ + sdp: pc.localDescription?.sdp, + type: pc.localDescription?.type, + }), + headers: { "Content-Type": "application/json" }, + } + ); + + const latency = performance.now() - start; + const data = await response.json(); + + if (!data?.sdp || !data?.type) { + throw new Error("Invalid response from WebRTC server"); + } + + await pc.setRemoteDescription(new RTCSessionDescription(data)); + console.log(`[PING] Offer/answer exchange latency: ${latency.toFixed(1)} ms`); + } catch (err) { + if (!isCancelled) console.error("[WebRTC] Negotiation failed:", err); + pc.close(); + } + }; + + negotiate(); + + return () => { + isCancelled = true; + pc.getSenders().forEach((sender) => sender.track?.stop()); + pc.getReceivers().forEach((receiver) => receiver.track?.stop()); + pc.close(); + }; + }, [devicePath, videoRef]); + + return ( +