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<script lang="ts">
import type { Robot } from "../Robot.svelte.js";
import { robotManager } from "../RobotManager.svelte.js";
import { settings } from "$lib/runes/settings.svelte";
import USBCalibrationPanel from "../calibration/USBCalibrationPanel.svelte";
interface Props {
robot: Robot;
workspaceId: string;
}
let { robot, workspaceId }: Props = $props();
const hasConsumer = $derived(robot.hasConsumer);
const outputDriverCount = $derived(robot.outputDriverCount);
const consumer = $derived(robot.consumer);
const producers = $derived(robot.producers);
// Connection configs - using transport server for communication
let remoteRobotId = $state(robot.id);
let connecting = $state(false);
let error = $state<string | null>(null);
// USB connection flow state
let showUSBCalibration = $state(false);
let pendingUSBConnection: "consumer" | "producer" | null = $state(null);
// Room management state
const rooms = $derived(robotManager.rooms);
const roomsLoading = $derived(robotManager.roomsLoading);
let selectedRoomId = $state("");
let newRoomId = $state("");
let showRoomManagement = $state(true); // Show rooms by default
// Auto-load rooms when component loads
$effect(() => {
if (rooms.length === 0 && !roomsLoading && workspaceId) {
refreshRooms();
}
});
// Find USB driver for calibration (if any)
function getUSBDriver(): any {
// Check consumer first
if (robot.consumer && "calibrationState" in robot.consumer) {
return robot.consumer;
}
// Then check producers
return robot.producers.find((p) => "calibrationState" in p) || null;
}
async function connectUSBConsumer() {
try {
connecting = true;
error = null;
// USB drivers handle their own calibration requirements
await robot.setConsumer({
type: "usb",
baudRate: 1000000
});
} catch (err) {
console.error("Failed to connect USB consumer:", err);
// Check if it's a calibration error
if (err instanceof Error && err.message.includes("calibration")) {
pendingUSBConnection = "consumer";
showUSBCalibration = true;
return;
}
error = err instanceof Error ? err.message : "Unknown error";
} finally {
connecting = false;
}
}
async function connectRemoteConsumer() {
try {
connecting = true;
error = null;
await robot.setConsumer({
type: "remote",
url: settings.transportServerUrl,
robotId: remoteRobotId,
workspaceId: workspaceId
});
} catch (err) {
console.error("Failed to connect remote consumer:", err);
error = err instanceof Error ? err.message : "Unknown error";
} finally {
connecting = false;
}
}
async function connectUSBProducer() {
try {
connecting = true;
error = null;
// USB drivers handle their own calibration requirements
await robot.addProducer({
type: "usb",
baudRate: 1000000
});
} catch (err) {
console.error("Failed to connect USB producer:", err);
// Check if it's a calibration error
if (err instanceof Error && err.message.includes("calibration")) {
pendingUSBConnection = "producer";
showUSBCalibration = true;
return;
}
error = err instanceof Error ? err.message : "Unknown error";
} finally {
connecting = false;
}
}
async function connectRemoteProducer() {
try {
connecting = true;
error = null;
await robot.addProducer({
type: "remote",
url: settings.transportServerUrl,
robotId: remoteRobotId,
workspaceId: workspaceId
});
} catch (err) {
console.error("Failed to connect remote producer:", err);
error = err instanceof Error ? err.message : "Unknown error";
} finally {
connecting = false;
}
}
async function disconnectConsumer() {
try {
connecting = true;
error = null;
await robot.removeConsumer();
} catch (err) {
console.error("Failed to disconnect consumer:", err);
error = err instanceof Error ? err.message : "Unknown error";
} finally {
connecting = false;
}
}
async function disconnectProducer(producerId: string) {
try {
connecting = true;
error = null;
await robot.removeProducer(producerId);
} catch (err) {
console.error("Failed to disconnect producer:", err);
error = err instanceof Error ? err.message : "Unknown error";
} finally {
connecting = false;
}
}
// Room management functions
async function refreshRooms() {
try {
await robotManager.refreshRooms(workspaceId);
} catch (err) {
console.error("Failed to refresh rooms:", err);
error = err instanceof Error ? err.message : "Failed to refresh rooms";
}
}
async function createRoom() {
try {
connecting = true;
error = null;
const result = await robotManager.createRoboticsRoom(workspaceId, newRoomId || undefined);
if (result.success) {
newRoomId = "";
await refreshRooms();
} else {
error = result.error || "Failed to create room";
}
} catch (err) {
console.error("Failed to create room:", err);
error = err instanceof Error ? err.message : "Failed to create room";
} finally {
connecting = false;
}
}
async function joinRoomAsConsumer() {
if (!selectedRoomId) {
error = "Please select a room";
return;
}
try {
connecting = true;
error = null;
await robotManager.connectConsumerToRoom(workspaceId, robot.id, selectedRoomId);
} catch (err) {
console.error("Failed to join room as consumer:", err);
error = err instanceof Error ? err.message : "Failed to join room as consumer";
} finally {
connecting = false;
}
}
async function joinRoomAsProducer() {
if (!selectedRoomId) {
error = "Please select a room";
return;
}
try {
connecting = true;
error = null;
await robotManager.connectProducerToRoom(workspaceId, robot.id, selectedRoomId);
} catch (err) {
console.error("Failed to join room as producer:", err);
error = err instanceof Error ? err.message : "Failed to join room as producer";
} finally {
connecting = false;
}
}
async function createRoomAndJoinAsProducer() {
try {
connecting = true;
error = null;
const result = await robotManager.connectProducerAsProducer(
workspaceId,
robot.id,
newRoomId || undefined
);
if (result.success) {
newRoomId = "";
await refreshRooms();
} else {
error = result.error || "Failed to create room and join as producer";
}
} catch (err) {
console.error("Failed to create room and join as producer:", err);
error = err instanceof Error ? err.message : "Failed to create room and join as producer";
} finally {
connecting = false;
}
}
// Handle calibration completion
async function onCalibrationComplete() {
showUSBCalibration = false;
if (pendingUSBConnection === "consumer") {
await connectUSBConsumer();
} else if (pendingUSBConnection === "producer") {
await connectUSBProducer();
}
pendingUSBConnection = null;
}
function onCalibrationCancel() {
showUSBCalibration = false;
pendingUSBConnection = null;
connecting = false;
}
</script>
<div class="space-y-4">
<!-- Connection panel -->
<div class="space-y-4 rounded-lg border border-slate-600 bg-slate-800 p-4">
<h3 class="text-lg font-semibold text-slate-100">Connections - {robot.id}</h3>
<!-- Error display -->
{#if error}
<div class="rounded border border-red-500/30 bg-red-900/20 p-2 text-sm text-red-400">
{error}
</div>
{/if}
<!-- Room Management Section -->
<div class="space-y-2">
<div class="flex items-center justify-between">
<h4 class="text-sm font-medium text-slate-300">Room Management</h4>
<button
onclick={() => (showRoomManagement = !showRoomManagement)}
class="text-xs text-blue-400 hover:text-blue-300"
>
{showRoomManagement ? "Hide" : "Show"} Rooms
</button>
</div>
{#if showRoomManagement}
<div class="space-y-3 rounded border border-slate-600 bg-slate-700/30 p-3">
<!-- Refresh Rooms -->
<div class="flex items-center gap-2">
<button
onclick={refreshRooms}
disabled={roomsLoading || connecting}
class="rounded bg-blue-600 px-3 py-1 text-xs text-white hover:bg-blue-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{#if roomsLoading}
<span class="icon-[mdi--loading] mr-1 size-3 animate-spin"></span>
Loading...
{:else}
<span class="icon-[mdi--refresh] mr-1 size-3"></span>
Refresh Rooms
{/if}
</button>
<span class="text-xs text-slate-400">
{rooms.length} room{rooms.length !== 1 ? "s" : ""} available
</span>
</div>
<!-- Available Rooms -->
<div class="space-y-2">
<span class="text-xs text-slate-400">Available Rooms:</span>
<div class="max-h-48 space-y-2 overflow-y-auto">
<!-- Create New Room Option -->
<div class="rounded border-2 border-dashed border-green-500/50 bg-green-500/5 p-2">
<div class="space-y-2">
<div class="flex items-center gap-2">
<span class="text-sm font-medium text-green-300">Create New Room</span>
</div>
<p class="text-xs text-green-400/70">Create a room for collaboration</p>
<input
bind:value={newRoomId}
placeholder="Room ID (optional)"
disabled={connecting}
class="w-full rounded border border-slate-600 bg-slate-700 px-2 py-1 text-xs text-slate-100 disabled:opacity-50"
/>
<div class="flex gap-1">
<button
onclick={createRoom}
disabled={connecting}
class="flex-1 rounded bg-green-600 px-2 py-1 text-xs text-white hover:bg-green-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{#if connecting}
<span class="icon-[mdi--loading] mr-1 size-3 animate-spin"></span>
Creating...
{:else}
Create
{/if}
</button>
<button
onclick={createRoomAndJoinAsProducer}
disabled={connecting}
class="flex-1 rounded bg-green-600 px-2 py-1 text-xs text-white hover:bg-green-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{#if connecting}
<span class="icon-[mdi--loading] mr-1 size-3 animate-spin"></span>
Creating...
{:else}
Create & Join
{/if}
</button>
</div>
</div>
</div>
<!-- Existing Rooms -->
{#if rooms.length === 0}
<div class="py-2 text-center text-xs text-slate-500">
{roomsLoading ? "Loading..." : "No existing rooms available"}
</div>
{:else}
{#each rooms as room}
<div class="rounded border border-slate-600 bg-slate-700/30 p-2">
<div class="mb-2">
<p class="truncate text-sm font-medium text-slate-200">{room.id}</p>
<p class="text-xs text-slate-400">
{room.participants?.total || 0} participants
</p>
</div>
<div class="flex gap-1">
<button
onclick={() => {
selectedRoomId = room.id;
joinRoomAsConsumer();
}}
disabled={connecting}
class="flex-1 rounded bg-purple-600 px-2 py-1 text-xs text-white hover:bg-purple-700 disabled:cursor-not-allowed disabled:opacity-50"
>
Join as Consumer
</button>
<button
onclick={() => {
selectedRoomId = room.id;
joinRoomAsProducer();
}}
disabled={connecting}
class="flex-1 rounded bg-orange-600 px-2 py-1 text-xs text-white hover:bg-orange-700 disabled:cursor-not-allowed disabled:opacity-50"
>
Join as Producer
</button>
</div>
</div>
{/each}
{/if}
</div>
</div>
</div>
{/if}
</div>
<!-- Consumer Section (Input) - SINGLE -->
<div class="space-y-2">
<h4 class="text-sm font-medium text-slate-300">Consumer (Receive Commands) - Single</h4>
{#if hasConsumer}
<div
class="flex items-center justify-between rounded border border-green-500/30 bg-green-900/20 p-2"
>
<div>
<span class="text-sm text-green-300">{consumer?.name || "Consumer Active"}</span>
<span class="ml-2 text-xs text-slate-500">
{consumer?.status.isConnected ? "π’ Connected" : "π΄ Disconnected"}
</span>
</div>
<button
onclick={disconnectConsumer}
disabled={connecting}
class="rounded bg-red-600 px-3 py-1 text-xs text-white hover:bg-red-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{connecting ? "Disconnecting..." : "Disconnect"}
</button>
</div>
{:else}
<div class="space-y-2">
<button
onclick={connectUSBConsumer}
disabled={connecting}
class="w-full rounded bg-blue-600 px-3 py-2 text-sm text-white hover:bg-blue-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{connecting ? "Connecting..." : "Connect USB Consumer"}
</button>
<div class="space-y-2">
<div class="flex gap-2">
<input
bind:value={settings.transportServerUrl}
placeholder="Transport server URL (e.g. http://localhost:8000)"
disabled={connecting}
class="flex-1 rounded border border-slate-600 bg-slate-700 px-3 py-2 text-sm text-slate-100 disabled:opacity-50"
/>
<button
onclick={connectRemoteConsumer}
disabled={connecting}
class="rounded bg-purple-600 px-3 py-2 text-sm whitespace-nowrap text-white hover:bg-purple-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{connecting ? "Connecting..." : "Remote Consumer"}
</button>
</div>
<div class="text-xs text-slate-500">
Remote Consumer: Receive commands from transport server
</div>
</div>
</div>
{/if}
</div>
<!-- Producers Section (Output) - MULTIPLE -->
<div class="space-y-2">
<h4 class="text-sm font-medium text-slate-300">
Producers (Send Commands) - {outputDriverCount} connected
</h4>
<div class="space-y-2">
<button
onclick={connectUSBProducer}
disabled={connecting}
class="w-full rounded bg-green-600 px-3 py-2 text-sm text-white hover:bg-green-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{connecting ? "Connecting..." : "Add USB Producer"}
</button>
<button
onclick={connectRemoteProducer}
disabled={connecting}
class="w-full rounded bg-orange-600 px-3 py-2 text-sm text-white hover:bg-orange-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{connecting ? "Connecting..." : "Add Remote Producer"}
</button>
<div class="text-xs text-slate-500">
Remote Producer: Send commands to transport server. Uses Robot ID: {remoteRobotId}
</div>
</div>
<!-- Connected Producers List -->
{#each producers as producer}
<div
class="flex items-center justify-between rounded border border-slate-600 bg-slate-700/50 p-2"
>
<div>
<span class="text-sm text-slate-300">{producer.name}</span>
<span class="ml-2 text-xs text-slate-500">
{producer.status.isConnected ? "π’ Connected" : "π΄ Disconnected"}
</span>
</div>
<button
onclick={() => disconnectProducer(producer.id)}
disabled={connecting}
class="rounded bg-red-600 px-2 py-1 text-xs text-white hover:bg-red-700 disabled:cursor-not-allowed disabled:opacity-50"
>
{connecting ? "Removing..." : "Remove"}
</button>
</div>
{/each}
</div>
<!-- Robot ID Config -->
<div class="border-t border-slate-600 pt-2">
<span class="text-xs text-slate-400">Robot ID for Remote Connections:</span>
<input
bind:value={remoteRobotId}
disabled={connecting}
class="mt-1 w-full rounded border border-slate-600 bg-slate-700 px-3 py-1 text-sm text-slate-100 disabled:opacity-50"
/>
</div>
</div>
<!-- USB Calibration Modal - Only shown when connecting USB drivers -->
{#if showUSBCalibration}
<div class="fixed inset-0 z-50 flex items-center justify-center bg-black/50">
<div class="m-4 w-full max-w-2xl space-y-4 rounded-lg bg-slate-800 p-6">
<div class="flex items-center justify-between">
<h2 class="text-lg font-semibold text-white">
USB Calibration Required
{#if pendingUSBConnection}
<span class="ml-2 text-sm text-slate-400">
(for {pendingUSBConnection === "consumer" ? "Consumer" : "Producer"})
</span>
{/if}
</h2>
<button onclick={onCalibrationCancel} class="text-gray-400 hover:text-white"> β </button>
</div>
<div class="mb-4 text-sm text-slate-300">
Before connecting USB drivers, the robot needs to be calibrated to map its physical range
to software values.
</div>
{#if getUSBDriver()}
<USBCalibrationPanel
calibrationManager={getUSBDriver()}
connectionType={pendingUSBConnection || "consumer"}
{onCalibrationComplete}
onCancel={onCalibrationCancel}
/>
{:else}
<div class="text-center text-slate-400">No USB driver available for calibration</div>
{/if}
</div>
</div>
{/if}
</div>
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