diff --git a/.github/workflows/continuous-integration.yml b/.github/workflows/continuous-integration.yml index 7a136f19..06c410ad 100644 --- a/.github/workflows/continuous-integration.yml +++ b/.github/workflows/continuous-integration.yml @@ -50,6 +50,7 @@ jobs: matrix.node-version == 20 uses: codecov/codecov-action@v4 with: + flags: python verbose: true control_loop: @@ -111,6 +112,7 @@ jobs: - name: Upload coverage to Codecov uses: codecov/codecov-action@v4 with: + flags: frontend verbose: true - name: Upload frontend build uses: actions/upload-artifact@v4 @@ -118,8 +120,38 @@ jobs: name: frontend path: ./dotbot/frontend/build + console: + name: check console + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Set up nodejs + uses: actions/setup-node@v4 + with: + node-version: "20" + - run: npm install + working-directory: ./dotbot/console-web + - run: npm run lint + working-directory: ./dotbot/console-web + - run: npm run typecheck + working-directory: ./dotbot/console-web + - run: npm run test + working-directory: ./dotbot/console-web + - run: npm run build + working-directory: ./dotbot/console-web + - name: Upload coverage to Codecov + uses: codecov/codecov-action@v4 + with: + flags: console + verbose: true + - name: Upload console build + uses: actions/upload-artifact@v4 + with: + name: console + path: ./dotbot/console-web/dist + package: - needs: [test, doc, frontend, control_loop] + needs: [test, doc, frontend, console, control_loop] name: build source package runs-on: ${{ matrix.os }} strategy: diff --git a/.gitignore b/.gitignore index de2230ff..b95a706b 100644 --- a/.gitignore +++ b/.gitignore @@ -9,6 +9,7 @@ *.log *.egg-info/ .coverage +coverage/ .tox/ dist/ node_modules/ diff --git a/CHANGELOG.md b/CHANGELOG.md index 182fc968..df4ba4f6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -54,6 +54,28 @@ This project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.htm ### Changed +- **Breaking - the controller binds loopback by default.** `dotbot run + controller` served the REST/WebSocket API on `0.0.0.0`, putting an + unauthenticated API on every interface; the new `/swarmit/*` proxy would + republish the swarmit server the same way. It now binds `127.0.0.1`. To reach + it from another machine pass `--controller-http-host 0.0.0.0`, set + `[run.controller] http_host`, or `DOTBOT_RUN_CONTROLLER_HTTP_HOST`; binding + beyond loopback logs a warning. +- **`dotbot run controller` now opens the unified web console** at `/console` + instead of the classic dashboard at `/PyDotBot`. The classic UI is still + served and still carries the qrkey demo, the REST demo and the SailBot + views. If only one of the two is built, that one is opened; if neither is, + the controller serves the API and says so rather than opening a dead tab. +- **Device addresses are rendered uppercase everywhere**, through a single + `dotbot.addr_to_hex()` helper, and are matched case-sensitively. The address + is the join key between the control plane and swarmit, which already + uppercased it, so the two now agree; `DOTBOT_ADDRESS_DEFAULT` and + `GATEWAY_ADDRESS_DEFAULT` were already written this way. Consequences: + a lowercase address in a REST path or MQTT topic now reaches no DotBot, + and a `--csv-data-output` file spanning the upgrade holds both cases for + the same robot (re-normalise with `df.address.str.upper()` before grouping). + `-d/--dotbot-address` on `dotbot run joystick` / `keyboard` accepts either + case and normalises. - **Breaking — CLI reorganized into four object-namespaces.** The top level is now exactly `fw` (firmware artifacts), `device` (one cabled device), `swarm` (the fleet), and `run` (host-side processes). The flat diff --git a/README.md b/README.md index 6b56ddf7..2a0dac3e 100644 --- a/README.md +++ b/README.md @@ -47,14 +47,19 @@ Every command and flag is documented in the [CLI reference][cli-doc]. See the whole thing run with nothing but Python! -The command below will run a simulated swarm, which you can observe in a web UI at http://localhost:8000/PyDotBot/ : +The command below will run a simulated swarm, which you can observe in the web console at http://localhost:8000/console/ : ```bash dotbot run simulator ``` -The web UI opens automatically; pass `--headless` to suppress it (it's still -served). Drive the simulated DotBots from the UI, or run a bundled demo in a +The console opens automatically; pass `--headless` to suppress it (it's still +served). It is one map-first UI for both driving the fleet and orchestrating the +testbed - firmware flashing, start/stop and live events - when a swarmit server +is reachable. The classic UI remains at `/PyDotBot`; it is where the qrkey demo, +the REST demo and the SailBot views live. + +Drive the simulated DotBots from the console, or run a bundled demo in a second terminal: ```bash @@ -140,7 +145,7 @@ dotbot swarm flash rc-car -ys # this firmware lets DotBots be remote-controlled Observe and control your swarm from a web interface: ```bash -dotbot run controller # opens a webpage at http://localhost:8000/PyDotBot/ +dotbot run controller # opens the console at http://localhost:8000/console/ ``` Full walkthrough of fleet operations - status, OTA flash, start/stop, monitor - diff --git a/codecov.yml b/codecov.yml index 020ac4f0..18bfc2c0 100644 --- a/codecov.yml +++ b/codecov.yml @@ -1,17 +1,49 @@ -# Codecov config — split project-level (long-term) from patch-level -# (per-PR) policy. Project-level keeps the long-term floor honest; -# patch-level is informational because vendoring / refactor PRs can -# legitimately ship diffs with low instantaneous coverage even when -# the project total stays healthy. +# Codecov config — the gate belongs on the Python control plane, not on the +# two web apps. +# +# Coverage arrives from three uploads (pytest, the classic frontend's vitest, +# the console's vitest). Untagged they merge into one project total, so adding +# a few thousand lines of thinly-covered TS drags the number down and fails a +# PR that did nothing to the Python. Flags keep the three apart. +# +# The web apps are reported but never block: their vitest suites cover the pure +# logic (state merge, mission grouping, SSE parsing, the drive mixing) and +# deliberately not the rendering, so their absolute number is low by design and +# says little about whether a change is safe. + +flags: + python: + paths: + - dotbot/ + - utils/ + carryforward: true + frontend: + paths: + - dotbot/frontend/ + carryforward: true + console: + paths: + - dotbot/console-web/ + carryforward: true coverage: status: project: - default: + # No unflagged aggregate status: that is the one that mixed the three. + default: false + python: + flags: + - python # Compare against main's current coverage. Allow tiny dips # (rounding / one-off branches) without flapping CI. target: auto threshold: 1% + web: + flags: + - frontend + - console + # Reported in the PR comment, never a CI gate. + informational: true patch: default: # Report patch coverage but don't fail CI on it. Reviewers can diff --git a/doc/cli/run.md b/doc/cli/run.md index 339547dc..5a494f5a 100644 --- a/doc/cli/run.md +++ b/doc/cli/run.md @@ -19,9 +19,13 @@ dotbot run --help # the full list | `keyboard` | Drive a DotBot from the keyboard. | | `joystick` | Drive a DotBot from a joystick. | -## `controller` - the control plane + web UI +## `controller` - the control plane + web console -Connect to a swarm and serve the dashboard at `http://localhost:8000/PyDotBot/`. +Connect to a swarm and serve the console at `http://localhost:8000/console/`. +The console is one map-first UI for driving the fleet and, when a swarmit server +is reachable, orchestrating the testbed. The classic dashboard stays served at +`/PyDotBot`, which is where the qrkey demo, the REST demo and the SailBot views +live. `--conn` is one discriminated string: `mqtts://host:port`, a serial path, or `simulator`. @@ -34,8 +38,10 @@ dotbot run controller --conn /dev/ttyACM0 |---|---| | `-n/--conn` | `mqtts://host:port`, serial path, or `simulator` | | `-s/--swarm-id` | hex swarm id - **required for MQTT**, ignored for serial/simulator | -| `--headless` | don't open the dashboard in a browser (it's still served) | +| `--controller-http-host` | interface the API binds to (default `127.0.0.1`, loopback). Pass `0.0.0.0` to reach it from another machine - the API is unauthenticated and `/swarmit/*` reaches the swarmit server through it, so only on a network you trust. | +| `--headless` | don't open the console in a browser (it's still served) | | `--csv-data-output` | record DotBot data to a CSV file | +| `--swarmit-url` | swarmit server behind the console's orchestration panel (default `http://localhost:8001`, matching `swarmit serve`). Also `[run.controller] swarmit_url` in dotbot.toml, or `DOTBOT_SWARMIT_URL`. | Full options and the dashboard tour live in [the controller guide](../guides/controller.md). See `dotbot run controller --help`. @@ -57,7 +63,7 @@ dotbot run gateway # autodetect port, print-only (no broker) ## `simulator` - standalone simulator No hardware, no gateway. Exactly equivalent to `run controller --conn simulator`, -so it shares the controller's flags and serves the same dashboard. +so it shares the controller's flags and serves the same console. ```bash dotbot run simulator @@ -94,7 +100,7 @@ specific DotBot by hex address. ```bash dotbot run keyboard -dotbot run joystick -j 0 -d 1234567890abcdef +dotbot run joystick -j 0 -d 1234567890ABCDEF ``` See `dotbot run keyboard --help` / `dotbot run joystick --help` for the host, diff --git a/doc/reference/configuration.md b/doc/reference/configuration.md index 28a24842..f960b75e 100644 --- a/doc/reference/configuration.md +++ b/doc/reference/configuration.md @@ -122,6 +122,7 @@ The four tables mirror the four CLI namespaces (`fw` / `device` / `swarm` / | `conn` | Connection string for `dotbot run`. | | `swarm_id` | Swarm id (topic namespace). | | `[run.controller] http_port` | REST/WebSocket port (default 8000). | +| `[run.controller] http_host` | Interface the REST/WebSocket API binds to (default `127.0.0.1`). `0.0.0.0` exposes it to the network; the API is unauthenticated. | | `[run.controller] map_size` | Controller map size. | | `[run.controller] background_map` | Background map image. | | `[run.controller] log_output` | Log output path. | @@ -129,6 +130,7 @@ The four tables mirror the four CLI namespaces (`fw` / `device` / `swarm` / | `[run.controller] headless` | Stay headless - don't open the web UI in a browser on start (default false; it's still served). | | `[run.controller] gw_address` | Gateway address. | | `[run.controller] simulator_init_state` | Initial simulator state. | +| `[run.controller] swarmit_url` | swarmit server the console's orchestration panel talks to, proxied at `/swarmit/*` (default `http://localhost:8001`, which matches `swarmit serve`). | | `[run.gateway] serial_port` | Gateway serial port. | | `[run.gateway] mqtt` | Gateway MQTT connection string. | diff --git a/doc/reference/mqtt.md b/doc/reference/mqtt.md index 9d125902..e3e7bda9 100644 --- a/doc/reference/mqtt.md +++ b/doc/reference/mqtt.md @@ -37,7 +37,8 @@ base64 string derived from the current PIN code (see [Secured brokers](#secured- Command-topic fields: - `` - 4-hex swarm identifier (DotBots behind one gateway), e.g. `0000`. -- `
` - 16-hex DotBot address, e.g. `9903ef26257feb31`. +- `
` - 16-hex DotBot address, e.g. `9903EF26257FEB31`. Uppercase, and + matched case-sensitively: a lowercase address reaches no DotBot. - `` - application type: `0` = DotBot, `1` = SailBot. - `` - the command name (last segment). @@ -51,12 +52,12 @@ Payloads are JSON. Drive a DotBot forward and turn its LED red: ```bash # move_raw - left_y / right_y drive the wheels, values in [-100, 100] mosquitto_pub -h \ - -t '/pydotbot//command/0000/9903ef26257feb31/0/move_raw' \ + -t '/pydotbot//command/0000/9903EF26257FEB31/0/move_raw' \ -m '{"left_x": 0, "left_y": 80, "right_x": 0, "right_y": 80}' # rgb_led - 0..255 per channel mosquitto_pub -h \ - -t '/pydotbot//command/0000/9903ef26257feb31/0/rgb_led' \ + -t '/pydotbot//command/0000/9903EF26257FEB31/0/rgb_led' \ -m '{"red": 255, "green": 0, "blue": 0}' ``` diff --git a/doc/reference/rest.md b/doc/reference/rest.md index 4fb51026..d4e2261f 100644 --- a/doc/reference/rest.md +++ b/doc/reference/rest.md @@ -67,7 +67,7 @@ print(requests.get("http://localhost:8000/controller/dotbots").json()) ```py import requests -addr = "9903ef26257feb31" # from the list above +addr = "9903EF26257FEB31" # uppercase; the address is matched case-sensitively requests.put( f"http://localhost:8000/controller/dotbots/{addr}/0/rgb_led", json={"red": 255, "green": 0, "blue": 0}, @@ -79,7 +79,7 @@ requests.put( ```py import requests -addr = "9903ef26257feb31" +addr = "9903EF26257FEB31" requests.put( f"http://localhost:8000/controller/dotbots/{addr}/0/move_raw", json={"left_x": 0, "left_y": 60, "right_x": 0, "right_y": 60}, diff --git a/dotbot/__init__.py b/dotbot/__init__.py index 216b851b..16a792b8 100644 --- a/dotbot/__init__.py +++ b/dotbot/__init__.py @@ -1,5 +1,6 @@ """Pydotbot module.""" +from binascii import hexlify from importlib.metadata import PackageNotFoundError, version from dotbot_utils.serial_interface import get_default_port @@ -12,11 +13,27 @@ CONTROLLER_HTTP_PROTOCOL_DEFAULT = "http" CONTROLLER_HTTP_HOSTNAME_DEFAULT = "localhost" CONTROLLER_HTTP_PORT_DEFAULT = 8000 +# Loopback by default: the REST/WS API is unauthenticated and, since the +# controller proxies /swarmit/*, binding wider also republishes the swarmit +# server at the controller's reachability. +CONTROLLER_HTTP_HOST_DEFAULT = "127.0.0.1" CONTROLLER_ADAPTER_DEFAULT = "serial" MQTT_HOST_DEFAULT = "localhost" MQTT_PORT_DEFAULT = 1883 MAP_SIZE_DEFAULT = "2000x2000" # in mm unit SIMULATOR_INIT_STATE_DEFAULT = "simulator_init_state.toml" +SWARMIT_URL_DEFAULT = "http://localhost:8001" # swarmit server default port + + +def addr_to_hex(addr: int) -> str: + """Render a 64-bit device address as canonical hex. + + Uppercase is the canonical form across the DotBot stack: the swarm side + (swarmit) renders addresses this way, and `DOTBOT_ADDRESS_DEFAULT` / + `GATEWAY_ADDRESS_DEFAULT` are written this way. `binascii.hexlify` returns + lowercase, so every address that becomes a string goes through here. + """ + return hexlify(addr.to_bytes(8, "big")).decode().upper() def pydotbot_version() -> str: diff --git a/dotbot/adapter.py b/dotbot/adapter.py index 3742a269..3458f1fe 100644 --- a/dotbot/adapter.py +++ b/dotbot/adapter.py @@ -119,9 +119,9 @@ async def start(self, on_frame_received: callable): def _on_mari_event(event: EdgeEvent, event_data: MariNode | MariFrame): if event == EdgeEvent.NODE_JOINED: - LOGGER.debug(f"Node joined: {event_data.address:016x}") + LOGGER.debug(f"Node joined: {event_data.address:016X}") elif event == EdgeEvent.NODE_LEFT: - LOGGER.debug(f"Node left: {event_data.address:016x}") + LOGGER.debug(f"Node left: {event_data.address:016X}") elif event == EdgeEvent.NODE_DATA: if event_data.header.next_proto != NextProto.DOTBOT_APP: return @@ -183,9 +183,9 @@ async def start(self, on_frame_received: callable): def _on_mari_event(event: EdgeEvent, event_data: MariNode | MariFrame): if event == EdgeEvent.NODE_JOINED: - LOGGER.debug(f"Node joined: {event_data.address:016x}") + LOGGER.debug(f"Node joined: {event_data.address:016X}") elif event == EdgeEvent.NODE_LEFT: - LOGGER.debug(f"Node left: {event_data.address:016x}") + LOGGER.debug(f"Node left: {event_data.address:016X}") elif event == EdgeEvent.NODE_DATA: if event_data.header.next_proto != NextProto.DOTBOT_APP: return diff --git a/dotbot/cli/gateway.py b/dotbot/cli/gateway.py index 8075067d..6f1428be 100644 --- a/dotbot/cli/gateway.py +++ b/dotbot/cli/gateway.py @@ -26,6 +26,7 @@ import click +from dotbot import addr_to_hex from dotbot.cli._cfg import from_config from dotbot.cli._conn import parse_connection @@ -46,7 +47,7 @@ def _run_gateway(port, mqtt_url, do_print): # pragma: no cover - needs a gatewa def on_event(event, event_data): if do_print and event == EdgeEvent.NODE_DATA: click.echo( - f"<- {event_data.header.source:016x}: {event_data.payload.hex()}" + f"<- {addr_to_hex(event_data.header.source)}: {event_data.payload.hex()}" ) mqtt_interface = None diff --git a/dotbot/config.py b/dotbot/config.py index 7027c43d..35a50ca0 100644 --- a/dotbot/config.py +++ b/dotbot/config.py @@ -138,6 +138,7 @@ class SwarmSection(_Strict): class ControllerSection(_Strict): http_port: int | None = None + http_host: str | None = None map_size: str | None = None background_map: str | None = None log_output: str | None = None @@ -145,6 +146,7 @@ class ControllerSection(_Strict): headless: bool | None = None gw_address: str | None = None simulator_init_state: str | None = None + swarmit_url: str | None = None class GatewaySection(_Strict): @@ -292,11 +294,13 @@ def _env_candidates(section: str | None, key: str) -> tuple[str, ...]: """Env-var names to check, in priority order (Cargo's mechanical mapping). Sectioned key -> `DOTBOT_
_`, then the shared `DOTBOT_` - alias. Top-level key -> just `DOTBOT_`. + alias. Top-level key -> just `DOTBOT_`. A nested section like + `run.controller` flattens its dots: `DOTBOT_RUN_CONTROLLER_`. """ key_part = key.upper().replace("-", "_") if section: - return (f"DOTBOT_{section.upper()}_{key_part}", f"DOTBOT_{key_part}") + section_part = section.upper().replace(".", "_") + return (f"DOTBOT_{section_part}_{key_part}", f"DOTBOT_{key_part}") return (f"DOTBOT_{key_part}",) @@ -318,11 +322,17 @@ def _file_value( key: str, deployment: Deployment | None, ) -> Any: - """The value this key has in the file layer: section > deployment > top-level.""" + """The value this key has in the file layer: section > deployment > top-level. + + `section` may be nested (dot-separated, e.g. `run.controller`); each part + is walked with getattr. + """ if config is None: return None if section is not None: - section_obj = getattr(config, section, None) + section_obj: Any = config + for part in section.split("."): + section_obj = getattr(section_obj, part, None) value = getattr(section_obj, key, None) if value is not None: return value @@ -348,9 +358,10 @@ def resolve( `flag` > env (`DOTBOT_
_`, then shared `DOTBOT_`) > file (section > deployment > top-level) > `default`. - `section` is one of `SECTIONS` for a per-namespace key, or `None` for a - top-level shared key (e.g. `conn`, `swarm_id`). Env values are coerced to - the type of `default`. + `section` is one of `SECTIONS` for a per-namespace key, a dotted path for + a nested table (e.g. `run.controller`), or `None` for a top-level shared + key (e.g. `conn`, `swarm_id`). Env values are coerced to the type of + `default`. """ if flag is not None: return flag diff --git a/dotbot/console-web/dev/TESTING.md b/dotbot/console-web/dev/TESTING.md new file mode 100644 index 00000000..18814f0e --- /dev/null +++ b/dotbot/console-web/dev/TESTING.md @@ -0,0 +1,81 @@ +# Console manual test guide + +Start the stack (three terminals, from the workspace root, venv active): + +```bash +PYTHONPATH=repos/wt-PyDotBot-unified-web-ui dotbot run simulator --headless \ + --simulator-init-state repos/wt-PyDotBot-unified-web-ui/dotbot/console-web/dev/simulator_init_state.toml + +python repos/wt-PyDotBot-unified-web-ui/dotbot/console-web/dev/fake_swarmit_server.py + +npm --prefix repos/wt-PyDotBot-unified-web-ui/dotbot/console-web run start +``` + +Open http://localhost:5173. Handy URL params: `?sel=1111` (preselect), +`?view=list|grid`, `?rail=testbed|missions`, `?theme=light`. + +If the title bar says OFFLINE: the vite proxy targets do not match where the +controller runs. `curl localhost:5173/controller/dotbots` must return bots. + +## Checklist + +Map + selection +- [ ] Title bar: LIVE (green pulse), bot count; Dark|Light toggle flips theme +- [ ] Bots move smoothly; heading pointer at the circle edge; battery bar above +- [ ] Plain drag pans (clamped); plain click clears selection +- [ ] Shift-drag marquee selects; shift-click toggles one bot +- [ ] Click bot: red rectangle + id chip; hover another bot: chip appears +- [ ] Zoom +/-/recenter; arena keeps margins when rail opens or window resizes +- [ ] Layers panel: Battery Bars / Waypoints / DotBots / Real-scale / Trails toggle live + +Footer (bottom strip) +- [ ] Nothing selected: N/1000 + per-state rollup; click a state row selects those bots +- [ ] One bot: LED thumb, short id, device, Drivable pill, state, battery, "x, y mm" +- [ ] Ghost bot (0001/0002): "Not drivable" pill, dock grayed, warning hint +- [ ] Multi: "N selected", per-state mini-rollup, dock drives the group +- [ ] Minimap: square (arena aspect), dots colored by state, drag moves the map view + +Control dock +- [ ] Joystick: drag = bot drives, release = stops; knob shows LED color + live heading +- [ ] LED button -> swatch grid -> bot circle + map dot recolor (toast confirms) +- [ ] Alt-click map queues waypoints (dashed diamonds); popover lists "x, y mm" with per-item remove +- [ ] Go sends: bot navigates, diamonds go solid, button morphs to "Stop nav" +- [ ] Deselect and reselect other bots: the Planned mission survives (see rail Missions) + +Testbed rail +- [ ] Icon strip -> panel; Testbed tab: Target label follows selection +- [ ] Flash... dialog: pick image, Flash N device(s); bots blink amber, queue tab + shows per-device % bars, fleet % bar in Testbed tab, footer shows chunk progress +- [ ] After flash: bots in Bootloader (not drivable) -> Start returns them to Running +- [ ] Stop: Stopping -> Bootloader; Reset: Resetting -> Bootloader +- [ ] Console tab: log lines stream (flash/start/stop events), Clear works +- [ ] Missions tab: Planned (Go / discard) and Active (interrupt) rows; click row + reselects its bots; arrival adds a "Recently completed" line + +List / Grid +- [ ] Search by id, state filter, column sort; checkbox multi-select + select-all +- [ ] Selection carries across Map/List/Grid and drives the same footer dock + +## Scripted actions (against the running stack) + +```bash +# color a bot's LED +curl -X PUT localhost:8000/controller/dotbots/badcafe111111111/0/rgb_led \ + -H 'Content-Type: application/json' -d '{"red":34,"green":197,"blue":94}' + +# send a waypoint mission (bot navigates on its own) +curl -X PUT localhost:8000/controller/dotbots/badcafe111111111/0/waypoints \ + -H 'Content-Type: application/json' \ + -d '{"threshold":60,"waypoints":[{"x":400,"y":1600},{"x":1600,"y":400}]}' + +# flash two bots (watch rail queue + console) +curl -N -X POST localhost:8001/flash/stream -H 'Content-Type: application/json' \ + -d '{"firmware_b64":"ZmFrZQ==","devices":["badcafe111111111","deadbeef22222222"]}' + +# stop / start / reset a subset (or omit devices = whole fleet) +curl -X POST localhost:8001/stop -H 'Content-Type: application/json' \ + -d '{"devices":["badcafe111111111"]}' + +# screenshot for the Claude Design re-seed loop +node dotbot/console-web/dev/screenshot.mjs "http://127.0.0.1:5173/?sel=1111" out.png +``` diff --git a/dotbot/console-web/dev/fake_swarmit_server.py b/dotbot/console-web/dev/fake_swarmit_server.py new file mode 100644 index 00000000..2655d8cd --- /dev/null +++ b/dotbot/console-web/dev/fake_swarmit_server.py @@ -0,0 +1,425 @@ +"""Fake SwarmIT server for console development. + +Simulates the swarmit testbed server's HTTP surface with the same shapes: + +- GET /status -> {"response": {"": {device, status, battery, pos_x, pos_y}}} +- GET /settings -> {network_id, area_width, area_height, calibration_distance, auth_mode} +- POST /start|/stop|/reset {devices?} -> state transitions +- POST /flash {firmware_b64, devices?} (blocking) +- POST /flash/stream {firmware_b64, devices?} -> SSE: flash_started / chunk / + device_done / complete (same event shapes as swarmit) +- GET /events -> SSE: log_event entries (+ periodic status snapshots) + +Bot addresses are read live from the PyDotBot controller so both planes join +on the same ids; two ghost bots exist only on this plane (start in Bootloader, +never drivable). The DEVICE side is simulated; the HTTP contract is the real +one, so the console's write path exercises the same calls it will make against +a real swarmit server. + +Usage: python fake_swarmit_server.py [--controller http://localhost:8000] [--port 8001] +""" + +import argparse +import asyncio +import json +import time +import urllib.request + +import uvicorn +from fastapi import FastAPI, Request +from fastapi.middleware.cors import CORSMiddleware +from fastapi.responses import StreamingResponse + +GHOSTS = { + "C0FFEE0000000001": {"pos_x": 300, "pos_y": 1800}, + "C0FFEE0000000002": {"pos_x": 1750, "pos_y": 1650}, +} + +TOTAL_CHUNKS = 320 +CHUNKS_PER_TICK = 12 +TICK_S = 0.15 + +app = FastAPI(title="fake-swarmit") +app.add_middleware( + CORSMiddleware, allow_origins=["*"], allow_methods=["*"], allow_headers=["*"] +) + +settings = {"controller": "http://localhost:8000"} + +# Per-device simulated orchestration state. +states: dict = {} # addr -> {"status": str, "progress": {"acked", "total"} | None} +events: list = [] # [{"id", "type": "log_event", "level", "message", "ts"}] +_event_seq = 0 + + +def push_log(level: str, message: str) -> None: + global _event_seq + _event_seq += 1 + events.append( + { + "id": _event_seq, + "type": "log_event", + "level": level, + "message": message, + "ts": time.time(), + } + ) + del events[:-200] + + +def fetch_dotbots() -> list: + try: + with urllib.request.urlopen( + f"{settings['controller']}/controller/dotbots", timeout=2 + ) as res: + return json.loads(res.read()) + except Exception: + return [] + + +def known_devices() -> list: + return sorted({b["address"] for b in fetch_dotbots()} | set(GHOSTS)) + + +def state_of(addr: str) -> dict: + if addr not in states: + states[addr] = { + "status": "Bootloader" if addr in GHOSTS else "Running", + "progress": None, + } + return states[addr] + + +def resolve_devices(payload_devices) -> list: + if not payload_devices: + return known_devices() + if isinstance(payload_devices, str): + return [payload_devices] + return list(payload_devices) + + +# --- device-info fixtures ----------------------------------------------------- +# +# Shapes and vocabulary mirror swarmit's `_serialise_node` and the helpers it +# calls (`format_reset_cause`, `reset_severity`, `battery_pct`, `lh2_summary`). +# This file deliberately does NOT import swarmit: PyDotBot does not depend on +# it, and a dev harness is not the place to add a cross-repo import. The cost +# is that these tables have to be kept in step by hand if swarmit's wording +# changes, which is the normal bargain for a fake. +# +# Everything is picked deterministically from the address, so a screenshot taken +# twice looks the same. + +SANDBOX_FW = "0.8.0rc3-87-gb8957de" + +# (image_name, image_digest, image_size) +IMAGES = [ + ("dotbot-sandbox-dotbot-v3.bin", "c8a70af215722154", 6740), + ("spin-sandbox-dotbot-v3.bin", "5ff0e9023306b1eb", 2292), + ("move-sandbox-dotbot-v3.bin", "1b90c4de77a30265", 3128), + ("rgbled-sandbox-dotbot-v3.bin", "9d31fa07c25e4418", 1984), +] + +# (reset_cause, reset_severity, reset_reason, fault, fault_name, pc, lr) +# Chosen to exercise all three badge tiers. The "hung" entry is a real one: it +# is what a finished `spin` reports, pc landing in its terminal while(1). +RESETS = [ + ("power-on", "normal", 0x00000000, 0, "NoFault", 0, 0), + ("soft-reset", "normal", 0x00000008, 0, "NoFault", 0, 0), + ("stopped", "normal", 0x02000000, 0, "NoFault", 0, 0), + ("lockup", "normal", 0x00000010, 0, "NoFault", 0, 0), + ( + "hung (watchdog0 pc=0x00010230)", + "hung", + 0x00000002, + 3, + "WatchdogTimeout", + 0x00010230, + 0x0001022B, + ), + ( + "crashed (watchdog0 HardFault pc=0x2000abcd)", + "crashed", + 0x00000002, + 1, + "HardFault", + 0x2000ABCD, + 0x2000AB41, + ), +] + +# v3 pack: 3.0 V supercapacitor, brownout at 0.6 V, energy goes as V^2. +V_MAX_MV, V_EMPTY_MV, V_FULL_MV, V_WARN_MV = 3000, 600, 2900, 1500 + + +def battery_fields(mv: int) -> dict: + num = mv**2 - V_EMPTY_MV**2 + den = V_MAX_MV**2 - V_EMPTY_MV**2 + pct = max(0, min(100, int(num / den * 100))) + level = "full" if mv > V_FULL_MV else "ok" if mv > V_WARN_MV else "low" + return {"battery_pct": pct, "battery_level": level} + + +def _seed(addr: str) -> int: + return int(addr[-8:], 16) + + +def device_info(addr: str) -> dict: + seed = _seed(addr) + name, digest, size = IMAGES[seed % len(IMAGES)] + # A minority are uncalibrated, which is the state an operator acts on. + homographies = 0 if seed % 9 == 0 else (2 if seed % 5 == 0 else 1) + flags = 0 if not homographies else 0b11 + noun = "basestation" if homographies == 1 else "basestations" + summary = ( + "uncalibrated" + if not homographies + else f"{homographies} {noun} (valid, from flash)" + ) + return { + "info_version": 1, + "info_gen": 4, + "boot_count": 2 + seed % 30, + "uptime_s": 60 + seed % 9000, + "bl_version": SANDBOX_FW, + "net_version": SANDBOX_FW, + "image_state": 0, + "image_result": 1, + "image_state_name": "Idle", + "image_result_name": "Success", + "image_size": size, + "image_digest": digest, + "image_name": name, + "image_version": "", + "lh2_homography_count": homographies, + "lh2_flags": flags, + "lh2_summary": summary, + "raw": "8f0104" + f"{seed:08x}" * 4, + } + + +def node(addr: str, status: str, battery_mv: int, x: int, y: int) -> dict: + """One /status entry, the full shape a real swarmit daemon serves.""" + seed = _seed(addr) + # Weighted so most of the fleet is unremarkable and the badges mean + # something: about 5% of the fleet abnormal, split 2% a real fault and 3% + # a deliberate exit through the deadman. A badge on one bot in twenty is + # worth walking over to; a badge on one in five is wallpaper. + if seed % 50 == 0: + cause, severity, rr, fault, fault_name, pc, lr = RESETS[5] + elif seed % 33 == 0: + cause, severity, rr, fault, fault_name, pc, lr = RESETS[4] + else: + cause, severity, rr, fault, fault_name, pc, lr = RESETS[seed % 4] + return { + "device": "DotBotV3", + "status": status, + "battery": battery_mv, + "pos_x": x, + "pos_y": y, + "reset_reason": rr, + "fault": fault, + "fault_name": fault_name, + "reset_cause": cause, + "reset_severity": severity, + "from_ns": 1 if fault else 0, + "cfsr": 0x00008200 if fault == 1 else 0, + "sfsr": 0, + "pc": pc, + "lr": lr, + "raw": "8001" + f"{seed:08x}" * 3, + "last_updated_at": time.time(), + "info_gen": 4, + "info": device_info(addr), + **battery_fields(battery_mv), + } + + +def _sse(data: dict) -> str: + return f"data: {json.dumps(data)}\n\n" + + +@app.get("/status") +def status(): + response = {} + for bot in fetch_dotbots(): + addr = bot["address"] + pos = bot.get("lh2_position") or {} + response[addr] = node( + addr, + state_of(addr)["status"], + int(float(bot.get("battery", 3.0)) * 1000), + int(pos.get("x", 0)), + int(pos.get("y", 0)), + ) + for addr, pos in GHOSTS.items(): + response[addr] = node( + addr, state_of(addr)["status"], 2450, pos["pos_x"], pos["pos_y"] + ) + return {"response": response} + + +@app.get("/settings") +def get_settings(): + return { + "network_id": 0x12, + "area_width": 2000, + "area_height": 2000, + "calibration_distance": 400, + "auth_mode": "none", + } + + +async def transition(devices: list, via: str, to: str, delay: float) -> None: + for a in devices: + state_of(a)["status"] = via + await asyncio.sleep(delay) + for a in devices: + state_of(a)["status"] = to + + +@app.post("/start") +async def start(request: Request): + body = ( + await request.json() if int(request.headers.get("content-length") or 0) else {} + ) + devices = resolve_devices(body.get("devices")) + for a in devices: + state_of(a)["status"] = "Running" + push_log("ok", f"testbed started · {len(devices)} device(s)") + return {"result": "ok", "devices": devices} + + +@app.post("/stop") +async def stop(request: Request): + body = ( + await request.json() if int(request.headers.get("content-length") or 0) else {} + ) + devices = resolve_devices(body.get("devices")) + push_log("warn", f"stopping · {len(devices)} device(s)") + asyncio.create_task(transition(devices, "Stopping", "Bootloader", 1.2)) + return {"result": "ok", "devices": devices} + + +@app.post("/reset") +async def reset(request: Request): + body = ( + await request.json() if int(request.headers.get("content-length") or 0) else {} + ) + devices = resolve_devices( + body.get("devices") or list(body.get("locations", {}) or {}) + ) + push_log("warn", f"resetting · {len(devices)} device(s)") + asyncio.create_task(transition(devices, "Resetting", "Bootloader", 1.6)) + return {"result": "ok", "devices": devices} + + +async def flash_events(devices: list, fw_len: int): + for a in devices: + st = state_of(a) + st["status"] = "Programming" + st["progress"] = {"acked": 0, "total": TOTAL_CHUNKS} + push_log("info", f"flash started · {len(devices)} device(s) · {fw_len} bytes") + yield _sse( + { + "type": "flash_started", + "image_size": fw_len, + "total_chunks": TOTAL_CHUNKS, + "fw_hash": "F4KEF4KE", + "devices": sorted(devices), + } + ) + done: set = set() + while len(done) < len(devices): + await asyncio.sleep(TICK_S) + for a in devices: + if a in done: + continue + p = state_of(a)["progress"] + p["acked"] = min(p["total"], p["acked"] + CHUNKS_PER_TICK) + yield _sse( + {"type": "chunk", "addr": a, "acked": p["acked"], "total": p["total"]} + ) + if p["acked"] >= p["total"]: + done.add(a) + st = state_of(a) + st["status"] = "Bootloader" # flashed image sits ready; /start runs it + st["progress"] = None + push_log("ok", f"{a[-4:].upper()} flashed · {p['total']} chunks") + yield _sse( + { + "type": "device_done", + "addr": a, + "success": True, + "retries": 0, + "chunks_acked": p["total"], + "chunks_total": p["total"], + } + ) + push_log("ok", "flash complete · all devices") + yield _sse( + { + "type": "complete", + "all_success": True, + "elapsed_s": TOTAL_CHUNKS / CHUNKS_PER_TICK * TICK_S, + } + ) + + +@app.post("/flash/stream") +async def flash_stream(request: Request): + body = await request.json() + devices = resolve_devices(body.get("devices")) + fw_len = len(body.get("firmware_b64", "")) * 3 // 4 + return StreamingResponse( + flash_events(devices, fw_len), media_type="text/event-stream" + ) + + +@app.post("/flash") +async def flash(request: Request): + body = await request.json() + devices = resolve_devices(body.get("devices")) + fw_len = len(body.get("firmware_b64", "")) * 3 // 4 + async for _ in flash_events(devices, fw_len): + pass + return {"result": "ok", "devices": devices} + + +@app.get("/events") +async def sse_events(request: Request): + async def gen(): + last_id = max(0, _event_seq - 50) # replay recent history on connect + last_snapshot = 0.0 + while True: + if await request.is_disconnected(): + return + for ev in events: + if ev["id"] > last_id: + yield _sse(ev) + last_id = ev["id"] + now = time.time() + if now - last_snapshot > 2.0: + last_snapshot = now + # The real daemon drops the device-info hex from the stream: + # 310 characters per device twice a second is most of it, and + # only `info --raw` reads it. Mirror that, so a client tested + # here cannot come to depend on a field the real server + # withholds (swarmit testbed/webserver.py, _serialise_node). + snapshot = { + addr: {**n, "info": {**n["info"], "raw": ""}} + for addr, n in status()["response"].items() + } + yield _sse({"type": "status", "response": snapshot}) + await asyncio.sleep(0.3) + + return StreamingResponse(gen(), media_type="text/event-stream") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--controller", default="http://localhost:8000") + parser.add_argument("--port", type=int, default=8001) + args = parser.parse_args() + settings["controller"] = args.controller + uvicorn.run(app, host="127.0.0.1", port=args.port, log_level="warning") diff --git a/dotbot/console-web/dev/screenshot.mjs b/dotbot/console-web/dev/screenshot.mjs new file mode 100644 index 00000000..ae987aec --- /dev/null +++ b/dotbot/console-web/dev/screenshot.mjs @@ -0,0 +1,23 @@ +// Dev screenshot helper: loads a console URL in headless Chrome, waits for +// live data to render (or a fixed delay), then captures a PNG. +// Usage: node dev/screenshot.mjs [waitMs=4000] +import puppeteer from "puppeteer-core"; + +const [url, outfile, waitMs = "4000"] = process.argv.slice(2); +if (!url || !outfile) { + console.error("usage: node dev/screenshot.mjs [waitMs]"); + process.exit(1); +} + +const browser = await puppeteer.launch({ + executablePath: "/Applications/Google Chrome.app/Contents/MacOS/Google Chrome", + headless: "shell", + args: ["--disable-gpu", "--hide-scrollbars"], +}); +const page = await browser.newPage(); +await page.setViewport({ width: 1440, height: 900 }); +await page.goto(url, { waitUntil: "domcontentloaded" }); +await new Promise((r) => setTimeout(r, Number(waitMs))); +await page.screenshot({ path: outfile }); +await browser.close(); +console.log("saved", outfile); diff --git a/dotbot/console-web/dev/simulator_init_state.toml b/dotbot/console-web/dev/simulator_init_state.toml new file mode 100644 index 00000000..8515ba73 --- /dev/null +++ b/dotbot/console-web/dev/simulator_init_state.toml @@ -0,0 +1,47 @@ +# Demo fleet for console development. Run the simulator from this directory +# (it picks up ./simulator_init_state.toml) or copy this file next to it. + +[network] +pdr = 100 + +[[dotbots]] +address = "BADCAFE111111111" +calibrated = 0xff +pos_x = 400 +pos_y = 350 +direction = 45 + +[[dotbots]] +address = "DEADBEEF22222222" +calibrated = 0xff +pos_x = 1500 +pos_y = 250 +direction = 180 + +[[dotbots]] +address = "B0B0F00D33333333" +calibrated = 0xff +pos_x = 1500 +pos_y = 1500 +direction = 270 + +[[dotbots]] +address = "CAFEBABE44444444" +calibrated = 0xff +pos_x = 600 +pos_y = 1200 +direction = 90 + +[[dotbots]] +address = "FACEFEED55555555" +calibrated = 0xff +pos_x = 1000 +pos_y = 800 +direction = 0 + +[[dotbots]] +address = "ABAD1DEA66666666" +calibrated = 0xff +pos_x = 250 +pos_y = 900 +direction = 135 diff --git a/dotbot/console-web/eslint.config.mjs b/dotbot/console-web/eslint.config.mjs new file mode 100644 index 00000000..aea6b8f7 --- /dev/null +++ b/dotbot/console-web/eslint.config.mjs @@ -0,0 +1,10 @@ +// @ts-check + +import js from "@eslint/js"; +import { defineConfig } from "eslint/config"; +import tseslint from "typescript-eslint"; + +export default defineConfig( + js.configs.recommended, + tseslint.configs.recommended, +); diff --git a/dotbot/console-web/index.html b/dotbot/console-web/index.html new file mode 100644 index 00000000..9d8975e0 --- /dev/null +++ b/dotbot/console-web/index.html @@ -0,0 +1,18 @@ + + + + + + DotBot Console + + + + + +
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--noEmit", + "lint": "eslint src/.", + "test": "vitest run --coverage" + }, + "dependencies": { + "react": "^18.2.0", + "react-dom": "^18.2.0" + }, + "devDependencies": { + "@eslint/js": "^10.0.1", + "@types/react": "^18.2.43", + "@types/react-dom": "^18.2.17", + "@vitejs/plugin-react": "^4.2.1", + "@vitest/coverage-v8": "^2.1.9", + "eslint": "^10.6.0", + "puppeteer-core": "^24.43.1", + "typescript": "^5.2.2", + "typescript-eslint": "^8.63.0", + "vite": "^5.0.8", + "vitest": "^2.1.9" + } +} diff --git a/dotbot/console-web/src/App.tsx b/dotbot/console-web/src/App.tsx new file mode 100644 index 00000000..f2bd2227 --- /dev/null +++ b/dotbot/console-web/src/App.tsx @@ -0,0 +1,533 @@ +import React, { useCallback, useEffect, useRef, useState } from "react"; + +import { fetchConnection, putWaypoints } from "./api"; +import { Footer } from "./Footer"; +import { GridView } from "./GridView"; +import { Inspector } from "./Inspector"; +import { ListView } from "./ListView"; +import { Camera, Layers, MapView, ViewGeom } from "./MapView"; +import { DoneMission, TestbedRail } from "./TestbedRail"; +import { + ControllerConnection, + LH2Position, + PlannedMission, +} from "./types"; +import { useFleet } from "./useFleet"; +import { useOrchestration } from "./useOrchestration"; + +const WAYPOINT_THRESHOLD = 60; // mm, arrival radius sent with waypoint missions + +type ViewKind = "map" | "list" | "grid"; + +export const App: React.FC = () => { + const { bots, mapSize, wsUp } = useFleet(); + // ?theme=dark|light presets the theme (handy for dev/screenshots). + const [theme, setTheme] = useState<"dark" | "light">(() => + new URLSearchParams(window.location.search).get("theme") === "light" ? "light" : "dark", + ); + // ?view=map|list|grid opens a specific view (handy for dev/screenshots). + const [view, setView] = useState(() => { + const v = new URLSearchParams(window.location.search).get("view"); + return v === "list" || v === "grid" ? v : "map"; + }); + const [cam, setCam] = useState({ scale: 1, tx: 0, ty: 0 }); + const [geom, setGeom] = useState(null); + const [toast, setToast] = useState(null); + const toastTimer = useRef(undefined); + const showToast = useCallback((msg: string) => { + setToast(msg); + window.clearTimeout(toastTimer.current); + toastTimer.current = window.setTimeout(() => setToast(null), 2500); + }, []); + + const orch = useOrchestration(showToast); + + // ?sel=[,] preselects bots (handy for dev/screenshots). + const [selection, setSelection] = useState>(new Set()); + const preselRef = useRef(false); + React.useEffect(() => { + if (preselRef.current || bots.length === 0) return; + const raw = new URLSearchParams(window.location.search).get("sel"); + if (raw) { + const suffixes = raw.toLowerCase().split(","); + const hits = bots.filter((b) => suffixes.some((s) => b.id.toLowerCase().endsWith(s))).map((b) => b.id); + if (hits.length) setSelection(new Set(hits)); + } + preselRef.current = true; + }, [bots]); + + // Planned missions: local waypoint queues bound to bots at queue time. + const [planned, setPlanned] = useState([]); + const [layersOpen, setLayersOpen] = useState(false); + const [layers, setLayers] = useState({ + batteryBars: true, + waypoints: true, + hotSpots: false, + dotBots: true, + trueScale: true, + trails: false, + crashedOnly: false, + }); + const [inspectorOpen, setInspectorOpen] = useState(false); + const [conn, setConn] = useState(null); + + // Fetched once: the controller cannot change transport without restarting. + useEffect(() => { + fetchConnection().then(setConn); + }, []); + + // replace = set selection to ids · toggle = flip each id · add = union (range select) + const onSelect = useCallback((ids: string[], mode: "replace" | "toggle" | "add") => { + setSelection((prev) => { + if (mode === "replace") return new Set(ids); + const next = new Set(prev); + if (mode === "add") ids.forEach((id) => next.add(id)); + else ids.forEach((id) => (next.has(id) ? next.delete(id) : next.add(id))); + return next; + }); + }, []); + + // One filter for all three views: "who crashed" is the same question whether + // you are looking at the map, the list or the grid. + const shownBots = layers.crashedOnly + ? bots.filter((b) => b.severity === "crashed") + : bots; + const selectedBots = bots.filter((b) => selection.has(b.id)); + const drivableSelected = selectedBots.filter((b) => b.drivable); + const selKey = drivableSelected.map((b) => b.id).sort().join("-"); + const selPlanned = planned.find((m) => m.key === selKey); + const pending = selPlanned?.waypoints ?? []; + + const onAddWaypoint = useCallback( + (p: LH2Position) => { + if (drivableSelected.length === 0) return; + const ids = drivableSelected.map((b) => b.id).sort(); + const key = ids.join("-"); + setPlanned((prev) => { + const hit = prev.find((m) => m.key === key); + if (hit) return prev.map((m) => (m.key === key ? { ...m, waypoints: [...m.waypoints, p] } : m)); + return [...prev, { key, ids, waypoints: [p] }]; + }); + }, + [drivableSelected], + ); + + const sendMission = useCallback( + (m: PlannedMission) => { + const targets = bots.filter((b) => m.ids.includes(b.id) && b.drivable); + targets.forEach((b) => { + putWaypoints(b.id, b.application, WAYPOINT_THRESHOLD, m.waypoints).catch(() => {}); + }); + showToast( + `${m.waypoints.length} waypoint${m.waypoints.length > 1 ? "s" : ""} sent to ${targets.length} bot${ + targets.length > 1 ? "s" : "" + }`, + ); + setPlanned((prev) => prev.filter((x) => x.key !== m.key)); + }, + [bots, showToast], + ); + + const onGo = useCallback(() => { + if (selPlanned) sendMission(selPlanned); + }, [selPlanned, sendMission]); + + const onGoMission = useCallback( + (key: string) => { + const m = planned.find((x) => x.key === key); + if (m) sendMission(m); + }, + [planned, sendMission], + ); + + const onStopNav = useCallback(() => { + drivableSelected.forEach((b) => { + putWaypoints(b.id, b.application, WAYPOINT_THRESHOLD, []).catch(() => {}); + }); + if (drivableSelected.length > 0) showToast("Navigation stopped"); + }, [drivableSelected, showToast]); + + const onClearQueue = useCallback(() => { + setPlanned((prev) => prev.filter((m) => m.key !== selKey)); + }, [selKey]); + const onDiscardMission = useCallback((key: string) => { + setPlanned((prev) => prev.filter((m) => m.key !== key)); + }, []); + const onRemovePending = useCallback( + (i: number) => { + setPlanned((prev) => + prev + .map((m) => (m.key === selKey ? { ...m, waypoints: m.waypoints.filter((_, j) => j !== i) } : m)) + .filter((m) => m.waypoints.length > 0), + ); + }, + [selKey], + ); + + // Recently-completed missions: a bot flipping AUTO -> MANUAL just arrived. + const [doneMissions, setDoneMissions] = useState([]); + const prevNavRef = useRef>({}); + React.useEffect(() => { + const prev = prevNavRef.current; + const arrived = bots.filter((b) => prev[b.id] === "auto" && b.nav === "drive"); + if (arrived.length) { + const t = new Date().toLocaleTimeString([], { hour: "2-digit", minute: "2-digit", second: "2-digit" }); + setDoneMissions((d) => + [...arrived.map((b) => ({ key: `${b.id}-${Date.now()}`, id: b.id.slice(-4).toUpperCase(), t })), ...d].slice(0, 8), + ); + } + prevNavRef.current = Object.fromEntries(bots.map((b) => [b.id, b.nav])); + }, [bots]); + + const onStopMission = useCallback( + (ids: string[]) => { + bots + .filter((b) => ids.includes(b.id) && b.drivable) + .forEach((b) => putWaypoints(b.id, b.application, WAYPOINT_THRESHOLD, []).catch(() => {})); + showToast("Mission interrupted"); + }, + [bots, showToast], + ); + + const layerRows: { key: keyof Layers; label: string }[] = [ + { key: "batteryBars", label: "Battery Bars" }, + { key: "waypoints", label: "Waypoints" }, + { key: "hotSpots", label: "HotSpots" }, + { key: "dotBots", label: "DotBots" }, + { key: "trueScale", label: "Real-scale bots" }, + { key: "trails", label: "Trails" }, + { key: "crashedOnly", label: "Only crashed bots" }, + ]; + + return ( +
+ {/* Title bar */} +
+
DotBots
+
+ {window.location.host} + {conn && ( + <> +
+ + {conn.connection} + + + swarm id {conn.swarm_id} + + + )} +
+
+ + {wsUp ? "LIVE" : "OFFLINE"} + + · {bots.length} bots +
+
+ {/* theme: Dark | Light segmented (v1) */} +
+ {(["dark", "light"] as const).map((t) => ( +
setTheme(t)} + style={{ + padding: "4px 12px", + borderRadius: 5, + fontSize: 12, + fontWeight: 500, + cursor: "pointer", + background: theme === t ? "var(--accent)" : "transparent", + color: theme === t ? "#fff" : "var(--muted)", + textTransform: "capitalize", + }} + > + {t} +
+ ))} +
+
+ + {/* Body row: testbed rail + view area */} +
+ + orch.flash( + image, + selection.size ? [...selection] : undefined, + window.localStorage.getItem("dotbot.console.startAfterFlash") === "1", + ) + } + onStart={() => orch.act("start", selection.size ? [...selection] : undefined)} + onStop={() => orch.act("stop", selection.size ? [...selection] : undefined)} + onSelectIds={(ids) => onSelect(ids, "replace")} + onGoMission={onGoMission} + onDiscardMission={onDiscardMission} + onStopMission={onStopMission} + /> + + {/* view area */} +
+ {view === "map" && ( + { + const owner = bots.find((b) => m.ids.includes(b.id) && b.led); + return { + waypoints: m.waypoints, + led: owner?.led ? `rgb(${owner.led.red},${owner.led.green},${owner.led.blue})` : null, + }; + })} + cam={cam} + setCam={setCam} + onGeom={setGeom} + onSelect={onSelect} + onAddWaypoint={onAddWaypoint} + /> + )} + {view === "list" && } + {view === "grid" && } + + {/* shared view switcher */} +
+
setInspectorOpen((v) => !v)} + title="Show the full device info for the selection" + style={{ + display: "flex", + alignItems: "center", + gap: 6, + padding: "7px 11px", + borderRadius: 8, + cursor: "pointer", + fontSize: 12, + background: inspectorOpen ? "var(--elevated)" : "var(--surface)", + border: "1px solid var(--hairline)", + }} + > + ⓘ Info +
+ {view === "map" && ( +
setLayersOpen((v) => !v)} + style={{ + display: "flex", + alignItems: "center", + gap: 6, + padding: "7px 11px", + borderRadius: 8, + cursor: "pointer", + fontSize: 12, + background: layersOpen ? "var(--elevated)" : "var(--surface)", + border: "1px solid var(--hairline)", + boxShadow: "0 4px 16px rgba(0,0,0,.3)", + }} + > + ▤ Layers +
+ )} +
+ {(["map", "list", "grid"] as ViewKind[]).map((v) => ( +
setView(v)} + style={{ + padding: "6px 14px", + borderRadius: 6, + fontSize: 12, + cursor: "pointer", + background: view === v ? "var(--accent)" : "transparent", + color: view === v ? "#fff" : "var(--muted)", + fontWeight: view === v ? 600 : 400, + textTransform: "capitalize", + }} + > + {v} +
+ ))} +
+
+ + {/* toast */} + {toast && ( +
+ {toast} +
+ )} + + {/* layers panel */} + {layersOpen && view === "map" && ( +
+
+ Layers +
+ setLayersOpen(false)} style={{ cursor: "pointer", color: "var(--muted)", fontSize: 14, lineHeight: 1 }}> + ✕ + +
+ {layerRows.map((l) => ( +
setLayers((prev) => ({ ...prev, [l.key]: !prev[l.key] }))} + style={{ + display: "flex", + alignItems: "center", + justifyContent: "space-between", + padding: "5px 4px", + borderRadius: 5, + cursor: "pointer", + fontSize: 12, + }} + > + {l.label} + + {layers[l.key] ? "✓" : ""} + +
+ ))} +
+ )} +
+ {inspectorOpen && ( + setInspectorOpen(false)} /> + )} +
+ +
onSelect(ids, "replace")} + onGo={onGo} + onStopNav={onStopNav} + onClearQueue={onClearQueue} + onRemovePending={onRemovePending} + onToast={showToast} + /> +
+ ); +}; diff --git a/dotbot/console-web/src/FirmwareSection.tsx b/dotbot/console-web/src/FirmwareSection.tsx new file mode 100644 index 00000000..e99ea995 --- /dev/null +++ b/dotbot/console-web/src/FirmwareSection.tsx @@ -0,0 +1,233 @@ +import React, { useEffect, useRef, useState } from "react"; + +import { FirmwareFile, decodedSize, readFirmwareFile } from "./firmwareFile"; +import { + FirmwareEntry, + load as loadHistory, + togglePin as togglePinIn, +} from "./firmwareHistory"; + +// Firmware block at the top of the Testbed tab: one picker, one list, one +// flash button. +// +// There is deliberately no separate slot for the control-plane image. Pinning +// keeps it at the top of the list, which is the same affordance doing the same +// job - a dedicated slot showed the same file twice and put two competing red +// buttons in a 340px rail. + +const label: React.CSSProperties = { + fontSize: 9, + letterSpacing: ".5px", + textTransform: "uppercase", + color: "var(--muted)", +}; +const mono: React.CSSProperties = { fontFamily: "var(--font-mono)", fontSize: 11 }; + +export function buildTime(ms: number, now = Date.now()): string { + if (!ms) return "unknown"; + const mins = Math.round((now - ms) / 60000); + if (mins < 1) return "just built"; + if (mins < 60) return `${mins}m old`; + const h = Math.round(mins / 60); + if (h < 24) return `${h}h old`; + return `${Math.round(h / 24)}d old`; +} + +const sizeKb = (b64: string) => `${(decodedSize(b64) / 1024).toFixed(1)} kB`; + +const flashBtn = (enabled: boolean): React.CSSProperties => ({ + display: "block", + width: "100%", + textAlign: "center", + padding: "8px 0", + borderRadius: 8, + fontSize: 12, + fontWeight: 600, + cursor: enabled ? "pointer" : "not-allowed", + background: enabled ? "var(--accent)" : "var(--elevated)", + color: enabled ? "#fff" : "var(--muted)", + border: enabled ? "1px solid transparent" : "1px solid var(--hairline)", +}); + +const pickerBtn: React.CSSProperties = { + width: "100%", + boxSizing: "border-box", + background: "var(--elevated)", + border: "1px dashed var(--hairline)", + borderRadius: 8, + padding: "9px 10px", + cursor: "pointer", + textAlign: "center", + overflow: "hidden", + textOverflow: "ellipsis", + whiteSpace: "nowrap", + ...mono, +}; + +interface Props { + targetCount: number; + flashing: boolean; + onFlash: (image: FirmwareFile) => void; +} + +export const FirmwareSection: React.FC = (props) => { + const [open, setOpen] = useState(true); + const [armed, setArmed] = useState(null); + const [history, setHistory] = useState([]); + const [error, setError] = useState(null); + const [startAfter, setStartAfter] = useState( + () => window.localStorage.getItem("dotbot.console.startAfterFlash") === "1", + ); + const fileRef = useRef(null); + + useEffect(() => { + setHistory(loadHistory()); + }, []); + + useEffect(() => { + window.localStorage.setItem( + "dotbot.console.startAfterFlash", + startAfter ? "1" : "0", + ); + }, [startAfter]); + + const pick = async (f: File | undefined) => { + if (!f) return; + setError(null); + try { + setArmed(await readFirmwareFile(f)); + } catch (e) { + setError(e instanceof Error ? e.message : String(e)); + } + }; + + const flash = (image: FirmwareFile | null) => { + if (!image || props.flashing) return; + props.onFlash(image); + // Re-read rather than guess: useOrchestration owns the write. + setTimeout(() => setHistory(loadHistory()), 0); + }; + + const row = ( + name: string, + b64: string, + lastModified: number, + extra?: React.ReactNode, + ) => ( +
+ {extra} +
+ {name} +
+
+ {buildTime(lastModified)} +
+
+ ); + + return ( +
+
setOpen((v) => !v)} + style={{ ...label, cursor: "pointer", display: "flex", alignItems: "center", gap: 6 }} + > + {open ? "▾" : "▸"} Firmware +
+ + {open && ( +
+ { + (e.currentTarget as HTMLInputElement).value = ""; + }} + onChange={(e) => pick(e.target.files?.[0])} + /> +
fileRef.current?.click()} + style={{ ...pickerBtn, textAlign: armed ? "left" : "center", borderStyle: armed ? "solid" : "dashed" }} + > + {armed ? row(armed.name, armed.b64, armed.lastModified) : "Choose a .bin file…"} +
+ + {history.length > 0 && ( + <> +
Recent
+
+ {history.map((h) => { + const picked = armed?.b64 === h.b64; + return ( +
setArmed({ name: h.name, b64: h.b64, lastModified: h.lastModified })} + title="Flash these exact bytes again" + style={{ + padding: "6px 8px", + borderBottom: "1px solid var(--hairline)", + cursor: "pointer", + background: picked ? "var(--elevated)" : "transparent", + color: picked ? "var(--accent)" : "var(--text)", + }} + > + {row( + h.name, + h.b64, + h.lastModified, + { + e.stopPropagation(); + setHistory(togglePinIn(h)); + }} + title={h.pinned ? "Unpin" : "Pin to the top and keep"} + style={{ cursor: "pointer", fontSize: 10, color: h.pinned ? "var(--accent)" : "var(--muted)" }} + > + {h.pinned ? "★" : "☆"} + , + )} +
+ ); + })} +
+ + )} + +
flash(armed)} + style={{ ...flashBtn(Boolean(armed) && !props.flashing && props.targetCount > 0), marginTop: 6 }} + > + ⚡ Flash {props.targetCount} device(s) +
+ + {error && ( +
{error}
+ )} + + +
+ )} +
+ ); +}; diff --git a/dotbot/console-web/src/Footer.tsx b/dotbot/console-web/src/Footer.tsx new file mode 100644 index 00000000..60a16370 --- /dev/null +++ b/dotbot/console-web/src/Footer.tsx @@ -0,0 +1,564 @@ +import React, { useState } from "react"; + +import { batteryColor, batteryPct, stateColor, stateLabel } from "./viewChrome"; + +import { putRgbLed } from "./api"; +import { Pad } from "./Joystick"; +import { Camera, ViewGeom } from "./MapView"; +import { Minimap } from "./Minimap"; +import { BotState, LH2Position, LINK_LABEL, MapSize, STATE_ORDER, UnifiedBot } from "./types"; +import { FlashJob } from "./useOrchestration"; + +// v1 swatch palette. +const SWATCHES: [number, number, number][] = [ + [228, 3, 46], + [255, 140, 0], + [255, 200, 0], + [34, 197, 94], + [13, 148, 136], + [56, 189, 248], + [64, 80, 230], + [168, 85, 247], + [255, 255, 255], + [60, 60, 60], +]; + +const label = { fontSize: 10, letterSpacing: ".5px", textTransform: "uppercase", color: "var(--muted)" } as const; +const mono = { fontFamily: "var(--font-mono)" } as const; +// v1 gate style for non-drivable selections. +const gateOff = { opacity: 0.32, pointerEvents: "none" as const, filter: "grayscale(.7)" }; + +const ledCss = (b: UnifiedBot | undefined) => + b?.led ? `rgb(${b.led.red},${b.led.green},${b.led.blue})` : "var(--s-Inactive)"; +const short = (id: string) => id.slice(-4).toUpperCase(); + +interface FooterProps { + bots: UnifiedBot[]; + flashQueue: Record; + mapSize: MapSize; + selection: Set; + pendingWaypoints: LH2Position[]; + cam: Camera; + setCam: React.Dispatch>; + geom: ViewGeom | null; + onSelectState: (ids: string[]) => void; + onGo: () => void; + onStopNav: () => void; + onClearQueue: () => void; + onRemovePending: (index: number) => void; + onToast: (msg: string) => void; +} + +const StateDot: React.FC<{ state: BotState | null; glow?: boolean; size?: number }> = ({ state, glow, size = 9 }) => ( + +); + +// The two axes fail differently, so the hint names which one is blocking. +function notDrivableReason(one: UnifiedBot | null | undefined): string { + if (!one) return "nothing selected"; + if (one.link === "unknown") return "not on the control plane"; + if (one.link !== "active") return `the control plane is not hearing it (${one.link})`; + if (one.state && one.state !== "Running") return `its sandbox is ${one.state.toLowerCase()}, not running`; + return "no DBP in the running image"; +} + +const BatteryBar: React.FC<{ bot: UnifiedBot }> = ({ bot }) => { + const volts = bot.battery; + const pct = batteryPct(bot); + return ( +
+
+
+
+ {volts.toFixed(2)} V +
+ ); +}; + +// The control dock, per v1: pad + LED button + segmented waypoint group, +// with popovers anchored above and everything gated when nothing is drivable. +const ControlDock: React.FC<{ + targets: UnifiedBot[]; + pending: LH2Position[]; + isGroup: boolean; + selCount: number; + onGo: () => void; + onStopNav: () => void; + onClearQueue: () => void; + onRemovePending: (i: number) => void; + onToast: (msg: string) => void; +}> = ({ targets, pending, isGroup, selCount, onGo, onStopNav, onClearQueue, onRemovePending, onToast }) => { + const [ledOpen, setLedOpen] = useState(false); + const [wpOpen, setWpOpen] = useState(false); + const drivable = targets.filter((b) => b.drivable); + const enabled = drivable.length > 0; + const anyAuto = drivable.some((b) => b.nav === "auto"); + // The controller stores [own-start, ...targets]; count the targets. + const activeCount = Math.max( + ...drivable.map((b) => (b.waypoints.length > 1 ? b.waypoints.length - 1 : b.waypoints.length)), + 0, + ); + const wpCount = pending.length > 0 ? pending.length : anyAuto ? activeCount : 0; + const single = !isGroup ? targets[0] : undefined; + + const hint = !enabled + ? isGroup + ? "⚠ Not drivable - no DBP in selection" + : `⚠ Not drivable - ${notDrivableReason(single)}` + : anyAuto + ? `▶ Navigating · ${activeCount} waypoint${activeCount === 1 ? "" : "s"} left` + : `${isGroup ? `${drivable.length} of ${selCount} drivable · ` : "◉ "}Drag pad to drive · ⌥ Alt-click map to add waypoints${pending.length ? ` · ${pending.length} queued` : ""}`; + + const popBase: React.CSSProperties = { + position: "absolute", + bottom: 72, + left: 0, + width: 212, + background: "var(--surface)", + border: "1px solid var(--hairline)", + borderRadius: 10, + padding: 12, + boxShadow: "0 10px 30px rgba(0,0,0,.45)", + zIndex: 30, + }; + + return ( +
+
Control
+
+
+ +
+
+ {/* LED button */} +
enabled && setLedOpen((v) => !v)} + style={{ + display: "flex", + alignItems: "center", + gap: 7, + padding: "8px 12px", + borderRadius: 8, + background: "var(--elevated)", + border: "1px solid var(--hairline)", + cursor: "pointer", + fontSize: 12, + ...(enabled ? {} : gateOff), + }} + > +
+ LED{isGroup ? " all" : ""} +
+ {/* waypoint group: [Waypoints · N][Go / Stop nav][Clear] */} +
+
setWpOpen((v) => !v)} + style={{ + padding: "6px 11px", + cursor: "pointer", + fontSize: 12, + display: "flex", + alignItems: "center", + gap: 6, + whiteSpace: "nowrap", + background: wpOpen ? "rgba(228,3,46,.14)" : "transparent", + }} + > + ◎ Waypoints{wpCount ? ` · ${wpCount}` : ""} +
+ {(pending.length > 0 || anyAuto) && ( +
(anyAuto ? onStopNav() : onGo())} + style={{ + display: "flex", + alignItems: "center", + padding: "6px 11px", + cursor: "pointer", + fontSize: 12, + fontWeight: 600, + whiteSpace: "nowrap", + borderLeft: "1px solid var(--hairline)", + color: anyAuto ? "var(--text)" : "var(--accent)", + }} + > + {anyAuto ? "■ Stop nav" : "▶ Go"} +
+ )} + {pending.length > 0 && ( +
+ Clear +
+ )} +
+
+
+
{hint}
+ + {/* click-away overlay */} + {(ledOpen || wpOpen) && ( +
{ + setLedOpen(false); + setWpOpen(false); + }} + /> + )} + + {/* LED popover */} + {ledOpen && ( +
+
LED color{isGroup ? ` · ${drivable.length} bots` : ""}
+
+ {SWATCHES.map(([r, g, b], i) => ( +
{ + drivable.forEach((bot) => + putRgbLed(bot.id, bot.application, { red: r, green: g, blue: b }).catch(() => {}), + ); + onToast(`LED set on ${drivable.length} bot${drivable.length > 1 ? "s" : ""}`); + setLedOpen(false); + }} + style={{ + width: "100%", + aspectRatio: 1, + borderRadius: 6, + cursor: "pointer", + background: `rgb(${r},${g},${b})`, + boxShadow: "0 0 0 1px rgba(255,255,255,.08)", + }} + /> + ))} +
+
+ )} + + {/* waypoint queue popover */} + {wpOpen && ( +
+
+ Waypoint queue + {pending.length > 0 && ( + + Clear all + + )} +
+ {pending.length > 0 ? ( +
+ {pending.map((w, i) => ( +
+ {i + 1} + + {Math.round(w.x)}, {Math.round(w.y)} mm + + onRemovePending(i)} + style={{ marginLeft: "auto", color: "var(--muted)", cursor: "pointer", fontSize: 14, lineHeight: 1, padding: "0 3px" }} + > + × + +
+ ))} +
+ ) : ( +
+ ⌥ Alt-click the map to add waypoints for {isGroup ? "the selection" : "this bot"}. +
+ )} +
+ )} +
+ ); +}; + +const Sep: React.FC = () =>
; + +export const Footer: React.FC = (props) => { + const selected = props.bots.filter((b) => props.selection.has(b.id)); + const one = selected.length === 1 ? selected[0] : undefined; + + return ( +
+ + +
+ {/* NONE: fleet rollup (all states, zero-count rows dimmed, per v1) */} + {selected.length === 0 && ( +
+
+
+ {props.bots.length} + / 1000 +
+
DotBots online
+
+ +
+ {STATE_ORDER.map((s) => { + const ids = props.bots.filter((b) => b.state === s).map((b) => b.id); + return ( +
ids.length && props.onSelectState(ids)} + title={ids.length ? "Select these bots" : undefined} + style={{ + display: "flex", + alignItems: "center", + gap: 9, + opacity: ids.length ? 1 : 0.4, + cursor: ids.length ? "pointer" : "default", + }} + > + + {ids.length} + {s} +
+ ); + })} +
+
+ )} + + {/* ONE: selected bot */} + {one && ( +
+
+
+
+ {short(one.id)} +
+ {one.id.toUpperCase()} + {one.deviceType} + {"—"} + + ◎ {one.drivable ? "Drivable" : "Not drivable"} + +
+ +
+
Status
+
+ + {stateLabel(one.state)} + {one.link !== "active" && ( + + {LINK_LABEL[one.link].toUpperCase()} + + )} +
+ {props.flashQueue[one.id] && !props.flashQueue[one.id].done && ( +
+
+ {props.flashQueue[one.id].acked} / {props.flashQueue[one.id].total} chunks +
+
+
+
+
+ )} +
+ + + {one.position ? `${Math.round(one.position.x)}, ${Math.round(one.position.y)} mm` : "— unknown"} + +
+
+ + {/* what the bot reports it is running, straight from swarmit /status */} +
+
Image
+
+ {one.image ?? "— unknown"} +
+
Last reset
+
+ {one.resetCause ?? "— unknown"} +
+
+ + +
+
+ )} + + {/* MULTI */} + {selected.length > 1 && ( +
+
+
+ ☰ +
+
+ {selected.length} + selected + props.onSelectState([])} style={{ fontSize: 11, color: "var(--accent)", cursor: "pointer" }}> + Clear selection + +
+
+ +
+
Status
+
+ {STATE_ORDER.map((s) => { + const n = selected.filter((b) => b.state === s).length; + return n > 0 ? ( +
+ + {n} + {s} +
+ ) : null; + })} +
+
+ + +
+
+ )} +
+
+ ); +}; diff --git a/dotbot/console-web/src/GridView.tsx b/dotbot/console-web/src/GridView.tsx new file mode 100644 index 00000000..42440aea --- /dev/null +++ b/dotbot/console-web/src/GridView.tsx @@ -0,0 +1,121 @@ +import React from "react"; + +import { UnifiedBot } from "./types"; +import { BatteryCell, FilterBar, LedDot, Pagination, ResetBadge, stateColor, useQueriedBots, useViewQuery } from "./viewChrome"; + +interface GridViewProps { + bots: UnifiedBot[]; + selection: Set; + onSelect: (ids: string[], mode: "replace" | "toggle" | "add") => void; +} + +export const GridView: React.FC = ({ bots, selection, onSelect }) => { + const { q, setQ } = useViewQuery(); + const { rows, total, pages } = useQueriedBots(bots, q); + // File-manager selection: click = single, shift+click = range from the + // anchor in the current card order, cmd/ctrl = toggle. + const anchorRef = React.useRef(null); + const cardClick = (e: React.MouseEvent, id: string) => { + if (e.shiftKey && anchorRef.current) { + const ids = rows.map((r) => r.id); + const a = ids.indexOf(anchorRef.current); + const b = ids.indexOf(id); + if (a >= 0 && b >= 0) { + onSelect(ids.slice(Math.min(a, b), Math.max(a, b) + 1), "add"); + return; + } + } + if (e.metaKey || e.ctrlKey) { + onSelect([id], "toggle"); + anchorRef.current = id; + return; + } + // Plain click on the sole selected item deselects it. + if (selection.has(id) && selection.size === 1) { + onSelect([], "replace"); + anchorRef.current = null; + return; + } + onSelect([id], "replace"); + anchorRef.current = id; + }; + + return ( +
onSelect([], "replace")} + > +
e.stopPropagation()}> + +
+
+
+ {rows.map((b) => { + const checked = selection.has(b.id); + return ( +
{ + e.stopPropagation(); + cardClick(e, b.id); + }} + style={{ + display: "flex", + flexDirection: "column", + gap: 9, + padding: "13px 14px", + borderRadius: 10, + background: "var(--surface)", + border: checked ? "1px solid var(--accent)" : "1px solid var(--hairline)", + boxShadow: checked ? "0 0 0 1px var(--accent)" : "none", + cursor: "pointer", + }} + > +
+ + + {b.id.slice(-4)} +
+ + {b.state} +
+
{b.id}
+ +
+ Device {b.deviceType} +
+
+ ); + })} +
+
+
e.stopPropagation()}> + +
+
+ ); +}; diff --git a/dotbot/console-web/src/Inspector.tsx b/dotbot/console-web/src/Inspector.tsx new file mode 100644 index 00000000..17a2f2e8 --- /dev/null +++ b/dotbot/console-web/src/Inspector.tsx @@ -0,0 +1,284 @@ +import React, { useState } from "react"; + +import { stateLabel } from "./viewChrome"; + +import { LINK_LABEL, UnifiedBot } from "./types"; + +// Right-side inspector: the low-level layer next to the map's high-level one. +// Renders what `dotbot swarm info` prints, from the same /status payload, and +// stacks one card per selected bot the way that command prints one panel per +// device. Everything is plain text in normal flow, so it selects and copies. +// +// swarmit serves the display strings it computes (reset_cause, fault_name, +// image_*_name, lh2_summary), so this renders them rather than keeping a +// second copy of the vocabulary in TypeScript. +export function formatUptime(seconds: number): string { + const h = Math.floor(seconds / 3600); + const m = Math.floor((seconds % 3600) / 60); + const s = Math.floor(seconds % 60); + const pad = (n: number) => String(n).padStart(2, "0"); + if (h) return `${h}h ${pad(m)}m ${pad(s)}s`; + if (m) return `${m}m ${pad(s)}s`; + return `${s}s`; +} + +// swarmit distinguishes a device that never answered from one reporting zero +// homographies: one is re-provisioned, the other is a fetch that has not +// landed. The server words both; absence here means the former. +export function formatLh2(bot: UnifiedBot): string { + return bot.swarmit?.info?.lh2_summary ?? "unknown (no device info)"; +} + +const hex32 = (v: number) => `0x${(v >>> 0).toString(16).padStart(8, "0")}`; + +// FaultType values that actually populate the fault status registers. A +// watchdog timeout raises no fault, so cfsr/sfsr read zero and showing them +// invites decoding a status that was never written. pc/lr are still the whole +// answer there: they name where the app was stuck. Mirrors the CLI's rule. +const FAULT_HARD = 1; +const FAULT_SECURE = 2; +const setsFaultRegisters = (fault: number) => + fault === FAULT_HARD || fault === FAULT_SECURE; + +// The plain-text form, so one click hands over exactly what a bug report wants. +export function infoText(bot: UnifiedBot): string { + const sw = bot.swarmit; + const info = sw?.info; + const out: string[] = [bot.id]; + out.push(`Type ${bot.deviceType}`); + out.push(`Sandbox ${stateLabel(bot.state)}`); + out.push(`Control plane ${LINK_LABEL[bot.link]}`); + out.push(`Battery ${bot.battery.toFixed(2)}V`); + out.push( + `Position ${bot.position ? `${Math.round(bot.position.x)}, ${Math.round(bot.position.y)}` : "no fix"}`, + ); + if (info) { + out.push(""); + out.push(`Image ${info.image_name || "(unnamed)"}`); + out.push(` digest ${info.image_digest}`); + out.push(` size ${info.image_size ?? 0} B`); + out.push( + ` state ${info.image_state_name ?? info.image_state} / ${info.image_result_name ?? info.image_result}`, + ); + out.push(""); + out.push(`Sandbox fw bootloader ${info.bl_version}`); + out.push(` netcore ${info.net_version}`); + out.push(`Uptime ${formatUptime(info.uptime_s)} (boot #${info.boot_count})`); + } + out.push(""); + out.push(`LH2 calibration ${formatLh2(bot)}`); + if (sw?.reset_reason !== undefined) { + out.push(""); + out.push(`Last reset ${bot.resetCause}`); + out.push(` reset_reason ${hex32(sw.reset_reason)}`); + out.push(` fault ${sw.fault_name ?? sw.fault}`); + if (sw.fault) { + if (setsFaultRegisters(sw.fault)) { + out.push(` cfsr ${hex32(sw.cfsr ?? 0)}`); + out.push(` sfsr ${hex32(sw.sfsr ?? 0)}`); + } + out.push(` pc ${hex32(sw.pc ?? 0)}`); + out.push(` lr ${hex32(sw.lr ?? 0)}`); + } + } + return out.join("\n"); +} + +const label: React.CSSProperties = { + fontSize: 9, + letterSpacing: ".5px", + textTransform: "uppercase", + color: "var(--muted)", +}; +const mono: React.CSSProperties = { fontFamily: "var(--font-mono)", fontSize: 11 }; + +const Row: React.FC<{ k: string; v: string; indent?: boolean; accent?: boolean }> = ({ + k, + v, + indent, + accent, +}) => ( +
+
{k}
+
+ {v} +
+
+); + +const Card: React.FC<{ bot: UnifiedBot }> = ({ bot }) => { + const [showRaw, setShowRaw] = useState(false); + const [copied, setCopied] = useState(false); + const sw = bot.swarmit; + const info = sw?.info; + + const copy = (text: string) => { + navigator.clipboard?.writeText(text).then( + () => { + setCopied(true); + setTimeout(() => setCopied(false), 1200); + }, + () => undefined, + ); + }; + + return ( +
+
+
+ {bot.id} +
+
copy(infoText(bot))} + title="Copy this panel as text" + style={{ + ...mono, + fontSize: 10, + cursor: "pointer", + padding: "2px 7px", + borderRadius: 6, + border: "1px solid var(--hairline)", + color: copied ? "var(--accent)" : "var(--muted)", + flex: "none", + }} + > + {copied ? "copied" : "copy"} +
+
+ + + + + + + + {info && ( + <> +
+ + + + +
+ + + + + )} + +
+ + + {sw?.reset_reason !== undefined && ( + <> +
+ + + + {Boolean(sw.fault) && ( + <> + {setsFaultRegisters(sw.fault ?? 0) && ( + <> + + + + )} + + + + )} + + )} + + {(sw?.raw || info?.raw) && ( + <> +
+
setShowRaw((v) => !v)} + style={{ ...mono, fontSize: 10, color: "var(--muted)", cursor: "pointer" }} + > + {showRaw ? "▾" : "▸"} wire bytes +
+ {showRaw && ( +
+ {sw?.raw && } + {info?.raw && } +
copy(`status ${sw?.raw ?? ""}\ninfo ${info?.raw ?? ""}`)} + style={{ + ...mono, + fontSize: 10, + marginTop: 6, + cursor: "pointer", + color: "var(--muted)", + textDecoration: "underline", + }} + > + copy wire bytes +
+
+ )} + + )} +
+ ); +}; + +export const Inspector: React.FC<{ + bots: UnifiedBot[]; + onClose: () => void; +}> = ({ bots, onClose }) => ( +
+
+
+ Inspector{bots.length > 1 ? ` · ${bots.length} bots` : ""} +
+
+ × +
+
+
+ {bots.length === 0 ? ( +
+ Select a bot to inspect it. +
+ ) : ( + bots.map((b) => ) + )} +
+
+); diff --git a/dotbot/console-web/src/Joystick.tsx b/dotbot/console-web/src/Joystick.tsx new file mode 100644 index 00000000..91a401d7 --- /dev/null +++ b/dotbot/console-web/src/Joystick.tsx @@ -0,0 +1,192 @@ +import React, { useEffect, useRef, useState } from "react"; + +import { putMoveRaw } from "./api"; +import { UnifiedBot } from "./types"; + +// v1 drive pad: 64px rounded square, crosshair guides, LED-colored knob with +// the bot's live heading pointer (single) or an accent knob with a xN count +// (group). +// +// Control model: BODY-relative, open loop - the mapping the classic frontend +// uses on real robots. Up/down is throttle along the bot's own heading, +// left/right is a differential that yaws it. Deliberately not a closed loop on +// reported heading: heading is derived from successive position fixes, so it +// is null on any bot without a position source (an uncalibrated arena, LH2 out +// of view), and a loop that cannot see heading cannot steer at all. +// +// Signs follow the robot, not the map: dragging right speeds up the LEFT wheel, +// which yaws the bot right (clockwise, so its CCW-positive `direction` +// decreases). +// +// The knob travels R px for looks, but the command is scaled over CONTROL_R px +// of pointer movement, which the pointer capture lets run outside the pad. The +// two are separate on purpose: a 20px control throw gives a handful of usable +// speed steps and is unusable, so the throw matches the classic pad's 100px +// while the knob stays inside a 64px control. +// +// SPEED_OFFSET jumps the first non-zero step over the motors' stall band; the +// firmware maps left_y/right_y linearly onto +/-100% with no deadband of its +// own (apps-sandbox/dotbot/main.c). +const SPEED_OFFSET = 30; +const PAD = 64; +const R = 20; // knob travel radius, as in v1 +const CONTROL_R = 100; // pointer travel for full command, as in the classic pad +const FULL_SCALE = 64; // command at full deflection, before SPEED_OFFSET +const DEADZONE = 3; // px of slop, so a click without a drag does not creep + +const clampPwm = (v: number) => Math.max(-128, Math.min(127, Math.trunc(v))); + +export function mixDrive(dx: number, dy: number): { left: number; right: number } { + if (Math.hypot(dx, dy) < DEADZONE) return { left: 0, right: 0 }; + const clamp1 = (v: number) => Math.max(-1, Math.min(1, v)); + const throttle = -clamp1(dy / CONTROL_R) * FULL_SCALE; // screen y grows down + const yaw = clamp1(dx / CONTROL_R) * FULL_SCALE; + let left = throttle + yaw; + let right = throttle - yaw; + if (left > 0) left += SPEED_OFFSET; + if (left < 0) left -= SPEED_OFFSET; + if (right > 0) right += SPEED_OFFSET; + if (right < 0) right -= SPEED_OFFSET; + return { left: clampPwm(left), right: clampPwm(right) }; +} + +interface PadProps { + targets: UnifiedBot[]; // drivable bots to drive together + disabled: boolean; // parent applies the gate style; this blocks input +} + +export const Pad: React.FC = ({ targets, disabled }) => { + const [knob, setKnob] = useState({ x: 0, y: 0 }); + const [active, setActive] = useState(false); + const knobRef = useRef(knob); + knobRef.current = knob; + const targetsRef = useRef(targets); + targetsRef.current = targets; + + // The knob shows the same direction as the command, scaled to fit the pad. + const knobPx = { x: (knob.x / CONTROL_R) * R, y: (knob.y / CONTROL_R) * R }; + + const single = targets.length === 1 ? targets[0] : null; + const led = single + ? single.led + ? `rgb(${single.led.red},${single.led.green},${single.led.blue})` + : "var(--s-Inactive)" + : null; + + useEffect(() => { + if (!active) return; + const t = setInterval(() => { + const { left, right } = mixDrive(knobRef.current.x, knobRef.current.y); + targetsRef.current.forEach((b) => { + putMoveRaw(b.id, b.application, left, right).catch(() => {}); + }); + }, 100); + return () => clearInterval(t); + }, [active]); + + const stop = () => { + if (!active) return; + setActive(false); + setKnob({ x: 0, y: 0 }); + targetsRef.current.forEach((b) => { + putMoveRaw(b.id, b.application, 0, 0).catch(() => {}); + }); + }; + + const move = (e: React.PointerEvent) => { + const r = (e.currentTarget as HTMLElement).getBoundingClientRect(); + let dx = e.clientX - (r.left + r.width / 2); + let dy = e.clientY - (r.top + r.height / 2); + const len = Math.hypot(dx, dy); + if (len > CONTROL_R) { + dx = (dx / len) * CONTROL_R; + dy = (dy / len) * CONTROL_R; + } + setKnob({ x: dx, y: dy }); + }; + + return ( +
{ + if (disabled || targets.length === 0) return; + setActive(true); + (e.currentTarget as HTMLElement).setPointerCapture(e.pointerId); + move(e); + }} + onPointerMove={(e) => active && move(e)} + onPointerUp={stop} + onPointerCancel={stop} + title="Drag pad to drive" + style={{ + width: PAD, + height: PAD, + flex: "none", + borderRadius: 12, + background: "var(--elevated)", + border: `1px solid ${active ? "var(--accent)" : "var(--hairline)"}`, + position: "relative", + touchAction: "none", + // Drag surface: a pan or marquee would otherwise smear a text + // selection across the UI and race the browser's native drag. + userSelect: "none", + cursor: "grab", + }} + > + {/* crosshair guides */} +
+
+ {single ? ( +
+ {single.heading !== null && ( +
+ )} +
+ ) : ( +
+ ×{targets.length} +
+ )} +
+ ); +}; diff --git a/dotbot/console-web/src/ListView.tsx b/dotbot/console-web/src/ListView.tsx new file mode 100644 index 00000000..1f35f58f --- /dev/null +++ b/dotbot/console-web/src/ListView.tsx @@ -0,0 +1,223 @@ +import React from "react"; + +import { UnifiedBot } from "./types"; +import { BatteryCell, FilterBar, LedDot, Pagination, ResetBadge, SortKey, stateColor, useQueriedBots, useViewQuery } from "./viewChrome"; + +interface ListViewProps { + bots: UnifiedBot[]; + selection: Set; + onSelect: (ids: string[], mode: "replace" | "toggle" | "add") => void; +} + +export const ListView: React.FC = ({ bots, selection, onSelect }) => { + const { q, setQ } = useViewQuery(); + const { rows, total, pages } = useQueriedBots(bots, q); + // File-manager selection: click = single, shift+click = range from the + // anchor (last plain/cmd click) in the current row order, cmd/ctrl = toggle. + const anchorRef = React.useRef(null); + const rowClick = (e: React.MouseEvent, id: string) => { + if (e.shiftKey && anchorRef.current) { + const ids = rows.map((r) => r.id); + const a = ids.indexOf(anchorRef.current); + const b = ids.indexOf(id); + if (a >= 0 && b >= 0) { + onSelect(ids.slice(Math.min(a, b), Math.max(a, b) + 1), "add"); + return; + } + } + if (e.metaKey || e.ctrlKey) { + onSelect([id], "toggle"); + anchorRef.current = id; + return; + } + // Plain click on the sole selected item deselects it. + if (selection.has(id) && selection.size === 1) { + onSelect([], "replace"); + anchorRef.current = null; + return; + } + onSelect([id], "replace"); + anchorRef.current = id; + }; + + const sortBy = (key: SortKey) => + setQ((p) => ({ + ...p, + sortKey: key, + sortDir: p.sortKey === key ? ((p.sortDir * -1) as 1 | -1) : 1, + })); + const arrow = (key: SortKey) => (q.sortKey === key ? (q.sortDir === 1 ? " ↑" : " ↓") : ""); + + const allVisibleSelected = rows.length > 0 && rows.every((b) => selection.has(b.id)); + const toggleAll = () => { + if (allVisibleSelected) onSelect(rows.map((b) => b.id), "toggle"); // all off + else onSelect(rows.filter((b) => !selection.has(b.id)).map((b) => b.id), "add"); + }; + + const th: React.CSSProperties = { + padding: "11px 12px", + position: "sticky", + top: 0, + background: "var(--surface)", + borderBottom: "1px solid var(--hairline)", + fontSize: 10, + letterSpacing: ".5px", + textTransform: "uppercase", + color: "var(--muted)", + textAlign: "left", + cursor: "pointer", + userSelect: "none", + }; + const checkBox = (checked: boolean): React.CSSProperties => ({ + width: 15, + height: 15, + borderRadius: 4, + border: "1px solid var(--hairline)", + background: checked ? "var(--accent)" : "transparent", + color: "#fff", + fontSize: 10, + display: "flex", + alignItems: "center", + justifyContent: "center", + cursor: "pointer", + }); + + return ( +
onSelect([], "replace")} + > +
e.stopPropagation()}> + +
+
+ + + + + + + + + + + + + {rows.map((b) => { + const checked = selection.has(b.id); + return ( + { + e.stopPropagation(); + rowClick(e, b.id); + }} + style={{ + cursor: "pointer", + background: checked ? "rgba(228,3,46,.07)" : "transparent", + borderLeft: checked ? "2px solid var(--accent)" : "2px solid transparent", + }} + > + + + + + + + + ); + })} + +
+
{ + e.stopPropagation(); + toggleAll(); + }} + style={checkBox(allVisibleSelected)} + > + {allVisibleSelected ? "✓" : ""} +
+ 		{ e.stopPropagation(); sortBy("id"); }}> + ID{arrow("id")} + { e.stopPropagation(); sortBy("fw"); }}> + Device{arrow("fw")} + { e.stopPropagation(); sortBy("image"); }}> + Image{arrow("image")} + { e.stopPropagation(); sortBy("battery"); }}> + Battery{arrow("battery")} + { e.stopPropagation(); sortBy("state"); }}> + State{arrow("state")} +
+
{ + e.stopPropagation(); + onSelect([b.id], "toggle"); + anchorRef.current = b.id; + }} + style={checkBox(checked)} + > + {checked ? "✓" : ""} +
+ 		+
+ + + {b.id} +
+ 		+ {b.deviceType} + + {b.image ?? "—"} + + + +
+ + {b.state} +
+
+
+
e.stopPropagation()}> + +
+
+ ); +}; diff --git a/dotbot/console-web/src/MapView.tsx b/dotbot/console-web/src/MapView.tsx new file mode 100644 index 00000000..c4aed299 --- /dev/null +++ b/dotbot/console-web/src/MapView.tsx @@ -0,0 +1,584 @@ +import React, { useCallback, useMemo, useRef, useState } from "react"; + +import { ResetBadge, batteryColor, batteryPct, stateColor } from "./viewChrome"; + +import { LH2Position, MapSize, UnifiedBot } from "./types"; +import { useSmoothPositions } from "./useSmoothPositions"; + +// Layer set mirrors the v1 design (Battery Bars / Waypoints / HotSpots / +// DotBots / Real-scale bots); Trails is our addition on top. +export interface Layers { + batteryBars: boolean; + waypoints: boolean; + hotSpots: boolean; + dotBots: boolean; + trueScale: boolean; + crashedOnly: boolean; + trails: boolean; +} + +export interface Camera { + scale: number; + tx: number; + ty: number; +} + +export interface ViewGeom { + w: number; + h: number; + side: number; +} + +// v1 clampPan: keep the arena reachable, never fling it off-screen. +export function clampCam(cam: Camera, geom: ViewGeom): Camera { + const sw = geom.side * cam.scale; + const padX = Math.max(0, (geom.w - geom.side) / 2); + const padY = Math.max(0, (geom.h - geom.side) / 2); + const mx = Math.max(0, (sw - geom.w) / 2) + padX; + const my = Math.max(0, (sw - geom.h) / 2) + padY; + return { + ...cam, + tx: Math.max(-mx, Math.min(mx, cam.tx)), + ty: Math.max(-my, Math.min(my, cam.ty)), + }; +} + +interface MapViewProps { + bots: UnifiedBot[]; + mapSize: MapSize; + selection: Set; + layers: Layers; + plannedMissions: { waypoints: LH2Position[]; led: string | null }[]; // local queues, not yet sent + cam: Camera; + setCam: React.Dispatch>; + onGeom: (g: ViewGeom) => void; + onSelect: (ids: string[], mode: "replace" | "toggle" | "add") => void; + onAddWaypoint: (p: LH2Position) => void; +} + +const BOT_R = 11; // px radius of the bot circle at zoom 1 (22px glyph, as in v1) +const REAL_BOT_MM = 80; // approximate DotBot footprint for the Real-scale layer + +const ledCss = (b: UnifiedBot) => + b.led ? `rgb(${b.led.red},${b.led.green},${b.led.blue})` : "var(--s-Inactive)"; + + + +export const MapView: React.FC = (props) => { + const wrapRef = useRef(null); + const { cam, setCam } = props; + const [marquee, setMarquee] = useState<{ x0: number; y0: number; x1: number; y1: number } | null>(null); + const [hoverId, setHoverId] = useState(null); + const panRef = useRef<{ x0: number; y0: number; tx0: number; ty0: number; moved: boolean } | null>(null); + const marqueeRef = useRef<{ additive: boolean } | null>(null); + const geomRef = useRef({ w: 1000, h: 600, side: 600 }); + + const mapDiagonal = Math.hypot(props.mapSize.width, props.mapSize.height); + const smoothPositions = useSmoothPositions(props.bots, mapDiagonal); + + const [side, setSide] = useState(600); + const onGeomRef = useRef(props.onGeom); + onGeomRef.current = props.onGeom; + // Track the canvas size live (rail open/close, window resize): the arena + // keeps its margins instead of overflowing when the canvas shrinks. + const measure = useCallback((el: HTMLDivElement | null) => { + (wrapRef as React.MutableRefObject).current = el; + }, []); + React.useEffect(() => { + const el = wrapRef.current; + if (!el) return; + const update = () => { + const r = el.getBoundingClientRect(); + const s = Math.max(200, Math.min(r.width, r.height) - 48); + setSide(s); + geomRef.current = { w: r.width, h: r.height, side: s }; + onGeomRef.current(geomRef.current); + }; + update(); + const ro = new ResizeObserver(update); + ro.observe(el); + return () => ro.disconnect(); + }, []); + + // v1 coordinate convention: y grows NORTH (up); screen top = arena max-y. + const pctPos = (p: LH2Position) => ({ + left: (p.x / props.mapSize.width) * 100, + top: (1 - p.y / props.mapSize.height) * 100, + }); + + const pxToMm = (clientX: number, clientY: number): LH2Position | null => { + const el = wrapRef.current; + if (!el) return null; + const r = el.getBoundingClientRect(); + const cx = r.left + r.width / 2; + const cy = r.top + r.height / 2; + const ux = (clientX - cx - cam.tx) / cam.scale + r.width / 2; + const uy = (clientY - cy - cam.ty) / cam.scale + r.height / 2; + const ax = ux - (r.width - side) / 2; + const ay = uy - (r.height - side) / 2; + const x = (ax / side) * props.mapSize.width; + const y = (1 - ay / side) * props.mapSize.height; + if (x < 0 || y < 0 || x > props.mapSize.width || y > props.mapSize.height) return null; + return { x: Math.round(x), y: Math.round(y) }; + }; + + // v1 canvas semantics: alt-click = waypoint, shift-drag = marquee, + // plain drag = pan, plain click (no movement) = clear selection. + const onCanvasDown = (e: React.PointerEvent) => { + if (e.button !== 0) return; + (e.currentTarget as HTMLElement).setPointerCapture(e.pointerId); + if (e.altKey) { + const p = pxToMm(e.clientX, e.clientY); + if (p) props.onAddWaypoint(p); + return; + } + if (e.shiftKey) { + marqueeRef.current = { additive: true }; + setMarquee({ x0: e.clientX, y0: e.clientY, x1: e.clientX, y1: e.clientY }); + return; + } + panRef.current = { x0: e.clientX, y0: e.clientY, tx0: cam.tx, ty0: cam.ty, moved: false }; + }; + + const onCanvasMove = (e: React.PointerEvent) => { + if (panRef.current) { + const p = panRef.current; + const dx = e.clientX - p.x0; + const dy = e.clientY - p.y0; + if (Math.abs(dx) + Math.abs(dy) > 3) p.moved = true; + setCam((c) => clampCam({ ...c, tx: p.tx0 + dx, ty: p.ty0 + dy }, geomRef.current)); + return; + } + if (marqueeRef.current) setMarquee((m) => (m ? { ...m, x1: e.clientX, y1: e.clientY } : m)); + }; + + const onCanvasUp = () => { + if (panRef.current) { + const moved = panRef.current.moved; + panRef.current = null; + if (!moved) props.onSelect([], "replace"); // plain click on empty canvas clears + return; + } + if (!marqueeRef.current || !marquee) { + marqueeRef.current = null; + setMarquee(null); + return; + } + const x0 = Math.min(marquee.x0, marquee.x1); + const x1 = Math.max(marquee.x0, marquee.x1); + const y0 = Math.min(marquee.y0, marquee.y1); + const y1 = Math.max(marquee.y0, marquee.y1); + if (x1 - x0 >= 5 || y1 - y0 >= 5) { + const hits = props.bots + .filter((b) => { + if (!b.position) return false; + const el = document.getElementById(`bot-${b.id}`); + if (!el) return false; + const r = el.getBoundingClientRect(); + const cx = r.left + r.width / 2; + const cy = r.top + r.height / 2; + return cx >= x0 && cx <= x1 && cy >= y0 && cy <= y1; + }) + .map((b) => b.id); + props.onSelect(hits, "add"); + } + marqueeRef.current = null; + setMarquee(null); + }; + + const gridStep = side / 10; + const gridBg = useMemo( + () => + `repeating-linear-gradient(0deg, var(--grid) 0 1px, transparent 1px ${gridStep}px),` + + `repeating-linear-gradient(90deg, var(--grid) 0 1px, transparent 1px ${gridStep}px)`, + [gridStep], + ); + + // Real-scale layer: glyphs scale to the actual DotBot footprint. + const gscale = props.layers.trueScale + ? Math.max(0.2, (side * (REAL_BOT_MM / props.mapSize.width)) / (BOT_R * 2)) + : 1; + + return ( +
+ {/* camera layer */} +
+ {/* arena */} +
+ {/* subtle center accents (v1) */} +
+
+ + {/* trails (our extra layer) */} + {props.layers.trails && ( + + {props.bots + .filter((b) => b.trail.length > 1) + .map((b) => ( + `${(p.x / props.mapSize.width) * side},${(1 - p.y / props.mapSize.height) * side}`) + .join(" ")} + fill="none" + stroke={ledCss(b)} + strokeWidth={1} + opacity={0.35} + /> + ))} + + )} + + {/* waypoints: per-bot LED-colored diamonds (v1: no connector lines) */} + {props.layers.waypoints && + props.bots.flatMap((b) => { + if (b.waypoints.length === 0) return []; + const isSel = props.selection.has(b.id); + const led = ledCss(b); + const s = (isSel ? 10 : 8) * gscale; + return b.waypoints.map((w, i) => { + const q = pctPos(w); + return ( +
+ ); + }); + })} + + {/* planned (queued, not sent) waypoints */} + {props.layers.waypoints && + props.plannedMissions.flatMap((m, mi) => + m.waypoints.map((p, i) => { + const q = pctPos(p); + const led = m.led ?? "var(--accent)"; + return ( +
+ ); + }), + )} + + {/* bots (v1 glyph: state-colored body, LED pip, drive dot, chip label) */} + {props.layers.dotBots && + props.bots + .filter((b) => b.position) + .map((b) => { + const q = pctPos(smoothPositions.get(b.id) ?? b.position!); + const selected = props.selection.has(b.id); + const hovered = hoverId === b.id; + const led = ledCss(b); + const stc = stateColor(b.state); + const pct = batteryPct(b); + const blink = b.state === "Programming" || b.state === "Resetting"; + return ( +
{ + e.stopPropagation(); + if (e.altKey) { + const p = pxToMm(e.clientX, e.clientY); + if (p) props.onAddWaypoint(p); + return; + } + if (e.shiftKey || e.metaKey || e.ctrlKey) { + props.onSelect([b.id], "toggle"); + } else if (props.selection.has(b.id) && props.selection.size === 1) { + props.onSelect([], "replace"); // click the sole selected bot again = deselect + } else { + props.onSelect([b.id], "replace"); + } + }} + onPointerEnter={() => setHoverId(b.id)} + onPointerLeave={() => setHoverId((h) => (h === b.id ? null : h))} + style={{ + position: "absolute", + left: `${q.left}%`, + top: `${q.top}%`, + transform: `translate(-50%, -50%) scale(${gscale})`, + cursor: "pointer", + zIndex: selected ? 6 : 2, + width: 0, + height: 0, + }} + > + {/* last-reset warning, centred over the glyph body */} +
+ +
+ {/* selection rectangle */} + {selected && ( +
+ )} + {/* battery bar */} + {props.layers.batteryBars && ( +
+
+
+ )} + {/* body: state-colored circle */} +
+ {/* heading pointer (state-colored, at the edge). The + controller reports direction as 0 = north (+y), + positive COUNTERclockwise; CSS rotates clockwise in + screen coords, so the angle is negated. */} + {b.heading !== null && ( +
+
+
+ )} + {/* drive dot: white ring at center = drivable; its FILL is + the LED color (experiment: merges the v1 LED pip into the + drive indicator - see design-feedback) */} + {b.drivable && ( +
+ )} + {/* chip label: selected or hovered only */} + {(selected || hovered) && ( +
+ {b.id.slice(-4).toUpperCase()} +
+ )} +
+ ); + })} +
+
+ + {/* marquee */} + {marquee && ( +
+ )} + + {/* zoom controls */} +
e.stopPropagation()} + > + {[ + { label: "+", fn: () => setCam((c) => clampCam({ ...c, scale: Math.min(4, c.scale * 1.25) }, geomRef.current)) }, + { label: "−", fn: () => setCam((c) => clampCam({ ...c, scale: Math.max(0.5, c.scale / 1.25) }, geomRef.current)) }, + { label: "◎", fn: () => setCam({ scale: 1, tx: 0, ty: 0 }) }, + ].map((z, i) => ( +
+ {z.label} +
+ ))} +
+ + {/* hint */} +
+ drag = pan · shift-drag = select · ⌥ alt-click = waypoint +
+
+ ); +}; diff --git a/dotbot/console-web/src/Minimap.tsx b/dotbot/console-web/src/Minimap.tsx new file mode 100644 index 00000000..fb0a3829 --- /dev/null +++ b/dotbot/console-web/src/Minimap.tsx @@ -0,0 +1,130 @@ +import React, { useRef } from "react"; + +import { stateColor } from "./viewChrome"; + +import { Camera, clampCam, ViewGeom } from "./MapView"; +import { MapSize, UnifiedBot } from "./types"; + +interface MinimapProps { + bots: UnifiedBot[]; + mapSize: MapSize; + cam: Camera; + setCam: React.Dispatch>; + geom: ViewGeom | null; +} + +// Whole-arena overview with the current map viewport as a rectangle. +// Dragging moves the camera (the design pans through here). The arena box +// keeps the real arena aspect ratio - a 2000x2000 arena is a square. +export const Minimap: React.FC = ({ bots, mapSize, cam, setCam, geom }) => { + const boxRef = useRef(null); + const dragging = useRef(false); + + const viewportRect = () => { + if (!geom) return null; + const { w, h, side } = geom; + const span = (extent: number, t: number) => { + const min = 0.5 - (extent / 2 + t) / (side * cam.scale); + const max = 0.5 + (extent / 2 - t) / (side * cam.scale); + return [Math.max(0, min), Math.min(1, max)]; + }; + const [x0, x1] = span(w, cam.tx); + const [y0, y1] = span(h, cam.ty); + return { x0, x1, y0, y1 }; + }; + + const centerOn = (clientX: number, clientY: number) => { + const el = boxRef.current; + if (!el || !geom) return; + const r = el.getBoundingClientRect(); + const fx = Math.max(0, Math.min(1, (clientX - r.left) / r.width)); + const fy = Math.max(0, Math.min(1, (clientY - r.top) / r.height)); + setCam((c) => + clampCam( + { ...c, tx: -(fx - 0.5) * geom.side * c.scale, ty: -(fy - 0.5) * geom.side * c.scale }, + geom, + ), + ); + }; + + const rect = viewportRect(); + + return ( +
+
+ Arena · {mapSize.width}×{mapSize.height}mm +
+
+
{ + dragging.current = true; + (e.currentTarget as HTMLElement).setPointerCapture(e.pointerId); + centerOn(e.clientX, e.clientY); + }} + onPointerMove={(e) => dragging.current && centerOn(e.clientX, e.clientY)} + onPointerUp={() => (dragging.current = false)} + style={{ + position: "relative", + aspectRatio: `${mapSize.width} / ${mapSize.height}`, + height: "100%", + maxWidth: "100%", + background: "var(--canvas)", + border: "1px solid var(--hairline)", + borderRadius: 5, + overflow: "hidden", + cursor: "grab", + touchAction: "none", + // Drag surface: a pan or marquee would otherwise smear a text + // selection across the UI and race the browser's native drag. + userSelect: "none", + }} + > + {bots + .filter((b) => b.position) + .map((b) => ( +
+ ))} + {rect && ( +
+ )} +
+
+
+ ); +}; diff --git a/dotbot/console-web/src/TestbedRail.tsx b/dotbot/console-web/src/TestbedRail.tsx new file mode 100644 index 00000000..65324931 --- /dev/null +++ b/dotbot/console-web/src/TestbedRail.tsx @@ -0,0 +1,554 @@ +import React, { useState } from "react"; + +import { PlannedMission, UnifiedBot } from "./types"; +import { FirmwareSection } from "./FirmwareSection"; +import { FirmwareFile } from "./firmwareFile"; +import { FlashJob, LogRow } from "./useOrchestration"; + +// Left testbed rail, per v1: collapsed 52px icon strip <-> 340px panel with a +// Testbed tab (orchestration controls - disabled until the swarmit write path +// lands; never mocked) and a Missions tab (waypoint missions derived from +// live state: Planned = the local queue, Active = bots navigating). + +export interface DoneMission { + key: string; + id: string; // short label + t: string; // time string +} + +interface Mission { + key: string; + ids: string[]; + label: string; + count: number; + n: number; // waypoints (max left among the group) + phase: "planned" | "active"; + dots: string[]; // led css colors, max 4 +} + +interface TestbedRailProps { + bots: UnifiedBot[]; + selection: Set; + planned: PlannedMission[]; + doneMissions: DoneMission[]; + logs: LogRow[]; + jobs: FlashJob[]; + fleetPct: number; + flashing: boolean; + clearLogs: () => void; + targetCount: number; + onFlash: (image: FirmwareFile) => void; + onStart: () => void; + onStop: () => void; + onSelectIds: (ids: string[]) => void; + onGoMission: (key: string) => void; + onDiscardMission: (key: string) => void; + onStopMission: (ids: string[]) => void; +} + +const ledCss = (b: UnifiedBot) => + b.led ? `rgb(${b.led.red},${b.led.green},${b.led.blue})` : "var(--s-Inactive)"; +const short = (id: string) => id.slice(-4).toUpperCase(); +const label10 = { fontSize: 10, letterSpacing: ".5px", textTransform: "uppercase", color: "var(--muted)" } as const; + +// v1 actBtn, rail variant (full width), rendered disabled until orchestration. +const railBtn = (accent: boolean): React.CSSProperties => ({ + display: "flex", + alignItems: "center", + justifyContent: "center", + gap: 6, + padding: "7px 13px", + borderRadius: 7, + fontSize: 12, + fontWeight: 500, + whiteSpace: "nowrap", + border: `1px solid ${accent ? "var(--accent)" : "var(--hairline)"}`, + background: accent ? "var(--accent)" : "var(--elevated)", + color: accent ? "#fff" : "var(--text)", + width: "100%", + boxSizing: "border-box", + cursor: "pointer", +}); + +const tabStyle = (active: boolean): React.CSSProperties => ({ + padding: "5px 11px", + borderRadius: 5, + fontSize: 12, + fontWeight: 500, + cursor: "pointer", + background: active ? "var(--elevated)" : "transparent", + color: active ? "var(--text)" : "var(--muted)", +}); + +const topTabStyle = (active: boolean): React.CSSProperties => ({ + padding: "5px 12px", + borderRadius: 6, + fontSize: 12, + fontWeight: active ? 600 : 500, + cursor: "pointer", + background: active ? "var(--accent)" : "transparent", + color: active ? "#fff" : "var(--muted)", + display: "flex", + alignItems: "center", + gap: 6, +}); + +export function deriveMissions(bots: UnifiedBot[], planned: PlannedMission[]): Mission[] { + const missions: Mission[] = []; + const byId = new Map(bots.map((b) => [b.id, b])); + // Planned: local queues, bound to their bots at queue time. + planned.forEach((m) => { + const bs = m.ids.map((id) => byId.get(id)).filter(Boolean) as UnifiedBot[]; + if (!bs.length) return; + missions.push({ + key: m.key, + ids: m.ids, + label: bs.length === 1 ? short(bs[0].id) : `${bs.length} bots`, + count: bs.length, + n: m.waypoints.length, + phase: "planned", + dots: bs.slice(0, 4).map(ledCss), + }); + }); + // Active: navigating bots, grouped by identical mission targets. The + // controller prepends each bot's own start position to the list it stores, + // so the shared mission is the TAIL - skip the first element when the list + // has more than one entry. + const targetsOf = (b: UnifiedBot) => (b.waypoints.length > 1 ? b.waypoints.slice(1) : b.waypoints); + const navving = bots.filter((b) => b.nav === "auto" && b.waypoints.length > 0); + const groups = new Map(); + navving.forEach((b) => { + const sig = targetsOf(b) + .map((w) => `${Math.round(w.x)},${Math.round(w.y)}`) + .join(";"); + const arr = groups.get(sig) ?? []; + arr.push(b); + groups.set(sig, arr); + }); + [...groups.entries()].forEach(([sig, bs]) => { + missions.push({ + key: `active-${sig}`, + ids: bs.map((b) => b.id), + label: bs.length === 1 ? short(bs[0].id) : `${bs.length} bots`, + count: bs.length, + n: Math.max(...bs.map((b) => targetsOf(b).length)), + phase: "active", + dots: bs.slice(0, 4).map(ledCss), + }); + }); + return missions; +} + +export const TestbedRail: React.FC = (props) => { + // The panel is open by default; ?rail=collapsed starts it as the icon strip, + // and ?rail=testbed|missions picks which tab is on top. + const railParam = new URLSearchParams(window.location.search).get("rail"); + const [mode, setMode] = useState<"collapsed" | "panel">( + railParam === "collapsed" ? "collapsed" : "panel", + ); + const [top, setTop] = useState<"testbed" | "missions">(railParam === "missions" ? "missions" : "testbed"); + const [tab, setTab] = useState<"console" | "flash">("console"); + + const missions = deriveMissions(props.bots, props.planned); + const targetLabel = props.selection.size ? `${props.selection.size} selected` : "whole fleet"; + + const ico: React.CSSProperties = { + width: 32, + height: 32, + display: "flex", + alignItems: "center", + justifyContent: "center", + borderRadius: 7, + background: "var(--elevated)", + border: "1px solid var(--hairline)", + fontSize: 13, + color: "var(--text)", + }; + + return ( +
+ {/* collapsed icon strip */} + {mode === "collapsed" && ( +
+
setMode("panel")} title="Open testbed" style={{ ...ico, cursor: "pointer" }}> + ▤ +
+
+ {[ + { g: "▶", t: "Start", fn: props.onStart }, + { g: "■", t: "Stop", fn: props.onStop }, + ].map((x, i) => ( +
+ {x.g} +
+ ))} +
+
{ + setMode("panel"); + setTop("testbed"); + setTab("console"); + }} + title="Console" + style={{ ...ico, cursor: "pointer" }} + > + ☰ +
+
{ + setMode("panel"); + setTop("missions"); + }} + title={`Missions (${missions.length})`} + style={{ ...ico, cursor: "pointer", position: "relative" }} + > + ◎ + {missions.length > 0 && ( + + {missions.length} + + )} +
+
+ )} + + {/* full panel */} + {mode === "panel" && ( +
+ {/* header */} +
+
+
setTop("testbed")} style={topTabStyle(top === "testbed")}> + Testbed +
+
setTop("missions")} style={topTabStyle(top === "missions")}> + Missions{" "} + + {missions.length} + +
+
+
+ setMode("collapsed")} + title="Collapse" + style={{ cursor: "pointer", color: "var(--muted)", fontSize: 15, lineHeight: 1 }} + > + ‹ + +
+ + {/* TESTBED tab */} + {top === "testbed" && ( +
+
+ +
+
+
+ Target · {targetLabel} +
+
+
+ ▶ Start +
+
+ ■ Stop +
+
+ {props.flashing && ( +
+
+ Flashing + {props.fleetPct}% +
+
+
+
+
+ )} +
+
+
setTab("console")} style={tabStyle(tab === "console")}> + Console +
+
setTab("flash")} style={tabStyle(tab === "flash")}> + Flash queue +
+
+ {tab === "console" && ( +
+
+ + /events · log_event + +
+ + Clear + +
+
+
+ {props.logs.length === 0 && ( +
No log events yet.
+ )} + {props.logs.map((l) => ( +
+ {l.t} + {l.msg} +
+ ))} +
+
+
+ )} + {tab === "flash" && ( +
+ {props.jobs.length === 0 ? ( +
+ No active flash. Pick targets in any view (or none = whole fleet), then Flash… +
+ ) : ( + props.jobs.map((j) => { + const pct = j.total ? Math.round((j.acked / j.total) * 100) : 0; + return ( +
+
+ {short(j.addr)} + + {j.done ? "done" : `${pct}%`} + +
+
+
+
+
+ ); + }) + )} +
+ )} +
+ )} + + {/* MISSIONS tab */} + {top === "missions" && ( +
+
+ Active waypoint missions +
+ {missions.length > 0 && ( + props.onSelectIds(missions.flatMap((m) => m.ids))} + style={{ fontSize: 11, color: "var(--accent)", cursor: "pointer" }} + > + Select all + + )} +
+
+ {missions.map((m) => ( +
props.onSelectIds(m.ids)} + style={{ + display: "flex", + alignItems: "center", + gap: 10, + padding: "9px 10px", + background: "var(--elevated)", + border: "1px solid var(--hairline)", + borderRadius: 8, + marginBottom: 8, + cursor: "pointer", + }} + > +
+ {m.dots.map((c, i) => ( +
+ ))} +
+ {m.label} + + {m.phase === "active" ? "Active" : "Planned"} + +
+ + ◎ {m.n} + + {m.phase === "planned" && ( +
{ + e.stopPropagation(); + props.onGoMission(m.key); + }} + style={{ + display: "inline-flex", + alignItems: "center", + padding: "3px 10px", + borderRadius: 6, + fontSize: 11, + fontWeight: 600, + cursor: "pointer", + background: "var(--accent)", + color: "#fff", + }} + > + ▶ Go +
+ )} +
{ + e.stopPropagation(); + if (m.phase === "planned") props.onDiscardMission(m.key); + else props.onStopMission(m.ids); + }} + title={m.phase === "active" ? "Interrupt & discard mission" : "Discard mission"} + style={{ + display: "inline-flex", + alignItems: "center", + justifyContent: "center", + width: 22, + height: 22, + borderRadius: 6, + cursor: "pointer", + color: "var(--muted)", + fontSize: 16, + }} + > + × +
+
+ ))} + {missions.length === 0 && ( +
+ No missions yet. +
+
+ Select bots · ⌥ Alt-click the map to add waypoints (mission shows as Planned) · + press Go to make it Active. Click a mission to reselect its bots. +
+ )} + {props.doneMissions.length > 0 && ( +
+
Recently completed
+ {props.doneMissions.map((d) => ( +
+ ✓ + {d.id} + reached all waypoints +
+ {d.t} +
+ ))} +
+ )} +
+
+ )} +
+ )} +
+ ); +}; diff --git a/dotbot/console-web/src/api.test.ts b/dotbot/console-web/src/api.test.ts new file mode 100644 index 00000000..897fabe3 --- /dev/null +++ b/dotbot/console-web/src/api.test.ts @@ -0,0 +1,34 @@ +import { describe, expect, it } from "vitest"; + +import { parseSseChunk } from "./api"; + +describe("parseSseChunk", () => { + it("parses complete frames and keeps the partial remainder", () => { + const { events, rest } = parseSseChunk( + 'data: {"a": 1}\n\ndata: {"a": 2}\n\ndata: {"a"', + ); + expect(events).toEqual([{ a: 1 }, { a: 2 }]); + expect(rest).toBe('data: {"a"'); + }); + + it("skips malformed JSON frames", () => { + const { events } = parseSseChunk('data: not-json\n\ndata: {"ok": true}\n\n'); + expect(events).toEqual([{ ok: true }]); + }); + + it("skips frames without a data line", () => { + const { events } = parseSseChunk(': keepalive\n\ndata: {"ok": true}\n\n'); + expect(events).toEqual([{ ok: true }]); + }); + + it("finds the data line in a multi-field frame", () => { + const { events } = parseSseChunk('event: chunk\ndata: {"acked": 12}\n\n'); + expect(events).toEqual([{ acked: 12 }]); + }); + + it("returns everything as remainder when no frame is complete", () => { + const { events, rest } = parseSseChunk("data: {"); + expect(events).toEqual([]); + expect(rest).toBe("data: {"); + }); +}); diff --git a/dotbot/console-web/src/api.ts b/dotbot/console-web/src/api.ts new file mode 100644 index 00000000..aedf9fc1 --- /dev/null +++ b/dotbot/console-web/src/api.ts @@ -0,0 +1,173 @@ +import { + ControllerConnection, + LH2Position, + MapSize, + PyDotBot, + RgbLed, + SwarmitNode, +} from "./types"; + +// Same-origin in dev thanks to the vite proxy (see vite.config.ts). +const CONTROLLER = "/controller"; +const SWARMIT = "/swarmit"; + +export async function fetchDotBots(): Promise { + const res = await fetch(`${CONTROLLER}/dotbots`); + return res.json(); +} + +export async function fetchMapSize(): Promise { + const res = await fetch(`${CONTROLLER}/map_size`); + return res.json(); +} + +export async function fetchConnection(): Promise { + try { + const res = await fetch(`${CONTROLLER}/connection`); + if (!res.ok) return null; + return await res.json(); + } catch { + return null; // an older controller has no such route; the bar just omits it + } +} + +export async function fetchSwarmitStatus(): Promise> { + const res = await fetch(`${SWARMIT}/status`); + const body = await res.json(); + return body.response ?? {}; +} + +export async function putMoveRaw( + address: string, + application: number, + left: number, + right: number, +): Promise { + await fetch(`${CONTROLLER}/dotbots/${address}/${application}/move_raw`, { + method: "PUT", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ left_x: 0, left_y: left, right_x: 0, right_y: right }), + }); +} + +export async function putRgbLed( + address: string, + application: number, + led: RgbLed, +): Promise { + await fetch(`${CONTROLLER}/dotbots/${address}/${application}/rgb_led`, { + method: "PUT", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(led), + }); +} + +export async function putWaypoints( + address: string, + application: number, + threshold: number, + waypoints: LH2Position[], +): Promise { + await fetch(`${CONTROLLER}/dotbots/${address}/${application}/waypoints`, { + method: "PUT", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ threshold, waypoints }), + }); +} + +export function controllerWsUrl(): string { + const proto = window.location.protocol === "https:" ? "wss" : "ws"; + return `${proto}://${window.location.host}${CONTROLLER}/ws/status`; +} + +// --- SwarmIT orchestration (write path; same contract as the real server) --- + +export async function swarmitAction( + action: "start" | "stop", + devices?: string[], +): Promise { + const res = await fetch(`${SWARMIT}/${action}`, { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(devices && devices.length ? { devices } : {}), + }); + // fetch resolves on any status, so without this a 502 from an absent swarmit + // server toasts as a sent command. + if (!res.ok) { + throw new Error(`${action} refused: ${res.status} ${await res.text()}`); + } +} + +export interface FlashEvent { + type: "flash_started" | "chunk" | "device_done" | "complete" | "error" | "warning"; + addr?: string; + acked?: number; + total?: number; + devices?: string[]; + total_chunks?: number; + success?: boolean; + all_success?: boolean; + message?: string; +} + +// Split an SSE buffer into parsed `data:` payloads plus the trailing +// incomplete remainder (kept for the next chunk). Malformed frames are +// skipped. +export function parseSseChunk(buf: string): { events: T[]; rest: string } { + const events: T[] = []; + let idx; + while ((idx = buf.indexOf("\n\n")) >= 0) { + const frame = buf.slice(0, idx); + buf = buf.slice(idx + 2); + const line = frame.split("\n").find((l) => l.startsWith("data: ")); + if (!line) continue; + try { + events.push(JSON.parse(line.slice(6))); + } catch { + /* skip malformed frame */ + } + } + return { events, rest: buf }; +} + +// POST /flash/stream and feed each SSE event to the callback. `imageName` is +// stored with the image and reported back by the bot, so it shows up in the +// Image column once the flash lands. +export async function flashStream( + firmwareB64: string, + devices: string[] | undefined, + onEvent: (ev: FlashEvent) => void, + imageName = "", +): Promise { + const res = await fetch(`${SWARMIT}/flash/stream`, { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ + firmware_b64: firmwareB64, + image_name: imageName, + ...(devices && devices.length ? { devices } : {}), + }), + }); + // fetch only rejects on network failure, so a 4xx arrives here looking fine. + // Its body is JSON, which parses as zero SSE frames: without this the flash + // silently does nothing. + if (!res.ok) { + throw new Error(`flash refused: ${res.status} ${await res.text()}`); + } + const reader = res.body?.getReader(); + if (!reader) return; + const decoder = new TextDecoder(); + let buf = ""; + for (;;) { + const { done, value } = await reader.read(); + if (done) break; + buf += decoder.decode(value, { stream: true }); + const { events, rest } = parseSseChunk(buf); + buf = rest; + events.forEach(onEvent); + } +} + +export function swarmitEventsUrl(): string { + return `${SWARMIT}/events`; +} diff --git a/dotbot/console-web/src/battery.test.ts b/dotbot/console-web/src/battery.test.ts new file mode 100644 index 00000000..595a2222 --- /dev/null +++ b/dotbot/console-web/src/battery.test.ts @@ -0,0 +1,33 @@ +import { describe, expect, it } from "vitest"; + +import { batteryColor, batteryPct } from "./viewChrome"; + +// The scale is a robot fact and lives in swarmit, per device type. These cover +// that the console renders what it is served and degrades visibly, not +// confidently, for a bot swarmit does not know. +describe("battery rendering", () => { + it("renders the served percentage verbatim", () => { + expect(batteryPct({ batteryPct: 57, battery: 2.3 })).toBe(57); + expect(batteryPct({ batteryPct: 0, battery: 0.6 })).toBe(0); + }); + + it("clamps a nonsense served value rather than overflowing the bar", () => { + expect(batteryPct({ batteryPct: 140, battery: 3.0 })).toBe(100); + expect(batteryPct({ batteryPct: -5, battery: 0 })).toBe(0); + }); + + it("falls back only for a bot swarmit does not know", () => { + expect(batteryPct({ batteryPct: null, battery: 3.0 })).toBe(100); + expect(batteryPct({ batteryPct: null, battery: 1.5 })).toBe(50); + }); + + it("colours by the served band, matching the bootloader LED", () => { + expect(batteryColor({ batteryLevel: "full" })).toBe("var(--s-Full)"); + expect(batteryColor({ batteryLevel: "ok" })).toBe("var(--s-Running)"); + expect(batteryColor({ batteryLevel: "low" })).toBe("var(--s-Stopping)"); + }); + + it("shows no band when there is none to show", () => { + expect(batteryColor({ batteryLevel: null })).toBe("var(--muted)"); + }); +}); diff --git a/dotbot/console-web/src/firmwareFile.ts b/dotbot/console-web/src/firmwareFile.ts new file mode 100644 index 00000000..88cc0127 --- /dev/null +++ b/dotbot/console-web/src/firmwareFile.ts @@ -0,0 +1,35 @@ +// Reading a firmware image out of a file input. +// +// swarmit takes the image as base64 in the request body, so the file never +// touches the server's filesystem and any .bin the operator can see is +// flashable. The browser cannot re-read a path later, so whatever is captured +// here is all we will ever have of that file. + +export interface FirmwareFile { + name: string; + b64: string; + /** The source file's own mtime, i.e. when it was built. */ + lastModified: number; +} + +/** Base64 without blowing the argument limit on a multi-hundred-kB image. */ +export function toBase64(bytes: Uint8Array): string { + let bin = ""; + for (let i = 0; i < bytes.length; i += 0x8000) { + bin += String.fromCharCode(...bytes.subarray(i, i + 0x8000)); + } + return btoa(bin); +} + +/** Decoded byte length of a base64 payload, for display. */ +export function decodedSize(b64: string): number { + if (!b64) return 0; + const pad = b64.endsWith("==") ? 2 : b64.endsWith("=") ? 1 : 0; + return Math.max(0, Math.floor((b64.length * 3) / 4) - pad); +} + +export async function readFirmwareFile(file: File): Promise { + const bytes = new Uint8Array(await file.arrayBuffer()); + if (bytes.length === 0) throw new Error("file is empty"); + return { name: file.name, b64: toBase64(bytes), lastModified: file.lastModified }; +} diff --git a/dotbot/console-web/src/firmwareHistory.test.ts b/dotbot/console-web/src/firmwareHistory.test.ts new file mode 100644 index 00000000..620db9d1 --- /dev/null +++ b/dotbot/console-web/src/firmwareHistory.test.ts @@ -0,0 +1,141 @@ +import { beforeEach, describe, expect, it } from "vitest"; + +import { buildTime } from "./FirmwareSection"; +import { decodedSize, toBase64 } from "./firmwareFile"; +import { + FirmwareEntry, + MAX_ENTRIES, + MAX_TOTAL_B64, + load, + remember, + togglePin, + trim, +} from "./firmwareHistory"; + +const store: Record = {}; +beforeEach(() => { + for (const k of Object.keys(store)) delete store[k]; + (globalThis as unknown as { window: unknown }).window = { + localStorage: { + getItem: (k: string) => store[k] ?? null, + setItem: (k: string, v: string) => { + store[k] = v; + }, + removeItem: (k: string) => { + delete store[k]; + }, + }, + }; +}); + +const img = (name: string, b64 = "AAAA", lastModified = 1000) => ({ + name, + b64, + lastModified, +}); +const entry = (over: Partial): FirmwareEntry => ({ + name: "a.bin", + b64: "AAAA", + lastModified: 0, + ts: 1, + pinned: false, + ...over, +}); + +describe("firmware history", () => { + it("orders by when it was flashed, newest first", () => { + remember(img("a.bin"), 1000); + remember(img("b.bin", "BBBB"), 2000); + expect(load().map((e) => e.name)).toEqual(["b.bin", "a.bin"]); + }); + + it("bumps a reflashed row instead of duplicating it", () => { + remember(img("a.bin"), 1000); + remember(img("b.bin", "BBBB"), 2000); + remember(img("a.bin"), 3000); + expect(load().map((e) => e.name)).toEqual(["a.bin", "b.bin"]); + }); + + it("keeps a rebuild under the same name as its own row", () => { + // Different bytes, so it is a different build and worth keeping both. + expect( + trim([entry({ b64: "AAAA", ts: 1 }), entry({ b64: "AAAAAAAA", ts: 2 })]), + ).toHaveLength(2); + }); + + it("keeps the source file's build time, which is not when it was flashed", () => { + remember(img("a.bin", "AAAA", 1_700_000_000_000), 1_800_000_000_000); + const [e] = load(); + expect(e.lastModified).toBe(1_700_000_000_000); + expect(e.ts).toBe(1_800_000_000_000); + }); +}); + +describe("pinning", () => { + it("sorts pinned rows above unpinned ones", () => { + const kept = trim([ + entry({ name: "new.bin", b64: "NNNN", ts: 9 }), + entry({ name: "old.bin", b64: "OOOO", ts: 1, pinned: true }), + ]); + expect(kept.map((e) => e.name)).toEqual(["old.bin", "new.bin"]); + }); + + it("exempts pinned rows from eviction", () => { + const rows = [entry({ name: "keep.bin", b64: "KKKK", ts: 0, pinned: true })]; + for (let i = 0; i < MAX_ENTRIES + 5; i++) { + rows.push(entry({ name: `fw-${i}.bin`, b64: `${i}`.padEnd(8, "x"), ts: 100 + i })); + } + const kept = trim(rows); + expect(kept.map((e) => e.name)).toContain("keep.bin"); + expect(kept[0].name).toBe("keep.bin"); + }); + + it("exempts pinned rows from the byte budget too", () => { + const big = "A".repeat(MAX_TOTAL_B64); + const kept = trim([ + entry({ name: "pinned.bin", b64: big, ts: 1, pinned: true }), + entry({ name: "other.bin", b64: big.slice(0, 1000), ts: 2 }), + ]); + expect(kept.map((e) => e.name)).toEqual(["pinned.bin"]); + }); + + it("toggles a pin and keeps it across a reflash", () => { + remember(img("a.bin"), 1000); + const pinned = togglePin(load()[0]); + expect(pinned[0].pinned).toBe(true); + remember(img("a.bin"), 5000); + expect(load()[0].pinned).toBe(true); + }); + + it("survives a corrupt store rather than throwing", () => { + store["dotbot.console.firmwareHistory.v3"] = "{not json"; + expect(load()).toEqual([]); + }); +}); + +describe("firmware file helpers", () => { + const decode = (b64: string) => Uint8Array.from(atob(b64), (c) => c.charCodeAt(0)); + + it("round-trips an image larger than the chunk size", () => { + const bytes = new Uint8Array(0x8000 * 3 + 1234); + for (let i = 0; i < bytes.length; i++) bytes[i] = i % 256; + expect(decode(toBase64(bytes))).toEqual(bytes); + }); + + it("reports the decoded size", () => { + expect(decodedSize("Zm9vYmFy")).toBe(6); + expect(decodedSize("Zm9vYmE=")).toBe(5); + expect(decodedSize("")).toBe(0); + }); +}); + +describe("buildTime", () => { + const now = 1_700_000_000_000; + it("reads as the age of the build", () => { + expect(buildTime(0, now)).toBe("unknown"); + expect(buildTime(now - 10_000, now)).toBe("just built"); + expect(buildTime(now - 600_000, now)).toBe("10m old"); + expect(buildTime(now - 7_200_000, now)).toBe("2h old"); + expect(buildTime(now - 3 * 86_400_000, now)).toBe("3d old"); + }); +}); diff --git a/dotbot/console-web/src/firmwareHistory.ts b/dotbot/console-web/src/firmwareHistory.ts new file mode 100644 index 00000000..2951ef51 --- /dev/null +++ b/dotbot/console-web/src/firmwareHistory.ts @@ -0,0 +1,119 @@ +// Images flashed from the "other image" picker, kept in localStorage so +// reflashing the build you just pushed is one click. +// +// The bytes are kept, not just the names: the browser cannot re-read a file +// off disk without a fresh pick, so a name-only history could not reflash and +// would just be a log. That makes every row a SNAPSHOT - rebuild the same file +// and the stored row still holds the old bytes, which is a footgun when you +// meant to flash the rebuild and a feature when you want to reproduce a run. +// Each row carries the source file's own mtime so the two can be told apart. +// +// A sandbox image is a few kB, which makes keeping bytes cheap, but an app +// image need not be, so the store is capped by total size as well as by count +// and evicts oldest-first. Pinned rows are exempt from eviction. A write that +// still does not fit is dropped rather than thrown: losing history is a +// worse-but-fine outcome, a picker that breaks in private mode is not. + +import { FirmwareFile } from "./firmwareFile"; + +const KEY = "dotbot.console.firmwareHistory.v3"; +export const MAX_ENTRIES = 20; +export const MAX_TOTAL_B64 = 4 * 1024 * 1024; + +export interface FirmwareEntry extends FirmwareFile { + /** When it was last flashed, which is what "recent" orders by. */ + ts: number; + pinned: boolean; +} + +function key(e: FirmwareEntry): string { + // Same name and same byte count is the same build; reflashing it bumps the + // row rather than growing a column of identical ones. A rebuild under the + // same name has different bytes and is deliberately kept as its own row. + return `${e.name}:${e.b64.length}`; +} + +export function trim(entries: FirmwareEntry[]): FirmwareEntry[] { + const seen = new Set(); + const deduped = [...entries] + .sort((a, b) => b.ts - a.ts) + .filter((e) => { + if (seen.has(key(e))) return false; + seen.add(key(e)); + return true; + }); + + // Pinned rows sort to the top and survive eviction; that is what pinning is. + const pinned = deduped.filter((e) => e.pinned); + const rest = deduped.filter((e) => !e.pinned); + const out: FirmwareEntry[] = [...pinned]; + let total = pinned.reduce((n, e) => n + e.b64.length, 0); + for (const e of rest) { + if (out.length >= MAX_ENTRIES) break; + if (total + e.b64.length > MAX_TOTAL_B64) break; + total += e.b64.length; + out.push(e); + } + return out; +} + +export function load(): FirmwareEntry[] { + try { + const parsed = JSON.parse(window.localStorage.getItem(KEY) ?? "[]"); + if (!Array.isArray(parsed)) return []; + return trim( + parsed + .filter( + (e) => + e && + typeof e.name === "string" && + typeof e.b64 === "string" && + typeof e.ts === "number", + ) + .map((e) => ({ + ...e, + lastModified: typeof e.lastModified === "number" ? e.lastModified : 0, + pinned: Boolean(e.pinned), + })), + ); + } catch { + return []; // unparseable or storage blocked: start clean rather than break + } +} + +export function save(entries: FirmwareEntry[]): FirmwareEntry[] { + const kept = trim(entries); + try { + window.localStorage.setItem(KEY, JSON.stringify(kept)); + } catch { + /* quota or private mode: the picker still works, history just is not kept */ + } + return kept; +} + +export function remember( + image: FirmwareFile, + ts: number, + existing = load(), +): FirmwareEntry[] { + // Re-flashing a row keeps its pin rather than silently unpinning it. + const previous = existing.find( + (e) => e.name === image.name && e.b64.length === image.b64.length, + ); + return save([{ ...image, ts, pinned: previous?.pinned ?? false }, ...existing]); +} + +export function togglePin( + entry: FirmwareEntry, + existing = load(), +): FirmwareEntry[] { + return save( + existing.map((e) => + key(e) === key(entry) ? { ...e, pinned: !e.pinned } : e, + ), + ); +} + +export function clear(): FirmwareEntry[] { + return save([]); +} diff --git a/dotbot/console-web/src/inspector.test.ts b/dotbot/console-web/src/inspector.test.ts new file mode 100644 index 00000000..123a3e24 --- /dev/null +++ b/dotbot/console-web/src/inspector.test.ts @@ -0,0 +1,112 @@ +import { describe, expect, it } from "vitest"; + +import { formatLh2, formatUptime, infoText } from "./Inspector"; +import { SwarmitNode, UnifiedBot } from "./types"; + +const bot = (over: Partial = {}): UnifiedBot => ({ + id: "217B829760EBA3E0", + state: "Running", + link: "active", + position: { x: 1552, y: 267 }, + heading: null, + battery: 2.58, + led: null, + deviceType: "DotBotV3", + application: 0, + drivable: true, + nav: "drive", + waypoints: [], + trail: [], + image: null, + resetCause: null, + severity: "normal", + batteryPct: null, + batteryLevel: null, + swarmit: null, + ...over, +}); + +const node = (over: Partial = {}): SwarmitNode => ({ + device: "DotBotV3", + status: "Running", + battery: 2580, + pos_x: 1552, + pos_y: 267, + ...over, +}); + +describe("formatUptime", () => { + it("matches swarmit's format_uptime", () => { + expect(formatUptime(45)).toBe("45s"); + expect(formatUptime(336)).toBe("5m 36s"); + expect(formatUptime(7444)).toBe("2h 04m 04s"); + }); +}); + +describe("formatLh2", () => { + // A bot that never answered and one reporting zero homographies are + // different facts: one is re-provisioned, the other is a pending fetch. + it("separates never-answered from uncalibrated", () => { + expect(formatLh2(bot({ swarmit: null }))).toBe("unknown (no device info)"); + expect(formatLh2(bot({ swarmit: node({ info: null }) }))).toBe("unknown (no device info)"); + }); + + it("renders the summary swarmit computed, verbatim", () => { + const info = { bl_version: "", net_version: "", boot_count: 0, uptime_s: 0, image_name: "", image_version: "", image_digest: "" }; + const withInfo = (over: object) => bot({ swarmit: node({ info: { ...info, ...over } }) }); + expect(formatLh2(withInfo({ lh2_summary: "uncalibrated" }))).toBe("uncalibrated"); + expect(formatLh2(withInfo({ lh2_summary: "2 basestations (valid, from flash)" }))).toBe( + "2 basestations (valid, from flash)", + ); + }); +}); + +describe("infoText", () => { + it("is plain text carrying the identity and the reset cause", () => { + const t = infoText( + bot({ resetCause: "stopped", swarmit: node({ reset_reason: 1 << 25, fault: 0, fault_name: "NoFault" }) }), + ); + expect(t.split("\n")[0]).toBe("217B829760EBA3E0"); + expect(t).toContain("Last reset stopped"); + expect(t).toContain("reset_reason 0x02000000"); + expect(t).toContain("fault NoFault"); + }); + + it("spells out the fault registers only when a fault was latched", () => { + const clean = infoText(bot({ swarmit: node({ reset_reason: 0, fault: 0 }) })); + expect(clean).not.toContain("cfsr"); + const crashed = infoText( + bot({ severity: "crashed", swarmit: node({ reset_reason: 2, fault: 1, pc: 0x2000abcd }) }), + ); + expect(crashed).toContain("cfsr"); + expect(crashed).toContain("pc 0x2000abcd"); + }); + + // A watchdog timeout raises no fault, so cfsr/sfsr are structurally zero. + // Printing them invites decoding a status that was never populated - the + // CLI suppresses them for exactly this case, and so must this. + it("hides the fault registers for a watchdog timeout, but keeps pc and lr", () => { + const hung = infoText( + bot({ + severity: "hung", + resetCause: "hung (watchdog0 pc=0x00010230)", + swarmit: node({ + reset_reason: 0x02, + fault: 3, // WatchdogTimeout + fault_name: "WatchdogTimeout", + cfsr: 0, + sfsr: 0, + pc: 0x00010230, + lr: 0x0001022b, + }), + }), + ); + + expect(hung).not.toContain("cfsr"); + expect(hung).not.toContain("sfsr"); + // pc and lr are the whole answer for this failure mode. + expect(hung).toContain("pc 0x00010230"); + expect(hung).toContain("lr 0x0001022b"); + expect(hung).toContain("fault WatchdogTimeout"); + }); +}); diff --git a/dotbot/console-web/src/joystick.test.ts b/dotbot/console-web/src/joystick.test.ts new file mode 100644 index 00000000..25e53881 --- /dev/null +++ b/dotbot/console-web/src/joystick.test.ts @@ -0,0 +1,60 @@ +import { describe, expect, it } from "vitest"; + +import { mixDrive } from "./Joystick"; + +// The pad is body-relative and open loop. These pin the SIGNS, which is the +// part that inverted silently once already: a closed-loop version steered by +// heading error and drove the bot away from the target. +describe("mixDrive", () => { + it("is idle at rest and inside the deadzone", () => { + expect(mixDrive(0, 0)).toEqual({ left: 0, right: 0 }); + expect(mixDrive(2, 1)).toEqual({ left: 0, right: 0 }); + }); + + it("drives both wheels forward when dragged up", () => { + const { left, right } = mixDrive(0, -100); + expect(left).toBe(right); + expect(left).toBeGreaterThan(0); + }); + + it("drives both wheels back when dragged down", () => { + const { left, right } = mixDrive(0, 100); + expect(left).toBe(right); + expect(left).toBeLessThan(0); + }); + + // Dragging right speeds the LEFT wheel, which yaws the bot clockwise. + // Verified against dotbot_simulator: left faster => `direction` decreases. + it("speeds the left wheel when dragged right", () => { + const { left, right } = mixDrive(100, 0); + expect(left).toBeGreaterThan(right); + }); + + it("speeds the right wheel when dragged left", () => { + const { left, right } = mixDrive(-100, 0); + expect(right).toBeGreaterThan(left); + }); + + it("never exceeds the int8 range the protocol carries", () => { + for (const [dx, dy] of [[100, -100], [-100, -100], [100, 100], [-100, 100]]) { + const { left, right } = mixDrive(dx, dy); + expect(left).toBeGreaterThanOrEqual(-128); + expect(left).toBeLessThanOrEqual(127); + expect(right).toBeGreaterThanOrEqual(-128); + expect(right).toBeLessThanOrEqual(127); + } + }); + + // The stall-band jump: the first usable step must clear the motors' floor. + it("clears the stall band as soon as it commands motion", () => { + const { left } = mixDrive(0, -5); + expect(Math.abs(left)).toBeGreaterThanOrEqual(30); + }); + + it("gives finer control than the pad's 20px knob travel would", () => { + // Distinct commands well beyond a 20px throw = the resolution that was missing. + const near = mixDrive(0, -25).left; + const far = mixDrive(0, -75).left; + expect(far).toBeGreaterThan(near); + }); +}); diff --git a/dotbot/console-web/src/main.tsx b/dotbot/console-web/src/main.tsx new file mode 100644 index 00000000..e64b87be --- /dev/null +++ b/dotbot/console-web/src/main.tsx @@ -0,0 +1,11 @@ +import React from "react"; +import ReactDOM from "react-dom/client"; + +import { App } from "./App"; +import "./tokens.css"; + +ReactDOM.createRoot(document.getElementById("root")!).render( + + + , +); diff --git a/dotbot/console-web/src/missions.test.ts b/dotbot/console-web/src/missions.test.ts new file mode 100644 index 00000000..66bae378 --- /dev/null +++ b/dotbot/console-web/src/missions.test.ts @@ -0,0 +1,80 @@ +import { describe, expect, it } from "vitest"; + +import { deriveMissions } from "./TestbedRail"; +import { PlannedMission, UnifiedBot } from "./types"; + +const bot = (id: string, over: Partial = {}): UnifiedBot => ({ + id, + state: "Running", + link: "active", + position: { x: 0, y: 0 }, + heading: null, + battery: 3.9, + led: null, + deviceType: "DotBotV3", + application: 0, + drivable: true, + nav: "drive", + waypoints: [], + trail: [], + image: null, + resetCause: null, + severity: "normal", + batteryPct: null, + batteryLevel: null, + swarmit: null, + ...over, +}); + +describe("deriveMissions", () => { + it("keeps a planned mission bound to its bots", () => { + const planned: PlannedMission[] = [ + { + key: "aaaa", + ids: ["aaaa"], + waypoints: [ + { x: 1, y: 1 }, + { x: 2, y: 2 }, + ], + }, + ]; + const [m] = deriveMissions([bot("aaaa")], planned); + expect(m.phase).toBe("planned"); + expect(m.n).toBe(2); + expect(m.ids).toEqual(["aaaa"]); + }); + + it("drops a planned mission whose bots are gone", () => { + const planned: PlannedMission[] = [ + { key: "gone", ids: ["gone"], waypoints: [{ x: 1, y: 1 }] }, + ]; + expect(deriveMissions([bot("aaaa")], planned)).toEqual([]); + }); + + it("groups active bots by the mission TAIL (own start prepended)", () => { + // The controller stores [own-start, ...targets] per bot: same targets, + // different starts, must land in ONE mission. + const t = [ + { x: 500, y: 500 }, + { x: 900, y: 900 }, + ]; + const a = bot("aaaa", { nav: "auto", waypoints: [{ x: 1, y: 1 }, ...t] }); + const b = bot("bbbb", { nav: "auto", waypoints: [{ x: 2, y: 2 }, ...t] }); + const missions = deriveMissions([a, b], []); + expect(missions).toHaveLength(1); + expect(missions[0].phase).toBe("active"); + expect(missions[0].count).toBe(2); + expect(missions[0].n).toBe(2); + }); + + it("treats a single-entry waypoint list as the target itself", () => { + const a = bot("aaaa", { nav: "auto", waypoints: [{ x: 500, y: 500 }] }); + const [m] = deriveMissions([a], []); + expect(m.n).toBe(1); + }); + + it("ignores bots that are not navigating", () => { + const a = bot("aaaa", { waypoints: [{ x: 1, y: 1 }] }); // nav=drive + expect(deriveMissions([a], [])).toEqual([]); + }); +}); diff --git a/dotbot/console-web/src/tokens.css b/dotbot/console-web/src/tokens.css new file mode 100644 index 00000000..21cd8df3 --- /dev/null +++ b/dotbot/console-web/src/tokens.css @@ -0,0 +1,55 @@ +/* Design tokens - the single source of truth for every color in the console. + Swap values here to re-theme; components must reference tokens only. */ +:root { + --canvas: #14161b; + --surface: #1e222b; + --elevated: #2a2f3a; + --grid: #2c313c; + --text: #e6e9ef; + --muted: #9aa4b2; + --accent: #e4032e; + --hairline: rgba(255, 255, 255, 0.07); + + /* State colors are shared across themes: a color always means the same thing. */ + --s-Running: #22c55e; + --s-Full: #22d3ee; + --s-Programming: #f59e0b; + --s-Bootloader: #38bdf8; + --s-Stopping: #ef4444; + --s-Resetting: #a855f7; + --s-Inactive: #6b7280; + + --font-ui: "IBM Plex Sans", system-ui, sans-serif; + --font-mono: "IBM Plex Mono", ui-monospace, monospace; +} + +[data-theme="light"] { + --canvas: #f4f6fa; + --surface: #ffffff; + --elevated: #eef1f6; + --grid: #dbe1ea; + --text: #0f172a; + --muted: #5b6577; + --hairline: rgba(0, 0, 0, 0.07); +} + +* { + box-sizing: border-box; +} +body { + margin: 0; +} +a { + color: var(--accent); + text-decoration: none; +} + +@keyframes dbBlink { + 0%, + 100% { + opacity: 1; + } + 50% { + opacity: 0.35; + } +} diff --git a/dotbot/console-web/src/types.ts b/dotbot/console-web/src/types.ts new file mode 100644 index 00000000..32befa1d --- /dev/null +++ b/dotbot/console-web/src/types.ts @@ -0,0 +1,161 @@ +// Two independent axes, kept apart on purpose. +// +// BotState is the SwarmIT sandbox lifecycle, swarmit's vocabulary verbatim. It +// says what the TrustZone sandbox is doing. A bot swarmit does not know (one +// running bare, with no sandbox) has no value here at all, which is why the +// merged object carries `state: BotState | null` rather than inventing one. +// +// LinkState is PyDotBot's DotBotStatus: whether the control plane is still +// hearing the bot. Orthogonal to the sandbox - a bot can be mid-Programming +// and unheard at the same time, and collapsing the two lost exactly that. +export type BotState = + | "Running" + | "Programming" + | "Bootloader" + | "Stopping" + | "Resetting"; + +export type LinkState = "active" | "inactive" | "lost" | "unknown"; + +export const STATE_ORDER: BotState[] = [ + "Running", + "Programming", + "Bootloader", + "Stopping", + "Resetting", +]; + +export const LINK_LABEL: Record = { + active: "Live", + inactive: "Inactive", + lost: "Lost", + unknown: "Not on the control plane", +}; + +// PyDotBot REST/WS shapes (subset the console consumes). +export interface LH2Position { + x: number; + y: number; +} + +export interface RgbLed { + red: number; + green: number; + blue: number; +} + +export interface PyDotBot { + address: string; + application: number; // ApplicationType: 0 = DotBot + status: number; // 0 ACTIVE, 1 INACTIVE, 2 LOST + mode?: number; // ControlModeType: 0 MANUAL, 1 AUTO (navigating waypoints) + direction?: number; + lh2_position?: LH2Position; + position_history?: LH2Position[]; + waypoints?: LH2Position[]; + waypoints_threshold?: number; + rgb_led?: RgbLed; + battery?: number; // volts + calibrated?: number; +} + +export interface WsNotification { + cmd: number; // 1 RELOAD, 2 UPDATE, 4 NEW_DOTBOT + data?: Partial & { + lh2_waypoints?: LH2Position[]; + }; +} + +// What a bot reports it is running, as carried in SwarmitNode.info. +export interface SwarmitDeviceInfo { + info_version?: number; + bl_version: string; + net_version: string; + boot_count: number; + uptime_s: number; + image_state?: number; + image_result?: number; + image_size?: number; + image_name: string; + image_version: string; + image_digest: string; + lh2_homography_count?: number; + lh2_flags?: number; + // Display strings swarmit computes; the console renders them verbatim. + lh2_summary?: string; + image_state_name?: string; + image_result_name?: string; + raw?: string; // hex of the device-info packet, only on /status +} + +// SwarmIT /status record. Only the fields the console binds to are declared; +// the server sends the full NodeStatus and the extras are ignored. +export interface SwarmitNode { + device: string; + status: string; // Bootloader | Running | Stopping | Resetting | Programming + battery: number; // millivolts + pos_x: number; + pos_y: number; + reset_reason?: number; // raw nRF RESETREAS + fault?: number; // latched fault type, 0 = none + reset_cause?: string; // swarmit's friendly label for the last reset + fault_name?: string; // the latched FaultType's name + reset_severity?: string; // crashed | hung | normal, swarmit's own tiering + battery_pct?: number; // 0-100 on this robot's own battery profile + battery_level?: string; // full | ok | low, the bootloader's LED bands + from_ns?: number; // the fault came from the non-secure world + pc?: number; // program counter at the fault + lr?: number; + cfsr?: number; // configurable fault status + sfsr?: number; // secure fault status + last_updated_at?: number; // unix seconds + raw?: string; // hex of the status packet, only on /status + info?: SwarmitDeviceInfo | null; +} + +// The merged per-bot object the UI binds to (controller + swarmit joined by address). +export interface UnifiedBot { + id: string; // hex address, the join key + state: BotState | null; // null: swarmit does not know this bot (no sandbox) + link: LinkState; + position: LH2Position | null; // arena mm + heading: number | null; // degrees + battery: number; // volts + led: RgbLed | null; + deviceType: string; + application: number; + drivable: boolean; // a DBP-speaking image is running (= known to PyDotBot and active) + nav: "drive" | "auto"; // auto = navigating waypoints (firmware AUTO mode) + waypoints: LH2Position[]; // active mission (as reported by the controller) + trail: LH2Position[]; + image: string | null; // firmware image the bot reports running + resetCause: string | null; // why it last booted, swarmit's vocabulary + // How much attention the last reset deserves, straight from swarmit. + // "hung" is its own tier: a sandbox app has no clean exit, so a normal + // completion latches WatchdogTimeout and must not read as a crash. + severity: "crashed" | "hung" | "normal"; + batteryPct: number | null; // served by swarmit; null for a bot it does not know + batteryLevel: string | null; // full | ok | low + swarmit: SwarmitNode | null; // the orchestration record, for the inspector +} + +// GET /controller/connection - how the controller reaches the swarm. +export interface ControllerConnection { + adapter: string; + connection: string; + swarm_id: string; + gw_address: string; +} + +export interface MapSize { + width: number; + height: number; +} + +// A waypoint mission queued locally but not yet sent: bound to the bots that +// were selected when its waypoints were dropped (survives deselection). +export interface PlannedMission { + key: string; // sorted ids joined + ids: string[]; + waypoints: LH2Position[]; +} diff --git a/dotbot/console-web/src/useFleet.test.ts b/dotbot/console-web/src/useFleet.test.ts new file mode 100644 index 00000000..2e5a6405 --- /dev/null +++ b/dotbot/console-web/src/useFleet.test.ts @@ -0,0 +1,169 @@ +import { describe, expect, it } from "vitest"; + +import { PyDotBot, SwarmitNode } from "./types"; +import { deriveLink, deriveState, merge, severityOf } from "./useFleet"; + +const py = (over: Partial = {}): PyDotBot => ({ + address: "badcafe111111111", + application: 0, + status: 0, + ...over, +}); + +const sw = (over: Partial = {}): SwarmitNode => ({ + device: "DotBotV3", + status: "Running", + battery: 3900, + pos_x: 100, + pos_y: 200, + ...over, +}); + +describe("deriveState (the sandbox axis)", () => { + it("reports only what swarmit says, ignoring the control plane", () => { + // The two axes are independent: a bot can be mid-Programming and unheard + // at the same time, and the old single state hid the sandbox in that case. + expect(deriveState(sw({ status: "Programming" }))).toBe("Programming"); + for (const s of ["Running", "Programming", "Bootloader", "Stopping", "Resetting"]) { + expect(deriveState(sw({ status: s }))).toBe(s); + } + }); + + it("has no sandbox state for a bot swarmit does not know", () => { + // Saying "Running" here claimed a sandbox a bare-mode bot does not have. + expect(deriveState(undefined)).toBeNull(); + }); + + it("does not invent a state for a lifecycle value it does not know", () => { + expect(deriveState(sw({ status: "Off" }))).toBeNull(); + }); +}); + +describe("deriveLink (the control-plane axis)", () => { + it("maps PyDotBot's DotBotStatus", () => { + expect(deriveLink(py({ status: 0 }))).toBe("active"); + expect(deriveLink(py({ status: 1 }))).toBe("inactive"); + expect(deriveLink(py({ status: 2 }))).toBe("lost"); + }); + + it("is unknown for a bot the control plane has never seen", () => { + expect(deriveLink(undefined)).toBe("unknown"); + }); +}); + +describe("the two axes stay independent", () => { + it("keeps the sandbox state on a bot the control plane has lost", () => { + const [b] = merge({ aaaa: py({ address: "aaaa", status: 2 }) }, { aaaa: sw({ status: "Programming" }) }); + expect(b.state).toBe("Programming"); + expect(b.link).toBe("lost"); + expect(b.drivable).toBe(false); + }); + + it("drives a bare-mode bot that has no sandbox at all", () => { + const [b] = merge({ aaaa: py({ address: "aaaa", status: 0 }) }, {}); + expect(b.state).toBeNull(); + expect(b.link).toBe("active"); + expect(b.drivable).toBe(true); + }); + + it("will not drive a swarmit bot the control plane cannot reach", () => { + const [b] = merge({}, { aaaa: sw({ status: "Running" }) }); + expect(b.link).toBe("unknown"); + expect(b.drivable).toBe(false); + }); +}); + +describe("merge", () => { + it("unions both planes and sorts by id", () => { + const bots = merge( + { bbbb: py({ address: "bbbb" }) }, + { aaaa: sw(), bbbb: sw() }, + ); + expect(bots.map((b) => b.id)).toEqual(["aaaa", "bbbb"]); + }); + + it("prefers the controller position, falls back to swarmit", () => { + const [a] = merge( + { a: py({ address: "a", lh2_position: { x: 1, y: 2 } }) }, + { a: sw() }, + ); + expect(a.position).toEqual({ x: 1, y: 2 }); + const [b] = merge({}, { b: sw() }); + expect(b.position).toEqual({ x: 100, y: 200 }); + }); + + // swarmit reports (0, 0) for a bot it has never located, and a real fix + // cannot land on the origin - drawing it puts the whole uncalibrated fleet + // in one arena corner and reads as a real cluster. + it("does not treat swarmit's (0, 0) no-fix sentinel as a position", () => { + const [a] = merge({}, { a: sw({ pos_x: 0, pos_y: 0 }) }); + expect(a.position).toBeNull(); + const [b] = merge({}, { b: sw({ pos_x: 0, pos_y: 400 }) }); + expect(b.position).toEqual({ x: 0, y: 400 }); + }); + + it("treats direction -1000 (unknown) as no heading", () => { + const [a] = merge({ a: py({ address: "a", direction: -1000 }) }, {}); + expect(a.heading).toBeNull(); + const [b] = merge({ b: py({ address: "b", direction: 45 }) }, {}); + expect(b.heading).toBe(45); + }); + + it("converts a swarmit-only battery from mV to V", () => { + const [a] = merge({}, { a: sw({ battery: 3900 }) }); + expect(a.battery).toBeCloseTo(3.9); + }); + + it("only an active Running control-plane bot is drivable", () => { + const [a] = merge({ a: py({ address: "a" }) }, {}); + expect(a.drivable).toBe(true); + // swarmit-only (e.g. sitting in the bootloader): never drivable + const [b] = merge({}, { b: sw({ status: "Bootloader" }) }); + expect(b.drivable).toBe(false); + // known to the controller but flashing right now: not drivable + const [c] = merge( + { c: py({ address: "c" }) }, + { c: sw({ status: "Programming" }) }, + ); + expect(c.drivable).toBe(false); + }); + + it("maps firmware AUTO mode to nav=auto", () => { + const [a] = merge({ a: py({ address: "a", mode: 1 }) }, {}); + expect(a.nav).toBe("auto"); + const [b] = merge({ b: py({ address: "b", mode: 0 }) }, {}); + expect(b.nav).toBe("drive"); + }); +}); + +describe("severityOf", () => { + const node = (over: Partial): SwarmitNode => ({ + device: "DotBotV3", + status: "Running", + battery: 3900, + pos_x: 0, + pos_y: 0, + ...over, + }); + + it("renders swarmit's tier rather than re-deriving it", () => { + expect(severityOf(node({ reset_severity: "crashed" }))).toBe("crashed"); + expect(severityOf(node({ reset_severity: "hung" }))).toBe("hung"); + expect(severityOf(node({ reset_severity: "normal" }))).toBe("normal"); + }); + + it("is normal when swarmit said nothing, so a badge needs evidence", () => { + expect(severityOf(undefined)).toBe("normal"); + expect(severityOf(node({}))).toBe("normal"); + expect(severityOf(node({ reset_severity: "something-new" }))).toBe("normal"); + }); +}); + +describe("merge takes the reset label from the server", () => { + it("passes reset_cause through and reports it missing rather than guessing", () => { + const [a] = merge({}, { A: { device: "DotBotV3", status: "Running", battery: 3900, pos_x: 0, pos_y: 0, reset_cause: "stopped" } }); + expect(a.resetCause).toBe("stopped"); + const [b] = merge({}, { B: { device: "DotBotV3", status: "Running", battery: 3900, pos_x: 0, pos_y: 0 } }); + expect(b.resetCause).toBeNull(); + }); +}); diff --git a/dotbot/console-web/src/useFleet.ts b/dotbot/console-web/src/useFleet.ts new file mode 100644 index 00000000..b3809b2a --- /dev/null +++ b/dotbot/console-web/src/useFleet.ts @@ -0,0 +1,203 @@ +import { useCallback, useEffect, useRef, useState } from "react"; + +import { controllerWsUrl, fetchDotBots, fetchMapSize, fetchSwarmitStatus } from "./api"; +import { + BotState, + LinkState, + MapSize, + PyDotBot, + STATE_ORDER, + SwarmitNode, + UnifiedBot, + WsNotification, +} from "./types"; + +const TRAIL_MAX = 200; + +// swarmit tiers the last reset itself (crashed / hung / normal); the console +// styles by that rather than re-deriving the bit tests, so the badge and the +// sentence beside it cannot disagree. +export function severityOf(sw: SwarmitNode | undefined): UnifiedBot["severity"] { + const s = sw?.reset_severity; + return s === "crashed" || s === "hung" ? s : "normal"; +} + +export function deriveState(sw: SwarmitNode | undefined): BotState | null { + if (!sw) return null; + return STATE_ORDER.includes(sw.status as BotState) + ? (sw.status as BotState) + : null; +} + +// Whether the control plane still hears the bot, from PyDotBot alone. +// "unknown" is a bot swarmit reports but PyDotBot has never seen. +export function deriveLink(py: PyDotBot | undefined): LinkState { + if (!py) return "unknown"; + if (py.status === 0) return "active"; + return py.status === 2 ? "lost" : "inactive"; +} + +export function merge( + pyBots: Record, + swNodes: Record, +): UnifiedBot[] { + const ids = new Set([...Object.keys(pyBots), ...Object.keys(swNodes)]); + const out: UnifiedBot[] = []; + for (const id of ids) { + const py = pyBots[id]; + const sw = swNodes[id]; + const state = deriveState(sw); + const link = deriveLink(py); + out.push({ + id, + state, + link, + // swarmit reports (0, 0) for a bot it has never located, and the arena + // never contains the origin, so drawing it would invent a position. + position: + py?.lh2_position ?? + (sw && (sw.pos_x !== 0 || sw.pos_y !== 0) + ? { x: sw.pos_x, y: sw.pos_y } + : null), + heading: + py?.direction !== undefined && py.direction !== -1000 + ? py.direction + : null, + battery: py?.battery ?? (sw ? sw.battery / 1000 : 0), + led: py?.rgb_led ?? null, + deviceType: sw?.device ?? "DotBot", + application: py?.application ?? 0, + // Drivable = a DBP-speaking image is running. The control plane must be + // hearing the bot, and either its sandbox is Running or it has no + // sandbox at all (a bare-mode bot swarmit does not manage). + drivable: link === "active" && (state === null || state === "Running"), + nav: py?.mode === 1 ? "auto" : "drive", + waypoints: py?.waypoints ?? [], + trail: py?.position_history?.slice(-TRAIL_MAX) ?? [], + image: sw?.info?.image_name || null, + resetCause: sw?.reset_cause ?? null, + severity: severityOf(sw), + batteryPct: sw?.battery_pct ?? null, + batteryLevel: sw?.battery_level ?? null, + swarmit: sw ?? null, + }); + } + return out.sort((a, b) => a.id.localeCompare(b.id)); +} + +export function useFleet(): { + bots: UnifiedBot[]; + mapSize: MapSize; + wsUp: boolean; +} { + const pyRef = useRef>({}); + const swRef = useRef>({}); + const [bots, setBots] = useState([]); + const [mapSize, setMapSize] = useState({ width: 2000, height: 2000 }); + const [wsUp, setWsUp] = useState(false); + + const rebuild = useCallback(() => { + setBots(merge(pyRef.current, swRef.current)); + }, []); + + const reloadDotBots = useCallback(async () => { + try { + const list = await fetchDotBots(); + pyRef.current = Object.fromEntries(list.map((b) => [b.address, b])); + rebuild(); + } catch { + /* controller not up yet; ws reconnect loop will retrigger */ + } + }, [rebuild]); + + // Initial data + map size. + useEffect(() => { + reloadDotBots(); + fetchMapSize() + .then(setMapSize) + .catch(() => {}); + }, [reloadDotBots]); + + // Live updates over the controller WebSocket. + useEffect(() => { + let ws: WebSocket | null = null; + let closed = false; + const connect = () => { + ws = new WebSocket(controllerWsUrl()); + ws.onopen = () => { + setWsUp(true); + reloadDotBots(); + }; + ws.onclose = () => { + setWsUp(false); + if (!closed) setTimeout(connect, 1000); + }; + ws.onerror = () => ws?.close(); + ws.onmessage = (ev) => { + let msg: WsNotification; + try { + msg = JSON.parse(ev.data); + } catch { + return; + } + if (msg.cmd === 2 && msg.data?.address) { + const bot = pyRef.current[msg.data.address]; + if (!bot) { + reloadDotBots(); + return; + } + const d = msg.data; + if (d.direction !== undefined) bot.direction = d.direction; + if (d.battery !== undefined) bot.battery = d.battery; + if (d.rgb_led !== undefined) bot.rgb_led = d.rgb_led; + if (d.lh2_position !== undefined) { + bot.lh2_position = d.lh2_position; + bot.position_history = [ + ...(bot.position_history ?? []), + d.lh2_position!, + ].slice(-TRAIL_MAX); + } + if (d.position_history !== undefined) + bot.position_history = d.position_history; + if (d.lh2_waypoints !== undefined) bot.waypoints = d.lh2_waypoints; + if (d.waypoints_threshold !== undefined) + bot.waypoints_threshold = d.waypoints_threshold; + rebuild(); + } else { + // RELOAD / NEW_DOTBOT / unknown -> refetch everything. + reloadDotBots(); + } + }; + }; + connect(); + return () => { + closed = true; + ws?.close(); + }; + }, [reloadDotBots, rebuild]); + + // Slow refresh for fields the WS does not push (mode/nav, status, waypoint + // clears): the controller only notifies telemetry deltas, so a bot's + // AUTO -> MANUAL arrival flip is invisible without an occasional refetch. + useEffect(() => { + const t = setInterval(reloadDotBots, 3000); + return () => clearInterval(t); + }, [reloadDotBots]); + + // SwarmIT status poll (read-only orchestration plane), 1 Hz. + useEffect(() => { + const tick = async () => { + try { + swRef.current = await fetchSwarmitStatus(); + } catch { + swRef.current = {}; + } + rebuild(); + }; + tick(); + const t = setInterval(tick, 1000); + return () => clearInterval(t); + }, [rebuild]); + + return { bots, mapSize, wsUp }; +} diff --git a/dotbot/console-web/src/useOrchestration.ts b/dotbot/console-web/src/useOrchestration.ts new file mode 100644 index 00000000..d7c360b5 --- /dev/null +++ b/dotbot/console-web/src/useOrchestration.ts @@ -0,0 +1,151 @@ +import { useCallback, useEffect, useRef, useState } from "react"; + +import { flashStream, swarmitAction, swarmitEventsUrl } from "./api"; +import { FirmwareFile } from "./firmwareFile"; +import { remember } from "./firmwareHistory"; + +export interface LogRow { + key: string; + t: string; // HH:MM:SS + level: "info" | "ok" | "warn" | "err"; + msg: string; +} + +export interface FlashJob { + addr: string; + acked: number; + total: number; + done: boolean; + success?: boolean; +} + +// Orchestration plane: live log feed (swarmit /events SSE) + flash queue +// (driven by /flash/stream chunk events) + the start/stop actions. +// +// No reset: swarmit's /reset takes {locations: {addr: {pos_x, pos_y}}}, one +// per ready device, and the bootloader's handler stores the position but never +// triggers the SoC reset (the line is commented out in the netcore), so there +// is nothing here that could work. +export function useOrchestration(onToast: (msg: string) => void) { + const [logs, setLogs] = useState([]); + const [queue, setQueue] = useState>({}); + const [flashing, setFlashing] = useState(false); + + // Log feed. + useEffect(() => { + let es: EventSource | null = null; + let closed = false; + const connect = () => { + es = new EventSource(swarmitEventsUrl()); + es.onmessage = (e) => { + try { + const ev = JSON.parse(e.data); + if (ev.type !== "log_event") return; + const t = new Date((ev.ts ?? Date.now() / 1000) * 1000).toLocaleTimeString([], { + hour: "2-digit", + minute: "2-digit", + second: "2-digit", + }); + setLogs((prev) => + [...prev, { key: `${ev.id}`, t, level: ev.level ?? "info", msg: ev.message ?? "" }].slice(-200), + ); + } catch { + /* ignore */ + } + }; + es.onerror = () => { + es?.close(); + if (!closed) setTimeout(connect, 2000); + }; + }; + connect(); + return () => { + closed = true; + es?.close(); + }; + }, []); + + const clearLogs = useCallback(() => setLogs([]), []); + + const act = useCallback( + (action: "start" | "stop", devices?: string[]) => { + const target = devices && devices.length ? `${devices.length} device(s)` : "whole fleet"; + swarmitAction(action, devices) + .then(() => onToast(`${action[0].toUpperCase()}${action.slice(1)} sent · ${target}`)) + .catch(() => onToast(`${action} failed`)); + }, + [onToast], + ); + + const flashingRef = useRef(false); + const flash = useCallback( + (image: FirmwareFile, devices?: string[], startAfter = false) => { + if (flashingRef.current) { + onToast("A flash is already in progress"); + return; + } + flashingRef.current = true; + setFlashing(true); + setQueue({}); + // Recorded at send time, not on success: knowing what was pushed at a bot + // matters most when the flash is what went wrong. + remember(image, Date.now()); + // Only devices whose own device_done said success get started: a partial + // flash must not start the bots it failed on. + const flashed: string[] = []; + flashStream(image.b64, devices, (ev) => { + if (ev.type === "flash_started" && ev.devices) { + setQueue( + Object.fromEntries( + ev.devices.map((a) => [a, { addr: a, acked: 0, total: ev.total_chunks ?? 0, done: false }]), + ), + ); + } else if (ev.type === "chunk" && ev.addr) { + setQueue((q) => ({ + ...q, + [ev.addr!]: { + ...(q[ev.addr!] ?? { addr: ev.addr!, done: false }), + acked: ev.acked ?? 0, + total: ev.total ?? 0, + }, + })); + } else if (ev.type === "device_done" && ev.addr) { + if (ev.success) flashed.push(ev.addr); + setQueue((q) => ({ + ...q, + [ev.addr!]: { + ...(q[ev.addr!] ?? { addr: ev.addr!, acked: 0, total: 0 }), + done: true, + success: ev.success, + }, + })); + } else if (ev.type === "complete") { + onToast(ev.all_success ? "Flash complete" : "Flash finished with failures"); + if (startAfter) { + if (flashed.length) act("start", flashed); + else onToast("Nothing flashed successfully, not starting"); + } + } else if (ev.type === "warning") { + onToast(`Flash warning: ${ev.message ?? "unknown"}`); + } else if (ev.type === "error") { + onToast(`Flash error: ${ev.message ?? "unknown"}`); + } + }, image.name) + .catch((e) => onToast(`Flash stream failed: ${e.message ?? e}`)) + .finally(() => { + flashingRef.current = false; + setFlashing(false); + // Keep the last queue visible briefly, then clear. + setTimeout(() => setQueue({}), 4000); + }); + }, + [act, onToast], + ); + + const jobs = Object.values(queue); + const fleetPct = jobs.length + ? Math.round((jobs.reduce((a, j) => a + j.acked, 0) / Math.max(1, jobs.reduce((a, j) => a + j.total, 0))) * 100) + : 0; + + return { logs, clearLogs, queue, jobs, flashing, fleetPct, act, flash }; +} diff --git a/dotbot/console-web/src/useSmoothPositions.test.ts b/dotbot/console-web/src/useSmoothPositions.test.ts new file mode 100644 index 00000000..492ba7c4 --- /dev/null +++ b/dotbot/console-web/src/useSmoothPositions.test.ts @@ -0,0 +1,66 @@ +import { describe, expect, it } from "vitest"; + +import { + MAX_DURATION_MS, + MIN_DURATION_MS, + lerpPos, + nextPosState, + positionAt, +} from "./useSmoothPositions"; + +const MAP_DIAGONAL = Math.hypot(2000, 2000); + +describe("lerpPos", () => { + it("interpolates linearly between two points", () => { + expect(lerpPos({ x: 0, y: 0 }, { x: 100, y: 200 }, 0.5)).toEqual({ x: 50, y: 100 }); + }); +}); + +describe("nextPosState", () => { + it("snaps instantly on first sight of a bot (no prior state)", () => { + const s = nextPosState(undefined, { x: 10, y: 20 }, 1000, MAP_DIAGONAL); + expect(s.duration).toBe(0); + expect(positionAt(s, 1000)).toEqual({ x: 10, y: 20 }); + }); + + it("keeps the previous state when the target has not changed", () => { + const s0 = nextPosState(undefined, { x: 10, y: 20 }, 1000, MAP_DIAGONAL); + const s1 = nextPosState(s0, { x: 10, y: 20 }, 1200, MAP_DIAGONAL); + expect(s1).toBe(s0); + }); + + it("animates from the in-flight interpolated position, not the last target", () => { + // t=0 -> (0,0); update at t=0 sets target (100,0), duration 200ms. + const s0 = nextPosState(undefined, { x: 0, y: 0 }, 0, MAP_DIAGONAL); + const s1 = { ...nextPosState(s0, { x: 100, y: 0 }, 0, MAP_DIAGONAL), duration: 200 }; + // halfway through that transition (t=100ms), a new update arrives. + const s2 = nextPosState(s1, { x: 100, y: 50 }, 100, MAP_DIAGONAL); + expect(s2.from).toEqual({ x: 50, y: 0 }); // interpolated, not (100, 0) + expect(s2.to).toEqual({ x: 100, y: 50 }); + }); + + it("uses the observed update interval as the next animation duration, clamped", () => { + const s0 = nextPosState(undefined, { x: 0, y: 0 }, 0, MAP_DIAGONAL); + const s1 = nextPosState(s0, { x: 10, y: 0 }, 30, MAP_DIAGONAL); // 30ms gap -> clamped up + expect(s1.duration).toBe(MIN_DURATION_MS); + const s2 = nextPosState(s1, { x: 20, y: 0 }, 30 + 5000, MAP_DIAGONAL); // 5s gap -> clamped down + expect(s2.duration).toBe(MAX_DURATION_MS); + const s3 = nextPosState(s2, { x: 30, y: 0 }, 30 + 5000 + 250, MAP_DIAGONAL); // 250ms gap -> as-is + expect(s3.duration).toBe(250); + }); + + it("treats a large jump as a teleport: instant, no animation", () => { + const s0 = nextPosState(undefined, { x: 0, y: 0 }, 0, MAP_DIAGONAL); + const s1 = nextPosState(s0, { x: 1900, y: 1900 }, 100, MAP_DIAGONAL); + expect(s1.duration).toBe(0); + expect(positionAt(s1, 100)).toEqual({ x: 1900, y: 1900 }); + }); +}); + +describe("positionAt", () => { + it("clamps at the target once the duration has elapsed", () => { + const s = nextPosState(nextPosState(undefined, { x: 0, y: 0 }, 0, MAP_DIAGONAL), { x: 100, y: 0 }, 0, MAP_DIAGONAL); + const withDuration = { ...s, duration: 200 }; + expect(positionAt(withDuration, 500)).toEqual({ x: 100, y: 0 }); + }); +}); diff --git a/dotbot/console-web/src/useSmoothPositions.ts b/dotbot/console-web/src/useSmoothPositions.ts new file mode 100644 index 00000000..f1c71b04 --- /dev/null +++ b/dotbot/console-web/src/useSmoothPositions.ts @@ -0,0 +1,111 @@ +import { useEffect, useRef, useState } from "react"; + +import { LH2Position, UnifiedBot } from "./types"; + +// Position updates arrive at whatever rate the source reports them: ~20Hz +// from the simulator, sparser and irregular from real LH2 hardware. A fixed +// CSS transition duration is picked independent of that rate, so it is +// either too long (a fast update interrupts the transition already in +// flight, changing its direction/speed mid-motion) or too short relative to +// the interval between updates (the bot glides for the transition duration, +// then holds still until the next update -- the "saccade" reported on both +// simulated and real bots, on the old frontend too, where there was no +// transition at all and every update snapped instantly). +// +// Using the previous observed update interval as the next animation's +// duration keeps the animation running for roughly the whole gap between +// updates, whatever that gap turns out to be, instead of assuming a rate. +export const MIN_DURATION_MS = 60; +export const MAX_DURATION_MS = 600; + +// A jump bigger than this fraction of the arena diagonal in a single update +// is treated as a teleport (bot re-added, position reset by an operator) +// rather than motion, and rendered instantly instead of animated across the +// whole arena. +export const TELEPORT_FRACTION = 0.35; + +export interface PosState { + from: LH2Position; + to: LH2Position; + t0: number; + duration: number; + lastUpdateAt: number; +} + +export function dist(a: LH2Position, b: LH2Position): number { + return Math.hypot(a.x - b.x, a.y - b.y); +} + +export function lerpPos(a: LH2Position, b: LH2Position, t: number): LH2Position { + return { x: a.x + (b.x - a.x) * t, y: a.y + (b.y - a.y) * t }; +} + +export function positionAt(state: PosState, now: number): LH2Position { + const t = state.duration > 0 ? Math.min(1, (now - state.t0) / state.duration) : 1; + return lerpPos(state.from, state.to, t); +} + +// Folds one new target position into the previous animation state. `now` +// and `mapDiagonal` are passed in (rather than read from globals) so this +// stays a pure function the hook can be tested through. +export function nextPosState( + prev: PosState | undefined, + target: LH2Position, + now: number, + mapDiagonal: number, +): PosState { + if (!prev) { + return { from: target, to: target, t0: now, duration: 0, lastUpdateAt: now }; + } + if (prev.to.x === target.x && prev.to.y === target.y) return prev; + + const teleport = dist(prev.to, target) > mapDiagonal * TELEPORT_FRACTION; + const interval = now - prev.lastUpdateAt; + const current = positionAt(prev, now); + return { + from: teleport ? target : current, + to: target, + t0: now, + duration: teleport ? 0 : Math.max(MIN_DURATION_MS, Math.min(MAX_DURATION_MS, interval)), + lastUpdateAt: now, + }; +} + +// Smoothed per-bot positions, keyed by bot id. Only bots with a known +// position are present. Re-renders on every animation frame while at least +// one bot is mid-transition; callers read from the returned map instead of +// `bot.position` for the animated glyph, and keep using `bot.position` +// directly for anything that should update instantly (trails, waypoints). +export function useSmoothPositions( + bots: UnifiedBot[], + mapDiagonal: number, +): Map { + const statesRef = useRef>(new Map()); + const [, tick] = useState(0); + + useEffect(() => { + const now = performance.now(); + for (const b of bots) { + if (!b.position) continue; + const prev = statesRef.current.get(b.id); + statesRef.current.set(b.id, nextPosState(prev, b.position, now, mapDiagonal)); + } + }, [bots, mapDiagonal]); + + useEffect(() => { + let raf: number; + const loop = () => { + tick((n) => n + 1); + raf = requestAnimationFrame(loop); + }; + raf = requestAnimationFrame(loop); + return () => cancelAnimationFrame(raf); + }, []); + + const now = performance.now(); + const result = new Map(); + for (const [id, state] of statesRef.current) { + result.set(id, positionAt(state, now)); + } + return result; +} diff --git a/dotbot/console-web/src/viewChrome.tsx b/dotbot/console-web/src/viewChrome.tsx new file mode 100644 index 00000000..b065a73b --- /dev/null +++ b/dotbot/console-web/src/viewChrome.tsx @@ -0,0 +1,280 @@ +import React, { useMemo, useState } from "react"; + +import { BotState, STATE_ORDER, UnifiedBot } from "./types"; + +export const PAGE_SIZE = 50; + +export type SortKey = "id" | "fw" | "image" | "battery" | "state"; + +export interface ViewQuery { + search: string; + stateFilter: BotState | "all"; + sortKey: SortKey; + sortDir: 1 | -1; + page: number; +} + +export function useViewQuery() { + const [q, setQ] = useState({ + search: "", + stateFilter: "all", + sortKey: "id", + sortDir: 1, + page: 0, + }); + return { q, setQ }; +} + +export function applyQuery(bots: UnifiedBot[], q: ViewQuery): { rows: UnifiedBot[]; total: number; pages: number } { + let rows = bots; + if (q.search) { + const s = q.search.toLowerCase(); + rows = rows.filter((b) => b.id.toLowerCase().includes(s)); + } + if (q.stateFilter !== "all") rows = rows.filter((b) => b.state === q.stateFilter); + const dir = q.sortDir; + rows = [...rows].sort((a, b) => { + switch (q.sortKey) { + case "battery": + return dir * (a.battery - b.battery); + case "state": + return dir * stateLabel(a.state).localeCompare(stateLabel(b.state)); + case "fw": + return dir * a.deviceType.localeCompare(b.deviceType); + case "image": + return dir * (a.image ?? "").localeCompare(b.image ?? ""); + default: + return dir * a.id.localeCompare(b.id); + } + }); + const total = rows.length; + const pages = Math.max(1, Math.ceil(total / PAGE_SIZE)); + const page = Math.min(q.page, pages - 1); + return { rows: rows.slice(page * PAGE_SIZE, (page + 1) * PAGE_SIZE), total, pages }; +} + +export const FilterBar: React.FC<{ + q: ViewQuery; + setQ: React.Dispatch>; + total: number; +}> = ({ q, setQ, total }) => ( +
+
+ ⚲ + setQ((p) => ({ ...p, search: e.target.value, page: 0 }))} + placeholder="Search by ID" + style={{ + background: "transparent", + border: "none", + outline: "none", + color: "var(--text)", + fontFamily: "var(--font-mono)", + fontSize: 12, + width: "100%", + }} + /> +
+ +
+ + {total} bot{total === 1 ? "" : "s"} + +
+); + +export const Pagination: React.FC<{ + q: ViewQuery; + setQ: React.Dispatch>; + pages: number; +}> = ({ q, setQ, pages }) => { + const page = Math.min(q.page, pages - 1); + const btn = (enabled: boolean) => + ({ + cursor: enabled ? "pointer" : "default", + opacity: enabled ? 1 : 0.4, + padding: "4px 8px", + borderRadius: 6, + }) as const; + return ( +
+
page > 0 && setQ((p) => ({ ...p, page: page - 1 }))} style={btn(page > 0)}> + ‹ Prev +
+ + {page + 1} / {pages} + +
page < pages - 1 && setQ((p) => ({ ...p, page: page + 1 }))} style={btn(page < pages - 1)}> + Next › +
+
+ ); +}; + +// Shared cell bits. +export const LedDot: React.FC<{ bot: UnifiedBot }> = ({ bot }) => ( + +); + +// Battery. The percentage and the band are computed by swarmit, per robot: +// the v3 pack is a 3.0 V supercapacitor that browns out at 0.6 V, and reading +// it on a naive voltage ratio showed a healthy 2.3 V bot as nearly flat. Those +// numbers are robot facts and a v2 pack differs, so this renders what it is +// told rather than keeping a second scale here. +// +// The fallbacks below only cover a bot swarmit does not know (a control-plane +// only bot) and are deliberately crude - a bar with no band rather than a +// confident wrong number. +/** Pill text for the sandbox axis. A bot swarmit does not manage has none. */ +// Warning mark for a bot whose last reset was not routine. Drawn as an SVG +// triangle rather than the U+26A0 character, which macOS renders as a colour +// emoji and would ignore the tier colour entirely. +// +// Sits over the glyph body rather than beside it: the body colour carries the +// sandbox state, and this has to stay legible when real-scale mode shrinks the +// glyph to a few pixels. +// +// Two tiers, swarmit's: "crashed" is loud because a fault latched, "hung" is +// quiet because a sandbox app's only way to exit is to stop feeding the +// deadman - so a normal completion lands here and must not cry wolf. +export const ResetBadge: React.FC<{ + bot: UnifiedBot; + size?: number; +}> = ({ bot, size = 11 }) => { + if (bot.severity === "normal") return null; + const crashed = bot.severity === "crashed"; + const color = crashed ? "var(--s-Stopping)" : "var(--muted)"; + return ( + + {`Last reset: ${bot.resetCause ?? bot.severity}`} + + + + + ); +}; + +export function stateLabel(state: BotState | null): string { + return state ?? "No sandbox"; +} + +/** Colour for the sandbox axis; muted when there is no sandbox to colour. */ +export function stateColor(state: BotState | null): string { + return state ? `var(--s-${state})` : "var(--muted)"; +} + +export function batteryPct(bot: { batteryPct: number | null; battery: number }): number { + if (bot.batteryPct !== null) return Math.max(0, Math.min(100, bot.batteryPct)); + return Math.max(0, Math.min(100, Math.trunc((bot.battery / 3.0) * 100))); +} + +export function batteryColor(bot: { batteryLevel: string | null }): string { + if (bot.batteryLevel === "full") return "var(--s-Full)"; + if (bot.batteryLevel === "low") return "var(--s-Stopping)"; + if (bot.batteryLevel === "ok") return "var(--s-Running)"; + return "var(--muted)"; // unknown to swarmit: no band to show +} + +export const BatteryCell: React.FC<{ bot: UnifiedBot; width?: number; fill?: boolean }> = ({ + bot, + width = 54, + fill = false, +}) => { + const volts = bot.battery; + const pct = batteryPct(bot); + return ( +
+
+
+
+ {volts.toFixed(2)} V +
+ ); +}; + +export function useQueriedBots(bots: UnifiedBot[], q: ViewQuery) { + return useMemo(() => applyQuery(bots, q), [bots, q]); +} diff --git a/dotbot/console-web/tsconfig.json b/dotbot/console-web/tsconfig.json new file mode 100644 index 00000000..6bfa73af --- /dev/null +++ b/dotbot/console-web/tsconfig.json @@ -0,0 +1,20 @@ +{ + "compilerOptions": { + "target": "ES2020", + "useDefineForClassFields": true, + "lib": ["ES2020", "DOM", "DOM.Iterable"], + "module": "ESNext", + "skipLibCheck": true, + "moduleResolution": "bundler", + "allowImportingTsExtensions": true, + "resolveJsonModule": true, + "isolatedModules": true, + "noEmit": true, + "jsx": "react-jsx", + "strict": true, + "noUnusedLocals": false, + "noUnusedParameters": false, + "noFallthroughCasesInSwitch": true + }, + "include": ["src"] +} diff --git a/dotbot/console-web/vite.config.ts b/dotbot/console-web/vite.config.ts new file mode 100644 index 00000000..d53ff6ca --- /dev/null +++ b/dotbot/console-web/vite.config.ts @@ -0,0 +1,36 @@ +/// +import { defineConfig } from "vite"; +import react from "@vitejs/plugin-react"; + +// Dev proxies: the console talks same-origin, vite forwards to the two backends. +// /controller -> PyDotBot controller (REST + WS), default :8000 +// /swarmit -> swarmit status server (real or fake), default :8001 +// Override with CONTROLLER_TARGET / SWARMIT_TARGET env vars when the default +// ports are occupied by another controller/swarmit instance. +const controllerTarget = + process.env.CONTROLLER_TARGET ?? "http://localhost:8000"; +const swarmitTarget = process.env.SWARMIT_TARGET ?? "http://localhost:8001"; + +export default defineConfig({ + // Relative asset URLs: the production build is mounted at /console by the + // controller; the dev server stays at /. API paths are absolute either way. + base: "./", + plugins: [react()], + server: { + port: 5173, + proxy: { + "/controller": { + target: controllerTarget, + ws: true, + }, + "/swarmit": { + target: swarmitTarget, + rewrite: (path) => path.replace(/^\/swarmit/, ""), + }, + }, + }, + test: { + environment: "node", + include: ["src/**/*.test.ts"], + }, +}); diff --git a/dotbot/controller.py b/dotbot/controller.py index 043862d2..d8927992 100644 --- a/dotbot/controller.py +++ b/dotbot/controller.py @@ -15,7 +15,6 @@ import queue import time import webbrowser -from binascii import hexlify from dataclasses import dataclass from pathlib import Path from typing import Dict, List, Optional @@ -30,6 +29,7 @@ from dotbot import ( CONTROLLER_ADAPTER_DEFAULT, + CONTROLLER_HTTP_HOST_DEFAULT, CONTROLLER_HTTP_PORT_DEFAULT, GATEWAY_ADDRESS_DEFAULT, MAP_SIZE_DEFAULT, @@ -39,6 +39,8 @@ SERIAL_BAUDRATE_DEFAULT, SERIAL_PORT_DEFAULT, SIMULATOR_INIT_STATE_DEFAULT, + SWARMIT_URL_DEFAULT, + addr_to_hex, ) from dotbot.adapter import ( DotBotSimulatorAdapter, @@ -69,7 +71,7 @@ PayloadLh2CalibrationHomography, PayloadType, ) -from dotbot.server import api +from dotbot.server import api, default_ui_path # from dotbot.models import ( # DotBotModel, @@ -127,6 +129,7 @@ class ControllerSettings: gw_address: str = GATEWAY_ADDRESS_DEFAULT network_id: str = NETWORK_ID_DEFAULT controller_http_port: int = CONTROLLER_HTTP_PORT_DEFAULT + controller_http_host: str = CONTROLLER_HTTP_HOST_DEFAULT map_size: str = MAP_SIZE_DEFAULT background_map: str = "" headless: bool = False @@ -135,6 +138,7 @@ class ControllerSettings: log_output: str = os.path.join(os.getcwd(), "pydotbot.log") csv_data_output: Optional[str] = None simulator_init_state: str = SIMULATOR_INIT_STATE_DEFAULT + swarmit_url: str = SWARMIT_URL_DEFAULT def lh2_distance(last: DotBotLH2Position, new: DotBotLH2Position) -> float: @@ -267,7 +271,11 @@ async def _open_webbrowser(self): else: writer.close() break - url = f"http://localhost:{self.settings.controller_http_port}/PyDotBot" + ui_path = default_ui_path() + if ui_path is None: + self.logger.warning("No web UI is built, not opening a browser") + return + url = f"http://localhost:{self.settings.controller_http_port}{ui_path}" self.logger.debug("Using frontend URL", url=url) if not self.settings.headless: self.logger.info("Opening webbrowser", url=url) @@ -313,7 +321,7 @@ def handle_received_frame( PayloadType.CMD_RGB_LED, ]: return - source = hexlify(int(frame.header.source).to_bytes(8, "big")).decode() + source = addr_to_hex(int(frame.header.source)) logger = self.logger.bind( source=source, payload_type=PayloadType(frame.packet.payload_type).name, @@ -591,7 +599,7 @@ def send_payload(self, destination: int, payload: Payload): if self.adapter is None: self.logger.warning("Adapter not started") return - dest_str = hexlify(destination.to_bytes(8, "big")).decode() + dest_str = addr_to_hex(destination) if dest_str not in self.dotbots: return self.adapter.send_payload(destination, payload=payload) @@ -664,9 +672,16 @@ def get_dotbots(self, query: DotBotQueryModel) -> List[DotBotModel]: async def web(self): """Starts the web server application.""" logger = LOGGER.bind(context=__name__) + host = self.settings.controller_http_host + if host not in ("127.0.0.1", "localhost", "::1"): + logger.warning( + "Serving the API beyond loopback; it has no authentication, " + "and /swarmit/* reaches the swarmit server from here too", + host=host, + ) config = uvicorn.Config( api, - host="0.0.0.0", + host=host, port=self.settings.controller_http_port, log_level="critical", ) diff --git a/dotbot/controller_app.py b/dotbot/controller_app.py index 117f8377..0ab8ccb3 100644 --- a/dotbot/controller_app.py +++ b/dotbot/controller_app.py @@ -18,10 +18,12 @@ import toml from dotbot import ( + CONTROLLER_HTTP_HOST_DEFAULT, CONTROLLER_HTTP_PORT_DEFAULT, GATEWAY_ADDRESS_DEFAULT, MAP_SIZE_DEFAULT, SIMULATOR_INIT_STATE_DEFAULT, + SWARMIT_URL_DEFAULT, pydotbot_version, ) from dotbot.cli._cfg import from_config @@ -226,6 +228,24 @@ def _maybe_scaffold_sim_state(explicit_init_state): type=click.Path(dir_okay=False), help=f"Path to the simulator initial state .toml file. Defaults to '{SIMULATOR_INIT_STATE_DEFAULT}'.", ) +@click.option( + "--controller-http-host", + type=str, + help=( + "Interface the REST/WS API binds to. Defaults to " + f"'{CONTROLLER_HTTP_HOST_DEFAULT}' (loopback). Use '0.0.0.0' to reach " + "it from another machine - the API is unauthenticated, so only do that " + "on a network you trust." + ), +) +@click.option( + "--swarmit-url", + type=str, + help=( + "Base URL of the swarmit server the controller proxies /swarmit/* " + f"requests to (for the web console). Defaults to '{SWARMIT_URL_DEFAULT}'." + ), +) @click.pass_context def main( ctx, @@ -234,9 +254,11 @@ def main( sim_is_dotbot, gw_address, controller_http_port, + controller_http_host, map_size, background_map, simulator_init_state, + swarmit_url, headless, verbose, log_level, @@ -261,6 +283,7 @@ def main( # legacy `--config-path` fallback that follows. conn = from_config(ctx, "conn", "conn", "run") swarm_id = from_config(ctx, "swarm_id", "swarm_id", "run") + swarmit_url = from_config(ctx, "swarmit_url", "swarmit_url", "run.controller") conn = conn if conn is not None else file_data.get("conn") swarm_id = swarm_id if swarm_id is not None else file_data.get("swarm_id") @@ -293,9 +316,11 @@ def main( cli_args = { "gw_address": gw_address, "controller_http_port": controller_http_port, + "controller_http_host": controller_http_host, "map_size": map_size, "background_map": background_map, "simulator_init_state": simulator_init_state, + "swarmit_url": swarmit_url, "headless": True if headless else None, "verbose": verbose, "log_level": log_level, diff --git a/dotbot/dotbot_simulator.py b/dotbot/dotbot_simulator.py index a9f2f58d..a7224370 100644 --- a/dotbot/dotbot_simulator.py +++ b/dotbot/dotbot_simulator.py @@ -12,7 +12,6 @@ import random import threading import time -from binascii import hexlify from dataclasses import dataclass from enum import Enum from math import atan2, cos, pi, sin, sqrt @@ -23,7 +22,11 @@ from dotbot_utils.protocol import Frame, Header, Packet from pydantic import BaseModel, Field, model_validator -from dotbot import GATEWAY_ADDRESS_DEFAULT, SIMULATOR_INIT_STATE_DEFAULT +from dotbot import ( + GATEWAY_ADDRESS_DEFAULT, + SIMULATOR_INIT_STATE_DEFAULT, + addr_to_hex, +) from dotbot.logger import LOGGER from dotbot.protocol import ControlModeType, PayloadDotBotAdvertisement, PayloadType @@ -114,7 +117,7 @@ def _fill_mari_pdrs(self): def _random_address() -> str: - return f"{random.getrandbits(64):016x}" + return f"{random.getrandbits(64):016X}" class SimulatedDotBotSettings(BaseModel): @@ -178,7 +181,7 @@ class DotBotSimulator: """Simulator class for the dotbot.""" def __init__(self, settings: SimulatedDotBotSettings, tx_queue: queue.Queue): - self.address = settings.address.lower() + self.address = settings.address.upper() self.pos_x = settings.pos_x self.pos_y = settings.pos_y self.theta = settings.direction * -1 if settings.direction != -1000 else 0 @@ -604,7 +607,7 @@ def rx_frame(self): if frame is None: break with self._lock: - if self.address == hex(frame.header.destination)[2:]: + if self.address == addr_to_hex(int(frame.header.destination)): if frame.payload_type == PayloadType.CMD_MOVE_RAW: self.controller_mode = ControlModeType.MANUAL self.waypoint_index = 0 @@ -828,14 +831,14 @@ def _packet_delivered(self, pdr: int) -> bool: def handle_dotbot_frame(self, frame): """Send bytes to the fake serial, similar to the real gateway.""" - addr = hex(frame.header.source)[2:] + addr = addr_to_hex(int(frame.header.source)) index = self._address_to_index.get(addr, 0) if self._dotbot_modes[index] == SimulatedNetworkMode.MARI: self._mari.schedule_uplink(frame, index) return if not self._packet_delivered(self._network.pdr): self.logger.info( - f"Packet from DotBot {hexlify(int(frame.header.source).to_bytes(8, 'big')).decode()} lost in simulation" + f"Packet from DotBot {addr_to_hex(int(frame.header.source))} lost in simulation" ) return self.on_frame_received(frame) diff --git a/dotbot/joystick.py b/dotbot/joystick.py index cf77ae88..e069f772 100644 --- a/dotbot/joystick.py +++ b/dotbot/joystick.py @@ -47,7 +47,7 @@ def __init__(self, joystick_index, client, dotbot_address, application): """Initialize the joystick controller.""" self.client = client self.dotbots = [] - self.dotbot_address = dotbot_address + self.dotbot_address = dotbot_address.upper() self.application = APPLICATION_TYPE_MAP[application] pygame.init() # pylint: disable=no-member pygame.joystick.init() # joysticks initialization @@ -78,7 +78,9 @@ def selected_dotbot(self): self._logger.info("No active DotBot") return elif _selected_dotbot not in [dotbot["address"] for dotbot in self.dotbots]: - self._logger.info("Active DotBot not available") + self._logger.warning( + "Requested DotBot not available", address=_selected_dotbot + ) return return _selected_dotbot diff --git a/dotbot/keyboard.py b/dotbot/keyboard.py index 428d5956..bf7be82d 100644 --- a/dotbot/keyboard.py +++ b/dotbot/keyboard.py @@ -117,7 +117,7 @@ def __init__(self, client, dotbot_address, application): """Initializes the keyboard controller.""" self.client = client self.dotbots = [] - self.dotbot_address = dotbot_address + self.dotbot_address = dotbot_address.upper() self.application = APPLICATION_TYPE_MAP[application] self.previous_speeds = (0, 0) self.active_keys = [] @@ -135,7 +135,9 @@ def selected_dotbot(self): self._logger.info("No active DotBot") return elif _selected_dotbot not in [dotbot["address"] for dotbot in self.dotbots]: - self._logger.info("Active DotBot not available") + self._logger.warning( + "Requested DotBot not available", address=_selected_dotbot + ) return return _selected_dotbot diff --git a/dotbot/models.py b/dotbot/models.py index 72902653..3399db90 100644 --- a/dotbot/models.py +++ b/dotbot/models.py @@ -88,6 +88,20 @@ class DotBotMapSizeModel(BaseModel): height: int # in mm unit +class DotBotConnectionModel(BaseModel): + """How the controller reaches the swarm, for display in a UI. + + A curated view, not the settings object: the same settings carry + `mqtt_username` / `mqtt_password`, and this is served to any browser that + can reach the controller. + """ + + adapter: str # edge | cloud | dotbot-simulator | sailbot-simulator | serial + connection: str # display form: mqtt(s)://host:port, a device path, or simulator + swarm_id: str # hex network id + gw_address: str + + class DotBotBackgroundMapModel(BaseModel): """Background map model.""" diff --git a/dotbot/sailbot_simulator.py b/dotbot/sailbot_simulator.py index 0e12ef3d..6c36e630 100644 --- a/dotbot/sailbot_simulator.py +++ b/dotbot/sailbot_simulator.py @@ -17,7 +17,7 @@ from dotbot_utils.protocol import Frame, Header, Packet from numpy import clip -from dotbot import GATEWAY_ADDRESS_DEFAULT +from dotbot import GATEWAY_ADDRESS_DEFAULT, addr_to_hex from dotbot.logger import LOGGER from dotbot.protocol import ( ApplicationType, @@ -348,7 +348,7 @@ def decode_serial_input(self, bytes_): return frame = Frame.from_bytes(bytes_) - if self.address == hex(frame.header.destination)[2:]: + if self.address == addr_to_hex(int(frame.header.destination)): if frame.payload_type == PayloadType.CMD_MOVE_RAW: self.rudder_slider = ( frame.packet.payload.left_x - 256 diff --git a/dotbot/server.py b/dotbot/server.py index 0e64a3bd..0271828e 100644 --- a/dotbot/server.py +++ b/dotbot/server.py @@ -14,13 +14,15 @@ FastAPI, HTTPException, Query, + Request, WebSocket, WebSocketDisconnect, ) from fastapi.middleware.cors import CORSMiddleware -from fastapi.responses import Response +from fastapi.responses import Response, StreamingResponse from fastapi.staticfiles import StaticFiles from pydantic import TypeAdapter, ValidationError +from starlette.background import BackgroundTask from starlette.middleware.base import BaseHTTPMiddleware from dotbot import pydotbot_version @@ -28,6 +30,7 @@ from dotbot.models import ( MAX_POSITION_HISTORY_SIZE, DotBotBackgroundMapModel, + DotBotConnectionModel, DotBotMapSizeModel, DotBotModel, DotBotMoveRawCommandModel, @@ -291,6 +294,30 @@ async def map_size(): return api.controller.map_size +@api.get( + path="/controller/connection", + response_model=DotBotConnectionModel, + summary="Return how the controller reaches the swarm", + tags=["controller"], +) +async def connection(): + """Connection HTTP GET handler.""" + settings = api.controller.settings + if settings.adapter == "cloud": + scheme = "mqtts" if settings.mqtt_use_tls else "mqtt" + conn = f"{scheme}://{settings.mqtt_host}:{settings.mqtt_port}" + elif settings.adapter in ("dotbot-simulator", "sailbot-simulator"): + conn = "simulator" + else: + conn = settings.port + return DotBotConnectionModel( + adapter=settings.adapter, + connection=conn, + swarm_id=settings.network_id, + gw_address=settings.gw_address, + ) + + @api.get( path="/controller/background_map", response_model=DotBotBackgroundMapModel, @@ -362,6 +389,55 @@ async def ws_dotbots(websocket: WebSocket): LOGGER.debug("WebSocket client disconnected") +# Timeouts for the swarmit proxy: fail fast when the server is down, but +# never time out reads - /events and /flash/stream are long-lived SSE. +SWARMIT_PROXY_TIMEOUT = httpx.Timeout(5.0, read=None) + + +@api.api_route( + path="/swarmit/{path:path}", + methods=["GET", "POST"], + include_in_schema=False, +) +async def swarmit_proxy(path: str, request: Request): + """Forward /swarmit/* to the configured swarmit server (same-origin for + the web console; the streaming body keeps SSE responses live).""" + base = api.controller.settings.swarmit_url.rstrip("/") + client = httpx.AsyncClient(timeout=SWARMIT_PROXY_TIMEOUT) + upstream_request = client.build_request( + method=request.method, + url=f"{base}/{path}", + params=request.query_params, + headers={ + k: v + for k, v in request.headers.items() + if k.lower() in ("content-type", "accept") + }, + content=await request.body(), + ) + try: + upstream = await client.send(upstream_request, stream=True) + except httpx.HTTPError as exc: + await client.aclose() + LOGGER.debug("swarmit server unreachable", url=f"{base}/{path}", error=str(exc)) + return Response(status_code=502, content=b"swarmit server unreachable") + + async def cleanup(): + await upstream.aclose() + await client.aclose() + + return StreamingResponse( + upstream.aiter_raw(), + status_code=upstream.status_code, + headers={ + k: v + for k, v in upstream.headers.items() + if k.lower() in ("content-type", "cache-control") + }, + background=BackgroundTask(cleanup), + ) + + # Mount static files after all routes are defined FRONTEND_DIR = os.path.join(os.path.dirname(__file__), "frontend", "build") if os.path.isdir(FRONTEND_DIR): @@ -375,3 +451,25 @@ async def ws_dotbots(websocket: WebSocket): "frontend: cd dotbot/frontend && npm install && npm run build", FRONTEND_DIR, ) + +# The unified console (map-first PyDotBot + swarmit UI). This is the UI the +# controller opens; the classic frontend stays mounted at /PyDotBot, which is +# where the qrkey demo, the REST demo and the SailBot views live. +CONSOLE_DIR = os.path.join(os.path.dirname(__file__), "console-web", "dist") +if os.path.isdir(CONSOLE_DIR): + api.mount("/console", StaticFiles(directory=CONSOLE_DIR, html=True), name="console") +else: + LOGGER.info( + "Console build not found at %s; /console will be unavailable. " + "Build it with: cd dotbot/console-web && npm install && npm run build", + CONSOLE_DIR, + ) + + +def default_ui_path() -> str | None: + """Path the controller opens on start, or None when no UI is built.""" + if os.path.isdir(CONSOLE_DIR): + return "/console" + if os.path.isdir(FRONTEND_DIR): + return "/PyDotBot" + return None diff --git a/dotbot/tests/conftest.py b/dotbot/tests/conftest.py new file mode 100644 index 00000000..385c49da --- /dev/null +++ b/dotbot/tests/conftest.py @@ -0,0 +1,14 @@ +"""Shared fixtures for the test suite.""" + +import pytest + + +@pytest.fixture(autouse=True) +def never_open_a_browser(monkeypatch): + """Keep the suite from opening real browser windows. + + The controller opens the web UI on start unless `headless` is set, so a + test that drives the full run loop reaches `webbrowser.open` for real and + puts a tab on the developer's screen for every run. + """ + monkeypatch.setattr("webbrowser.open", lambda *args, **kwargs: True) diff --git a/dotbot/tests/test_config.py b/dotbot/tests/test_config.py index b3e88df7..25dc123e 100644 --- a/dotbot/tests/test_config.py +++ b/dotbot/tests/test_config.py @@ -309,3 +309,50 @@ def test_resolve_bad_int_env_raises(): cfg.resolve( "http_port", section="run", environ={"DOTBOT_HTTP_PORT": "x"}, default=8000 ) + + +def test_resolve_nested_section_from_file(): + config = cfg.DotbotConfig( + run=cfg.RunSection( + controller=cfg.ControllerSection(swarmit_url="http://lab:9001") + ) + ) + got = cfg.resolve( + "swarmit_url", + section="run.controller", + config=config, + environ={}, + default="http://localhost:8001", + ) + assert got == "http://lab:9001" + + +def test_resolve_nested_section_env_name(): + got = cfg.resolve( + "swarmit_url", + section="run.controller", + environ={"DOTBOT_RUN_CONTROLLER_SWARMIT_URL": "http://env:9001"}, + default="http://localhost:8001", + ) + assert got == "http://env:9001" + + +def test_resolve_nested_section_shared_env_alias(): + got = cfg.resolve( + "swarmit_url", + section="run.controller", + environ={"DOTBOT_SWARMIT_URL": "http://env:9001"}, + default="http://localhost:8001", + ) + assert got == "http://env:9001" + + +def test_resolve_nested_section_missing_falls_to_default(): + got = cfg.resolve( + "swarmit_url", + section="run.controller", + config=cfg.DotbotConfig(), + environ={}, + default="http://localhost:8001", + ) + assert got == "http://localhost:8001" diff --git a/dotbot/tests/test_controller.py b/dotbot/tests/test_controller.py index 9c0370ab..ba821002 100644 --- a/dotbot/tests/test_controller.py +++ b/dotbot/tests/test_controller.py @@ -9,6 +9,7 @@ from dotbot_utils.protocol import Frame, Header, Packet from dotbot_utils.serial_interface import SerialInterface +from dotbot import addr_to_hex from dotbot.adapter import SerialAdapter from dotbot.controller import Controller, ControllerSettings, gps_distance, lh2_distance from dotbot.models import ( @@ -203,6 +204,7 @@ async def start_simulator(): network_id="0", gw_address="78", controller_http_port=8002, + headless=True, ) controller = Controller(settings) try: @@ -222,6 +224,7 @@ async def start_simulator(): network_id="0", gw_address="78", controller_http_port=8001, + headless=True, ) controller = Controller(settings) try: @@ -261,3 +264,23 @@ def test_lh2_distance(last, new, result): ) def test_gps_distance(last, new, result): assert gps_distance(last, new) == pytest.approx(result) + + +@pytest.mark.parametrize( + "addr,expected", + [ + (0x217B829760EBA3E0, "217B829760EBA3E0"), + (0x0, "0000000000000000"), + (0xFFFFFFFFFFFFFFFF, "FFFFFFFFFFFFFFFF"), + (0xABCDEF, "0000000000ABCDEF"), + ], +) +def test_addr_to_hex_is_uppercase_and_padded(addr, expected): + """Addresses render uppercase: swarmit joins the two planes on this string. + + `binascii.hexlify` returns lowercase, so a plain hexlify here silently + produces a key that never matches the swarm side (nor + DOTBOT_ADDRESS_DEFAULT / GATEWAY_ADDRESS_DEFAULT, both written uppercase). + """ + assert addr_to_hex(addr) == expected + assert addr_to_hex(addr) == addr_to_hex(addr).upper() diff --git a/dotbot/tests/test_controller_app.py b/dotbot/tests/test_controller_app.py index 613a9209..5e2050f8 100644 --- a/dotbot/tests/test_controller_app.py +++ b/dotbot/tests/test_controller_app.py @@ -72,6 +72,51 @@ def test_run_controller_uses_selected_deployment(controller, _asyncio_run, tmp_p assert settings.adapter == "dotbot-simulator" +@pytest.mark.skipif(sys.platform == "win32", reason="Doesn't work on Windows") +@patch("dotbot.controller_app.asyncio.run") +@patch("dotbot.controller_app.Controller") +def test_run_controller_swarmit_url_flag(controller, _asyncio_run): + runner = CliRunner() + result = runner.invoke( + main, ["--conn", "simulator", "--swarmit-url", "http://lab:9001"] + ) + assert result.exit_code == 0, result.output + settings = controller.call_args.args[0] + assert settings.swarmit_url == "http://lab:9001" + + +@pytest.mark.skipif(sys.platform == "win32", reason="Doesn't work on Windows") +@patch("dotbot.controller_app.asyncio.run") +@patch("dotbot.controller_app.Controller") +def test_run_controller_swarmit_url_from_unified_config( + controller, _asyncio_run, tmp_path +): + """`[run.controller] swarmit_url` in dotbot.toml reaches the settings; + without it the built-in default applies.""" + from dotbot.cli.main import cli + + config_file = tmp_path / "dotbot.toml" + config_file.write_text( + """ +conn = "simulator" + +[run.controller] +swarmit_url = "http://lab:9001" +""" + ) + + runner = CliRunner() + result = runner.invoke(cli, ["-c", str(config_file), "run", "controller"]) + assert result.exit_code == 0, result.output + settings = controller.call_args.args[0] + assert settings.swarmit_url == "http://lab:9001" + + result = runner.invoke(main, ["--conn", "simulator"]) + assert result.exit_code == 0, result.output + settings = controller.call_args.args[0] + assert settings.swarmit_url == "http://localhost:8001" + + def test_main_without_conn_errors(): """No `--conn` → a clear error listing the connection forms.""" runner = CliRunner() diff --git a/dotbot/tests/test_dotbot_simulator.py b/dotbot/tests/test_dotbot_simulator.py new file mode 100644 index 00000000..821aac98 --- /dev/null +++ b/dotbot/tests/test_dotbot_simulator.py @@ -0,0 +1,61 @@ +"""Tests for the simulated DotBot's receive path.""" + +import queue + +import pytest +from dotbot_utils.protocol import Frame, Header, Packet + +from dotbot import addr_to_hex +from dotbot.dotbot_simulator import DotBotSimulator, SimulatedDotBotSettings +from dotbot.protocol import PayloadCommandMoveRaw + + +def _bot(address: str) -> DotBotSimulator: + return DotBotSimulator( + SimulatedDotBotSettings(address=address, pos_x=100, pos_y=100), + queue.Queue(), + ) + + +def _move_raw(destination: int) -> Frame: + return Frame( + header=Header(destination=destination, source=0), + packet=Packet().from_payload( + PayloadCommandMoveRaw(left_x=0, left_y=80, right_x=0, right_y=80) + ), + ) + + +def _deliver(bot: DotBotSimulator, frame: Frame) -> None: + """Run one pass of the rx loop over a single frame.""" + bot.queue.put(frame) + bot.queue.put(None) # breaks the loop once the frame is handled + bot.rx_frame() + + +@pytest.mark.parametrize( + "address", + [ + "B0B0F00D33333333", # letters: fails if the two sides disagree on case + "00B0F00D33333333", # leading zero: fails if the address is not padded + "1234567890123456", # digits only: matches under either convention + ], +) +def test_a_command_addressed_to_this_bot_is_applied(address): + bot = _bot(address) + _deliver(bot, _move_raw(int(address, 16))) + assert bot.pwm_left == 80 + assert bot.pwm_right == 80 + + +def test_a_command_for_another_bot_is_ignored(): + bot = _bot("B0B0F00D33333333") + _deliver(bot, _move_raw(0xDEADBEEF22222222)) + assert bot.pwm_left == 0 + assert bot.pwm_right == 0 + + +def test_the_address_rendering_round_trips(): + """The rx path and the index map must render an address the same way.""" + for address in ("B0B0F00D33333333", "00B0F00D33333333", "1234567890123456"): + assert addr_to_hex(int(address, 16)) == address diff --git a/dotbot/tests/test_server.py b/dotbot/tests/test_server.py index b7235681..6fb664ee 100644 --- a/dotbot/tests/test_server.py +++ b/dotbot/tests/test_server.py @@ -6,6 +6,7 @@ from fastapi.testclient import TestClient from httpx import ASGITransport, AsyncClient +from dotbot.controller import ControllerSettings from dotbot.models import ( DotBotGPSPosition, DotBotLH2Position, @@ -579,6 +580,109 @@ def mock_async_client(*args, **kwargs): assert response.headers["X-Upstream"] == "mock" +class _MockByteStream(httpx.AsyncByteStream): + """Streamable body for MockTransport responses (a plain `content=` body + counts as already consumed, which the streaming proxy rejects).""" + + def __init__(self, chunks): + self._chunks = chunks + + async def __aiter__(self): + for chunk in self._chunks: + yield chunk + + +@pytest.mark.asyncio +async def test_swarmit_proxy_forwards(monkeypatch): + + async def mock_send(request: httpx.Request): + assert request.url == httpx.URL("http://swarmit-host:9001/status") + return httpx.Response( + status_code=200, + stream=_MockByteStream([b'{"response": {}}']), + headers={"Content-Type": "application/json"}, + ) + + transport = httpx.MockTransport(mock_send) + RealAsyncClient = httpx.AsyncClient + + def mock_async_client(*args, **kwargs): + kwargs.pop("transport", None) + return RealAsyncClient(transport=transport, **kwargs) + + import dotbot.server as server_module + + monkeypatch.setattr(server_module.httpx, "AsyncClient", mock_async_client) + api.controller.settings.swarmit_url = "http://swarmit-host:9001" + + client = TestClient(api) + response = client.get("/swarmit/status") + + assert response.status_code == 200 + assert response.content == b'{"response": {}}' + assert response.headers["Content-Type"] == "application/json" + + +@pytest.mark.asyncio +async def test_swarmit_proxy_forwards_post_body(monkeypatch): + + async def mock_send(request: httpx.Request): + assert request.url == httpx.URL("http://swarmit-host:9001/start") + assert request.method == "POST" + assert request.content == b'{"devices": []}' + assert request.headers["content-type"] == "application/json" + return httpx.Response( + status_code=200, stream=_MockByteStream([b'{"result": "ok"}']) + ) + + transport = httpx.MockTransport(mock_send) + RealAsyncClient = httpx.AsyncClient + + def mock_async_client(*args, **kwargs): + kwargs.pop("transport", None) + return RealAsyncClient(transport=transport, **kwargs) + + import dotbot.server as server_module + + monkeypatch.setattr(server_module.httpx, "AsyncClient", mock_async_client) + api.controller.settings.swarmit_url = "http://swarmit-host:9001" + + client = TestClient(api) + response = client.post( + "/swarmit/start", + content=b'{"devices": []}', + headers={"Content-Type": "application/json"}, + ) + + assert response.status_code == 200 + assert response.content == b'{"result": "ok"}' + + +@pytest.mark.asyncio +async def test_swarmit_proxy_unreachable(monkeypatch): + + async def mock_send_failed(*args, **kwargs): + raise httpx.ConnectError("connection failed") + + transport = httpx.MockTransport(mock_send_failed) + RealAsyncClient = httpx.AsyncClient + + def mock_async_client(*args, **kwargs): + kwargs.pop("transport", None) + return RealAsyncClient(transport=transport, **kwargs) + + import dotbot.server as server_module + + monkeypatch.setattr(server_module.httpx, "AsyncClient", mock_async_client) + api.controller.settings.swarmit_url = "http://swarmit-host:9001" + + client = TestClient(api) + response = client.get("/swarmit/status") + + assert response.status_code == 502 + assert b"swarmit server unreachable" in response.content + + @pytest.mark.asyncio async def test_reverse_proxy_middleware_connect_error(monkeypatch): @@ -771,3 +875,89 @@ def test_ws_invalid_message_validation_error(): assert isinstance(response["details"], list) api.controller.send_payload.assert_not_called() + + +@pytest.mark.asyncio +async def test_connection_reports_an_mqtt_endpoint(): + api.controller.settings = ControllerSettings( + adapter="cloud", + mqtt_host="argus.example.org", + mqtt_port=8883, + mqtt_use_tls=True, + network_id="A000", + gw_address="0000000000000000", + ) + + result = await client.get("/controller/connection") + + assert result.status_code == 200 + assert result.json() == { + "adapter": "cloud", + "connection": "mqtts://argus.example.org:8883", + "swarm_id": "A000", + "gw_address": "0000000000000000", + } + + +@pytest.mark.asyncio +async def test_connection_never_leaks_the_mqtt_credentials(): + """The route is reachable by any browser that can reach the controller.""" + api.controller.settings = ControllerSettings( + adapter="cloud", + mqtt_host="broker.example.org", + mqtt_username="operator", + mqtt_password="hunter2", + ) + + body = (await client.get("/controller/connection")).text + + assert "operator" not in body + assert "hunter2" not in body + + +@pytest.mark.asyncio +@pytest.mark.parametrize( + "adapter,expected", + [ + ("dotbot-simulator", "simulator"), + ("sailbot-simulator", "simulator"), + ("edge", "/dev/ttyACM0"), + ("serial", "/dev/ttyACM0"), + ], +) +async def test_connection_reports_the_non_mqtt_adapters(adapter, expected): + api.controller.settings = ControllerSettings(adapter=adapter, port="/dev/ttyACM0") + + result = await client.get("/controller/connection") + + assert result.json()["connection"] == expected + + +def test_the_controller_opens_the_console_when_it_is_built(tmp_path, monkeypatch): + """The console is the default UI; the classic frontend is the fallback.""" + import dotbot.server as server + + console, classic = tmp_path / "console", tmp_path / "classic" + + monkeypatch.setattr(server, "CONSOLE_DIR", str(console)) + monkeypatch.setattr(server, "FRONTEND_DIR", str(classic)) + assert server.default_ui_path() is None + + classic.mkdir() + assert server.default_ui_path() == "/PyDotBot" + + console.mkdir() + assert server.default_ui_path() == "/console" + + +def test_the_api_binds_loopback_unless_asked_otherwise(): + """The REST/WS API is unauthenticated, so it is not on the LAN by default.""" + from dotbot.controller import ControllerSettings + + default = ControllerSettings(gw_address="78", network_id="0") + assert default.controller_http_host == "127.0.0.1" + + wide = ControllerSettings( + gw_address="78", network_id="0", controller_http_host="0.0.0.0" + ) + assert wide.controller_http_host == "0.0.0.0" diff --git a/pyproject.toml b/pyproject.toml index aa143a45..8ffc8e95 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -15,8 +15,14 @@ include = [ ] exclude = [ "dotbot/frontend/node_modules", + "dotbot/console-web/node_modules", "utils/" ] +# The console build output is gitignored (dist/); artifacts overrides the +# VCS-ignore so the built app ships in the packages. +artifacts = [ + "dotbot/console-web/dist", +] [tool.hatch.metadata] allow-direct-references = true diff --git a/tox.ini b/tox.ini index 193a7eef..1ff7bdd5 100644 --- a/tox.ini +++ b/tox.ini @@ -56,7 +56,9 @@ commands= allowlist_externals= /bin/bash /usr/bin/bash -commands = bash -exc "cd dotbot/frontend && npm run lint" +commands = + bash -exc "cd dotbot/frontend && npm run lint" + bash -exc "cd dotbot/console-web && npm run lint" # pin_code env removed: dotbot/pin_code_ui never existed in the tree — # silent dead config flagged in workspace AGENTS.md. diff --git a/utils/check_wheel_contents.py b/utils/check_wheel_contents.py index f3032472..c1a4d83b 100644 --- a/utils/check_wheel_contents.py +++ b/utils/check_wheel_contents.py @@ -22,6 +22,9 @@ "dotbot/simulator_init_state.toml", # Built React frontend served by the controller's REST app. "dotbot/frontend/build/index.html", + # Built console served by the controller at /console. Its dist/ is + # gitignored, so it only ships through the pyproject `artifacts` override. + "dotbot/console-web/dist/index.html", ) diff --git a/utils/hooks/pydotbot_utils.py b/utils/hooks/pydotbot_utils.py index da126208..d0a97d59 100644 --- a/utils/hooks/pydotbot_utils.py +++ b/utils/hooks/pydotbot_utils.py @@ -23,3 +23,14 @@ def build_frontend(root): print("Building React frontend application...") subprocess.run(shlex.split(NPM_INSTALL_CMD), cwd=frontend_dir, check=True) subprocess.run(shlex.split(NPM_BUILD_CMD), cwd=frontend_dir, check=True) + + +def build_console(root): + """Builds the console web application.""" + console_dir = os.path.join(root, "dotbot", "console-web") + os.makedirs(os.path.join(console_dir, "dist"), exist_ok=True) + + if sys.platform != "win32": + print("Building console web application...") + subprocess.run(shlex.split(NPM_INSTALL_CMD), cwd=console_dir, check=True) + subprocess.run(shlex.split(NPM_BUILD_CMD), cwd=console_dir, check=True) diff --git a/utils/hooks/sdist.py b/utils/hooks/sdist.py index aea0a73a..b0ebfed5 100644 --- a/utils/hooks/sdist.py +++ b/utils/hooks/sdist.py @@ -13,7 +13,7 @@ from hatchling.builders.hooks.plugin.interface import BuildHookInterface sys.path.append(os.path.dirname(__file__)) -from pydotbot_utils import build_frontend # noqa: E402 +from pydotbot_utils import build_console, build_frontend # noqa: E402 class CustomBuildHook(BuildHookInterface): @@ -24,3 +24,4 @@ def initialize(self, _, __): if os.getenv("SKIP_SDIST_HOOK") is not None: return build_frontend(self.root) + build_console(self.root)