Imported code from X-17 Surface repo

Author: XavierJCallait

README.md

@@ -38,15 +38,15 @@ For more current and past information view the links to the left or contact us a
 
 ## Project Description 
 
-X18 Surface contains the frontend and backend processes for the ROV. For the frontend, the surface (computer) connects the user interface with the cameras and gamepad, allowing us to display the camera steams, controls, and readouts needed to successfully pilot the ROV. For the backend, the surface sends and receives information to and from the Raspberry Pi inside of the ROV, allows us to send outputs to the thrusters and tools in order to fully operate the ROV.
+X17 Surface contains the frontend and backend processes for the ROV. For the frontend, the surface (computer) connects the user interface with the cameras and gamepad, allowing us to display the camera steams, controls, and readouts needed to successfully pilot the ROV. For the backend, the surface sends and receives information to and from the Raspberry Pi inside of the ROV, allows us to send outputs to the thrusters and tools in order to fully operate the ROV.
 
 ### System Architecture 
 
-Shown below is a diagram showing the X18 system architecture. Each white box represents a ROS node and each arrow represents a topic which is published and subscribed to. 
+Shown below is a diagram showing the X17 system architecture. Each white box represents a ROS node and each arrow represents a topic which is published and subscribed to. 
 
 <div align="center">
   <img src="https://github.com/purduerov/X16-Surface/assets/115110018/0f7b27da-1e25-4b1f-817c-2d3890259eed" alt="x16_system_architecture" width="650" height="450" /><br>
-  <i>X18 System Architecture</i>
+  <i>X16 System Architecture</i>
 </div>
 
 ### Dependencies
@@ -73,7 +73,7 @@ To see all of the dependenices used for this system, navigate to **X17-Surface >
 
 This file is generated by running the following command while in the directory:
 ```bash
-pipreqs X18-Surface
+pipreqs X17-Surface
 ```
 
 To install all of the dependancies for the frontend, you can run the following command:
@@ -104,7 +104,7 @@ All of the information needed for use of the X17 ROV can be found below.
   ```
 #### Launching the User Interface
 
-- The user interface can be launched by running the main file in **X18Surface > ui > src**
+- The user interface can be launched by running the main file in **X17Surface > ui > src**
 - This will automatically launch and bring up the camera streams
 - Upon closing the user interface, these processes will be killed
 
@@ -210,15 +210,17 @@ https://chat.openai.com/
 
 ### Documentation
 
-For more documentation on using X18 Surface, visit the Purdue ROV BookStack.
+For more documentation on using X17 Surface, visit the Purdue ROV BookStack.
 
 ## Credits
 
-X18 Software has been a collaborative effort involving the dedication and contributions of many individuals, including:
+X17 Software has been a collaborative effort involving the dedication and contributions of many individuals, including:
 
 ### Project Team
-- **Software Lead:** Aditya Nawandhar, Kira Yang
-- **CV Lead:** Aran P
+- **Software Lead:** Xavier Callait
+- **Frontend Leads:** Ethan Burmane, Caden Brennan
+- **Sensors Lead:** Adam Kahl
+- **CV Lead:** Anna Arnaudova
 
 ### Special Thanks
 - **Purdue IEEE:** For their ongoing support and collaboration.

frontend/launch/surface_launch.py

@@ -2,6 +2,7 @@
 from launch_ros.actions import Node
 from launch.actions import TimerAction
 
+
 def generate_launch_description():
     return LaunchDescription(
         [
@@ -10,16 +11,16 @@ def generate_launch_description():
                 executable="app.py",
                 namespace="rov",
             ),
-            # Node(
-            #     package='controller',
-            #     executable='sender.py',
-            #     namespace='rov',
-            # ),
-            # Node(
-            #     package="mediamtx_node",
-            #     executable="mediamtx_node.py",
-            #     namespace="rov",
-            # ),
+            Node(
+                package="controller",
+                executable="sender.py",
+                namespace="rov",
+            ),
+            Node(
+                package="mediamtx_node",
+                executable="mediamtx_node.py",
+                namespace="rov",
+            ),
             TimerAction(
                 period=5.0,  # Delay for n seconds
                 actions=[
@@ -29,10 +30,10 @@ def generate_launch_description():
                         namespace="rov",
                     ),
                     Node(
-                        package='ui_subscriber',
-                        executable='ui_subscriber.py',
-                        namespace='rov',
-                    )
+                        package="ui_subscriber",
+                        executable="ui_subscriber.py",
+                        namespace="rov",
+                    ),
                 ],
             ),
         ]

frontend/launch/surface_launch.yaml

@@ -5,7 +5,7 @@ launch:
     exec: app.py
     namespace: rov
 
-# - node:
-#     pkg: controller
-#     exec: sender.py
-#     namespace: rov
+- node:
+    pkg: controller
+    exec: sender.py
+    namespace: rov

frontend/src/app.py

@@ -21,6 +21,7 @@
 from frontend_utils.recording_api import RecordingRoutes  # Import the new module
 from frontend_utils.controller_api import ControllerRoutes  # Import the new module
 
+
 class Frontend(Node):
     def __init__(self):
         super().__init__("frontend")
@@ -42,10 +43,10 @@ def __init__(self):
 
         # Get camera URLs from environment variables or use defaults
         self.camera_urls = {
-            'camera1': os.getenv('CAMERA1_URL', 'http://localhost:8889/camera_1'),
-            'camera2': os.getenv('CAMERA2_URL', 'http://localhost:8889/camera_2'),
-            'camera3': os.getenv('CAMERA3_URL', 'http://localhost:8889/camera_3'),
-            'camera4': os.getenv('CAMERA4_URL', 'http://localhost:8889/camera_4')
+            "camera1": os.getenv("CAMERA1_URL", "http://localhost:8889/camera_1"),
+            "camera2": os.getenv("CAMERA2_URL", "http://localhost:8889/camera_2"),
+            "camera3": os.getenv("CAMERA3_URL", "http://localhost:8889/camera_3"),
+            "camera4": os.getenv("CAMERA4_URL", "http://localhost:8889/camera_4"),
         }
 
         self.get_logger().info(f"Camera URLs: {self.camera_urls}")
@@ -79,56 +80,73 @@ def setup_routes(self):
         # Default Route
         @self.app.route("/")
         def index():
-            return redirect(url_for("new_ui"), code=302)
-        
+            return redirect(url_for("home"), code=302)
+
         # Main UI
-        @self.app.route("/ui")
-        def new_ui():
-            return render_template("innovative_ui.html", camera_urls=self.camera_urls)
-        
+        @self.app.route("/home")
+        def home():
+            return render_template(
+                "innovative_ui.html", active_page="home", camera_urls=self.camera_urls
+            )
+
         ### -------- CAMERA PAGES -------- ###
 
         @self.app.route("/all-cameras")
         def all_cameras():
-            return render_template("all_cameras.html", active_page='all-cameras', camera_urls=self.camera_urls)
-        
+            return render_template(
+                "all_cameras.html",
+                active_page="all-cameras",
+                camera_urls=self.camera_urls,
+            )
+
         @self.app.route("/fullscreen-camera")
         def fullscreen_camera():
-            camera = request.args.get('camera', '1')  # Default to camera 1 if not specified
-            return render_template("fullscreen_camera.html", active_page='fullscreen-camera', camera=camera, camera_urls=self.camera_urls)
-        
+            camera = request.args.get(
+                "camera", "1"
+            )  # Default to camera 1 if not specified
+            return render_template(
+                "fullscreen_camera.html",
+                active_page="fullscreen-camera",
+                camera=camera,
+                camera_urls=self.camera_urls,
+            )
+
         ### -------- UTILITY PAGES -------- ###
 
         # The thrust testing page
         @self.app.route("/thruster-testing")
         def thrust_testing():
-            return render_template("thruster_testing.html", active_page='thruster-testing')
-        
+            return render_template(
+                "thruster_testing.html", active_page="thruster-testing"
+            )
+
         # Node status page
         @self.app.route("/node-status")
         def node_status():
-            return render_template("node_status.html", active_page='node-status')
-        
+            return render_template("node_status.html", active_page="node-status")
+
         # Logs page
         @self.app.route("/logs")
         def logs():
-            return render_template("logs.html", active_page='logs')
-        
+            return render_template("logs.html", active_page="logs")
+
         # Recordings page
         @self.app.route("/recordings")
         def recordings_page():
-            return render_template("recordings.html", active_page='recordings')
-        
+            return render_template("recordings.html", active_page="recordings")
+
         @self.app.route("/controller-mapping")
         def controller_mapping():
-            return render_template("controller_mapping.html", active_page='controller-mapping')
+            return render_template(
+                "controller_mapping.html", active_page="controller-mapping"
+            )
 
     # Function to setup the socketio events
     def setup_socketio_events(self):
         @self.socketio.on("connect")
         def connect():
             # Only log first connection in a session, not reconnects
-            if not hasattr(self, '_session_started'):
+            if not hasattr(self, "_session_started"):
                 self.get_logger().info("SocketIO client connected")
                 self._session_started = True
 
@@ -147,29 +165,30 @@ def handle_all_events(event, data=None):
                     self.get_logger().debug(f"Frontend event: {event}")
                 # Handle the event
                 handle_frontend_event(self, event, data)
-            
+
             # Silently handle log-related events
             elif event.startswith("request_logs") or event.startswith("clear_logs"):
                 pass
-                
+
             # Forward all other events
             else:
                 self.socketio.emit(event, data)
 
+
 def main():
     rclpy.init()
     frontend = Frontend()
-    
+
     # Silent exit on SIGINT - just terminate immediately
     def silent_exit(sig, frame):
         # Exit without any logging or cleanup
         frontend.log_helper.stop_log_monitor()
         os._exit(0)  # exit immediately without cleanup
-    
+
     # Register the signal handler
     signal.signal(signal.SIGINT, silent_exit)
     signal.signal(signal.SIGTERM, silent_exit)
-    
+
     try:
         rclpy.spin(frontend)
     except KeyboardInterrupt:
@@ -180,5 +199,6 @@ def silent_exit(sig, frame):
         frontend.log_helper.stop_log_monitor()
         sys.exit(0)
 
+
 if __name__ == "__main__":
     main()

frontend/src/frontend_utils/controller_api.py

@@ -2,23 +2,30 @@
 import json
 from flask import jsonify, request
 
+
 class ControllerRoutes:
     def __init__(self, app, logger):
         self.app = app
         self.logger = logger
-        self.config_file = os.path.join(os.getcwd(), 'ros', 'controller', 'src', 'mappings.json')
+        self.config_file = os.path.join(
+            os.getcwd(), "ros", "controller", "src", "mappings.json"
+        )
         self.register_routes()
 
     def load_configs(self):
         """Load controller configurations from file"""
         try:
             # Only log at debug level for routine operations
-            self.logger.debug(f"Loading controller configurations from {self.config_file}")
-            with open(self.config_file, 'r') as f:
+            self.logger.debug(
+                f"Loading controller configurations from {self.config_file}"
+            )
+            with open(self.config_file, "r") as f:
                 configs = json.load(f)
                 # Log config names at debug level
                 config_names = list(configs.keys())
-                self.logger.debug(f"Loaded {len(config_names)} configurations: {config_names}")
+                self.logger.debug(
+                    f"Loaded {len(config_names)} configurations: {config_names}"
+                )
                 return configs
         except FileNotFoundError:
             self.logger.warning(f"Configuration file not found: {self.config_file}")
@@ -32,22 +39,22 @@ def save_config(self, mapping):
         pass
         self.logger.info(f"Saving configs: {mapping}")
         os.makedirs(os.path.dirname(self.config_file), exist_ok=True)
-        with open(self.config_file, 'w') as f:
+        with open(self.config_file, "w") as f:
             json.dump(mapping, f, indent=2)
 
     def register_routes(self):
         """Register all controller-related routes with the Flask app"""
 
-        @self.app.route('/api/controller/configs', methods=['GET'])
+        @self.app.route("/api/controller/configs", methods=["GET"])
         def get_configs():
             """Get current controller button configuration"""
             configs = self.load_configs()
             # Only return a list of the keys in the mapping
             configs = list(configs.keys())
             self.logger.info(f"Current configs: {configs}")
             return jsonify(configs)
-        
-        @self.app.route('/api/controller/configs/<config_name>', methods=['GET'])
+
+        @self.app.route("/api/controller/configs/<config_name>", methods=["GET"])
         def get_config(config_name):
             """Get a specific controller button configuration"""
             configs = self.load_configs()
@@ -56,26 +63,26 @@ def get_config(config_name):
                 # self.logger.info(f"Config for {config_name}: {config}")
                 return jsonify(config)
             else:
-                return jsonify({'error': 'Config not found'}), 404
+                return jsonify({"error": "Config not found"}), 404
 
-        @self.app.route('/api/controller/configs/<config_name>', methods=['PUT'])
+        @self.app.route("/api/controller/configs/<config_name>", methods=["PUT"])
         def update_config(config_name):
             """Update controller button configurations"""
             configs = self.load_configs()
             new_config = request.json
             configs[config_name] = new_config
             self.save_config(configs)
             self.logger.info(f"Updated config for {config_name}: {new_config}")
-            return jsonify({'message': 'Config updated successfully'}), 200
-        
-        @self.app.route('/api/controller/configs/<config_name>', methods=['DELETE'])
+            return jsonify({"message": "Config updated successfully"}), 200
+
+        @self.app.route("/api/controller/configs/<config_name>", methods=["DELETE"])
         def delete_config(config_name):
             """Delete a specific controller button configuration"""
             configs = self.load_configs()
             if config_name in configs:
                 del configs[config_name]
                 self.save_config(configs)
                 self.logger.info(f"Deleted config for {config_name}")
-                return jsonify({'message': 'Config deleted successfully'}), 200
+                return jsonify({"message": "Config deleted successfully"}), 200
             else:
-                return jsonify({'error': 'Config not found'}), 404
+                return jsonify({"error": "Config not found"}), 404