Initial web ui and control for robot

2026-04-30 21:35:18 +00:00
parent d64e1c24c8
commit 91f5f4d3ab
23 changed files with 2688 additions and 4 deletions
@@ -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"