diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 44ad8e4..4a2fc25 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -18,7 +18,7 @@ RUN groupadd --gid $USER_GID $USERNAME \ RUN apt-get update && apt-get upgrade -y # C++ development tools -RUN apt-get install -y \ +RUN apt-get update && apt-get install -y \ build-essential \ cmake \ gdb \ @@ -28,8 +28,9 @@ RUN apt-get install -y \ libboost-all-dev # Python development tools -RUN apt-get install -y \ +RUN apt-get update && apt-get install -y \ python3-pip \ + python3-venv \ python3-dev \ python3-argcomplete \ python3-colcon-common-extensions \ @@ -45,6 +46,17 @@ RUN apt-get install -y \ # ros-${ROS_DISTRO}-ament-lint-auto \ # ros-${ROS_DISTRO}-ament-lint-common +# Node.js for frontend development +RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \ + && apt-get install -y nodejs + +# Python venv for webui backend (isolated from system packages) +RUN python3 -m venv /opt/webui-venv \ + && /opt/webui-venv/bin/pip install --no-cache-dir \ + fastapi \ + "uvicorn[standard]" \ + numpy + ENV SHELL /bin/bash # ******************************************************** diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index c367e7e..fba96f5 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -39,5 +39,5 @@ "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached", "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached" ], - "postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths src --ignore-src -y && sudo chown -R $(whoami) /home/ws/" + "postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths lidar/src robot/src --ignore-src -y && sudo chown -R $(whoami) /home/ws/ && npm --prefix /home/ws/webui/frontend install" } \ No newline at end of file diff --git a/docker-compose.yml b/docker-compose.yml index fa61e4b..e9fb547 100644 --- a/docker-compose.yml +++ b/docker-compose.yml @@ -12,6 +12,7 @@ services: - linux/arm64 image: raspbot_v2:latest network_mode: host + ipc: host devices: - /dev/i2c-1:/dev/i2c-1 environment: @@ -27,6 +28,7 @@ services: - linux/arm64 image: raspbot_v2_lidar:latest network_mode: host + ipc: host devices: - ${LIDAR_PORT:-/dev/ttyUSB0}:${LIDAR_PORT:-/dev/ttyUSB0} environment: @@ -43,3 +45,20 @@ services: - scan_qos_depth:=${LIDAR_QOS_DEPTH:-2} - scan_qos_reliability:=${LIDAR_QOS_RELIABILITY:-best_effort} restart: unless-stopped + + webui: + build: + context: webui + dockerfile: Dockerfile + platforms: + - linux/arm64 + args: + # WebSocket URL of the GStreamer signaling server, baked into the frontend bundle. + # Override with: VITE_WEBRTC_WS_URL=ws://raspberrypi.local:8443 + VITE_WEBRTC_WS_URL: ${VITE_WEBRTC_WS_URL:-} + image: raspbot_v2_webui:latest + network_mode: host + ipc: host + environment: + - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0} + restart: unless-stopped diff --git a/docker-entrypoint.sh b/docker-entrypoint.sh index 0419509..796a159 100644 --- a/docker-entrypoint.sh +++ b/docker-entrypoint.sh @@ -4,6 +4,6 @@ set -e source /opt/ros/${ROS_DISTRO}/setup.bash source /ws/install/setup.bash -ros2 daemon start +# Don't start daemon - nodes don't need it, only CLI tools do exec "$@" diff --git a/webui/Dockerfile b/webui/Dockerfile new file mode 100644 index 0000000..e0acfd9 --- /dev/null +++ b/webui/Dockerfile @@ -0,0 +1,36 @@ +# Stage 1: Build the Vite/React frontend +FROM node:22-alpine AS frontend-builder + +WORKDIR /build +COPY frontend/package.json ./ +RUN npm install +COPY frontend/ ./ + +# Passed in via docker-compose build args so the URL is baked into the bundle. +# e.g. VITE_WEBRTC_WS_URL=ws://raspberrypi.local:8443 +ARG VITE_WEBRTC_WS_URL +ENV VITE_WEBRTC_WS_URL=${VITE_WEBRTC_WS_URL} + +RUN npm run build + +# Stage 2: FastAPI + ROS 2 runtime +FROM ros:kilted-ros-core + +ARG DEBIAN_FRONTEND=noninteractive + +RUN apt-get update && apt-get install -y --no-install-recommends \ + python3-venv \ + && rm -rf /var/lib/apt/lists/* + +COPY backend/requirements.txt /tmp/requirements.txt +RUN python3 -m venv /app/venv && \ + /app/venv/bin/pip install --no-cache-dir -r /tmp/requirements.txt + +COPY --from=frontend-builder /build/dist /app/static +COPY backend/ /app/ + +WORKDIR /app + +EXPOSE 8080 + +CMD ["/bin/bash", "-c", "source /opt/ros/$ROS_DISTRO/setup.bash && /app/venv/bin/python3 main.py"] diff --git a/webui/README.md b/webui/README.md new file mode 100644 index 0000000..096ac76 --- /dev/null +++ b/webui/README.md @@ -0,0 +1,124 @@ +# Raspbot Web UI + +Browser-based controller for the Raspbot V2. Displays a live WebRTC camera feed and provides keyboard / on-screen controls for robot movement and camera pan/tilt. + +## Architecture + +``` +Browser + │ + ├─── WebSocket /ws ──────────► FastAPI backend (port 8080) + │ │ + │ └─ rclpy node + │ ├─ publishes /cmd_vel + │ ├─ publishes /joint_command + │ ├─ subscribes /joint_states + │ └─ subscribes /ultrasonic/range + │ + └─── WebSocket ws://:8443 ──► GStreamer WebRTC server (separate container) +``` + +The FastAPI backend **is** the ROS 2 node — no rosbridge needed. The Vite/React frontend is built into static files and served directly by FastAPI in production. + +## ROS topics + +| Direction | Topic | Type | +|-----------|-------|------| +| Publish | `/cmd_vel` | `geometry_msgs/Twist` | +| Publish | `/joint_command` | `sensor_msgs/JointState` (joints: `pan`, `tilt`) | +| Subscribe | `/joint_states` | `sensor_msgs/JointState` | +| Subscribe | `/ultrasonic/range` | `sensor_msgs/Range` | + +## Controls + +| Input | Action | +|-------|--------| +| W / ↑ | Drive forward | +| S / ↓ | Drive backward | +| A / ← | Turn left | +| D / → | Turn right | +| Pan slider | Camera pan (±90°) | +| Tilt slider | Camera tilt (−30° to +55°) | +| Centre button | Return camera to home position | + +The D-pad buttons on screen mirror the keyboard controls and work on touch devices. + +--- + +## Development (devcontainer) + +Running locally in the devcontainer gives a fast edit → reload loop without needing to rebuild Docker images. + +### Prerequisites + +Rebuild the devcontainer at least once after the Node.js addition to `.devcontainer/Dockerfile` was made — VS Code will prompt you, or run **Dev Containers: Rebuild Container** from the command palette. + +### Running + +```bash +./webui/dev.sh +``` + +Then open **http://localhost:5173**. + +The script will: +- Create a Python venv at `webui/backend/.venv` (first run only) +- Install backend and frontend dependencies +- Start the FastAPI backend on port 8080 +- Start the Vite dev server on port 5173, proxying `/ws` to the backend + +Both processes are stopped together with **Ctrl+C**. + +### ROS domain ID + +The devcontainer uses `ROS_DOMAIN_ID=42` by default, but the robot and lidar containers default to `0`. Override when running the script to match whichever domain the robot is on: + +```bash +ROS_DOMAIN_ID=0 ./webui/dev.sh +``` + +### WebRTC camera + +The camera feed connects to the GStreamer signaling server at `ws://:8443` by default. If your WebRTC container runs on a different host or port, set `VITE_WEBRTC_WS_URL` before starting the frontend (it is baked into the bundle at build time, but the dev server reads it from the shell): + +```bash +VITE_WEBRTC_WS_URL=ws://raspbot-v2.local:8443 ./webui/dev.sh +``` + +--- + +## Production (Docker Compose) + +### Build + +```bash +docker compose build webui +``` + +To bake a specific WebRTC server URL into the bundle: + +```bash +VITE_WEBRTC_WS_URL=ws://raspbot-v2.local:8443 docker compose build webui +``` + +### Run + +```bash +docker compose up webui +``` + +Or start everything together: + +```bash +docker compose up +``` + +The web UI is served on **port 8080** of the host. + +### Configuration + +| Variable | Default | Description | +|----------|---------|-------------| +| `ROS_DOMAIN_ID` | `0` | ROS 2 DDS domain — must match the robot container | +| `VITE_WEBRTC_WS_URL` | `ws://:8443` | WebRTC signaling server URL (baked in at build time) | +| `CAMERA_DEVICE` | `0` | (unused in production — camera is handled by the WebRTC container) | diff --git a/webui/backend/main.py b/webui/backend/main.py new file mode 100644 index 0000000..412ea26 --- /dev/null +++ b/webui/backend/main.py @@ -0,0 +1,105 @@ +import asyncio +import logging +from contextlib import asynccontextmanager +from pathlib import Path + +from fastapi import FastAPI, WebSocket, WebSocketDisconnect +from fastapi.responses import FileResponse, JSONResponse + +from ros_node import get_node, start_ros, stop_ros + +logging.basicConfig(level=logging.INFO) +logger = logging.getLogger(__name__) + +STATIC_DIR = Path(__file__).parent / 'static' + + +class ConnectionManager: + def __init__(self) -> None: + self.connections: list[WebSocket] = [] + self._loop: asyncio.AbstractEventLoop | None = None + + def set_loop(self, loop: asyncio.AbstractEventLoop) -> None: + self._loop = loop + + async def connect(self, ws: WebSocket) -> None: + await ws.accept() + self.connections.append(ws) + + def disconnect(self, ws: WebSocket) -> None: + if ws in self.connections: + self.connections.remove(ws) + + def broadcast_from_thread(self, data: dict) -> None: + if self._loop and self._loop.is_running(): + asyncio.run_coroutine_threadsafe(self._broadcast(data), self._loop) + + async def _broadcast(self, data: dict) -> None: + dead = [] + for ws in self.connections: + try: + await ws.send_json(data) + except Exception: + dead.append(ws) + for ws in dead: + self.disconnect(ws) + + +manager = ConnectionManager() + + +@asynccontextmanager +async def lifespan(app: FastAPI): + manager.set_loop(asyncio.get_event_loop()) + node = start_ros() + node.on_joint_states_callbacks.append(manager.broadcast_from_thread) + node.on_ultrasonic_callbacks.append(manager.broadcast_from_thread) + yield + stop_ros() + + +app = FastAPI(lifespan=lifespan) + + +@app.websocket('/ws') +async def websocket_endpoint(ws: WebSocket): + await manager.connect(ws) + node = get_node() + try: + while True: + data = await ws.receive_json() + msg_type = data.get('type') + if msg_type == 'cmd_vel': + node.publish_cmd_vel(data.get('linear_x', 0.0), data.get('angular_z', 0.0)) + elif msg_type == 'joint_command': + node.publish_joint_command(data.get('pan', 0.0), data.get('tilt', 0.0)) + except WebSocketDisconnect: + pass + except Exception as e: + logger.error('WebSocket error: %s', e) + finally: + manager.disconnect(ws) + try: + node.publish_cmd_vel(0.0, 0.0) + except Exception: + pass + + +@app.get('/{full_path:path}') +async def serve_spa(full_path: str): + index = STATIC_DIR / 'index.html' + if not index.exists(): + return JSONResponse( + {'detail': 'Frontend not built. In dev mode open http://localhost:5173'}, + status_code=404, + ) + candidate = (STATIC_DIR / full_path).resolve() + static_root = STATIC_DIR.resolve() + if str(candidate).startswith(str(static_root)) and full_path and candidate.is_file(): + return FileResponse(candidate) + return FileResponse(index) + + +if __name__ == '__main__': + import uvicorn + uvicorn.run(app, host='0.0.0.0', port=8080) diff --git a/webui/backend/requirements.txt b/webui/backend/requirements.txt new file mode 100644 index 0000000..69e4390 --- /dev/null +++ b/webui/backend/requirements.txt @@ -0,0 +1,3 @@ +fastapi>=0.115.0 +uvicorn[standard]>=0.32.0 +numpy diff --git a/webui/backend/ros_node.py b/webui/backend/ros_node.py new file mode 100644 index 0000000..d1d072d --- /dev/null +++ b/webui/backend/ros_node.py @@ -0,0 +1,76 @@ +import threading + +import rclpy +from geometry_msgs.msg import Twist +from rclpy.node import Node +from sensor_msgs.msg import JointState, Range + + +class RobotBridgeNode(Node): + def __init__(self): + super().__init__('webui_bridge') + + self._cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10) + self._joint_cmd_pub = self.create_publisher(JointState, '/joint_command', 10) + + self.create_subscription(JointState, '/joint_states', self._on_joint_states, 10) + self.create_subscription(Range, '/ultrasonic/range', self._on_ultrasonic, 10) + + self.on_joint_states_callbacks: list = [] + self.on_ultrasonic_callbacks: list = [] + + def publish_cmd_vel(self, linear_x: float, angular_z: float) -> None: + # print(f'Publishing cmd_vel: linear_x={linear_x}, angular_z={angular_z}') + msg = Twist() + msg.linear.x = float(linear_x) + msg.angular.z = float(angular_z) + try: + self._cmd_vel_pub.publish(msg) + except Exception as e: + print('Failed to publish cmd_vel:', e) + # self._cmd_vel_pub.publish(msg) + + def publish_joint_command(self, pan: float, tilt: float) -> None: + msg = JointState() + msg.header.stamp = self.get_clock().now().to_msg() + msg.name = ['pan', 'tilt'] + msg.position = [float(pan), float(tilt)] + self._joint_cmd_pub.publish(msg) + + def _on_joint_states(self, msg: JointState) -> None: + data = {'type': 'joint_states', 'positions': dict(zip(msg.name, msg.position))} + for cb in self.on_joint_states_callbacks: + cb(data) + + def _on_ultrasonic(self, msg: Range) -> None: + data = {'type': 'ultrasonic', 'range': msg.range} + for cb in self.on_ultrasonic_callbacks: + cb(data) + + +_node: RobotBridgeNode | None = None +_spin_thread: threading.Thread | None = None + + +def start_ros() -> RobotBridgeNode: + global _node, _spin_thread + rclpy.init() + _node = RobotBridgeNode() + _spin_thread = threading.Thread(target=rclpy.spin, args=(_node,), daemon=True) + _spin_thread.start() + return _node + + +def get_node() -> RobotBridgeNode: + assert _node is not None, "ROS node not started" + return _node + + +def stop_ros() -> None: + global _node + try: + if _node: + _node.destroy_node() + rclpy.shutdown() + except Exception: + pass diff --git a/webui/backend/webrtc.py b/webui/backend/webrtc.py new file mode 100644 index 0000000..062752f --- /dev/null +++ b/webui/backend/webrtc.py @@ -0,0 +1,39 @@ +import asyncio +import os + +import av +import cv2 +from aiortc import VideoStreamTrack + +CAMERA_DEVICE = int(os.environ.get('CAMERA_DEVICE', '0')) + + +class CameraVideoTrack(VideoStreamTrack): + def __init__(self): + super().__init__() + self._cap = cv2.VideoCapture(CAMERA_DEVICE) + self._cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640) + self._cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480) + self._cap.set(cv2.CAP_PROP_FPS, 30) + self._cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) + + async def recv(self) -> av.VideoFrame: + pts, time_base = await self.next_timestamp() + + loop = asyncio.get_event_loop() + ret, frame = await loop.run_in_executor(None, self._cap.read) + + if not ret: + import numpy as np + frame = np.zeros((480, 640, 3), dtype=np.uint8) + else: + frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + + video_frame = av.VideoFrame.from_ndarray(frame, format='rgb24') + video_frame.pts = pts + video_frame.time_base = time_base + return video_frame + + def __del__(self) -> None: + if self._cap: + self._cap.release() diff --git a/webui/dev.sh b/webui/dev.sh new file mode 100755 index 0000000..350b28e --- /dev/null +++ b/webui/dev.sh @@ -0,0 +1,90 @@ +#!/usr/bin/env bash +# Starts the FastAPI backend and Vite frontend for local development. +# Run from anywhere — paths are resolved relative to this script. +set -euo pipefail + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +BACKEND_DIR="$SCRIPT_DIR/backend" +FRONTEND_DIR="$SCRIPT_DIR/frontend" +VENV="$BACKEND_DIR/.venv" + +# Match whichever ROS_DOMAIN_ID the robot containers are using (default 0). +# Override: ROS_DOMAIN_ID=42 ./dev.sh +ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-0}" + +# Hostname of the WebRTC signaling server (default: same host as the page). +# Override: VITE_WEBRTC_HOST=rapsbot-v2.local ./dev.sh +# Or set VITE_WEBRTC_HOST in frontend/.env.local (see .env.local.example). +export VITE_WEBRTC_HOST="${VITE_WEBRTC_HOST:-}" + +# ── colour helpers ──────────────────────────────────────────────────────────── +G='\033[0;32m'; Y='\033[1;33m'; R='\033[0;31m'; NC='\033[0m' +info() { echo -e "${G}[webui]${NC} $*"; } +warn() { echo -e "${Y}[webui]${NC} $*"; } +error() { echo -e "${R}[webui]${NC} $*" >&2; } + +# ── sanity checks ───────────────────────────────────────────────────────────── +if [ -z "${ROS_DISTRO:-}" ]; then + error "ROS_DISTRO is not set. Source a ROS setup file first, or rebuild the devcontainer." + exit 1 +fi + +if ! command -v node &>/dev/null; then + error "Node.js not found. Rebuild the devcontainer to install it (see .devcontainer/Dockerfile)." + exit 1 +fi + +# ── backend: venv ───────────────────────────────────────────────────────────── +# Prefer the venv baked into the devcontainer image; fall back to a local one. +if [ -d "/opt/webui-venv" ]; then + VENV="/opt/webui-venv" + info "Using devcontainer venv at $VENV" +else + if [ ! -d "$VENV" ]; then + info "Creating Python venv at $VENV..." + python3 -m venv "$VENV" + fi + info "Syncing backend dependencies..." + "$VENV/bin/pip" install -q -r "$BACKEND_DIR/requirements.txt" +fi + +# ── frontend: npm deps ──────────────────────────────────────────────────────── +if [ ! -d "$FRONTEND_DIR/node_modules" ]; then + info "Installing frontend dependencies..." + npm --prefix "$FRONTEND_DIR" install +fi + +# ── cleanup on exit ─────────────────────────────────────────────────────────── +BACKEND_PID="" +FRONTEND_PID="" + +cleanup() { + warn "Shutting down..." + [ -n "$BACKEND_PID" ] && kill "$BACKEND_PID" 2>/dev/null || true + [ -n "$FRONTEND_PID" ] && kill "$FRONTEND_PID" 2>/dev/null || true + wait "$BACKEND_PID" "$FRONTEND_PID" 2>/dev/null || true +} +trap cleanup EXIT INT TERM + +# ── start backend ───────────────────────────────────────────────────────────── +info "Starting FastAPI backend on :8080 (ROS_DOMAIN_ID=$ROS_DOMAIN_ID)" +( + # shellcheck disable=SC1091 + set +u # ROS setup.bash references AMENT_TRACE_SETUP_FILES without a default + source "/opt/ros/$ROS_DISTRO/setup.bash" + export ROS_DOMAIN_ID + exec "$VENV/bin/python3" "$BACKEND_DIR/main.py" +) & +BACKEND_PID=$! + +# ── start frontend ──────────────────────────────────────────────────────────── +info "Starting Vite dev server on :5173" +npm --prefix "$FRONTEND_DIR" run dev & +FRONTEND_PID=$! + +info "Ready — open http://localhost:5173" +info "Press Ctrl+C to stop both processes." +echo + +# Exit as soon as either process dies +wait -n "$BACKEND_PID" "$FRONTEND_PID" diff --git a/webui/frontend/.env.local.example b/webui/frontend/.env.local.example new file mode 100644 index 0000000..1b30394 --- /dev/null +++ b/webui/frontend/.env.local.example @@ -0,0 +1,8 @@ +# Copy this file to .env.local and edit for your setup. +# .env.local is gitignored — safe for local overrides. + +# Hostname of the WebRTC signaling server (GStreamer webrtcsink) for the video stream. +# Defaults to the same host as the page when unset (fine for production). +# Override to point at a remote robot during development: +# VITE_WEBRTC_HOST=rapsbot-v2.local +VITE_WEBRTC_HOST= diff --git a/webui/frontend/.gitignore b/webui/frontend/.gitignore new file mode 100644 index 0000000..f633501 --- /dev/null +++ b/webui/frontend/.gitignore @@ -0,0 +1,3 @@ +node_modules/ +dist/ +.env.local diff --git a/webui/frontend/index.html b/webui/frontend/index.html new file mode 100644 index 0000000..0d53b52 --- /dev/null +++ b/webui/frontend/index.html @@ -0,0 +1,16 @@ + + + + + + Raspbot Control + + + +
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100644 index 0000000..fdcb747 --- /dev/null +++ b/webui/frontend/src/App.jsx @@ -0,0 +1,40 @@ +import { useState } from 'react' +import { CameraControls } from './components/CameraControls.jsx' +import { RobotControls } from './components/RobotControls.jsx' +import { VideoStream } from './components/VideoStream.jsx' +import { useWebSocket } from './hooks/useWebSocket.js' + +export default function App() { + const [jointStates, setJointStates] = useState({}) + const [range, setRange] = useState(null) + + const send = useWebSocket((msg) => { + if (msg.type === 'joint_states') setJointStates(msg.positions) + if (msg.type === 'ultrasonic') setRange(msg.range) + }) + + return ( +
+ {/* Header */} +
+ RASPBOT + {range !== null && ( + + ▶ {range.toFixed(2)} m + + )} +
+ + {/* Video */} +
+ +
+ + {/* Controls */} +
+ + +
+
+ ) +} diff --git a/webui/frontend/src/components/CameraControls.jsx b/webui/frontend/src/components/CameraControls.jsx new file mode 100644 index 0000000..a2d27aa --- /dev/null +++ b/webui/frontend/src/components/CameraControls.jsx @@ -0,0 +1,64 @@ +import { useState } from 'react' + +const PAN_MIN = -Math.PI / 2 // -90° +const PAN_MAX = Math.PI / 2 // +90° +const TILT_MIN = -0.524 // -30° +const TILT_MAX = 0.960 // +55° + +const toDeg = (r) => Math.round(r * 180 / Math.PI) + +export function CameraControls({ send, jointStates }) { + const [pan, setPan] = useState(0) + const [tilt, setTilt] = useState(0) + + const sendCmd = (p, t) => send({ type: 'joint_command', pan: p, tilt: t }) + + const row = { display: 'flex', flexDirection: 'column', gap: 4 } + const label = { fontSize: 12, color: '#888', display: 'flex', justifyContent: 'space-between' } + + return ( +
+
+ Camera +
+ +
+
+ Pan + {toDeg(jointStates?.pan ?? pan)}° +
+ { const v = +e.target.value; setPan(v); sendCmd(v, tilt) }} + /> +
+ +
+
+ Tilt + {toDeg(jointStates?.tilt ?? tilt)}° +
+ { const v = +e.target.value; setTilt(v); sendCmd(pan, v) }} + /> +
+ + +
+ ) +} diff --git a/webui/frontend/src/components/RobotControls.jsx b/webui/frontend/src/components/RobotControls.jsx new file mode 100644 index 0000000..e64b233 --- /dev/null +++ b/webui/frontend/src/components/RobotControls.jsx @@ -0,0 +1,111 @@ +import { useEffect, useRef, useState } from 'react' + +const LINEAR_SPEED = 0.3 // m/s +const ANGULAR_SPEED = 1.0 // rad/s +const SEND_HZ = 100 // ms between cmd_vel publishes + +// Keys that map to velocity deltas +const KEY_VELS = { + w: { linear_x: LINEAR_SPEED, angular_z: 0 }, + s: { linear_x: -LINEAR_SPEED, angular_z: 0 }, + a: { linear_x: 0, angular_z: ANGULAR_SPEED }, + d: { linear_x: 0, angular_z: -ANGULAR_SPEED }, + ArrowUp: { linear_x: LINEAR_SPEED, angular_z: 0 }, + ArrowDown: { linear_x: -LINEAR_SPEED, angular_z: 0 }, + ArrowLeft: { linear_x: 0, angular_z: ANGULAR_SPEED }, + ArrowRight: { linear_x: 0, angular_z: -ANGULAR_SPEED }, +} + +// Map D-pad button ids to their keyboard equivalents +const DPAD = [ + { id: 'w', label: '▲', row: 0, col: 1 }, + { id: 'a', label: '◄', row: 1, col: 0 }, + { id: 's', label: '▼', row: 1, col: 1 }, + { id: 'd', label: '►', row: 1, col: 2 }, +] + +export function RobotControls({ send }) { + const keysRef = useRef(new Set()) + const [activeKeys, setActiveKeys] = useState(new Set()) + + const computeVelocity = () => { + let linear_x = 0, angular_z = 0 + for (const k of keysRef.current) { + const v = KEY_VELS[k] + if (v) { linear_x += v.linear_x; angular_z += v.angular_z } + } + return { + linear_x: Math.max(-LINEAR_SPEED, Math.min(LINEAR_SPEED, linear_x)), + angular_z: Math.max(-ANGULAR_SPEED, Math.min(ANGULAR_SPEED, angular_z)), + } + } + + useEffect(() => { + const press = (key) => { + if (!KEY_VELS[key] || keysRef.current.has(key)) return + keysRef.current.add(key) + setActiveKeys(new Set(keysRef.current)) + } + const release = (key) => { + if (!KEY_VELS[key]) return + keysRef.current.delete(key) + setActiveKeys(new Set(keysRef.current)) + } + + const onKeyDown = (e) => { press(e.key); if (KEY_VELS[e.key]) e.preventDefault() } + const onKeyUp = (e) => { release(e.key); if (KEY_VELS[e.key]) e.preventDefault() } + + window.addEventListener('keydown', onKeyDown) + window.addEventListener('keyup', onKeyUp) + + const timer = setInterval(() => send({ type: 'cmd_vel', ...computeVelocity() }), SEND_HZ) + + return () => { + window.removeEventListener('keydown', onKeyDown) + window.removeEventListener('keyup', onKeyUp) + clearInterval(timer) + send({ type: 'cmd_vel', linear_x: 0, angular_z: 0 }) + } + }, [send]) + + // Aliases: treat w/ArrowUp etc. as the same logical key for D-pad highlighting + const isActive = (id) => activeKeys.has(id) || activeKeys.has( + { w: 'ArrowUp', s: 'ArrowDown', a: 'ArrowLeft', d: 'ArrowRight' }[id] + ) + + const dpadPress = (id) => () => { + keysRef.current.add(id) + setActiveKeys(new Set(keysRef.current)) + } + const dpadRelease = (id) => () => { + keysRef.current.delete(id) + setActiveKeys(new Set(keysRef.current)) + } + + return ( +
+
+ {DPAD.map(({ id, label, row, col }) => ( + + ))} +
+
WASD / arrow keys
+
+ ) +} diff --git a/webui/frontend/src/components/VideoStream.jsx b/webui/frontend/src/components/VideoStream.jsx new file mode 100644 index 0000000..0dd9367 --- /dev/null +++ b/webui/frontend/src/components/VideoStream.jsx @@ -0,0 +1,78 @@ +import { useEffect, useRef } from 'react' + +// Signaling host for the GStreamer WebRTC server (hostname only, e.g. rapsbot-v2.local). +// Set VITE_WEBRTC_HOST in .env.local or as an env var; defaults to the current page host. +const signalingHost = import.meta.env.VITE_WEBRTC_HOST || window.location.hostname +const SIGNALING_WS_URL = `ws://${signalingHost}:8443` + +export function VideoStream() { + const videoRef = useRef(null) + const pcRef = useRef(null) + const wsRef = useRef(null) + + useEffect(() => { + console.log('[WebRTC] Connecting to', SIGNALING_WS_URL) + const pc = new RTCPeerConnection({}) + const ws = new WebSocket(SIGNALING_WS_URL) + + pcRef.current = pc + wsRef.current = ws + + pc.onconnectionstatechange = () => console.log('[WebRTC] PC state:', pc.connectionState) + pc.oniceconnectionstatechange = () => console.log('[WebRTC] ICE state:', pc.iceConnectionState) + + pc.ontrack = ({ streams }) => { + console.log('[WebRTC] Track received, streams:', streams.length) + if (videoRef.current) videoRef.current.srcObject = streams[0] + } + + pc.onicecandidate = ({ candidate }) => { + if (candidate && ws.readyState === WebSocket.OPEN) { + ws.send(JSON.stringify({ + type: 'ice', + mlineindex: candidate.sdpMLineIndex, + candidate: candidate.candidate, + })) + } + } + + ws.onopen = () => console.log('[WebRTC] Signaling connected') + ws.onclose = () => console.log('[WebRTC] Signaling closed') + + ws.onmessage = async (event) => { + const msg = JSON.parse(event.data) + console.log('[WebRTC] Signal:', msg.type, msg) + + if (msg.type === 'offer') { + await pc.setRemoteDescription({ type: 'offer', sdp: msg.sdp }) + const answer = await pc.createAnswer() + await pc.setLocalDescription(answer) + ws.send(JSON.stringify({ type: 'answer', sdp: answer.sdp })) + console.log('[WebRTC] Answer sent') + } else if (msg.type === 'ice') { + await pc.addIceCandidate({ sdpMLineIndex: msg.mlineindex, candidate: msg.candidate }) + } + } + + let cleanedUp = false + ws.onerror = (e) => { + if (!cleanedUp) console.error('[WebRTC] Signaling error', e) + } + + return () => { + cleanedUp = true + pc.close() + ws.close() + } + }, []) + + return ( +