init

module4/src/App.tsx

@@ -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>
+  )
+}

module4/src/index.css

@@ -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; }

module4/src/main.tsx

@@ -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>,
+)

module4/src/types.ts

@@ -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' }