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<script lang="ts">
import * as Dialog from "@/components/ui/dialog";
import { Button } from "@/components/ui/button";
import * as Card from "@/components/ui/card";
import { Badge } from "@/components/ui/badge";
import { toast } from "svelte-sonner";
import type { RemoteCompute } from "$lib/elements/compute//RemoteCompute.svelte";
import { robotManager } from "$lib/elements/robot/RobotManager.svelte";
interface Props {
workspaceId: string;
open: boolean;
compute: RemoteCompute;
}
let { open = $bindable(), compute, workspaceId }: Props = $props();
let isConnecting = $state(false);
let selectedRobotId = $state('');
let robotConsumer: any = null;
let connectedRobotId = $state<string | null>(null);
// Get available robots from robot manager
const robots = $derived(robotManager.robots);
async function handleConnectRobotOutput() {
if (!compute.hasSession) {
toast.error('No AI session available. Create a session first.');
return;
}
if (!selectedRobotId) {
toast.error('Please select a robot to connect.');
return;
}
isConnecting = true;
try {
// Get the joint output room ID from the AI session
const jointOutputRoomId = compute.sessionData?.joint_output_room_id;
if (!jointOutputRoomId) {
throw new Error('No joint output room found in AI session');
}
// Find the selected robot
const robot = robotManager.robots.find(r => r.id === selectedRobotId);
if (!robot) {
throw new Error(`Robot ${selectedRobotId} not found`);
}
// Connect robot as CONSUMER to the joint output room (robot receives commands FROM AI)
await robotManager.connectConsumerToRoom(workspaceId, selectedRobotId, jointOutputRoomId);
connectedRobotId = selectedRobotId;
toast.success('Robot output connected to AI session', {
description: `Robot ${selectedRobotId} now receives AI commands`
});
} catch (error) {
console.error('Robot output connection error:', error);
toast.error('Failed to connect robot output', {
description: error instanceof Error ? error.message : 'Unknown error'
});
} finally {
isConnecting = false;
}
}
async function handleDisconnectRobotOutput() {
if (!connectedRobotId) return;
try {
// Find the connected robot
const robot = robotManager.robots.find(r => r.id === connectedRobotId);
if (robot) {
await robot.removeConsumer();
}
connectedRobotId = null;
toast.success('Robot output disconnected');
} catch (error) {
console.error('Disconnect error:', error);
toast.error('Error disconnecting robot output');
}
}
// Cleanup on modal close
$effect(() => {
if (!open) {
// Don't auto-disconnect when modal closes, user might want to keep connection
}
});
</script>
<Dialog.Root bind:open>
<Dialog.Content
class="max-h-[80vh] max-w-xl overflow-y-auto border-slate-600 bg-slate-900 text-slate-100"
>
<Dialog.Header class="pb-3">
<Dialog.Title class="flex items-center gap-2 text-lg font-bold text-slate-100">
<span class="icon-[mdi--robot-outline] size-5 text-blue-400"></span>
Robot Output - {compute.name || 'No Compute Selected'}
</Dialog.Title>
<Dialog.Description class="text-sm text-slate-400">
Connect AI command output to control robot actuators
</Dialog.Description>
</Dialog.Header>
<div class="space-y-4">
<!-- AI Session Status -->
<div
class="flex items-center justify-between rounded-lg border border-purple-500/30 bg-purple-900/20 p-3"
>
<div class="flex items-center gap-2">
<span class="icon-[mdi--brain] size-4 text-purple-400"></span>
<span class="text-sm font-medium text-purple-300">AI Session</span>
</div>
{#if compute.hasSession}
<Badge variant="default" class="bg-purple-600 text-xs">
{compute.statusInfo.statusText}
</Badge>
{:else}
<Badge variant="secondary" class="text-xs text-slate-400">No Session</Badge>
{/if}
</div>
{#if !compute.hasSession}
<Card.Root class="border-yellow-500/30 bg-yellow-500/5">
<Card.Header>
<Card.Title class="flex items-center gap-2 text-base text-yellow-200">
<span class="icon-[mdi--alert] size-4"></span>
AI Session Required
</Card.Title>
</Card.Header>
<Card.Content class="text-sm text-yellow-300">
You need to create an AI session before connecting robot outputs.
The session provides a joint output room for sending AI commands.
</Card.Content>
</Card.Root>
{:else}
<!-- Robot Selection and Connection -->
<Card.Root class="border-blue-500/30 bg-blue-500/5">
<Card.Header>
<Card.Title class="flex items-center gap-2 text-base text-blue-200">
<span class="icon-[mdi--robot-outline] size-4"></span>
Robot Output Connection
</Card.Title>
</Card.Header>
<Card.Content class="space-y-4">
<!-- Available Robots -->
<div class="space-y-2">
<div class="text-sm font-medium text-blue-300">Available Robots:</div>
<div class="max-h-40 overflow-y-auto space-y-2">
{#if robots.length === 0}
<div class="text-center py-4 text-sm text-slate-400">
No robots available. Add robots first.
</div>
{:else}
{#each robots as robot}
<button
onclick={() => selectedRobotId = robot.id}
class="w-full p-3 rounded border text-left {selectedRobotId === robot.id
? 'border-blue-500 bg-blue-500/20'
: 'border-slate-600 bg-slate-800/50 hover:bg-slate-700/50'}"
>
<div class="flex items-center justify-between">
<div>
<div class="text-xs text-slate-400">
ID: {robot.id}
</div>
<div class="text-xs text-slate-400">
Consumer: {robot.hasConsumer ? 'Connected' : 'None'}
</div>
</div>
<div class="flex items-center gap-2">
{#if robot.hasConsumer}
<Badge variant="default" class="bg-green-600 text-xs">
Active
</Badge>
{:else}
<Badge variant="secondary" class="text-xs">
Available
</Badge>
{/if}
</div>
</div>
</button>
{/each}
{/if}
</div>
</div>
<!-- Connection Status -->
{#if selectedRobotId}
<div class="rounded-lg border border-blue-500/30 bg-blue-900/20 p-3">
<div class="flex items-center justify-between">
<div>
<p class="text-sm font-medium text-blue-300">
Selected Robot: {selectedRobotId}
</p>
<p class="text-xs text-blue-400/70">
{connectedRobotId === selectedRobotId ? 'Connected to AI' : 'Not Connected'}
</p>
</div>
{#if connectedRobotId !== selectedRobotId}
<Button
variant="default"
size="sm"
onclick={handleConnectRobotOutput}
disabled={isConnecting}
class="bg-blue-600 hover:bg-blue-700 text-xs disabled:opacity-50"
>
{#if isConnecting}
<span class="icon-[mdi--loading] animate-spin mr-1 size-3"></span>
Connecting...
{:else}
<span class="icon-[mdi--link] mr-1 size-3"></span>
Connect Output
{/if}
</Button>
{:else}
<Button
variant="destructive"
size="sm"
onclick={handleDisconnectRobotOutput}
class="text-xs"
>
<span class="icon-[mdi--close-circle] mr-1 size-3"></span>
Disconnect
</Button>
{/if}
</div>
</div>
{/if}
</Card.Content>
</Card.Root>
<!-- Session Joint Output Details -->
<Card.Root class="border-orange-500/30 bg-orange-500/5">
<Card.Header>
<Card.Title class="flex items-center gap-2 text-base text-orange-200">
<span class="icon-[mdi--information] size-4"></span>
Data Flow: AI Session → Robot
</Card.Title>
</Card.Header>
<Card.Content>
<div class="space-y-2 text-xs">
<div class="flex justify-between items-center p-2 rounded bg-slate-800/50">
<span class="text-orange-300 font-medium">Joint Output Room:</span>
<span class="text-orange-200 font-mono">{compute.sessionData?.joint_output_room_id}</span>
</div>
<div class="text-slate-400 text-xs">
The inference server will act as a <strong>PRODUCER</strong> and send predicted joint commands to this room for robot execution.
The robot receives this data as a CONSUMER.
All joint values will be normalized (-100 to +100 for most joints, 0 to 100 for gripper).
</div>
</div>
</Card.Content>
</Card.Root>
<!-- Connection Status -->
{#if connectedRobotId}
<Card.Root class="border-green-500/30 bg-green-500/5">
<Card.Header>
<Card.Title class="flex items-center gap-2 text-base text-green-200">
<span class="icon-[mdi--check-circle] size-4"></span>
Active Connection
</Card.Title>
</Card.Header>
<Card.Content>
<div class="text-sm text-green-300">
Robot <span class="font-mono">{connectedRobotId}</span> is now receiving AI commands as a consumer.
The robot will execute joint movements based on AI inference results.
</div>
</Card.Content>
</Card.Root>
{/if}
{/if}
<!-- Quick Info -->
<div class="rounded border border-slate-700 bg-slate-800/30 p-2 text-xs text-slate-500">
<span class="icon-[mdi--information] mr-1 size-3"></span>
Robot output: Inference server acts as PRODUCER sending commands → Robot acts as CONSUMER receiving and executing movements.
</div>
</div>
</Dialog.Content>
</Dialog.Root> |