init
This commit is contained in:
@@ -0,0 +1,5 @@
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node_modules/
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dist/
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*.log
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*.tsbuildinfo
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.env
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@@ -0,0 +1,127 @@
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# Модуль Г — веб-интерфейс FMS
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Одностраничная панель управления двумя роверами. Стек: React, TypeScript, Vite,
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Tailwind CSS 4, Bun и небольшой ROS 2-мост на Python.
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## Что реализовано
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- выбор RMC1 или RMC2;
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- положение, скорость и история движения обоих роверов;
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- ArUco-граф 6 × 6 с координатами маркеров 0–35;
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- карта занятости RMC1 из `/map`;
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- облако точек `/RMC*/scan`, повернутое и перенесённое вместе с ровером;
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- план Nav2 из `/RMC*/plan` и текущая целевая точка;
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- ручное управление кнопками и клавишами W/A/S/D, для RMC1 также Q/E;
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- watchdog: после отпускания клавиши или потери окна скорость обнуляется;
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- установка текущей позиции через `/RMC*/initialpose` без движения ровера;
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- автономная цель через Nav2, с простым контроллером по одометрии как fallback;
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- независимый аварийный стоп с отменой активной Nav2-задачи;
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- схват RMC1 и лифт RMC2;
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- вольтаж из стандартных ROS-топиков, если такой топик доступен в окружении;
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- WebSocket-телеметрия с частотой 5 Гц;
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- mock-режим для проверки вебки без ROS/Webots.
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## Запуск на VM
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Нужен Bun и уже собранное ROS 2-окружение соревнования.
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```bash
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cd ~/scripts/mvch/module4
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bun install
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bun run build
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```
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В каждом ROS-терминале сначала подключить Jazzy и workspace:
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```bash
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source /opt/ros/jazzy/setup.bash
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source ~/ros2_ws/install/setup.bash
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```
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1. Запустить карту с двумя роверами:
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```bash
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ros2 launch ar_webots_fms_ros2 module5.launch.py
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```
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2. Для полноценной автономной навигации RMC1 запустить Nav2:
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```bash
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ros2 launch ar_nav_ros2 bringup_launch.py namespace:=/RMC1 robot_type:=rmc1
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```
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Если Nav2 в образе не установлен или action недоступен, ROS-мост автоматически
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использует простой контроллер по одометрии. Он доводит оба ровера до x/y/yaw, но
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не строит обход сложных препятствий, поэтому Nav2 для RMC1 предпочтительнее.
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3. В третьем, также ROS-sourced терминале запустить FMS:
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```bash
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cd ~/scripts/mvch/module4
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bun run start
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```
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Открыть <http://localhost:3000>. Сервер Bun сам запускает
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`server/ros_bridge.py`; отдельно стартовать Python-файл не нужно.
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Для разработки с Vite HMR:
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```bash
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bun run dev
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```
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Страница будет на <http://localhost:5173>, API — на порту 3001.
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## Быстрая проверка без симулятора
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```bash
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bun run build
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MOCK_ROS=1 bun run start
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```
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Mock не используется на соревновании. Он нужен только для проверки кнопок,
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WebSocket и компоновки интерфейса.
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## ROS-топики
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| Назначение | RMC1 | RMC2 |
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| --- | --- | --- |
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| Одометрия | `/RMC1/odometry` | `/RMC2/odometry` |
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| Лидар | `/RMC1/scan` | `/RMC2/scan` |
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| Ручная скорость | `/RMC1/cmd_vel` | `/RMC2/cmd_vel` |
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| Начальная позиция | `/RMC1/initialpose` | `/RMC2/initialpose` |
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| Цель | `/RMC1/goal_pose` | `/RMC2/goal_pose` |
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| План | `/RMC1/plan` | `/RMC2/plan` |
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| Рабочий инструмент | `.../gripper_trajectory_controller/joint_trajectory` | `/RMC2/lift` |
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Дополнительно используются `/map`, `/RMC2/aruco_id` и
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`/RMC2/lift_status`.
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Симулятор из открытого пакета не публикует напряжение аккумуляторов. Мост уже
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подписан на `/RMC*/battery_state` (`sensor_msgs/BatteryState`) и
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`/RMC*/battery_voltage` (`std_msgs/Float64`). Если на площадке топика тоже не
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будет, интерфейс честно покажет `нет топика`, а не фиктивное значение.
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## HTTP API
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- `GET /api/health` — состояние Bun и ROS-моста;
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- `GET /api/state` — последний снимок телеметрии;
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- `POST /api/command` — команда управления;
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- `WS /ws` — телеметрия в реальном времени.
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Пример остановки RMC1:
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```bash
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curl -X POST http://localhost:3000/api/command \
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-H 'content-type: application/json' \
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-d '{"type":"emergency","robot":"RMC1","active":true}'
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```
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## Проверки
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|
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```bash
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bun run check
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bun test
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bun run build
|
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python3 -m py_compile server/ros_bridge.py
|
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```
|
||||
@@ -0,0 +1,298 @@
|
||||
{
|
||||
"lockfileVersion": 2,
|
||||
"configVersion": 1,
|
||||
"workspaces": {
|
||||
"": {
|
||||
"name": "mvch-module4-fms",
|
||||
"dependencies": {
|
||||
"@tailwindcss/vite": "^4.2.2",
|
||||
"@vitejs/plugin-react-swc": "^3.11.0",
|
||||
"react": "^19.2.5",
|
||||
"react-dom": "^19.2.5",
|
||||
"tailwindcss": "^4.2.2",
|
||||
"vite": "^6.4.2",
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/bun": "latest",
|
||||
"@types/react": "^19.2.14",
|
||||
"@types/react-dom": "^19.2.3",
|
||||
"typescript": "~5.8.3",
|
||||
},
|
||||
},
|
||||
},
|
||||
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||||
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|
||||
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||||
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"lightningcss-linux-x64-gnu": ["lightningcss-linux-x64-gnu@1.32.0", "", { "os": "linux", "cpu": "x64" }, "sha512-V7Qr52IhZmdKPVr+Vtw8o+WLsQJYCTd8loIfpDaMRWGUZfBOYEJeyJIkqGIDMZPwPx24pUMfwSxxI8phr/MbOA=="],
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"lightningcss-linux-x64-musl": ["lightningcss-linux-x64-musl@1.32.0", "", { "os": "linux", "cpu": "x64" }, "sha512-bYcLp+Vb0awsiXg/80uCRezCYHNg1/l3mt0gzHnWV9XP1W5sKa5/TCdGWaR/zBM2PeF/HbsQv/j2URNOiVuxWg=="],
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"lightningcss-win32-arm64-msvc": ["lightningcss-win32-arm64-msvc@1.32.0", "", { "os": "win32", "cpu": "arm64" }, "sha512-8SbC8BR40pS6baCM8sbtYDSwEVQd4JlFTOlaD3gWGHfThTcABnNDBda6eTZeqbofalIJhFx0qKzgHJmcPTnGdw=="],
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"lightningcss-win32-x64-msvc": ["lightningcss-win32-x64-msvc@1.32.0", "", { "os": "win32", "cpu": "x64" }, "sha512-Amq9B/SoZYdDi1kFrojnoqPLxYhQ4Wo5XiL8EVJrVsB8ARoC1PWW6VGtT0WKCemjy8aC+louJnjS7U18x3b06Q=="],
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"picomatch": ["picomatch@4.0.7", "", {}, "sha512-qcJu88Q2IWqJsDD529JKMdwGm/dvInW4HvQnRwiH9JtihJvzGOscDtHE3x1pBKeUOTysQ8kVmLnJ2kJu7yhcGA=="],
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"postcss": ["postcss@8.5.28", "", { "dependencies": { "nanoid": "^3.3.18", "picocolors": "^1.1.1", "source-map-js": "^1.2.1" } }, "sha512-RRuzqDtt5Y9h3quz5hWhK+TPnsmVs6WwSU6LkJMeY4HstUEDuYTG8UJSdawMRzmzAtV+KEoG8N3Qg2qLy5vM/A=="],
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"react": ["react@19.2.8", "", {}, "sha512-PWaYA1L/q9u2u7xYQi+Y3L3Yfnie7XyLeaJICV1MGD6LprsBxcAqGjYyr0eY3p+QdsA+x/Irkt4Qif8D63+Sbw=="],
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"react-dom": ["react-dom@19.2.8", "", { "dependencies": { "scheduler": "^0.27.0" }, "peerDependencies": { "react": "^19.2.8" } }, "sha512-rVprimfGBG3DR+Tq0IQG2DT5PxKth1WIGDmj5yPmlzr4YBe7uyE+Du4oVqTDXZSHGGGXRtTJEGSSePyQCMBglQ=="],
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"rollup": ["rollup@4.63.1", "", { "dependencies": { "@types/estree": "1.0.9" }, "optionalDependencies": { "@napi-rs/lzma-linux-x64-gnu": "1.5.1", "@rollup/rollup-android-arm-eabi": "4.63.1", "@rollup/rollup-android-arm64": "4.63.1", "@rollup/rollup-darwin-arm64": "4.63.1", "@rollup/rollup-darwin-x64": "4.63.1", "@rollup/rollup-freebsd-arm64": "4.63.1", "@rollup/rollup-freebsd-x64": "4.63.1", "@rollup/rollup-linux-arm-gnueabihf": "4.63.1", "@rollup/rollup-linux-arm-musleabihf": "4.63.1", "@rollup/rollup-linux-arm64-gnu": "4.63.1", "@rollup/rollup-linux-arm64-musl": "4.63.1", "@rollup/rollup-linux-loong64-gnu": "4.63.1", "@rollup/rollup-linux-loong64-musl": "4.63.1", "@rollup/rollup-linux-ppc64-gnu": "4.63.1", "@rollup/rollup-linux-ppc64-musl": "4.63.1", "@rollup/rollup-linux-riscv64-gnu": "4.63.1", "@rollup/rollup-linux-riscv64-musl": "4.63.1", "@rollup/rollup-linux-s390x-gnu": "4.63.1", "@rollup/rollup-linux-x64-gnu": "4.63.1", "@rollup/rollup-linux-x64-musl": "4.63.1", "@rollup/rollup-openbsd-x64": "4.63.1", "@rollup/rollup-openharmony-arm64": "4.63.1", "@rollup/rollup-win32-arm64-msvc": "4.63.1", "@rollup/rollup-win32-ia32-msvc": "4.63.1", "@rollup/rollup-win32-x64-gnu": "4.63.1", "@rollup/rollup-win32-x64-msvc": "4.63.1", "fsevents": "~2.3.2" }, "bin": { "rollup": "dist/bin/rollup" } }, "sha512-3Df9jsstwhccuEfmAMi9l8XUh/GOkVObmFTU7CCVBysEbcOZLl84jCtaAZMcPiMz2EGKsATzQcU+Xr3n/wU6cg=="],
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|
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"tapable": ["tapable@2.3.3", "", {}, "sha512-uxc/zpqFg6x7C8vOE7lh6Lbda8eEL9zmVm/PLeTPBRhh1xCgdWaQ+J1CUieGpIfm2HdtsUpRv+HshiasBMcc6A=="],
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|
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"tinyglobby": ["tinyglobby@0.2.17", "", { "dependencies": { "fdir": "^6.5.0", "picomatch": "^4.0.4" } }, "sha512-wXR/dYpcqKmfWpEdZjiKJOwCNFndD0DMnrW/cYjVGttEkBfVgcLFHoNrlj47mjOVic9yyNu65alsgF4NQyTa2g=="],
|
||||
|
||||
"typescript": ["typescript@5.8.3", "", { "bin": { "tsc": "bin/tsc", "tsserver": "bin/tsserver" } }, "sha512-p1diW6TqL9L07nNxvRMM7hMMw4c5XOo/1ibL4aAIGmSAt9slTE1Xgw5KWuof2uTOvCg9BY7ZRi+GaF+7sfgPeQ=="],
|
||||
|
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|
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|
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|
||||
|
||||
"@tailwindcss/oxide-wasm32-wasi/@emnapi/core": ["@emnapi/core@1.11.3", "", { "dependencies": { "@emnapi/wasi-threads": "1.2.3", "tslib": "^2.4.0" }, "bundled": true }, "sha512-zLpS5asjEb7lq8jYLq37N6XKaE41DIexlY1rF/z4/tIl3wo13Sqm28fRyfIsKZD+NZ8mM5RoKkpW/rBcuoSZSg=="],
|
||||
|
||||
"@tailwindcss/oxide-wasm32-wasi/@emnapi/runtime": ["@emnapi/runtime@1.11.3", "", { "dependencies": { "tslib": "^2.4.0" }, "bundled": true }, "sha512-Xz4Tpyki7XyrpbUK1jR1AhdAdaXyhhY4lZ3neLodmhpuWfy2PAQN5B46sAiU4liOXGLkHypn/qU+jvfWSCYYLA=="],
|
||||
|
||||
"@tailwindcss/oxide-wasm32-wasi/@emnapi/wasi-threads": ["@emnapi/wasi-threads@1.2.3", "", { "dependencies": { "tslib": "^2.4.0" }, "bundled": true }, "sha512-ELEBe8PsLvvJ6QMr0zLt8ffvOHW/dc1m3CEzNMg7aJUv3bMaoDtw2TXyDAwkYBuroxxuHEwhRTLJSe5sya547g=="],
|
||||
|
||||
"@tailwindcss/oxide-wasm32-wasi/@napi-rs/wasm-runtime": ["@napi-rs/wasm-runtime@1.2.3", "", { "dependencies": { "@tybys/wasm-util": "^0.10.3" }, "peerDependencies": { "@emnapi/core": "^1.7.1 || ^2.0.0-alpha.4", "@emnapi/runtime": "^1.7.1 || ^2.0.0-alpha.4" }, "bundled": true }, "sha512-UMduMbqO5s5zF2NkNacMT/yK5Y5QiKvWr2+50bzIIxFDwVJ2h49b+oyjaCGPhJxd2/gC2x39EHv/gHVuu36x2Q=="],
|
||||
|
||||
"@tailwindcss/oxide-wasm32-wasi/@tybys/wasm-util": ["@tybys/wasm-util@0.10.3", "", { "dependencies": { "tslib": "^2.4.0" }, "bundled": true }, "sha512-F3fo1MYrRJYL3zER0OUOmkutjr1Vp23m7OsSgp7nq4SP6OqX6C/56XFIPAl5bt3zaBRjmW7SGz3u/6LwFpYcOg=="],
|
||||
|
||||
"@tailwindcss/oxide-wasm32-wasi/tslib": ["tslib@2.8.1", "", { "bundled": true }, "sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w=="],
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
<!doctype html>
|
||||
<html lang="ru">
|
||||
<head>
|
||||
<meta charset="UTF-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<meta name="theme-color" content="#0f172a" />
|
||||
<title>MVCH FMS - модуль Г</title>
|
||||
</head>
|
||||
<body>
|
||||
<div id="root"></div>
|
||||
<script type="module" src="/src/main.tsx"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,29 @@
|
||||
{
|
||||
"name": "mvch-module4-fms",
|
||||
"private": true,
|
||||
"version": "1.0.0",
|
||||
"type": "module",
|
||||
"scripts": {
|
||||
"dev": "bun run scripts/dev.ts",
|
||||
"mock": "MOCK_ROS=1 bun run scripts/dev.ts",
|
||||
"build": "tsc -b && vite build",
|
||||
"start": "bun run server/index.ts",
|
||||
"run": "bun run build && bun run start",
|
||||
"check": "tsc -b",
|
||||
"test": "bun test"
|
||||
},
|
||||
"dependencies": {
|
||||
"@tailwindcss/vite": "^4.2.2",
|
||||
"@vitejs/plugin-react-swc": "^3.11.0",
|
||||
"react": "^19.2.5",
|
||||
"react-dom": "^19.2.5",
|
||||
"tailwindcss": "^4.2.2",
|
||||
"vite": "^6.4.2"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/bun": "latest",
|
||||
"@types/react": "^19.2.14",
|
||||
"@types/react-dom": "^19.2.3",
|
||||
"typescript": "~5.8.3"
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
const bun = process.execPath
|
||||
const env = { ...process.env, NODE_ENV: 'development' }
|
||||
const backend = Bun.spawn([bun, 'run', 'server/index.ts'], { env, stdin: 'inherit', stdout: 'inherit', stderr: 'inherit' })
|
||||
const frontend = Bun.spawn([bun, 'x', 'vite'], { env, stdin: 'inherit', stdout: 'inherit', stderr: 'inherit' })
|
||||
|
||||
async function stop(): Promise<void> {
|
||||
backend.kill()
|
||||
frontend.kill()
|
||||
}
|
||||
|
||||
process.on('SIGINT', stop)
|
||||
process.on('SIGTERM', stop)
|
||||
|
||||
const result = await Promise.race([backend.exited, frontend.exited])
|
||||
await stop()
|
||||
process.exit(result)
|
||||
|
||||
export {}
|
||||
@@ -0,0 +1,42 @@
|
||||
import type { Command, Pose, RobotId } from '../src/types'
|
||||
|
||||
const ROBOTS: RobotId[] = ['RMC1', 'RMC2']
|
||||
|
||||
function isRobot(value: unknown): value is RobotId {
|
||||
return typeof value === 'string' && ROBOTS.includes(value as RobotId)
|
||||
}
|
||||
|
||||
function isFiniteNumber(value: unknown): value is number {
|
||||
return typeof value === 'number' && Number.isFinite(value)
|
||||
}
|
||||
|
||||
function isPose(value: unknown): value is Pose {
|
||||
if (!value || typeof value !== 'object') return false
|
||||
const pose = value as Record<string, unknown>
|
||||
return isFiniteNumber(pose.x) && isFiniteNumber(pose.y) && isFiniteNumber(pose.yaw)
|
||||
}
|
||||
|
||||
export function isCommand(value: unknown): value is Command {
|
||||
if (!value || typeof value !== 'object') return false
|
||||
const command = value as Record<string, unknown>
|
||||
if (!isRobot(command.robot) || typeof command.type !== 'string') return false
|
||||
|
||||
switch (command.type) {
|
||||
case 'manual':
|
||||
return isFiniteNumber(command.x) && isFiniteNumber(command.y) && isFiniteNumber(command.yaw)
|
||||
case 'stop':
|
||||
case 'cancel_goal':
|
||||
return true
|
||||
case 'emergency':
|
||||
return typeof command.active === 'boolean'
|
||||
case 'set_pose':
|
||||
case 'set_goal':
|
||||
return isPose(command.pose)
|
||||
case 'lift':
|
||||
return command.robot === 'RMC2' && (command.height === 0 || command.height === 0.1)
|
||||
case 'gripper':
|
||||
return command.robot === 'RMC1' && (command.state === 'open' || command.state === 'closed')
|
||||
default:
|
||||
return false
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,133 @@
|
||||
import { dirname, join } from 'node:path'
|
||||
import type { Server, ServerWebSocket } from 'bun'
|
||||
import type { Command, FmsState } from '../src/types'
|
||||
import { isCommand } from './commands'
|
||||
import { applyMockCommand, initialState, tickMock } from './state'
|
||||
|
||||
type WsData = { connectedAt: number }
|
||||
|
||||
const moduleDir = dirname(dirname(import.meta.path))
|
||||
const port = Number(process.env.PORT ?? (process.env.NODE_ENV === 'development' ? 3001 : 3000))
|
||||
const mock = process.env.MOCK_ROS === '1'
|
||||
let state = initialState(mock ? 'mock' : 'ros')
|
||||
let bridge: Bun.Subprocess<'pipe', 'pipe', 'inherit'> | null = null
|
||||
|
||||
function json(data: unknown, status = 200): Response {
|
||||
return Response.json(data, { status, headers: { 'cache-control': 'no-store' } })
|
||||
}
|
||||
|
||||
function sendToBridge(command: Command): boolean {
|
||||
if (mock) {
|
||||
applyMockCommand(state, command)
|
||||
return true
|
||||
}
|
||||
if (!bridge?.stdin) return false
|
||||
bridge.stdin.write(`${JSON.stringify(command)}\n`)
|
||||
bridge.stdin.flush()
|
||||
return true
|
||||
}
|
||||
|
||||
function broadcast(server: Server<WsData>): void {
|
||||
server.publish('telemetry', JSON.stringify(state))
|
||||
}
|
||||
|
||||
async function readBridge(server: Server<WsData>): Promise<void> {
|
||||
if (!bridge?.stdout) return
|
||||
const decoder = new TextDecoder()
|
||||
let pending = ''
|
||||
for await (const chunk of bridge.stdout) {
|
||||
pending += decoder.decode(chunk, { stream: true })
|
||||
const lines = pending.split('\n')
|
||||
pending = lines.pop() ?? ''
|
||||
for (const line of lines) {
|
||||
if (!line.trim()) continue
|
||||
try {
|
||||
const next = JSON.parse(line) as FmsState
|
||||
if (next.type === 'state') {
|
||||
state = next
|
||||
state.mode = 'ros'
|
||||
state.bridgeOnline = true
|
||||
state.bridgeError = null
|
||||
broadcast(server)
|
||||
}
|
||||
} catch {
|
||||
console.error(`[ROS bridge] invalid JSON: ${line.slice(0, 180)}`)
|
||||
}
|
||||
}
|
||||
}
|
||||
state.bridgeOnline = false
|
||||
state.bridgeError = `ROS bridge stopped (code ${await bridge.exited})`
|
||||
broadcast(server)
|
||||
}
|
||||
|
||||
function startBridge(server: Server<WsData>): void {
|
||||
if (mock) {
|
||||
setInterval(() => {
|
||||
tickMock(state)
|
||||
broadcast(server)
|
||||
}, 100)
|
||||
return
|
||||
}
|
||||
|
||||
bridge = Bun.spawn(['python3', join(moduleDir, 'server', 'ros_bridge.py')], {
|
||||
cwd: moduleDir,
|
||||
stdin: 'pipe',
|
||||
stdout: 'pipe',
|
||||
stderr: 'inherit',
|
||||
env: { ...process.env, PYTHONUNBUFFERED: '1' },
|
||||
})
|
||||
void readBridge(server)
|
||||
}
|
||||
|
||||
const server = Bun.serve<WsData>({
|
||||
port,
|
||||
hostname: '0.0.0.0',
|
||||
async fetch(request, server) {
|
||||
const url = new URL(request.url)
|
||||
if (url.pathname === '/ws') {
|
||||
return server.upgrade(request, { data: { connectedAt: Date.now() } })
|
||||
? undefined
|
||||
: new Response('WebSocket upgrade failed', { status: 400 })
|
||||
}
|
||||
if (url.pathname === '/api/health') {
|
||||
return json({ ok: true, mode: state.mode, bridgeOnline: state.bridgeOnline, timestamp: Date.now() })
|
||||
}
|
||||
if (url.pathname === '/api/state') return json(state)
|
||||
if (url.pathname === '/api/command' && request.method === 'POST') {
|
||||
let body: unknown
|
||||
try {
|
||||
body = await request.json()
|
||||
} catch {
|
||||
return json({ ok: false, error: 'invalid JSON' }, 400)
|
||||
}
|
||||
if (!isCommand(body)) return json({ ok: false, error: 'invalid command' }, 400)
|
||||
if (!sendToBridge(body)) return json({ ok: false, error: 'ROS bridge is offline' }, 503)
|
||||
broadcast(server)
|
||||
return json({ ok: true })
|
||||
}
|
||||
|
||||
const relative = url.pathname === '/' ? 'index.html' : url.pathname.slice(1)
|
||||
if (relative.includes('..')) return new Response('Bad path', { status: 400 })
|
||||
const file = Bun.file(join(moduleDir, 'dist', relative))
|
||||
if (await file.exists()) return new Response(file)
|
||||
const fallback = Bun.file(join(moduleDir, 'dist', 'index.html'))
|
||||
return (await fallback.exists()) ? new Response(fallback) : new Response('Run bun run build first', { status: 404 })
|
||||
},
|
||||
websocket: {
|
||||
open(ws) {
|
||||
ws.subscribe('telemetry')
|
||||
ws.send(JSON.stringify(state))
|
||||
},
|
||||
message(ws: ServerWebSocket<WsData>, message) {
|
||||
try {
|
||||
const command: unknown = JSON.parse(String(message))
|
||||
if (isCommand(command)) sendToBridge(command)
|
||||
} catch {
|
||||
ws.send(JSON.stringify({ type: 'error', message: 'invalid command' }))
|
||||
}
|
||||
},
|
||||
},
|
||||
})
|
||||
|
||||
startBridge(server)
|
||||
console.log(`MVCH FMS: http://0.0.0.0:${port} (${mock ? 'mock' : 'ROS'})`)
|
||||
@@ -0,0 +1,504 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Small JSON <-> ROS 2 bridge for the module G web interface.
|
||||
|
||||
stdin: one JSON command per line
|
||||
stdout: one JSON state per line (only machine-readable data)
|
||||
stderr: diagnostics
|
||||
"""
|
||||
|
||||
import json
|
||||
import math
|
||||
import queue
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from copy import deepcopy
|
||||
|
||||
import rclpy
|
||||
from builtin_interfaces.msg import Duration
|
||||
from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped, Twist
|
||||
from nav_msgs.msg import OccupancyGrid, Odometry, Path
|
||||
from rclpy.action import ActionClient
|
||||
from rclpy.executors import ExternalShutdownException
|
||||
from rclpy.node import Node
|
||||
from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
|
||||
from sensor_msgs.msg import BatteryState, LaserScan
|
||||
from std_msgs.msg import Float64, String
|
||||
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
|
||||
|
||||
try:
|
||||
from nav2_msgs.action import NavigateToPose
|
||||
except ImportError:
|
||||
NavigateToPose = None
|
||||
|
||||
|
||||
ROBOTS = ("RMC1", "RMC2")
|
||||
MANUAL_TIMEOUT = 0.35
|
||||
|
||||
|
||||
def empty_robot():
|
||||
return {
|
||||
"online": False,
|
||||
"lastMessageMs": None,
|
||||
"pose": {"x": 0.0, "y": 0.0, "yaw": 0.0},
|
||||
"velocity": {"x": 0.0, "y": 0.0, "yaw": 0.0},
|
||||
"battery": None,
|
||||
"lidar": [],
|
||||
"trail": [],
|
||||
"plan": [],
|
||||
"goal": None,
|
||||
"emergency": False,
|
||||
"arucoId": None,
|
||||
"liftStatus": None,
|
||||
"gripper": "unknown",
|
||||
}
|
||||
|
||||
|
||||
def yaw_from_quaternion(q):
|
||||
siny = 2.0 * (q.w * q.z + q.x * q.y)
|
||||
cosy = 1.0 - 2.0 * (q.y * q.y + q.z * q.z)
|
||||
return math.atan2(siny, cosy)
|
||||
|
||||
|
||||
def quaternion_from_yaw(yaw):
|
||||
return 0.0, 0.0, math.sin(yaw / 2.0), math.cos(yaw / 2.0)
|
||||
|
||||
|
||||
def wrap_angle(angle):
|
||||
return math.atan2(math.sin(angle), math.cos(angle))
|
||||
|
||||
|
||||
def clamp(value, limit):
|
||||
return max(-limit, min(limit, value))
|
||||
|
||||
|
||||
class FmsBridge(Node):
|
||||
def __init__(self):
|
||||
super().__init__("mvch_fms_bridge")
|
||||
self.commands = queue.Queue()
|
||||
self.lock = threading.Lock()
|
||||
self.state = {
|
||||
"type": "state",
|
||||
"timestamp": int(time.time() * 1000),
|
||||
"mode": "ros",
|
||||
"bridgeOnline": True,
|
||||
"bridgeError": None,
|
||||
"map": None,
|
||||
"robots": {robot: empty_robot() for robot in ROBOTS},
|
||||
}
|
||||
self.last_seen = {robot: 0.0 for robot in ROBOTS}
|
||||
self.last_manual = {robot: 0.0 for robot in ROBOTS}
|
||||
self.last_sent_zero = {robot: True for robot in ROBOTS}
|
||||
self.pose_offsets = {robot: {"x": 0.0, "y": 0.0, "yaw": 0.0} for robot in ROBOTS}
|
||||
self.raw_pose = {robot: {"x": 0.0, "y": 0.0, "yaw": 0.0} for robot in ROBOTS}
|
||||
self.goal_handles = {robot: None for robot in ROBOTS}
|
||||
self.simple_goals = {robot: None for robot in ROBOTS}
|
||||
|
||||
sensor_qos = QoSProfile(
|
||||
reliability=ReliabilityPolicy.BEST_EFFORT,
|
||||
durability=DurabilityPolicy.VOLATILE,
|
||||
history=HistoryPolicy.KEEP_LAST,
|
||||
depth=5,
|
||||
)
|
||||
map_qos = QoSProfile(
|
||||
reliability=ReliabilityPolicy.RELIABLE,
|
||||
durability=DurabilityPolicy.TRANSIENT_LOCAL,
|
||||
history=HistoryPolicy.KEEP_LAST,
|
||||
depth=1,
|
||||
)
|
||||
|
||||
self.cmd_publishers = {}
|
||||
self.pose_publishers = {}
|
||||
self.goal_publishers = {}
|
||||
self.nav_clients = {}
|
||||
for robot in ROBOTS:
|
||||
self.cmd_publishers[robot] = self.create_publisher(Twist, f"/{robot}/cmd_vel", 10)
|
||||
self.pose_publishers[robot] = self.create_publisher(
|
||||
PoseWithCovarianceStamped, f"/{robot}/initialpose", 10
|
||||
)
|
||||
self.goal_publishers[robot] = self.create_publisher(PoseStamped, f"/{robot}/goal_pose", 10)
|
||||
if NavigateToPose is not None:
|
||||
self.nav_clients[robot] = ActionClient(
|
||||
self, NavigateToPose, f"/{robot}/navigate_to_pose"
|
||||
)
|
||||
self.create_subscription(
|
||||
Odometry,
|
||||
f"/{robot}/odometry",
|
||||
lambda msg, r=robot: self.on_odometry(r, msg),
|
||||
sensor_qos,
|
||||
)
|
||||
self.create_subscription(
|
||||
LaserScan,
|
||||
f"/{robot}/scan",
|
||||
lambda msg, r=robot: self.on_scan(r, msg),
|
||||
sensor_qos,
|
||||
)
|
||||
self.create_subscription(
|
||||
Path,
|
||||
f"/{robot}/plan",
|
||||
lambda msg, r=robot: self.on_path(r, msg),
|
||||
10,
|
||||
)
|
||||
self.create_subscription(
|
||||
BatteryState,
|
||||
f"/{robot}/battery_state",
|
||||
lambda msg, r=robot: self.on_battery(r, msg.voltage),
|
||||
sensor_qos,
|
||||
)
|
||||
self.create_subscription(
|
||||
Float64,
|
||||
f"/{robot}/battery_voltage",
|
||||
lambda msg, r=robot: self.on_battery(r, msg.data),
|
||||
sensor_qos,
|
||||
)
|
||||
|
||||
self.create_subscription(OccupancyGrid, "/map", self.on_map, map_qos)
|
||||
self.create_subscription(OccupancyGrid, "/RMC1/map", self.on_map, map_qos)
|
||||
self.create_subscription(String, "/RMC2/aruco_id", self.on_aruco, sensor_qos)
|
||||
self.create_subscription(String, "/RMC2/lift_status", self.on_lift_status, 10)
|
||||
self.lift_publisher = self.create_publisher(Float64, "/RMC2/lift", 10)
|
||||
self.gripper_publisher = self.create_publisher(
|
||||
JointTrajectory,
|
||||
"/RMC1/arm95/gripper_trajectory_controller/joint_trajectory",
|
||||
10,
|
||||
)
|
||||
|
||||
self.create_timer(0.05, self.process_commands_and_watchdog)
|
||||
self.create_timer(0.2, self.emit_state)
|
||||
|
||||
def mark_seen(self, robot):
|
||||
self.last_seen[robot] = time.monotonic()
|
||||
|
||||
def on_odometry(self, robot, msg):
|
||||
raw = {
|
||||
"x": float(msg.pose.pose.position.x),
|
||||
"y": float(msg.pose.pose.position.y),
|
||||
"yaw": yaw_from_quaternion(msg.pose.pose.orientation),
|
||||
}
|
||||
with self.lock:
|
||||
self.raw_pose[robot] = raw
|
||||
offset = self.pose_offsets[robot]
|
||||
pose = {
|
||||
"x": raw["x"] + offset["x"],
|
||||
"y": raw["y"] + offset["y"],
|
||||
"yaw": raw["yaw"] + offset["yaw"],
|
||||
}
|
||||
rover = self.state["robots"][robot]
|
||||
rover["pose"] = pose
|
||||
rover["velocity"] = {
|
||||
"x": float(msg.twist.twist.linear.x),
|
||||
"y": float(msg.twist.twist.linear.y),
|
||||
"yaw": float(msg.twist.twist.angular.z),
|
||||
}
|
||||
trail = rover["trail"]
|
||||
if not trail or math.hypot(pose["x"] - trail[-1]["x"], pose["y"] - trail[-1]["y"]) > 0.04:
|
||||
trail.append({"x": pose["x"], "y": pose["y"]})
|
||||
del trail[:-250]
|
||||
self.mark_seen(robot)
|
||||
|
||||
def on_scan(self, robot, msg):
|
||||
with self.lock:
|
||||
pose = self.state["robots"][robot]["pose"]
|
||||
points = []
|
||||
stride = max(1, len(msg.ranges) // 180)
|
||||
for index in range(0, len(msg.ranges), stride):
|
||||
distance = float(msg.ranges[index])
|
||||
if not math.isfinite(distance) or distance < msg.range_min or distance > msg.range_max:
|
||||
continue
|
||||
angle = msg.angle_min + index * msg.angle_increment + pose["yaw"]
|
||||
points.append(
|
||||
{
|
||||
"x": pose["x"] + math.cos(angle) * distance,
|
||||
"y": pose["y"] + math.sin(angle) * distance,
|
||||
}
|
||||
)
|
||||
self.state["robots"][robot]["lidar"] = points[:200]
|
||||
self.mark_seen(robot)
|
||||
|
||||
def on_path(self, robot, msg):
|
||||
with self.lock:
|
||||
self.state["robots"][robot]["plan"] = [
|
||||
{"x": float(p.pose.position.x), "y": float(p.pose.position.y)}
|
||||
for p in msg.poses[:: max(1, len(msg.poses) // 200)]
|
||||
][:200]
|
||||
|
||||
def on_map(self, msg):
|
||||
width, height = int(msg.info.width), int(msg.info.height)
|
||||
if not width or not height:
|
||||
return
|
||||
step = max(1, math.ceil(max(width, height) / 120))
|
||||
sampled = []
|
||||
for y in range(0, height, step):
|
||||
for x in range(0, width, step):
|
||||
sampled.append(int(msg.data[y * width + x]))
|
||||
with self.lock:
|
||||
self.state["map"] = {
|
||||
"width": math.ceil(width / step),
|
||||
"height": math.ceil(height / step),
|
||||
"resolution": float(msg.info.resolution) * step,
|
||||
"origin": {
|
||||
"x": float(msg.info.origin.position.x),
|
||||
"y": float(msg.info.origin.position.y),
|
||||
},
|
||||
"data": sampled,
|
||||
}
|
||||
|
||||
def on_battery(self, robot, value):
|
||||
if math.isfinite(float(value)):
|
||||
with self.lock:
|
||||
self.state["robots"][robot]["battery"] = round(float(value), 2)
|
||||
|
||||
def on_aruco(self, msg):
|
||||
with self.lock:
|
||||
self.state["robots"]["RMC2"]["arucoId"] = str(msg.data)
|
||||
self.mark_seen("RMC2")
|
||||
|
||||
def on_lift_status(self, msg):
|
||||
with self.lock:
|
||||
self.state["robots"]["RMC2"]["liftStatus"] = str(msg.data)
|
||||
|
||||
def publish_twist(self, robot, x=0.0, y=0.0, yaw=0.0):
|
||||
msg = Twist()
|
||||
msg.linear.x = max(-0.7, min(0.7, float(x)))
|
||||
msg.linear.y = max(-0.7, min(0.7, float(y))) if robot == "RMC1" else 0.0
|
||||
msg.angular.z = max(-1.2, min(1.2, float(yaw)))
|
||||
self.cmd_publishers[robot].publish(msg)
|
||||
|
||||
def process_commands_and_watchdog(self):
|
||||
while True:
|
||||
try:
|
||||
command = self.commands.get_nowait()
|
||||
except queue.Empty:
|
||||
break
|
||||
try:
|
||||
self.handle_command(command)
|
||||
except Exception as error:
|
||||
print(f"command error: {error}", file=sys.stderr, flush=True)
|
||||
|
||||
now = time.monotonic()
|
||||
with self.lock:
|
||||
emergency = {r: self.state["robots"][r]["emergency"] for r in ROBOTS}
|
||||
simple_goals = deepcopy(self.simple_goals)
|
||||
for robot in ROBOTS:
|
||||
stale = now - self.last_manual[robot] > MANUAL_TIMEOUT
|
||||
if emergency[robot]:
|
||||
self.publish_twist(robot)
|
||||
self.last_sent_zero[robot] = True
|
||||
elif simple_goals[robot] is not None:
|
||||
self.drive_simple_goal(robot, simple_goals[robot])
|
||||
elif stale and not self.last_sent_zero[robot]:
|
||||
self.publish_twist(robot)
|
||||
self.last_sent_zero[robot] = True
|
||||
|
||||
def handle_command(self, command):
|
||||
kind = command.get("type")
|
||||
robot = command.get("robot")
|
||||
if robot not in ROBOTS:
|
||||
return
|
||||
with self.lock:
|
||||
emergency = self.state["robots"][robot]["emergency"]
|
||||
|
||||
if kind == "manual" and not emergency:
|
||||
self.cancel_navigation(robot)
|
||||
with self.lock:
|
||||
self.simple_goals[robot] = None
|
||||
self.state["robots"][robot]["goal"] = None
|
||||
self.state["robots"][robot]["plan"] = []
|
||||
self.publish_twist(robot, command.get("x", 0), command.get("y", 0), command.get("yaw", 0))
|
||||
self.last_manual[robot] = time.monotonic()
|
||||
self.last_sent_zero[robot] = False
|
||||
elif kind == "stop":
|
||||
self.cancel_navigation(robot)
|
||||
with self.lock:
|
||||
self.simple_goals[robot] = None
|
||||
self.publish_twist(robot)
|
||||
self.last_sent_zero[robot] = True
|
||||
elif kind == "emergency":
|
||||
active = bool(command.get("active"))
|
||||
with self.lock:
|
||||
self.state["robots"][robot]["emergency"] = active
|
||||
self.publish_twist(robot)
|
||||
self.last_sent_zero[robot] = True
|
||||
if active:
|
||||
self.cancel_navigation(robot)
|
||||
with self.lock:
|
||||
self.simple_goals[robot] = None
|
||||
elif kind == "set_pose":
|
||||
self.set_pose(robot, command.get("pose", {}))
|
||||
elif kind == "set_goal" and not emergency:
|
||||
self.set_goal(robot, command.get("pose", {}))
|
||||
elif kind == "cancel_goal":
|
||||
self.cancel_navigation(robot)
|
||||
self.publish_twist(robot)
|
||||
with self.lock:
|
||||
self.simple_goals[robot] = None
|
||||
self.state["robots"][robot]["goal"] = None
|
||||
self.state["robots"][robot]["plan"] = []
|
||||
elif kind == "lift" and robot == "RMC2" and not emergency:
|
||||
height = 0.1 if float(command.get("height", 0)) >= 0.05 else 0.0
|
||||
self.lift_publisher.publish(Float64(data=height))
|
||||
with self.lock:
|
||||
self.state["robots"][robot]["liftStatus"] = "command: up" if height else "command: down"
|
||||
elif kind == "gripper" and robot == "RMC1" and not emergency:
|
||||
self.set_gripper(command.get("state") == "open")
|
||||
|
||||
def set_pose(self, robot, pose):
|
||||
x, y, yaw = float(pose.get("x", 0)), float(pose.get("y", 0)), float(pose.get("yaw", 0))
|
||||
with self.lock:
|
||||
raw = self.raw_pose[robot]
|
||||
self.pose_offsets[robot] = {"x": x - raw["x"], "y": y - raw["y"], "yaw": yaw - raw["yaw"]}
|
||||
self.state["robots"][robot]["pose"] = {"x": x, "y": y, "yaw": yaw}
|
||||
self.state["robots"][robot]["trail"] = [{"x": x, "y": y}]
|
||||
msg = PoseWithCovarianceStamped()
|
||||
msg.header.stamp = self.get_clock().now().to_msg()
|
||||
msg.header.frame_id = "map"
|
||||
msg.pose.pose.position.x = x
|
||||
msg.pose.pose.position.y = y
|
||||
qx, qy, qz, qw = quaternion_from_yaw(yaw)
|
||||
msg.pose.pose.orientation.x, msg.pose.pose.orientation.y = qx, qy
|
||||
msg.pose.pose.orientation.z, msg.pose.pose.orientation.w = qz, qw
|
||||
msg.pose.covariance[0] = msg.pose.covariance[7] = 0.25
|
||||
msg.pose.covariance[35] = 0.07
|
||||
self.pose_publishers[robot].publish(msg)
|
||||
|
||||
def make_goal(self, pose):
|
||||
goal = PoseStamped()
|
||||
goal.header.stamp = self.get_clock().now().to_msg()
|
||||
goal.header.frame_id = "map"
|
||||
goal.pose.position.x = float(pose.get("x", 0))
|
||||
goal.pose.position.y = float(pose.get("y", 0))
|
||||
qx, qy, qz, qw = quaternion_from_yaw(float(pose.get("yaw", 0)))
|
||||
goal.pose.orientation.x, goal.pose.orientation.y = qx, qy
|
||||
goal.pose.orientation.z, goal.pose.orientation.w = qz, qw
|
||||
return goal
|
||||
|
||||
def set_goal(self, robot, pose):
|
||||
goal = self.make_goal(pose)
|
||||
self.goal_publishers[robot].publish(goal)
|
||||
target = {"x": goal.pose.position.x, "y": goal.pose.position.y, "yaw": float(pose.get("yaw", 0))}
|
||||
with self.lock:
|
||||
rover = self.state["robots"][robot]
|
||||
rover["goal"] = target
|
||||
if not rover["plan"]:
|
||||
rover["plan"] = [
|
||||
{"x": rover["pose"]["x"], "y": rover["pose"]["y"]},
|
||||
{"x": target["x"], "y": target["y"]},
|
||||
]
|
||||
client = self.nav_clients.get(robot)
|
||||
if client is not None and client.server_is_ready():
|
||||
request = NavigateToPose.Goal()
|
||||
request.pose = goal
|
||||
future = client.send_goal_async(request)
|
||||
future.add_done_callback(lambda f, r=robot: self.on_goal_response(r, f))
|
||||
else:
|
||||
with self.lock:
|
||||
self.simple_goals[robot] = target
|
||||
print(f"{robot}: Nav2 is unavailable; using odometry goal controller", file=sys.stderr, flush=True)
|
||||
|
||||
def drive_simple_goal(self, robot, target):
|
||||
with self.lock:
|
||||
pose = deepcopy(self.state["robots"][robot]["pose"])
|
||||
dx = target["x"] - pose["x"]
|
||||
dy = target["y"] - pose["y"]
|
||||
distance = math.hypot(dx, dy)
|
||||
|
||||
if distance < 0.12:
|
||||
yaw_error = wrap_angle(target["yaw"] - pose["yaw"])
|
||||
if abs(yaw_error) < 0.12:
|
||||
self.publish_twist(robot)
|
||||
with self.lock:
|
||||
self.simple_goals[robot] = None
|
||||
self.last_sent_zero[robot] = True
|
||||
else:
|
||||
self.publish_twist(robot, yaw=clamp(yaw_error * 1.5, 0.65))
|
||||
self.last_sent_zero[robot] = False
|
||||
return
|
||||
|
||||
if robot == "RMC1":
|
||||
cosine, sine = math.cos(pose["yaw"]), math.sin(pose["yaw"])
|
||||
body_x = cosine * dx + sine * dy
|
||||
body_y = -sine * dx + cosine * dy
|
||||
self.publish_twist(
|
||||
robot,
|
||||
x=clamp(body_x * 0.7, 0.38),
|
||||
y=clamp(body_y * 0.7, 0.38),
|
||||
yaw=clamp(wrap_angle(target["yaw"] - pose["yaw"]), 0.45),
|
||||
)
|
||||
else:
|
||||
heading_error = wrap_angle(math.atan2(dy, dx) - pose["yaw"])
|
||||
if abs(heading_error) > 0.28:
|
||||
self.publish_twist(robot, yaw=clamp(heading_error * 1.4, 0.7))
|
||||
else:
|
||||
self.publish_twist(
|
||||
robot,
|
||||
x=min(0.32, max(0.10, distance * 0.65)),
|
||||
yaw=clamp(heading_error * 1.2, 0.45),
|
||||
)
|
||||
self.last_sent_zero[robot] = False
|
||||
|
||||
def on_goal_response(self, robot, future):
|
||||
handle = future.result()
|
||||
if handle.accepted:
|
||||
self.goal_handles[robot] = handle
|
||||
else:
|
||||
print(f"{robot}: Nav2 rejected goal", file=sys.stderr, flush=True)
|
||||
|
||||
def cancel_navigation(self, robot):
|
||||
handle = self.goal_handles.get(robot)
|
||||
if handle is not None:
|
||||
handle.cancel_goal_async()
|
||||
self.goal_handles[robot] = None
|
||||
|
||||
def set_gripper(self, opened):
|
||||
msg = JointTrajectory()
|
||||
msg.joint_names = ["left_joint", "right_joint"]
|
||||
point = JointTrajectoryPoint()
|
||||
value = 0.04 if opened else 0.0213
|
||||
point.positions = [value, value]
|
||||
point.time_from_start = Duration(sec=1)
|
||||
msg.points = [point]
|
||||
self.gripper_publisher.publish(msg)
|
||||
with self.lock:
|
||||
self.state["robots"]["RMC1"]["gripper"] = "open" if opened else "closed"
|
||||
|
||||
def emit_state(self):
|
||||
now = time.monotonic()
|
||||
with self.lock:
|
||||
for robot in ROBOTS:
|
||||
age = now - self.last_seen[robot]
|
||||
self.state["robots"][robot]["online"] = age < 2.0
|
||||
self.state["robots"][robot]["lastMessageMs"] = round(age * 1000) if self.last_seen[robot] else None
|
||||
self.state["timestamp"] = int(time.time() * 1000)
|
||||
payload = deepcopy(self.state)
|
||||
print(json.dumps(payload, ensure_ascii=False, separators=(",", ":")), flush=True)
|
||||
|
||||
|
||||
def read_commands(node):
|
||||
for line in sys.stdin:
|
||||
try:
|
||||
command = json.loads(line)
|
||||
if isinstance(command, dict):
|
||||
node.commands.put(command)
|
||||
except json.JSONDecodeError as error:
|
||||
print(f"invalid command JSON: {error}", file=sys.stderr, flush=True)
|
||||
|
||||
|
||||
def main():
|
||||
rclpy.init()
|
||||
node = FmsBridge()
|
||||
threading.Thread(target=read_commands, args=(node,), daemon=True).start()
|
||||
try:
|
||||
rclpy.spin(node)
|
||||
except (KeyboardInterrupt, ExternalShutdownException):
|
||||
pass
|
||||
finally:
|
||||
if rclpy.ok():
|
||||
for robot in ROBOTS:
|
||||
node.publish_twist(robot)
|
||||
node.destroy_node()
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,31 @@
|
||||
import { describe, expect, test } from 'bun:test'
|
||||
import { isCommand } from './commands'
|
||||
import { applyMockCommand, initialState, tickMock } from './state'
|
||||
|
||||
describe('command validation', () => {
|
||||
test('accepts valid commands', () => {
|
||||
expect(isCommand({ type: 'manual', robot: 'RMC1', x: 0.4, y: 0.2, yaw: 0 })).toBe(true)
|
||||
expect(isCommand({ type: 'lift', robot: 'RMC2', height: 0.1 })).toBe(true)
|
||||
expect(isCommand({ type: 'gripper', robot: 'RMC1', state: 'closed' })).toBe(true)
|
||||
})
|
||||
|
||||
test('rejects wrong robot tools and non-finite coordinates', () => {
|
||||
expect(isCommand({ type: 'lift', robot: 'RMC1', height: 0.1 })).toBe(false)
|
||||
expect(isCommand({ type: 'gripper', robot: 'RMC2', state: 'open' })).toBe(false)
|
||||
expect(isCommand({ type: 'set_goal', robot: 'RMC1', pose: { x: Number.NaN, y: 0, yaw: 0 } })).toBe(false)
|
||||
})
|
||||
})
|
||||
|
||||
describe('mock state', () => {
|
||||
test('emergency stop blocks motion and tool state is retained', () => {
|
||||
const state = initialState('mock')
|
||||
applyMockCommand(state, { type: 'manual', robot: 'RMC2', x: 0.5, y: 0, yaw: 0 })
|
||||
tickMock(state, 1)
|
||||
expect(state.robots.RMC2.pose.x).toBeCloseTo(0.5)
|
||||
|
||||
applyMockCommand(state, { type: 'lift', robot: 'RMC2', height: 0.1 })
|
||||
applyMockCommand(state, { type: 'emergency', robot: 'RMC2', active: true })
|
||||
expect(state.robots.RMC2.velocity.x).toBe(0)
|
||||
expect(state.robots.RMC2.liftStatus).toBe('up')
|
||||
})
|
||||
})
|
||||
@@ -0,0 +1,116 @@
|
||||
import type { Command, FmsState, Point, RobotId, RobotState } from '../src/types'
|
||||
|
||||
const robot = (x: number, y: number): RobotState => ({
|
||||
online: false,
|
||||
lastMessageMs: null,
|
||||
pose: { x, y, yaw: 0 },
|
||||
velocity: { x: 0, y: 0, yaw: 0 },
|
||||
battery: null,
|
||||
lidar: [],
|
||||
trail: [{ x, y }],
|
||||
plan: [],
|
||||
goal: null,
|
||||
emergency: false,
|
||||
arucoId: null,
|
||||
liftStatus: null,
|
||||
gripper: 'unknown',
|
||||
})
|
||||
|
||||
export function initialState(mode: 'ros' | 'mock'): FmsState {
|
||||
const mockMap = mode === 'mock' ? makeMockMap() : null
|
||||
return {
|
||||
type: 'state',
|
||||
timestamp: Date.now(),
|
||||
mode,
|
||||
bridgeOnline: mode === 'mock',
|
||||
bridgeError: null,
|
||||
map: mockMap,
|
||||
robots: { RMC1: robot(-2, 3), RMC2: robot(0, 0) },
|
||||
}
|
||||
}
|
||||
|
||||
function makeMockMap() {
|
||||
const width = 60
|
||||
const height = 60
|
||||
const data = Array<number>(width * height).fill(0)
|
||||
for (let row = 0; row < height; row += 1) {
|
||||
for (let col = 0; col < width; col += 1) {
|
||||
const border = row < 2 || col < 2 || row > height - 3 || col > width - 3
|
||||
const shelf = col >= 7 && col <= 10 && row >= 8 && row <= 46
|
||||
if (border || shelf) data[row * width + col] = 100
|
||||
}
|
||||
}
|
||||
return { width, height, resolution: 0.1, origin: { x: -5.5, y: -0.5 }, data }
|
||||
}
|
||||
|
||||
const clamp = (value: number, min: number, max: number) => Math.max(min, Math.min(max, value))
|
||||
|
||||
export function applyMockCommand(state: FmsState, command: Command): void {
|
||||
const rover = state.robots[command.robot]
|
||||
if (!rover) return
|
||||
|
||||
if (command.type === 'emergency') {
|
||||
rover.emergency = command.active
|
||||
rover.velocity = { x: 0, y: 0, yaw: 0 }
|
||||
} else if (command.type === 'stop' || command.type === 'cancel_goal') {
|
||||
rover.velocity = { x: 0, y: 0, yaw: 0 }
|
||||
if (command.type === 'cancel_goal') {
|
||||
rover.goal = null
|
||||
rover.plan = []
|
||||
}
|
||||
} else if (command.type === 'manual' && !rover.emergency) {
|
||||
rover.velocity = {
|
||||
x: clamp(command.x, -0.7, 0.7),
|
||||
y: command.robot === 'RMC1' ? clamp(command.y, -0.7, 0.7) : 0,
|
||||
yaw: clamp(command.yaw, -1.2, 1.2),
|
||||
}
|
||||
} else if (command.type === 'set_pose') {
|
||||
rover.pose = command.pose
|
||||
rover.trail = [{ x: command.pose.x, y: command.pose.y }]
|
||||
} else if (command.type === 'set_goal') {
|
||||
rover.goal = command.pose
|
||||
rover.plan = [
|
||||
{ x: rover.pose.x, y: rover.pose.y },
|
||||
{ x: command.pose.x, y: command.pose.y },
|
||||
]
|
||||
} else if (command.type === 'lift') {
|
||||
rover.liftStatus = command.height > 0 ? 'up' : 'down'
|
||||
} else if (command.type === 'gripper') {
|
||||
rover.gripper = command.state
|
||||
}
|
||||
state.timestamp = Date.now()
|
||||
}
|
||||
|
||||
export function tickMock(state: FmsState, dt = 0.1): void {
|
||||
const now = Date.now()
|
||||
for (const id of ['RMC1', 'RMC2'] as RobotId[]) {
|
||||
const rover = state.robots[id]
|
||||
rover.online = true
|
||||
rover.lastMessageMs = 0
|
||||
rover.battery = id === 'RMC1' ? 24.4 : 23.9
|
||||
rover.pose.yaw += rover.velocity.yaw * dt
|
||||
const c = Math.cos(rover.pose.yaw)
|
||||
const s = Math.sin(rover.pose.yaw)
|
||||
rover.pose.x += (rover.velocity.x * c - rover.velocity.y * s) * dt
|
||||
rover.pose.y += (rover.velocity.x * s + rover.velocity.y * c) * dt
|
||||
if (rover.trail.length === 0 || Math.hypot(rover.pose.x - rover.trail.at(-1)!.x, rover.pose.y - rover.trail.at(-1)!.y) > 0.03) {
|
||||
rover.trail.push({ x: rover.pose.x, y: rover.pose.y })
|
||||
if (rover.trail.length > 180) rover.trail.shift()
|
||||
}
|
||||
const points: Point[] = []
|
||||
for (let angle = 0; angle < Math.PI * 2; angle += Math.PI / 28) {
|
||||
const distance = 1.0 + 0.35 * Math.sin(angle * 3 + now / 1200)
|
||||
points.push({
|
||||
x: rover.pose.x + Math.cos(angle + rover.pose.yaw) * distance,
|
||||
y: rover.pose.y + Math.sin(angle + rover.pose.yaw) * distance,
|
||||
})
|
||||
}
|
||||
rover.lidar = points
|
||||
if (id === 'RMC2') {
|
||||
const row = Math.max(0, Math.min(5, Math.round(-rover.pose.x)))
|
||||
const col = Math.max(0, Math.min(5, Math.round(rover.pose.y)))
|
||||
rover.arucoId = String(row * 6 + col)
|
||||
}
|
||||
}
|
||||
state.timestamp = now
|
||||
}
|
||||
@@ -0,0 +1,395 @@
|
||||
import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
|
||||
import type { Command, FmsState, Point, Pose, RobotId, RobotState } from './types'
|
||||
|
||||
const WORLD = { minX: -5.5, maxX: 0.5, minY: -0.5, maxY: 5.5 }
|
||||
const SVG_SIZE = 600
|
||||
|
||||
const emptyRobot: RobotState = {
|
||||
online: false,
|
||||
lastMessageMs: null,
|
||||
pose: { x: 0, y: 0, yaw: 0 },
|
||||
velocity: { x: 0, y: 0, yaw: 0 },
|
||||
battery: null,
|
||||
lidar: [],
|
||||
trail: [],
|
||||
plan: [],
|
||||
goal: null,
|
||||
emergency: false,
|
||||
arucoId: null,
|
||||
liftStatus: null,
|
||||
gripper: 'unknown',
|
||||
}
|
||||
|
||||
const initialState: FmsState = {
|
||||
type: 'state',
|
||||
timestamp: 0,
|
||||
mode: 'ros',
|
||||
bridgeOnline: false,
|
||||
bridgeError: null,
|
||||
map: null,
|
||||
robots: { RMC1: emptyRobot, RMC2: emptyRobot },
|
||||
}
|
||||
|
||||
function worldToSvg(point: Point): Point {
|
||||
return {
|
||||
x: ((point.y - WORLD.minY) / (WORLD.maxY - WORLD.minY)) * SVG_SIZE,
|
||||
y: ((point.x - WORLD.minX) / (WORLD.maxX - WORLD.minX)) * SVG_SIZE,
|
||||
}
|
||||
}
|
||||
|
||||
function points(pointsValue: Point[]): string {
|
||||
return pointsValue.map(worldToSvg).map((point) => `${point.x},${point.y}`).join(' ')
|
||||
}
|
||||
|
||||
function format(value: number | null, digits = 2): string {
|
||||
return value == null || !Number.isFinite(value) ? '—' : value.toFixed(digits)
|
||||
}
|
||||
|
||||
function Card({ title, children, className = '' }: { title: string; children: React.ReactNode; className?: string }) {
|
||||
return (
|
||||
<section className={`rounded-xl border border-slate-700 bg-slate-900/80 p-4 ${className}`}>
|
||||
<h2 className="mb-3 text-sm font-semibold uppercase tracking-wide text-slate-400">{title}</h2>
|
||||
{children}
|
||||
</section>
|
||||
)
|
||||
}
|
||||
|
||||
function NumberField({ label, value, onChange }: { label: string; value: number; onChange: (value: number) => void }) {
|
||||
return (
|
||||
<label className="grid gap-1 text-xs text-slate-400">
|
||||
{label}
|
||||
<input
|
||||
className="w-full rounded-lg border border-slate-700 bg-slate-950 px-2 py-2 text-sm text-slate-100 outline-none focus:border-cyan-500"
|
||||
type="number"
|
||||
step="0.1"
|
||||
value={value}
|
||||
onChange={(event) => onChange(Number(event.target.value))}
|
||||
/>
|
||||
</label>
|
||||
)
|
||||
}
|
||||
|
||||
function FieldMap({ state, selected }: { state: FmsState; selected: RobotId }) {
|
||||
const occupied = useMemo(() => {
|
||||
if (!state.map) return []
|
||||
const result: { x: number; y: number; size: number; value: number }[] = []
|
||||
for (let row = 0; row < state.map.height; row += 1) {
|
||||
for (let col = 0; col < state.map.width; col += 1) {
|
||||
const value = state.map.data[row * state.map.width + col]
|
||||
if (value > 25) {
|
||||
result.push({
|
||||
x: state.map.origin.x + col * state.map.resolution,
|
||||
y: state.map.origin.y + row * state.map.resolution,
|
||||
size: state.map.resolution,
|
||||
value,
|
||||
})
|
||||
}
|
||||
}
|
||||
}
|
||||
return result.slice(0, 5000)
|
||||
}, [state.map])
|
||||
|
||||
const markers = Array.from({ length: 36 }, (_, id) => ({
|
||||
id,
|
||||
x: -Math.floor(id / 6),
|
||||
y: id % 6,
|
||||
}))
|
||||
|
||||
return (
|
||||
<div className="relative aspect-square min-h-[420px] overflow-hidden rounded-xl border border-slate-700 bg-slate-950">
|
||||
<svg viewBox={`0 0 ${SVG_SIZE} ${SVG_SIZE}`} className="h-full w-full" aria-label="Карта поля и телеметрия роверов">
|
||||
<rect width={SVG_SIZE} height={SVG_SIZE} fill="#020617" />
|
||||
{occupied.map((cell, index) => {
|
||||
const topLeft = worldToSvg({ x: cell.x, y: cell.y })
|
||||
const bottomRight = worldToSvg({ x: cell.x + cell.size, y: cell.y + cell.size })
|
||||
return (
|
||||
<rect
|
||||
key={`cell-${index}`}
|
||||
x={Math.min(topLeft.x, bottomRight.x)}
|
||||
y={Math.min(topLeft.y, bottomRight.y)}
|
||||
width={Math.max(1, Math.abs(bottomRight.x - topLeft.x))}
|
||||
height={Math.max(1, Math.abs(bottomRight.y - topLeft.y))}
|
||||
fill={cell.value > 65 ? '#334155' : '#1e293b'}
|
||||
opacity="0.7"
|
||||
/>
|
||||
)
|
||||
})}
|
||||
|
||||
{Array.from({ length: 6 }, (_, row) => Array.from({ length: 6 }, (_, col) => {
|
||||
const here = worldToSvg({ x: -row, y: col })
|
||||
const right = col < 5 ? worldToSvg({ x: -row, y: col + 1 }) : null
|
||||
const down = row < 5 ? worldToSvg({ x: -(row + 1), y: col }) : null
|
||||
return (
|
||||
<g key={`edges-${row}-${col}`} stroke="#1e3a5f" strokeWidth="2">
|
||||
{right && <line x1={here.x} y1={here.y} x2={right.x} y2={right.y} />}
|
||||
{down && <line x1={here.x} y1={here.y} x2={down.x} y2={down.y} />}
|
||||
</g>
|
||||
)
|
||||
}))}
|
||||
|
||||
{(['RMC1', 'RMC2'] as RobotId[]).map((id) => {
|
||||
const rover = state.robots[id]
|
||||
const color = id === 'RMC1' ? '#22d3ee' : '#f59e0b'
|
||||
const center = worldToSvg(rover.pose)
|
||||
const direction = rover.pose.yaw - Math.PI / 2
|
||||
return (
|
||||
<g key={id} opacity={id === selected ? 1 : 0.55}>
|
||||
{rover.trail.length > 1 && <polyline points={points(rover.trail)} fill="none" stroke={color} strokeWidth="3" opacity="0.45" />}
|
||||
{rover.plan.length > 1 && <polyline points={points(rover.plan)} fill="none" stroke="#a78bfa" strokeWidth="4" strokeDasharray="10 7" />}
|
||||
{rover.lidar.map((point, index) => {
|
||||
const p = worldToSvg(point)
|
||||
return <circle key={`${id}-lidar-${index}`} cx={p.x} cy={p.y} r="2.2" fill={color} opacity="0.55" />
|
||||
})}
|
||||
{rover.goal && (() => {
|
||||
const goal = worldToSvg(rover.goal)
|
||||
return <g><circle cx={goal.x} cy={goal.y} r="12" fill="none" stroke="#a78bfa" strokeWidth="3" /><line x1={goal.x - 16} y1={goal.y} x2={goal.x + 16} y2={goal.y} stroke="#a78bfa" /><line x1={goal.x} y1={goal.y - 16} x2={goal.x} y2={goal.y + 16} stroke="#a78bfa" /></g>
|
||||
})()}
|
||||
<g transform={`translate(${center.x} ${center.y}) rotate(${direction * 180 / Math.PI})`}>
|
||||
<circle r={id === selected ? 18 : 14} fill={color} stroke="#f8fafc" strokeWidth={id === selected ? 3 : 1} />
|
||||
<path d="M 0 -25 L -7 -10 L 7 -10 Z" fill="#f8fafc" />
|
||||
</g>
|
||||
<text x={center.x + 21} y={center.y - 18} fill={color} fontSize="14" fontWeight="700">{id}</text>
|
||||
</g>
|
||||
)
|
||||
})}
|
||||
|
||||
{markers.map((marker) => {
|
||||
const point = worldToSvg(marker)
|
||||
const current = state.robots.RMC2.arucoId === String(marker.id)
|
||||
return (
|
||||
<g key={marker.id}>
|
||||
<rect x={point.x - 11} y={point.y - 11} width="22" height="22" rx="4" fill={current ? '#f59e0b' : '#0f172a'} stroke={current ? '#fbbf24' : '#475569'} strokeWidth="2" />
|
||||
<text x={point.x} y={point.y + 4} textAnchor="middle" fill="#f8fafc" fontSize="10">{marker.id}</text>
|
||||
</g>
|
||||
)
|
||||
})}
|
||||
</svg>
|
||||
<div className="absolute left-3 top-3 rounded-lg bg-slate-950/80 px-3 py-2 text-xs text-slate-300 backdrop-blur">
|
||||
ArUco: шаг 1 м · X вниз · Y вправо
|
||||
</div>
|
||||
<div className="absolute bottom-3 right-3 flex gap-3 rounded-lg bg-slate-950/80 px-3 py-2 text-xs backdrop-blur">
|
||||
<span className="text-cyan-300">● RMC1</span><span className="text-amber-300">● RMC2</span><span className="text-violet-300">-- маршрут</span>
|
||||
</div>
|
||||
</div>
|
||||
)
|
||||
}
|
||||
|
||||
function ManualControls({ robot, emergency, send }: { robot: RobotId; emergency: boolean; send: (command: Command) => void }) {
|
||||
const timer = useRef<ReturnType<typeof setInterval> | null>(null)
|
||||
|
||||
const stop = useCallback(() => {
|
||||
if (timer.current) clearInterval(timer.current)
|
||||
timer.current = null
|
||||
send({ type: 'stop', robot })
|
||||
}, [robot, send])
|
||||
|
||||
const start = (x: number, y: number, yaw: number) => {
|
||||
if (emergency) return
|
||||
if (timer.current) clearInterval(timer.current)
|
||||
const command: Command = { type: 'manual', robot, x, y, yaw }
|
||||
send(command)
|
||||
timer.current = setInterval(() => send(command), 120)
|
||||
}
|
||||
|
||||
useEffect(() => stop, [stop])
|
||||
|
||||
const button = 'select-none rounded-lg border border-slate-600 bg-slate-800 px-3 py-3 font-semibold text-slate-100 hover:bg-slate-700 active:bg-cyan-700 disabled:cursor-not-allowed disabled:opacity-40'
|
||||
const handlers = (x: number, y: number, yaw: number) => ({
|
||||
onPointerDown: (event: React.PointerEvent<HTMLButtonElement>) => {
|
||||
event.currentTarget.setPointerCapture(event.pointerId)
|
||||
start(x, y, yaw)
|
||||
},
|
||||
onPointerUp: stop,
|
||||
onPointerCancel: stop,
|
||||
})
|
||||
|
||||
return (
|
||||
<div className="grid grid-cols-3 gap-2">
|
||||
<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, 0.35, 0)}>↖ бок</button>
|
||||
<button className={button} disabled={emergency} {...handlers(0.45, 0, 0)}>↑ W</button>
|
||||
<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, -0.35, 0)}>бок ↗</button>
|
||||
<button className={button} disabled={emergency} {...handlers(0, 0, 0.75)}>↶ A</button>
|
||||
<button className={`${button} border-red-700 bg-red-950 text-red-200`} onClick={stop}>STOP</button>
|
||||
<button className={button} disabled={emergency} {...handlers(0, 0, -0.75)}>D ↷</button>
|
||||
<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, -0.35, 0)}>↙ бок</button>
|
||||
<button className={button} disabled={emergency} {...handlers(-0.45, 0, 0)}>↓ S</button>
|
||||
<button className={button} disabled={robot === 'RMC2' || emergency} {...handlers(0, 0.35, 0)}>бок ↘</button>
|
||||
</div>
|
||||
)
|
||||
}
|
||||
|
||||
export default function App() {
|
||||
const [state, setState] = useState<FmsState>(initialState)
|
||||
const [selected, setSelected] = useState<RobotId>('RMC1')
|
||||
const [socketOnline, setSocketOnline] = useState(false)
|
||||
const [message, setMessage] = useState('Подключение…')
|
||||
const [poseForm, setPoseForm] = useState<Pose>({ x: 0, y: 0, yaw: 0 })
|
||||
const [goalForm, setGoalForm] = useState<Pose>({ x: -2, y: 3, yaw: 0 })
|
||||
|
||||
const send = useCallback(async (command: Command) => {
|
||||
try {
|
||||
const response = await fetch('/api/command', {
|
||||
method: 'POST',
|
||||
headers: { 'content-type': 'application/json' },
|
||||
body: JSON.stringify(command),
|
||||
})
|
||||
const result = await response.json() as { ok: boolean; error?: string }
|
||||
setMessage(result.ok ? `Команда: ${command.type}` : `Ошибка: ${result.error}`)
|
||||
} catch (error) {
|
||||
setMessage(`API недоступен: ${String(error)}`)
|
||||
}
|
||||
}, [])
|
||||
|
||||
useEffect(() => {
|
||||
let socket: WebSocket | null = null
|
||||
let retry: ReturnType<typeof setTimeout>
|
||||
let disposed = false
|
||||
const connect = () => {
|
||||
const protocol = location.protocol === 'https:' ? 'wss:' : 'ws:'
|
||||
socket = new WebSocket(`${protocol}//${location.host}/ws`)
|
||||
socket.onopen = () => { setSocketOnline(true); setMessage('Телеметрия подключена') }
|
||||
socket.onmessage = (event) => {
|
||||
try {
|
||||
const data = JSON.parse(event.data) as FmsState
|
||||
if (data.type === 'state') setState(data)
|
||||
} catch { /* ignore malformed packet */ }
|
||||
}
|
||||
socket.onclose = () => {
|
||||
setSocketOnline(false)
|
||||
if (!disposed) retry = setTimeout(connect, 1200)
|
||||
}
|
||||
}
|
||||
connect()
|
||||
return () => { disposed = true; clearTimeout(retry); socket?.close() }
|
||||
}, [])
|
||||
|
||||
useEffect(() => {
|
||||
const pressed = new Set<string>()
|
||||
const movement = () => {
|
||||
let x = 0, y = 0, yaw = 0
|
||||
if (pressed.has('w')) x += 0.45
|
||||
if (pressed.has('s')) x -= 0.45
|
||||
if (pressed.has('a')) yaw += 0.75
|
||||
if (pressed.has('d')) yaw -= 0.75
|
||||
if (selected === 'RMC1' && pressed.has('q')) y += 0.35
|
||||
if (selected === 'RMC1' && pressed.has('e')) y -= 0.35
|
||||
if (x || y || yaw) send({ type: 'manual', robot: selected, x, y, yaw })
|
||||
else send({ type: 'stop', robot: selected })
|
||||
}
|
||||
const down = (event: KeyboardEvent) => {
|
||||
if ((event.target as HTMLElement).tagName === 'INPUT') return
|
||||
const key = event.key.toLowerCase()
|
||||
if (!['w', 'a', 's', 'd', 'q', 'e'].includes(key)) return
|
||||
event.preventDefault()
|
||||
pressed.add(key)
|
||||
movement()
|
||||
}
|
||||
const up = (event: KeyboardEvent) => {
|
||||
const key = event.key.toLowerCase()
|
||||
if (!pressed.delete(key)) return
|
||||
movement()
|
||||
}
|
||||
const blur = () => { pressed.clear(); movement() }
|
||||
const repeat = setInterval(() => { if (pressed.size) movement() }, 120)
|
||||
window.addEventListener('keydown', down)
|
||||
window.addEventListener('keyup', up)
|
||||
window.addEventListener('blur', blur)
|
||||
return () => {
|
||||
clearInterval(repeat)
|
||||
window.removeEventListener('keydown', down)
|
||||
window.removeEventListener('keyup', up)
|
||||
window.removeEventListener('blur', blur)
|
||||
}
|
||||
}, [selected, send])
|
||||
|
||||
const rover = state.robots[selected]
|
||||
const fresh = Date.now() - state.timestamp < 1500
|
||||
const setForm = (setter: React.Dispatch<React.SetStateAction<Pose>>, key: keyof Pose, value: number) => setter((current) => ({ ...current, [key]: value }))
|
||||
|
||||
return (
|
||||
<main className="min-h-screen bg-slate-950 p-3 text-slate-100 lg:p-5">
|
||||
<header className="mx-auto mb-4 flex max-w-[1600px] flex-wrap items-center justify-between gap-3">
|
||||
<div><h1 className="text-xl font-bold">MVCH FMS · модуль Г</h1><p className="text-sm text-slate-400">Управление, навигация и телеметрия RMC1 / RMC2</p></div>
|
||||
<div className="flex flex-wrap items-center gap-2 text-xs">
|
||||
<span className={`rounded-full px-3 py-1.5 ${socketOnline && fresh ? 'bg-emerald-950 text-emerald-300' : 'bg-red-950 text-red-300'}`}>WebSocket: {socketOnline && fresh ? 'online' : 'offline'}</span>
|
||||
<span className={`rounded-full px-3 py-1.5 ${state.bridgeOnline ? 'bg-emerald-950 text-emerald-300' : 'bg-amber-950 text-amber-300'}`}>Bridge: {state.bridgeOnline ? state.mode : 'offline'}</span>
|
||||
<span className="max-w-sm truncate rounded-full bg-slate-800 px-3 py-1.5 text-slate-300">{state.bridgeError ?? message}</span>
|
||||
</div>
|
||||
</header>
|
||||
|
||||
<div className="mx-auto grid max-w-[1600px] gap-4 xl:grid-cols-[minmax(600px,1fr)_420px]">
|
||||
<div className="grid gap-4">
|
||||
<div className="flex gap-2">
|
||||
{(['RMC1', 'RMC2'] as RobotId[]).map((id) => (
|
||||
<button key={id} onClick={() => { setSelected(id); setPoseForm(state.robots[id].pose) }} className={`flex-1 rounded-xl border px-4 py-3 text-left ${selected === id ? 'border-cyan-500 bg-cyan-950/60' : 'border-slate-700 bg-slate-900'}`}>
|
||||
<span className="font-bold">{id}</span>
|
||||
<span className={`ml-3 text-xs ${state.robots[id].online ? 'text-emerald-400' : 'text-red-400'}`}>{state.robots[id].online ? 'ROS online' : 'нет данных'}</span>
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
<FieldMap state={state} selected={selected} />
|
||||
<Card title="Состояние двух роверов">
|
||||
<div className="grid grid-cols-2 gap-3 text-sm lg:grid-cols-4">
|
||||
{(['RMC1', 'RMC2'] as RobotId[]).map((id) => <div key={id} className="rounded-lg bg-slate-950 p-3"><strong>{id}</strong><div className="mt-1 text-slate-400">x {format(state.robots[id].pose.x)} · y {format(state.robots[id].pose.y)}</div><div className="text-slate-400">yaw {format(state.robots[id].pose.yaw)} rad</div></div>)}
|
||||
<div className="rounded-lg bg-slate-950 p-3"><strong>Карта</strong><div className="mt-1 text-slate-400">{state.map ? `${state.map.width} × ${state.map.height}` : 'нет /map'}</div></div>
|
||||
<div className="rounded-lg bg-slate-950 p-3"><strong>Обновление</strong><div className="mt-1 text-slate-400">{state.timestamp ? new Date(state.timestamp).toLocaleTimeString() : '—'}</div></div>
|
||||
</div>
|
||||
</Card>
|
||||
</div>
|
||||
|
||||
<aside className="grid content-start gap-4">
|
||||
<Card title={`Ручное управление ${selected}`}>
|
||||
<ManualControls robot={selected} emergency={rover.emergency} send={send} />
|
||||
<p className="mt-2 text-xs text-slate-500">Клавиши: W/S — ход, A/D — поворот, Q/E — боковой ход RMC1. При отпускании отправляется STOP.</p>
|
||||
</Card>
|
||||
|
||||
<button onClick={() => send({ type: 'emergency', robot: selected, active: !rover.emergency })} className={`rounded-xl border-2 px-5 py-5 text-lg font-black tracking-wide ${rover.emergency ? 'border-emerald-500 bg-emerald-950 text-emerald-300' : 'border-red-500 bg-red-950 text-red-200'}`}>
|
||||
{rover.emergency ? 'СНЯТЬ АВАРИЙНЫЙ СТОП' : 'АВАРИЙНЫЙ СТОП'}
|
||||
</button>
|
||||
|
||||
<Card title="Телеметрия">
|
||||
<dl className="grid grid-cols-2 gap-x-4 gap-y-2 text-sm">
|
||||
<dt className="text-slate-400">Позиция</dt><dd>x {format(rover.pose.x)} · y {format(rover.pose.y)}</dd>
|
||||
<dt className="text-slate-400">Ориентация</dt><dd>{format(rover.pose.yaw)} rad</dd>
|
||||
<dt className="text-slate-400">Скорость</dt><dd>{format(rover.velocity.x)} м/с</dd>
|
||||
<dt className="text-slate-400">Лидар</dt><dd>{rover.lidar.length} точек</dd>
|
||||
<dt className="text-slate-400">Аккумулятор</dt><dd>{rover.battery == null ? 'нет топика' : `${format(rover.battery)} В`}</dd>
|
||||
<dt className="text-slate-400">ArUco</dt><dd>{rover.arucoId ?? '—'}</dd>
|
||||
<dt className="text-slate-400">Инструмент</dt><dd>{selected === 'RMC1' ? rover.gripper : (rover.liftStatus ?? '—')}</dd>
|
||||
<dt className="text-slate-400">Возраст данных</dt><dd>{rover.lastMessageMs == null ? '—' : `${rover.lastMessageMs} мс`}</dd>
|
||||
</dl>
|
||||
</Card>
|
||||
|
||||
<Card title="Установить текущее положение">
|
||||
<div className="grid grid-cols-3 gap-2">
|
||||
<NumberField label="X, м" value={poseForm.x} onChange={(value) => setForm(setPoseForm, 'x', value)} />
|
||||
<NumberField label="Y, м" value={poseForm.y} onChange={(value) => setForm(setPoseForm, 'y', value)} />
|
||||
<NumberField label="Yaw, рад" value={poseForm.yaw} onChange={(value) => setForm(setPoseForm, 'yaw', value)} />
|
||||
</div>
|
||||
<button onClick={() => send({ type: 'set_pose', robot: selected, pose: poseForm })} className="mt-3 w-full rounded-lg bg-slate-700 px-4 py-2 font-semibold hover:bg-slate-600">Применить без движения</button>
|
||||
</Card>
|
||||
|
||||
<Card title="Автономная цель Nav2">
|
||||
<div className="grid grid-cols-3 gap-2">
|
||||
<NumberField label="X, м" value={goalForm.x} onChange={(value) => setForm(setGoalForm, 'x', value)} />
|
||||
<NumberField label="Y, м" value={goalForm.y} onChange={(value) => setForm(setGoalForm, 'y', value)} />
|
||||
<NumberField label="Yaw, рад" value={goalForm.yaw} onChange={(value) => setForm(setGoalForm, 'yaw', value)} />
|
||||
</div>
|
||||
<div className="mt-3 grid grid-cols-2 gap-2">
|
||||
<button disabled={rover.emergency} onClick={() => send({ type: 'set_goal', robot: selected, pose: goalForm })} className="rounded-lg bg-violet-700 px-3 py-2 font-semibold hover:bg-violet-600 disabled:opacity-40">Ехать к точке</button>
|
||||
<button onClick={() => send({ type: 'cancel_goal', robot: selected })} className="rounded-lg bg-slate-700 px-3 py-2 font-semibold hover:bg-slate-600">Отменить</button>
|
||||
</div>
|
||||
</Card>
|
||||
|
||||
<Card title="Рабочий инструмент">
|
||||
{selected === 'RMC1' ? (
|
||||
<div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'gripper', robot: 'RMC1', state: 'open' })} className="rounded-lg bg-cyan-800 px-3 py-2 disabled:opacity-40">Открыть схват</button><button disabled={rover.emergency} onClick={() => send({ type: 'gripper', robot: 'RMC1', state: 'closed' })} className="rounded-lg bg-cyan-800 px-3 py-2 disabled:opacity-40">Закрыть схват</button></div>
|
||||
) : (
|
||||
<div className="grid grid-cols-2 gap-2"><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0.1 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Поднять лифт</button><button disabled={rover.emergency} onClick={() => send({ type: 'lift', robot: 'RMC2', height: 0 })} className="rounded-lg bg-amber-800 px-3 py-2 disabled:opacity-40">Опустить лифт</button></div>
|
||||
)}
|
||||
</Card>
|
||||
</aside>
|
||||
</div>
|
||||
</main>
|
||||
)
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
@import "tailwindcss";
|
||||
|
||||
:root {
|
||||
color: #e2e8f0;
|
||||
background: #020617;
|
||||
font-family: Inter, ui-sans-serif, system-ui, sans-serif;
|
||||
font-synthesis: none;
|
||||
text-rendering: optimizeLegibility;
|
||||
}
|
||||
|
||||
button, input { font: inherit; }
|
||||
button { touch-action: manipulation; }
|
||||
@@ -0,0 +1,10 @@
|
||||
import { StrictMode } from 'react'
|
||||
import { createRoot } from 'react-dom/client'
|
||||
import './index.css'
|
||||
import App from './App'
|
||||
|
||||
createRoot(document.getElementById('root')!).render(
|
||||
<StrictMode>
|
||||
<App />
|
||||
</StrictMode>,
|
||||
)
|
||||
@@ -0,0 +1,48 @@
|
||||
export type RobotId = 'RMC1' | 'RMC2'
|
||||
|
||||
export type Point = { x: number; y: number }
|
||||
export type Pose = Point & { yaw: number }
|
||||
|
||||
export type RobotState = {
|
||||
online: boolean
|
||||
lastMessageMs: number | null
|
||||
pose: Pose
|
||||
velocity: { x: number; y: number; yaw: number }
|
||||
battery: number | null
|
||||
lidar: Point[]
|
||||
trail: Point[]
|
||||
plan: Point[]
|
||||
goal: Pose | null
|
||||
emergency: boolean
|
||||
arucoId: string | null
|
||||
liftStatus: string | null
|
||||
gripper: 'open' | 'closed' | 'unknown'
|
||||
}
|
||||
|
||||
export type MapState = {
|
||||
width: number
|
||||
height: number
|
||||
resolution: number
|
||||
origin: Point
|
||||
data: number[]
|
||||
}
|
||||
|
||||
export type FmsState = {
|
||||
type: 'state'
|
||||
timestamp: number
|
||||
mode: 'ros' | 'mock'
|
||||
bridgeOnline: boolean
|
||||
bridgeError: string | null
|
||||
map: MapState | null
|
||||
robots: Record<RobotId, RobotState>
|
||||
}
|
||||
|
||||
export type Command =
|
||||
| { type: 'manual'; robot: RobotId; x: number; y: number; yaw: number }
|
||||
| { type: 'stop'; robot: RobotId }
|
||||
| { type: 'emergency'; robot: RobotId; active: boolean }
|
||||
| { type: 'set_pose'; robot: RobotId; pose: Pose }
|
||||
| { type: 'set_goal'; robot: RobotId; pose: Pose }
|
||||
| { type: 'cancel_goal'; robot: RobotId }
|
||||
| { type: 'lift'; robot: 'RMC2'; height: 0 | 0.1 }
|
||||
| { type: 'gripper'; robot: 'RMC1'; state: 'open' | 'closed' }
|
||||
@@ -0,0 +1,20 @@
|
||||
{
|
||||
"compilerOptions": {
|
||||
"target": "ES2022",
|
||||
"useDefineForClassFields": true,
|
||||
"lib": ["ES2022", "DOM", "DOM.Iterable"],
|
||||
"allowJs": false,
|
||||
"skipLibCheck": true,
|
||||
"esModuleInterop": true,
|
||||
"allowSyntheticDefaultImports": true,
|
||||
"strict": true,
|
||||
"forceConsistentCasingInFileNames": true,
|
||||
"module": "ESNext",
|
||||
"moduleResolution": "Bundler",
|
||||
"resolveJsonModule": true,
|
||||
"isolatedModules": true,
|
||||
"noEmit": true,
|
||||
"jsx": "react-jsx"
|
||||
},
|
||||
"include": ["src"]
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
{
|
||||
"files": [],
|
||||
"references": [
|
||||
{ "path": "./tsconfig.app.json" },
|
||||
{ "path": "./tsconfig.node.json" }
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,15 @@
|
||||
{
|
||||
"compilerOptions": {
|
||||
"target": "ES2022",
|
||||
"lib": ["ES2022"],
|
||||
"module": "ESNext",
|
||||
"moduleResolution": "Bundler",
|
||||
"allowImportingTsExtensions": true,
|
||||
"verbatimModuleSyntax": true,
|
||||
"strict": true,
|
||||
"skipLibCheck": true,
|
||||
"noEmit": true,
|
||||
"types": ["bun"]
|
||||
},
|
||||
"include": ["vite.config.ts", "server", "scripts"]
|
||||
}
|
||||
@@ -0,0 +1,15 @@
|
||||
import { defineConfig } from 'vite'
|
||||
import react from '@vitejs/plugin-react-swc'
|
||||
import tailwindcss from '@tailwindcss/vite'
|
||||
|
||||
export default defineConfig({
|
||||
plugins: [react(), tailwindcss()],
|
||||
server: {
|
||||
host: '0.0.0.0',
|
||||
port: 5173,
|
||||
proxy: {
|
||||
'/api': 'http://127.0.0.1:3001',
|
||||
'/ws': { target: 'ws://127.0.0.1:3001', ws: true },
|
||||
},
|
||||
},
|
||||
})
|
||||
Reference in New Issue
Block a user