init

2026-09-09 16:31:27 +03:00
commit 0a8894f3b2
100 changed files with 5091 additions and 0 deletions
@@ -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' }