diff --git a/.config/conky/conky-esp-config/.conky_esp32 b/.config/conky/conky-esp-config/.conky_esp32 index 022c456..0138a53 100644 --- a/.config/conky/conky-esp-config/.conky_esp32 +++ b/.config/conky/conky-esp-config/.conky_esp32 @@ -1,5 +1,5 @@ conky.config = { - update_interval = 0.5, + update_interval = 1, total_run_times = 0, own_window = true, own_window_type = 'normal', @@ -9,14 +9,14 @@ conky.config = { own_window_hints = 'undecorated,below,sticky,skip_taskbar,skip_pager', background = false, double_buffer = true, - alignment = 'top_right', - gap_x = 300, - gap_y = 200, + alignment = 'top_left', + gap_x = 680, + gap_y = 180, minimum_width = 200, minimum_height = 50, draw_outline = true, draw_borders = false, use_xft = true, - font = 'DejaVu Sans Mono:size=128', + font = 'Ubuntu Regular:size=28', default_color = 'white', default_outline_color = 'grey', default_shade_color = 'black', @@ -24,5 +24,7 @@ conky.config = { }; conky.text = [[ -${execi 1 /home/ditrobotics/.config/conky/conky-esp-config/conky_esp32.sh} V +${exec awk '{getline v < "/sys/class/power_supply/BAT0/voltage_now"; printf "%.1f W\n", v * $1 / 1000000000000}' /sys/class/power_supply/BAT0/current_now} ]]; + +-- ${execi 1 /home/ditrobotics/.config/conky/conky-esp-config/conky_esp32.sh} V diff --git a/.config/conky/conky-esp-config/10-battery_watchdog/battery_removed.mp3 b/.config/conky/conky-esp-config/10-battery_watchdog/battery_removed.mp3 new file mode 100644 index 0000000..e6af150 Binary files /dev/null and b/.config/conky/conky-esp-config/10-battery_watchdog/battery_removed.mp3 differ diff --git a/.config/conky/conky-esp-config/10-battery_watchdog/battery_watchdog.sh b/.config/conky/conky-esp-config/10-battery_watchdog/battery_watchdog.sh new file mode 100755 index 0000000..64f20cc --- /dev/null +++ b/.config/conky/conky-esp-config/10-battery_watchdog/battery_watchdog.sh @@ -0,0 +1,39 @@ +#!/bin/bash + +DIR="/home/ditrobotics/DIT-Scripts/.config/conky/conky-esp-config/10-battery_watchdog" +cd $DIR + +BATTERY_STATUS_FILE="/home/ditrobotics/DIT-Scripts/app/robot_status_bridge/robot_status_br/tmp/battery_status.json" +LOW_BATTERY_THRESHOLD=17.5 +DISCONNECTED_THRESHOLD=0.0 +LOW_BATTERY_SOUND="warning_low_battery_en_1.mp3" +DISCONNECTED_SOUND="battery_removed.mp3" +DISCONNECTED_PLAYED=false + +while true; do + if [ -f "$BATTERY_STATUS_FILE" ]; then + voltage=$(jq -r '.voltage' "$BATTERY_STATUS_FILE") + + if (( $(echo "$voltage == $DISCONNECTED_THRESHOLD" | bc -l) )); then + if [ "$DISCONNECTED_PLAYED" = false ]; then + if ! pgrep -x "ffplay" > /dev/null; then + # Play battery disconnected sound once + ffplay -nodisp -autoexit "$DISCONNECTED_SOUND" > /dev/null 2>&1 & + DISCONNECTED_PLAYED=true + fi + fi + else + DISCONNECTED_PLAYED=false + + if (( $(echo "$voltage < $LOW_BATTERY_THRESHOLD" | bc -l) )); then + if ! pgrep -x "ffplay" > /dev/null; then + # Broadcast low battery warning + ffplay -nodisp -autoexit "$LOW_BATTERY_SOUND" > /dev/null 2>&1 & + fi + fi + fi + fi + + sleep 5 +done + diff --git a/.config/conky/conky-esp-config/shutdown_message.txt b/.config/conky/conky-esp-config/10-battery_watchdog/shutdown_message.txt similarity index 100% rename from .config/conky/conky-esp-config/shutdown_message.txt rename to .config/conky/conky-esp-config/10-battery_watchdog/shutdown_message.txt diff --git a/.config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_chinese.mp3 b/.config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_chinese.mp3 new file mode 100644 index 0000000..97a3b4d Binary files /dev/null and b/.config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_chinese.mp3 differ diff --git a/.config/conky/conky-esp-config/warning_low_battery.mp3 b/.config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_en_0.mp3 similarity index 100% rename from .config/conky/conky-esp-config/warning_low_battery.mp3 rename to .config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_en_0.mp3 diff --git a/.config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_en_1.mp3 b/.config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_en_1.mp3 new file mode 100644 index 0000000..b0a336e Binary files /dev/null and b/.config/conky/conky-esp-config/10-battery_watchdog/warning_low_battery_en_1.mp3 differ diff --git a/.config/conky/conky-esp-config/10-network_watchdog/network_watchdog.sh b/.config/conky/conky-esp-config/10-network_watchdog/network_watchdog.sh new file mode 100755 index 0000000..b3c2e3d --- /dev/null +++ b/.config/conky/conky-esp-config/10-network_watchdog/network_watchdog.sh @@ -0,0 +1,32 @@ +#!/bin/bash + +DIR="/home/ditrobotics/DIT-Scripts/.config/conky/conky-esp-config/10-network_watchdog" +cd $DIR + +# https://ttsmaker.com/ +# 2599 - Christ-United States Male + +prev_state=0 +while true; do + + # Check Wi-Fi connection status + state=$(nmcli -t -f GENERAL.STATE device show wlp2s0 | awk -F: '{print $2}' | awk '{print $1}') + + if [[ $state -eq 100 ]]; then + # Wi-Fi is connected + if [[ $prev_state -ne 100 ]]; then + ffplay -nodisp -autoexit starlink_engaged.mp3 > /dev/null 2>&1 & + fi + echo -e "\e[32mWi-Fi is connected\e[0m" + else + # Wi-Fi is disconnected + if [[ $prev_state -eq 100 ]]; then + ffplay -nodisp -autoexit wifi_problem.mp3 > /dev/null 2>&1 & + fi + echo -e "\e[33mWi-Fi is not connected [$(nmcli -t -f GENERAL.STATE device show wlp2s0)]\e[0m" + fi + prev_state=$state + + sleep 5 +done + diff --git a/.config/conky/conky-esp-config/10-network_watchdog/starlink_engaged.mp3 b/.config/conky/conky-esp-config/10-network_watchdog/starlink_engaged.mp3 new file mode 100644 index 0000000..425ccf8 Binary files /dev/null and b/.config/conky/conky-esp-config/10-network_watchdog/starlink_engaged.mp3 differ diff --git a/.config/conky/conky-esp-config/10-network_watchdog/wifi_problem.mp3 b/.config/conky/conky-esp-config/10-network_watchdog/wifi_problem.mp3 new file mode 100644 index 0000000..d88d34a Binary files /dev/null and b/.config/conky/conky-esp-config/10-network_watchdog/wifi_problem.mp3 differ diff --git a/.config/conky/conky-esp-config/battery_watchdog.sh b/.config/conky/conky-esp-config/battery_watchdog.sh deleted file mode 100755 index 2473a78..0000000 --- a/.config/conky/conky-esp-config/battery_watchdog.sh +++ /dev/null @@ -1,28 +0,0 @@ -#!/bin/bash - -DIR="/home/ditrobotics/DIT-Scripts/.config/conky/conky-esp-config" -pactl set-sink-volume @DEFAULT_SINK@ 95% -cd $DIR -sleep 1 - -# Boot-up sound effect -ffplay -nodisp -autoexit welcome.mp3 - -while true; do - voltage=$(./conky_esp32.sh) - - if (( $(echo "$voltage < 17.5" | bc -l) )); then - if ! pgrep -x "ffplay" > /dev/null; then - - # Broadcast shutdown message - wall < shutdown_message.txt - # Brocast low battery warning - ffplay -nodisp -autoexit warning_low_battery.mp3 > /dev/null 2>&1 & - # ffplay -nodisp -autoexit mario_death.mp3 > /dev/null 2>&1 && ffplay -nodisp -autoexit warning_low_battery.mp3 > /dev/null 2>&1 & - - fi - fi - - sleep 5 -done - diff --git a/.config/conky/conky-esp-config/fur_elise.mp3 b/.config/conky/conky-esp-config/fur_elise.mp3 deleted file mode 100644 index fc0dc4d..0000000 Binary files a/.config/conky/conky-esp-config/fur_elise.mp3 and /dev/null differ diff --git a/.config/conky/conky_entry.sh b/.config/conky/conky_entry.sh index f6d8f8e..fff0b55 100755 --- a/.config/conky/conky_entry.sh +++ b/.config/conky/conky_entry.sh @@ -3,8 +3,38 @@ DIR="/home/ditrobotics/.config/conky" conky -c $DIR/conky-esp-config/.conky_esp32 & -$DIR/lean-conky-config/start-lcc.sh -$DIR/conky-esp-config/battery_watchdog.sh & +$DIR/lean-conky-config/start-lcc.sh; + +sleep 3 +# Set the volume to 95% +VOLUME_LEVEL="95%" +UBUNTU_VERSION=$(lsb_release -r | awk '{print $2}') + +if [[ "$UBUNTU_VERSION" == "22.04" ]]; then + pactl set-sink-volume @DEFAULT_SINK@ "$VOLUME_LEVEL" +elif [[ "$UBUNTU_VERSION" == "24.04" ]]; then + amixer set Master "$VOLUME_LEVEL" +else + echo "Unrecognized Ubuntu version, trying to auto-detect available tools..." + if command -v pactl &> /dev/null; then + pactl set-sink-volume @DEFAULT_SINK@ "$VOLUME_LEVEL" + elif command -v amixer &> /dev/null; then + amixer set Master "$VOLUME_LEVEL" + else + echo "Unable to find volume control tool! Please check system installation." + fi +fi + +# Boot-up sound effect +sleep 1 +ffplay -nodisp -autoexit /home/ditrobotics/DIT-Scripts/.config/conky/conky-esp-config/welcome.mp3 +# ======================================== +# ===== PUT SOUND EFFECT MODULE HERE ===== + +$DIR/conky-esp-config/10-battery_watchdog/battery_watchdog.sh & +$DIR/conky-esp-config/10-network_watchdog/network_watchdog.sh & + +# ======================================== # # Run the Web Pannel essential scripts # /home/ditrobotics/DIT-Scripts/web-ui/scripts/aio.sh & diff --git a/.gitignore b/.gitignore index 2153937..4e2d8ce 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,26 @@ +# Ignore the vscode directory +**/.vscode/ + +# Ignore the build directory +**/build/ +**/install/ +**/log/ + +# Ignore python cache files +**/__pycache__/ + +# Ignore mirco-ROS files +**/src/micro_ros/ +**/src/uros/ +**/ros2.repos + +# Ignore the PlatformIO directory +**/.pio/ + +# Ignore tmp files +**/tmp/* +!**/tmp/.gitkeep + +# Other pecific files or directories web-ui/data/* -!data/.gitkeep -.arduino/Battery_watchdog/build/* -.vscode/* \ No newline at end of file +!data/.gitkeep \ No newline at end of file diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..0cc92b8 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "web/lichtblick"] + path = web/lichtblick + url = https://github.com/Lichtblick-Suite/lichtblick.git diff --git a/00-pre-installation.sh b/00-pre-installation.sh index a553c72..da0786e 100755 --- a/00-pre-installation.sh +++ b/00-pre-installation.sh @@ -25,7 +25,7 @@ progress_bar() { # Initialize step and total steps variables step=1 -total_steps=10 # Adjust based on the actual number of steps you have +total_steps=11 # Adjust based on the actual number of steps you have upgrade_system() { echo -e "\033[32mUpdating and upgrading system...\033[0m" @@ -46,7 +46,7 @@ install_dependencies() { net-tools \ iw \ lm-sensors \ - conky \ + conky-all \ tmux \ screen \ htop \ @@ -55,17 +55,21 @@ install_dependencies() { timeshift \ cheese \ ffmpeg \ - jq + jq \ + ncdu \ + git-lfs # net-tools --- for network configuration # iw --- for wireless network configuration # lm-sensors --- for device temperature monitoring - # conky --- for system monitoring panel + # conky-all --- for system monitoring panel (update conky -> conky-all for Ubuntu 24.04) # iperf3 --- for network performance testing # timeshift --- for system snapshot and restore # cheese --- for camera testing # ffmpeg --- for audio and video processing (ex. boot-on sound) # jq --- for JSON parsing + # ncdu --- for disk usage analysis + # git-lfs --- for git large file storage sleep 1 progress_bar $step $total_steps @@ -73,8 +77,10 @@ install_dependencies() { } # Fix for USB device detection issue +# | # | Reference: # | https://askubuntu.com/questions/1403705/dev-ttyusb0-not-present-in-ubuntu-22-04 +# | remove_brltty() { echo -e "\033[32mRemoving brltty...\033[0m" @@ -95,7 +101,7 @@ install_docker() { groupadd docker usermod -aG docker ditrobotics - newgrp docker # optional + # newgrp docker # optional sleep 1 progress_bar $step $total_steps @@ -146,11 +152,14 @@ setup_dit_logger() { ((step++)) } -# Setup touch screen orientation +# Setup touch screen orientation: +# | +# | This is for Eurobot 2024 external usb touch screen, it isn't needed in general. +# | flip_screen() { echo -e "\033[32mSetting up touch screen HID layout...\033[0m" - read -p "Would you like to rotate touch screen? (y/N): " answer + read -p "Would you like to rotate external touch screen? (y/N): " answer case $answer in [Yy]* ) @@ -169,11 +178,21 @@ flip_screen() { ((step++)) } -# Restore firefox user preference -restore_firefox() { - echo -e "\033[32mRestoring firefox user preference...\033[0m" +# Restore user preference +restore_user_preference() { - find /home/ditrobotics/snap/firefox/common/.mozilla/firefox/ -type d -name "*.default" -exec cp -r /home/ditrobotics/DIT-Scripts/.mozilla/firefox/dit_config.default/* {} \; + ./15-user_preference.sh all + + sleep 1 + progress_bar $step $total_steps + ((step++)) +} + +# Setup system environment +setup_system_env() { + echo -e "\033[32mSetting up system environment...\033[0m" + + ./20-env_setup.sh sleep 1 progress_bar $step $total_steps @@ -195,7 +214,8 @@ for ((i=step; i<=total_steps; i++)); do 7) create_user;; 8) setup_dit_logger;; 9) flip_screen;; - 10) restore_firefox;; + 10) restore_user_preference;; + 11) setup_system_env;; *) echo -e "\033[31mInvalid step\033[0m";; esac done @@ -211,8 +231,8 @@ REBOOT YOUR SYSTEM!!! IF ALL LOOKS GOOD, THEN CHECK THE FOLLOWING ITEM A) Do your first timeshift -B) Use Clonezilla backup to external SSD -C) ... +B) [ABANDONED] Use Clonezilla backup to external SSD +C) Install Active Backup for Business (Synology NAS) and backup to NAS " echo "$MOTD" diff --git a/10-conky_setup.sh b/10-conky_setup.sh index 70d9196..28a536a 100755 --- a/10-conky_setup.sh +++ b/10-conky_setup.sh @@ -10,7 +10,7 @@ cp -r .config/autostart /home/ditrobotics/.config/ # Setup udev rules for USB devices (e.g. esp32|stm32|imu|lidar|vive|touchscreen|...) echo "Copying udev rules files to /etc/udev/rules.d/" -cp -r udev/. /etc/udev/rules.d/. +cp udev/*.rules /etc/udev/rules.d/ # Reload udev rules udevadm control --reload-rules && udevadm trigger diff --git a/15-user_preference.sh b/15-user_preference.sh new file mode 100755 index 0000000..d27af8d --- /dev/null +++ b/15-user_preference.sh @@ -0,0 +1,64 @@ +#!/bin/bash + +# Check if the current user is root +if [ "$(id -u)" != "0" ]; then + echo -e "This script must be run as root. \nPlease run again with 'sudo $0'" + exit 1 +fi + +# Restore firefox configuration +restore_firefox() { + echo -e "\033[32mRestoring firefox user preference...\033[0m" + # You need to open firefox first to create the folder + read -p "Please open firefox first. Press [Enter] key to continue..." + find /home/ditrobotics/snap/firefox/common/.mozilla/firefox/ -type d -name "*.default" -exec cp -r /home/ditrobotics/DIT-Scripts/.mozilla/firefox/dit_config.default/* {} \; +} + +# Restore desktop configuration +restore_desktop() { + echo -e "\033[32mRestoring desktop user preference...\033[0m" + + cp -r /home/ditrobotics/DIT-Scripts/desktop/* /home/ditrobotics/Desktop/ + + if [ ! -d /home/share/scripts/ ]; then + mkdir -p /home/share/scripts/ + fi + cp -r /home/ditrobotics/DIT-Scripts/share/scripts/* /home/share/scripts/ + + if [ ! -d /home/share/data/ ]; then + mkdir -p /home/share/data/ + fi + cp -r /home/ditrobotics/DIT-Scripts/share/data/* /home/share/data/ +} + +# Restore plymouth theme configuration +restore_plymouth() { + echo -e "\033[32mRestoring plymouth theme preference...\033[0m" + cp -r /home/ditrobotics/DIT-Scripts/system/plymouth-themes/abstract_ring_alt /usr/share/plymouth/themes/ + update-alternatives --install /usr/share/plymouth/themes/default.plymouth default.plymouth /usr/share/plymouth/themes/abstract_ring_alt/abstract_ring_alt.plymouth 100 + echo -e "\033[32mSelect the number for installed theme...\033[0m" + update-alternatives --config default.plymouth + update-initramfs -u +} + +if [ "$1" == "all" ]; then + restore_firefox + restore_desktop + restore_plymouth +else + case "$1" in + firefox) + restore_firefox + ;; + desktop) + restore_desktop + ;; + plymouth) + restore_plymouth + ;; + *) + echo "Usage: $0 {all|firefox|desktop|plymouth}" + exit 1 + ;; + esac +fi diff --git a/20-env_setup.sh b/20-env_setup.sh new file mode 100755 index 0000000..396c52a --- /dev/null +++ b/20-env_setup.sh @@ -0,0 +1,16 @@ +#!/bin/bash + +# Check if the current user is root +if [ "$(id -u)" != "0" ]; then + echo -e "This script must be run as root. \nPlease run again with 'sudo $0'" + exit 1 +fi + +# Add ROS_DOMAIN_ID to /etc/environment if not already present +if ! grep -q "ROS_DOMAIN_ID" /etc/environment; then + ROS_DOMAIN_ID=${HOSTNAME##*-} + echo "ROS_DOMAIN_ID=$ROS_DOMAIN_ID" >> /etc/environment + echo -e "\033[32mROS_DOMAIN_ID added to /etc/environment\033[0m" +else + echo -e "\033[33mROS_DOMAIN_ID already exists in /etc/environment\033[0m" +fi \ No newline at end of file diff --git a/README.md b/README.md index 2b5b795..30aa78b 100644 --- a/README.md +++ b/README.md @@ -14,6 +14,25 @@ This repository contains the environment deployment scripts for the DIT upper-level system, designed primarily for `Ubuntu Desktop 22.04 LTS`. It includes the installation of dependencies, deployment of the Docker environment, setup of the system status dashboard, configuration of the User Group permission framework for DIT's internal teams, and installation of `DIT-Logger`. +## :rocket: Getting started + +Clone the repository: + +```sh +$ git clone https://github.com/DIT-ROBOTICS/DIT-Scripts.git + +$ cd DIT-Scripts +$ git submodule update --init --recursive +``` + +Pull large files with Git LFS: + +```sh +$ cd web/lichtblick/ +$ git lfs install --local +$ git lfs pull +``` + ## Prerequisites for Running This Script Before running this script, ensure your Ubuntu system is properly configured and the necessary programs are installed. diff --git a/app/esp_daemon/.bashrc b/app/esp_daemon/.bashrc new file mode 100644 index 0000000..edc47c8 --- /dev/null +++ b/app/esp_daemon/.bashrc @@ -0,0 +1,50 @@ +# ==================== ROS ==================== # +# ==== Description: ROS environment setup ===== # +# =================== BEGIN =================== # + +source_ros_environment() { + if [ "$ROS_DISTRO" = "humble" ]; then + # Custom Alias + alias rosdep-check='rosdep install -i --from-path src --rosdistro humble -y' + alias build='colcon build --symlink-install' + + # Source ROS environment + source /opt/ros/humble/setup.bash + + # Source workspace environment + # latest_setup_bash: Find the latest setup.bash over user's root directory based on the last modified time + latest_setup_bash=$(find $(pwd) -type f -name "setup.bash" -wholename "*/install/setup.bash" -printf "%T@ %p\n" | sort -nr | awk '{print $2}' | head -n 1) + if [ -n "$latest_setup_bash" ]; then + source $latest_setup_bash + # Source colcon environment + source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash + source /usr/share/colcon_cd/function/colcon_cd.sh + export _colcon_cd_root="${latest_setup_bash%/install/setup.bash}" + else + echo "No setup.bash file found for humble" + fi + elif [ "$ROS_DISTRO" = "noetic" ]; then + source /opt/ros/noetic/setup.bash + # Source workspace environment + if [ -n "$ROS_WS" ]; then + source $ROS_WS/devel/setup.bash + else + echo "ROS_WS variable is not set for noetic" + fi + else + echo "Unsupported ROS_DISTRO: $ROS_DISTRO" + fi +} + +# ==================== END ==================== # + + + +# ================= Functions ================= # +# Note: If you want to use the custom function, # +# you need to uncomment the line below. # +# =================== BEGIN =================== # + +source_ros_environment + +# ==================== END ==================== # diff --git a/app/esp_daemon/.env b/app/esp_daemon/.env new file mode 100644 index 0000000..2876bbc --- /dev/null +++ b/app/esp_daemon/.env @@ -0,0 +1,6 @@ +# Docker Compose Settings +COMPOSE_PROJECT_NAME=esp_daemon +COMPOSE_BAKE=true + +# ROS Settings +ROS_DISTRO=humble diff --git a/app/esp_daemon/Dockerfile b/app/esp_daemon/Dockerfile new file mode 100644 index 0000000..2cecc05 --- /dev/null +++ b/app/esp_daemon/Dockerfile @@ -0,0 +1,78 @@ +###################################################################### +# - Base stage +# - This stage serves as the base image for the following stages. +###################################################################### + +ARG ROS_DISTRO=humble +FROM osrf/ros:${ROS_DISTRO}-desktop AS base + +LABEL org.opencontainers.image.title="ESP Daemon" +LABEL org.opencontainers.image.authors="scx@gapp.nthu.edu.tw" +LABEL org.opencontainers.image.licenses="MIT" + +ARG USERNAME=ros +# Use the same UID and GID as the host user +ARG USER_UID=1000 +ARG USER_GID=1000 + +###################################################################### +# - User setup stage +# - Create a non-root user with default bash shell. +###################################################################### + +FROM base AS user-setup + +RUN groupadd --gid $USER_GID $USERNAME \ + && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ + && apt-get update \ + && apt-get install -y sudo \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ + && chmod 0440 /etc/sudoers.d/$USERNAME \ + && rm -rf /var/lib/apt/lists/* + +###################################################################### +# - Tools Installation stage +# - Install common tools for development. +###################################################################### + +FROM user-setup AS tools + +RUN apt-get update && apt-get install -y \ + tree \ + vim \ + wget \ + unzip \ + python3-pip \ + bash-completion \ + ros-humble-rmw-cyclonedds-cpp \ + ros-humble-foxglove-bridge + +RUN apt-get update && apt-get dist-upgrade -y \ + && apt-get autoremove -y \ + && apt-get autoclean -y \ + && apt-get clean -y \ + && rm -rf /var/lib/apt/lists/* + +###################################################################### +# - Final stage +# - Install the main packages and set the entrypoint. +###################################################################### + +FROM tools AS final + +# Set up the user environment +ENV TZ=Asia/Taipei +ENV SHELL=/bin/bash +ENV TERM=xterm-256color +USER $USERNAME +WORKDIR /esp_daemon + +# Set up bashrc +COPY .bashrc /home/$USERNAME/.bashrc.conf +RUN cat /home/$USERNAME/.bashrc.conf >> /home/$USERNAME/.bashrc + +# Set up python environment +# RUN pip install --upgrade pip +# RUN pip install --no-cache-dir + +CMD ["/bin/bash"] \ No newline at end of file diff --git a/app/esp_daemon/arduino/ESP_Daemon/.gitignore b/app/esp_daemon/arduino/ESP_Daemon/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/app/esp_daemon/arduino/ESP_Daemon/data/favicon.png b/app/esp_daemon/arduino/ESP_Daemon/data/favicon.png new file mode 100644 index 0000000..d367db1 Binary files /dev/null and b/app/esp_daemon/arduino/ESP_Daemon/data/favicon.png differ diff 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e=[],i;(t||[]).forEach(function(t){i=t.series,e.push(i),i.linkedParent&&e.push(i.linkedParent),i.linkedSeries&&(e=e.concat(i.linkedSeries)),i.navigatorSeries&&e.push(i.navigatorSeries)}),this.chart.series.forEach(function(t){-1===e.indexOf(t)?t.setState("inactive",!0):t.options.inactiveOtherPoints&&t.setAllPointsToState("inactive")})}destroy(){let t=this;this.eventsToUnbind.forEach(t=>t()),this.eventsToUnbind=[],!e.chartCount&&(S.unbindDocumentMouseUp&&(S.unbindDocumentMouseUp=S.unbindDocumentMouseUp()),S.unbindDocumentTouchEnd&&(S.unbindDocumentTouchEnd=S.unbindDocumentTouchEnd())),clearInterval(t.tooltipTimeout),m(t,function(e,i){t[i]=void 0})}getSelectionMarkerAttrs(t,e){let i={args:{chartX:t,chartY:e},attrs:{},shapeType:"rect"};return u(this,"getSelectionMarkerAttrs",i,i=>{let 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e=this.chart;e.mouseIsDown=t.type,e.cancelClick=!1,e.mouseDownX=t.chartX,e.mouseDownY=t.chartY}getSelectionBox(t){let e={args:{marker:t},result:t.getBBox()};return u(this,"getSelectionBox",e),e.result}drop(t){let e;let{chart:i,selectionMarker:s}=this;for(let t of i.axes)t.isPanning&&(t.isPanning=!1,(t.options.startOnTick||t.options.endOnTick||t.series.some(t=>t.boosted))&&(t.forceRedraw=!0,t.setExtremes(t.userMin,t.userMax,!1),e=!0));if(e&&i.redraw(),s&&t){if(this.hasDragged){let e=this.getSelectionBox(s);i.transform({axes:i.axes.filter(t=>t.zoomEnabled&&("xAxis"===t.coll&&this.zoomX||"yAxis"===t.coll&&this.zoomY)),selection:{originalEvent:t,xAxis:[],yAxis:[],...e},from:e})}g(i.index)&&(this.selectionMarker=s.destroy())}i&&g(i.index)&&(d(i.container,{cursor:i._cursor}),i.cancelClick=this.hasDragged>10,i.mouseIsDown=!1,this.hasDragged=0,this.pinchDown=[])}findNearestKDPoint(t,e,i){let s;return t.forEach(function(t){let 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\ No newline at end of file diff --git a/app/esp_daemon/arduino/ESP_Daemon/data/index.html b/app/esp_daemon/arduino/ESP_Daemon/data/index.html new file mode 100644 index 0000000..695732b --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/data/index.html @@ -0,0 +1,45 @@ + + + + + DIT Robotics + + + + + + +
+

ROBOT STATUS PANEL

+ +
+
+
+
+

Battery Status

+
+
+
+ +
+

System Status

+
+
Battery: unknown
+
micro-ROS: unknown
+
+ +
+

Emergency Controls

+
+ + +
+
+
+
+
+ © 2025 Developed by SeanChangX +
+ + + \ No newline at end of file diff --git a/app/esp_daemon/arduino/ESP_Daemon/data/script.js b/app/esp_daemon/arduino/ESP_Daemon/data/script.js new file mode 100644 index 0000000..83e7a9f --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/data/script.js @@ -0,0 +1,478 @@ +// Dark mode toggle functionality +document.addEventListener('DOMContentLoaded', function() { + const modeToggle = document.getElementById('modeToggle'); + + // Check for saved theme preference or use default (dark) + const currentTheme = localStorage.getItem('theme') || 'dark'; + + // Apply saved theme on page load + if (currentTheme === 'light') { + document.documentElement.classList.add('light-mode'); + modeToggle.textContent = 'DARK MODE'; + updateChartTheme(true); + } else { + modeToggle.textContent = 'LIGHT MODE'; + updateChartTheme(false); + } + + // Toggle between light/dark modes + modeToggle.addEventListener('click', function() { + const isLightMode = document.documentElement.classList.toggle('light-mode'); + + if (isLightMode) { + modeToggle.textContent = 'DARK MODE'; + localStorage.setItem('theme', 'light'); + updateChartTheme(true); + } else { + modeToggle.textContent = 'LIGHT MODE'; + localStorage.setItem('theme', 'dark'); + updateChartTheme(false); + } + }); +}); + +// Function to update chart theme +function updateChartTheme(isLightMode) { + const backgroundColor = isLightMode ? '#f0f0f0' : '#1e1e1e'; + const textColor = isLightMode ? '#333333' : '#f5f5f5'; + const gridColor = isLightMode ? '#d0d0d0' : '#333333'; + + if (chartT) { + chartT.update({ + chart: { + backgroundColor: backgroundColor + }, + title: { + style: { + color: textColor + } + }, + xAxis: { + labels: { + style: { + color: textColor + } + }, + gridLineColor: gridColor + }, + yAxis: { + labels: { + style: { + color: textColor + } + }, + title: { + style: { + color: textColor + } + }, + gridLineColor: gridColor + }, + legend: { + itemStyle: { + color: textColor + } + } + }); + } +} + +// Enhanced function to handle chart resizing when window is resized +function handleResize() { + if (chartT) { + // Force chart container to take available space + const chartContainer = document.getElementById('chart-sensor'); + const card = chartContainer.closest('.card'); + const statusContainer = document.querySelector('.status-container'); + const cardGrid = document.querySelector('.card-grid'); + const statusItemsContainer = document.querySelector('.status-items-container'); + + // Wait a moment for DOM to settle + setTimeout(() => { + // Calculate available height (card height minus title and padding) + const titleHeight = card.querySelector('.card-title').offsetHeight; + const cardPadding = parseInt(window.getComputedStyle(card).padding) * 2; + const availableHeight = card.clientHeight - titleHeight - cardPadding; + + // Set chart size to available dimensions + chartT.setSize( + chartContainer.offsetWidth, + Math.max(200, availableHeight), + false + ); + chartT.reflow(); + + // Size both containers with proper ratio and alignment + if (statusContainer && cardGrid) { + if (window.innerWidth <= 1200) { + // Mobile view - full width, equal widths + statusContainer.style.width = '100%'; + cardGrid.style.width = '100%'; + cardGrid.style.maxWidth = '100%'; + + // Reset heights to auto when in stacked layout + statusContainer.style.height = 'auto'; + cardGrid.style.height = 'auto'; + } else { + // Desktop view - fixed ratio + statusContainer.style.width = '35%'; + cardGrid.style.width = '60%'; + + // Make sure status items container doesn't collapse + if (statusItemsContainer) { + statusItemsContainer.style.minHeight = '145px'; // Increased from 80px to 145px for better visibility + } + + // Get actual content height of status items + let statusTitle = statusContainer.querySelector('.status-title'); + let statusItemsHeight = 0; + + if (statusItemsContainer) { + // Calculate the exact space needed by summing all status item heights + Array.from(statusItemsContainer.children).forEach(item => { + statusItemsHeight += item.offsetHeight + + parseInt(window.getComputedStyle(item).marginTop) + + parseInt(window.getComputedStyle(item).marginBottom); + }); + + // Add additional padding + statusItemsHeight = Math.max(145, statusItemsHeight + 40); + } + + // Calculate total height needed for status container + const titleHeight = statusTitle ? statusTitle.offsetHeight : 0; + const statusPadding = parseInt(window.getComputedStyle(statusContainer).padding) * 2; + const emergencyControls = statusContainer.querySelector('.emergency-controls'); + const emergencyHeight = emergencyControls ? emergencyControls.offsetHeight : 0; + const statusContentHeight = titleHeight + statusItemsHeight + statusPadding + emergencyHeight; + + // Set height based on the taller of the two - either content height or match card height + const cardHeight = cardGrid.offsetHeight; + + // Always use the larger of the two values to ensure content is visible + // BUT limit maximum height to prevent excessive height on large screens + const maxAllowedHeight = Math.min(600, window.innerHeight * 0.5); // Limit max height to 50% of viewport height or 600px + const calculatedHeight = Math.max(statusContentHeight, cardHeight); + const finalHeight = Math.min(calculatedHeight, maxAllowedHeight); + + statusContainer.style.height = finalHeight + 'px'; + statusContainer.style.minHeight = Math.min(statusContentHeight, maxAllowedHeight) + 'px'; + + // If status container is shorter, align it to the top + if (statusContentHeight < cardHeight) { + statusContainer.style.alignSelf = 'flex-start'; + } else { + statusContainer.style.alignSelf = 'stretch'; + } + } + } + + // Update font sizes for chart based on screen size + updateChartFontSizes(); + }, 50); + } +} + +// Update chart font sizes based on screen width +function updateChartFontSizes() { + const baseSize = window.innerWidth >= 2000 ? 14 : + window.innerWidth >= 1600 ? 13 : + window.innerWidth >= 768 ? 12 : 10; + + if (chartT) { + chartT.update({ + xAxis: { + labels: { + style: { + fontSize: baseSize + 'px' + } + } + }, + yAxis: { + title: { + style: { + fontSize: (baseSize + 1) + 'px' + } + }, + labels: { + style: { + fontSize: baseSize + 'px' + } + } + }, + legend: { + itemStyle: { + fontSize: (baseSize + 2) + 'px' + } + } + }, false); + chartT.redraw(); + } +} + +// Add event listener for window resize with debouncing +let resizeTimer; +window.addEventListener('resize', function() { + clearTimeout(resizeTimer); + resizeTimer = setTimeout(handleResize, 100); +}); + +// Get current sensor readings when the page loads +window.addEventListener('load', function() { + getReadings(); + // Initial sizing after everything is loaded + setTimeout(handleResize, 200); + // And another check after a bit longer to ensure all resources are loaded + setTimeout(handleResize, 500); +}); + +// Configure the Highcharts chart +var chartT = new Highcharts.Chart({ + chart:{ + renderTo: 'chart-sensor', + backgroundColor: document.documentElement.classList.contains('light-mode') ? '#f0f0f0' : '#1e1e1e', + reflow: true, + animation: false, + height: '100%', + responsive: { + rules: [{ + condition: { + maxWidth: 600 + }, + chartOptions: { + legend: { + enabled: true, + layout: 'horizontal', + align: 'center', + verticalAlign: 'bottom', + itemMarginTop: 2, + itemMarginBottom: 2 + }, + chart: { + height: '75%' + } + } + }] + }, + spacing: [15, 15, 15, 15], + style: { + fontFamily: "'Segoe UI', 'Roboto', Arial, sans-serif", + fontSize: '14px' + } + }, + series: [ + { + name: 'Battery Voltage', + type: 'line', + color: '#e53935', + marker: { + symbol: 'circle', + radius: 4, + fillColor: '#e53935', + }, + lineWidth: 3 + }, + { + name: 'Filter Value', + type: 'line', + color: '#ff7043', + marker: { + symbol: 'square', + radius: 4, + fillColor: '#ff7043', + }, + lineWidth: 3 + }, + ], + title: { + text: undefined + }, + xAxis: { + type: 'datetime', + dateTimeLabelFormats: { second: '%H:%M:%S' }, + labels: { + style: { + color: document.documentElement.classList.contains('light-mode') ? '#333333' : '#f5f5f5', + fontSize: '12px' + } + }, + tickLength: 5 + }, + yAxis: { + title: { + text: 'Voltage', + style: { + color: document.documentElement.classList.contains('light-mode') ? '#333333' : '#f5f5f5', + fontSize: '13px' + } + }, + labels: { + style: { + color: document.documentElement.classList.contains('light-mode') ? '#333333' : '#f5f5f5', + fontSize: '12px' + } + } + }, + legend: { + itemStyle: { + color: document.documentElement.classList.contains('light-mode') ? '#333333' : '#f5f5f5', + fontSize: '1.1rem' + }, + itemMarginTop: 5, + itemMarginBottom: 5, + padding: 10 + }, + credits: { + enabled: false + } +}); + +// Plot data from JSON response +function plotData(jsonValue) { + var batteryStatus = jsonValue["batteryStatus"]; + document.getElementById("batteryStatus").innerText = "Battery: " + batteryStatus; + var microROS = jsonValue["microROS"]; + document.getElementById("microROS").innerText = "micro-ROS: " + microROS; + + // Map keys to chart series indices + const seriesMapping = { + sensor: 0, // Corresponds to 'Battery Voltage' + GND: 1 // Corresponds to 'Filter Value' + }; + + var keys = Object.keys(jsonValue); + // console.log(keys); + + for (var i = 0; i < keys.length; i++) { + const key = keys[i]; + if (seriesMapping[key] !== undefined) { // Only process valid series keys + var x = (new Date()).getTime(); + var y = Number(jsonValue[key]); + + const seriesIndex = seriesMapping[key]; + if (chartT.series[seriesIndex].data.length > 600) { + chartT.series[seriesIndex].addPoint([x, y], true, true, true); + } else { + chartT.series[seriesIndex].addPoint([x, y], true, false, true); + } + } + } +} + +// Function to get current readings when the page loads +function getReadings() { + var xhr = new XMLHttpRequest(); + xhr.onreadystatechange = function() { + if (this.readyState == 4 && this.status == 200) { + var myObj = JSON.parse(this.responseText); + // console.log(myObj); + + var batteryStatus = myObj["batteryStatus"]; + document.getElementById("batteryStatus").innerText = "Battery: " + batteryStatus; + var microROS = myObj["microROS"]; + document.getElementById("microROS").innerText = "micro-ROS: " + microROS; + } + }; + xhr.open("GET", "/readings", true); + xhr.send(); +} + +// Setup Server-Sent Events for real-time updates +if (!!window.EventSource) { + var source = new EventSource('/events'); + + source.addEventListener('open', function(e) { + // console.log("Events Connected"); + }, false); + + source.addEventListener('error', function(e) { + if (e.target.readyState != EventSource.OPEN) { + // console.log("Events Disconnected"); + } + }, false); + + source.addEventListener('message', function(e) { + // console.log("message", e.data); + }, false); + + source.addEventListener('new_readings', function(e) { + // console.log("new_readings", e.data); + var myObj = JSON.parse(e.data); + // console.log(myObj); + plotData(myObj); + }, false); +} + +// Ensure chart redraws properly on orientation change +window.addEventListener('orientationchange', function() { + setTimeout(handleResize, 300); +}); + +// Emergency button functionality +document.addEventListener('DOMContentLoaded', function() { + const enableButton = document.getElementById('emergencyEnable'); + const disableButton = document.getElementById('emergencyDisable'); + + if (enableButton && disableButton) { + // Enable emergency button handler + enableButton.addEventListener('click', function() { + sendEmergencyCommand(true); + this.classList.add('active'); + disableButton.classList.remove('active'); + }); + + // Disable emergency button handler + disableButton.addEventListener('click', function() { + sendEmergencyCommand(false); + this.classList.add('active'); + enableButton.classList.remove('active'); + }); + } +}); + +// Function to send emergency command to the server +function sendEmergencyCommand(enableEmergency) { + // Create XMLHttpRequest object + var xhr = new XMLHttpRequest(); + xhr.open("POST", "/emergency", true); + xhr.setRequestHeader("Content-Type", "application/json"); + + // Set callback function + xhr.onreadystatechange = function() { + if (xhr.readyState === 4) { + if (xhr.status === 200) { + try { + var data = JSON.parse(xhr.responseText); + // console.log('Emergency command sent successfully:', data); + + // Add UI feedback + const status = enableEmergency ? 'ENABLED' : 'DISABLED'; + const statusClass = enableEmergency ? 'emergency-enabled' : 'emergency-disabled'; + + // Create or update status message + let statusMsg = document.getElementById('emergencyStatus'); + if (!statusMsg) { + statusMsg = document.createElement('div'); + statusMsg.id = 'emergencyStatus'; + statusMsg.className = 'status-item'; + const statusContainer = document.querySelector('.status-items-container'); + if (statusContainer) { + statusContainer.appendChild(statusMsg); + } + } + + // Update status message + statusMsg.textContent = 'ROBOT - ' + status; + statusMsg.className = 'status-item ' + statusClass; + } catch (e) { + console.error('Error parsing response:', e); + } + } else { + console.error('Error sending emergency command: Network response was not ok'); + } + } + }; + + // Send request + xhr.send(JSON.stringify({ emergency: enableEmergency })); +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/data/style.css b/app/esp_daemon/arduino/ESP_Daemon/data/style.css new file mode 100644 index 0000000..eef2b06 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/data/style.css @@ -0,0 +1,375 @@ +/* Theme variables */ +:root { + --primary-color: #e53935; + --secondary-color: #212121; + --text-color: #f5f5f5; + --background-color: #121212; + --card-background: #1e1e1e; + --card-shadow: 0 4px 8px rgba(0, 0, 0, 0.5); + --card-title-color: #e53935; +} + +.light-mode { + --primary-color: #d32f2f; + --secondary-color: #212121; + --text-color: #333333; + --background-color: #e8e8e8; + --card-background: #f0f0f0; + --card-shadow: 0 4px 8px rgba(100, 100, 100, 0.3); + --card-title-color: #c62828; +} + +/* Base styles */ +html { + font-family: 'Segoe UI', 'Roboto', Arial, sans-serif; + display: inline-block; + text-align: center; + font-size: 16px; +} + +body { + margin: 0; + background-color: var(--background-color); + color: var(--text-color); + transition: background-color 0.3s ease, color 0.3s ease; +} + +h1 { + font-size: 2rem; + color: #ffffff; + margin: 0; + padding: 0.8rem 0; +} + +p { + font-size: 1.4rem; + color: var(--text-color); + margin: 0.5em 0; +} + +/* Responsive typography */ +@media screen and (min-width: 1600px) { + html { font-size: 18px; } +} + +@media screen and (min-width: 2000px) { + html { font-size: 20px; } +} + +@media screen and (min-width: 2560px) { + html { font-size: 22px; } +} + +/* Navigation */ +.topnav { + overflow: hidden; + background-color: var(--secondary-color); + display: flex; + justify-content: space-between; + align-items: center; + padding: 0 1.25rem; + box-shadow: 0 2px 5px rgba(0, 0, 0, 0.2); + min-height: 3.5rem; +} + +.mode-toggle { + background-color: var(--primary-color); + color: white; + border: none; + border-radius: 1.25rem; + padding: 0.5rem 1rem; + font-weight: bold; + cursor: pointer; + transition: background-color 0.3s ease; + font-size: 1.1rem; +} + +.mode-toggle:hover { + background-color: #c62828; +} + +/* Content container */ +.content { + padding: 1.5rem 5%; + max-width: 90%; + margin: 0 auto; + display: flex; + flex-direction: row; + gap: 1.5rem; + height: calc(100vh - 3.5rem); + box-sizing: border-box; + overflow-y: auto; + justify-content: center; + align-items: stretch; +} + +/* Card containers */ +.card-grid { + flex: 3; + display: flex; + flex-direction: column; + min-height: 25rem; + width: 100%; + height: auto; + max-width: 60%; +} + +.status-container { + flex: 2; + background-color: var(--card-background); + border-radius: 0.75rem; + padding: 1.2rem 1.5rem; + box-shadow: var(--card-shadow); + min-width: 20rem; + overflow: hidden; + display: flex; + flex-direction: column; + max-height: none; + width: auto; + max-width: 35%; + justify-content: flex-start; + height: auto; +} + +.card { + background-color: var(--card-background); + box-shadow: var(--card-shadow); + border-radius: 0.75rem; + padding: 1.2rem; + transition: transform 0.3s ease, box-shadow 0.3s ease; + display: flex; + flex-direction: column; + width: 100%; + box-sizing: border-box; + min-height: 25rem; +} + +.card:hover { + transform: translateY(-4px); + box-shadow: 0 6px 12px rgba(0, 0, 0, 0.6); +} + +/* Card components */ +.card-title { + font-size: 1.6rem; + font-weight: bold; + color: var(--card-title-color); + margin-top: 0; + border-bottom: 2px solid var(--primary-color); + padding-bottom: 0.5rem; + margin-bottom: 1rem; +} + +.chart-container { + padding: 0.3rem; + width: 100%; + flex-grow: 1; + box-sizing: border-box; + position: relative; + min-height: 18rem; +} + +/* Status items */ +.status-items-container { + display: flex; + flex-direction: column; + padding-right: 0.3rem; + overflow-y: auto; + flex-grow: 1; + margin-bottom: 1rem; + min-height: 145px; +} + +.status-item { + margin: 0.5rem 0; + padding: 0.7rem 0.9rem; + border-left: 4px solid var(--primary-color); + text-align: left; + font-size: 1.1rem; + background-color: rgba(229, 57, 53, 0.1); + border-radius: 0 5px 5px 0; + word-wrap: break-word; + line-height: 1.4; +} + +.status-title { + font-size: 1.4rem; + font-weight: bold; + color: var(--card-title-color); + margin-top: 0; + border-bottom: 2px solid var(--primary-color); + padding-bottom: 0.5rem; + margin-bottom: 1rem; + text-align: left; +} + +/* Emergency controls */ +.emergency-controls { + margin-top: 1rem; + padding-top: 1rem; + border-top: 1px solid rgba(229, 57, 53, 0.3); +} + +.emergency-title { + font-size: 1.3rem; + font-weight: bold; + color: var(--primary-color); + margin-bottom: 0.8rem; + text-align: left; +} + +.emergency-buttons { + display: flex; + justify-content: space-between; + gap: 1rem; +} + +.emergency-btn { + flex: 1; + padding: 0.7rem 0; + font-size: 1.1rem; + font-weight: bold; + border: none; + border-radius: 0.5rem; + cursor: pointer; + transition: all 0.3s ease; +} + +.enable-btn { + background-color: #d32f2f; + color: white; +} + +.enable-btn:hover { + background-color: #b71c1c; + box-shadow: 0 2px 5px rgba(183, 28, 28, 0.5); +} + +.enable-btn.active { + background-color: #b71c1c; + box-shadow: 0 2px 5px rgba(183, 28, 28, 0.5); + border: 2px solid #ffffff; +} + +.disable-btn { + background-color: #424242; + color: white; +} + +.disable-btn:hover { + background-color: #212121; + box-shadow: 0 2px 5px rgba(33, 33, 33, 0.5); +} + +.disable-btn.active { + background-color: #212121; + box-shadow: 0 2px 5px rgba(33, 33, 33, 0.5); + border: 2px solid #ffffff; +} + +/* Status indicator colors */ +.emergency-enabled { + color: #4caf50; + font-weight: bold; +} + +.emergency-disabled { + color: #d32f2f; + font-weight: bold; +} + +/* Footer */ +.footer { + margin-top: 1rem; + margin-bottom: 2rem; + padding: 0.5rem 0 1.5rem 0; + font-size: 0.8rem; + color: rgba(255, 255, 255, 0.6); + text-align: center; + width: 100%; + font-style: italic; + position: relative; +} + +.light-mode .footer { + color: rgba(0, 0, 0, 0.6); +} + +.footer a { + color: var(--primary-color); + text-decoration: none; + transition: color 0.3s ease, opacity 0.3s ease; + opacity: 0.85; + font-weight: 500; +} + +.footer a:hover { + color: var(--primary-color); + text-decoration: underline; + opacity: 1; +} + +/* Responsive layout */ +@media (max-width: 1200px) { + .content { + flex-direction: column; + height: auto; + padding: 1rem 5%; + min-height: calc(100vh - 3.5rem); + max-width: 95%; + align-items: center; + } + + .chart-container { + height: 60vw !important; + min-height: 60vw; + max-height: 80vh; + } + + .card { + margin-bottom: 1.5rem; + min-height: auto; + } + + .status-container { + width: 100%; + margin-bottom: 1.5rem; + } + + h1 { + font-size: 1.8rem; + } + + p { + font-size: 1.3rem; + } + + .card-grid, .status-container { + width: 100%; + max-width: 800px; + } +} + +@media (max-width: 600px) { + .content { + padding: 1rem 3%; + max-width: 98%; + } + + .chart-container { + height: 75vw !important; + min-height: 70vw; + } + + .card, .status-container { + padding: 0.8rem; + } + + h1 { + font-size: 1.6rem; + } + + .status-item { + font-size: 1.1rem; + } +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/include/README b/app/esp_daemon/arduino/ESP_Daemon/include/README new file mode 100644 index 0000000..49819c0 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/include/README @@ -0,0 +1,37 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the convention is to give header files names that end with `.h'. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/app/esp_daemon/arduino/ESP_Daemon/include/config.h b/app/esp_daemon/arduino/ESP_Daemon/include/config.h new file mode 100644 index 0000000..c2cecf2 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/include/config.h @@ -0,0 +1,36 @@ +#ifndef CONFIG_H +#define CONFIG_H + +// WiFi and mDNS +#define HOSTNAME "DIT-2025-00-ESP" +#define MDNS_NAME "dit-2025-00-esp" + +// ESP-NOW for SIMA communication +#define BROADCAST_ADDR { 0x94, 0xa9, 0x90, 0x0b, 0x07, 0x00 } + +// micro-ROS +#define ROS_NODE_NAME "esp_daemon" +#define ROS_DOMAIN_ID 100 +#define ROS_TIMER_MS 250 +#define MROS_TIMEOUT_MS 100 +#define MROS_PING_INTERVAL 1000 +#define RELAY_PIN D2 + +// RGB LED strip +#define LED_PIN D1 +#define LED_COUNT 30 +#define LED_BRIGHTNESS 128 + +// Voltmeter - Battery voltage measurement +// | Formula: +// | Vbattf = (VOLTMETER_CALIBRATION * Vbatt / SLIDING_WINDOW_SIZE / 1000.0) + VOLTMETER_OFFSET; +// | Note: +// | (A0 == D0) on Xiao ESP32C3 +#define VOLTMETER_PIN A0 +#define VOLTMETER_CALIBRATION 7.81 +#define VOLTMETER_OFFSET 0.65 +#define SLIDING_WINDOW_SIZE 64 +#define TIMER_PERIOD_US 1000000 +// constexpr uint32_t TIMER_PERIOD_US = 1000000; + +#endif diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/README b/app/esp_daemon/arduino/ESP_Daemon/lib/README new file mode 100644 index 0000000..9379397 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into the executable file. + +The source code of each library should be placed in a separate directory +("lib/your_library_name/[Code]"). + +For example, see the structure of the following example libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +Example contents of `src/main.c` using Foo and Bar: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +The PlatformIO Library Dependency Finder will find automatically dependent +libraries by scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/comm/espnow_comm.cpp b/app/esp_daemon/arduino/ESP_Daemon/lib/comm/espnow_comm.cpp new file mode 100644 index 0000000..631a296 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/comm/espnow_comm.cpp @@ -0,0 +1,35 @@ +#include "espnow_comm.h" +#include "config.h" +#include + +struct_message myData; +uint8_t broadcastAddress[] = BROADCAST_ADDR; +esp_now_peer_info_t peerInfo; + +void OnDataSent(const uint8_t* mac_addr, esp_now_send_status_t status) { + Serial.print("ESP-NOW Send Status: "); + Serial.println(status == ESP_NOW_SEND_SUCCESS ? "Success" : "Fail"); +} + +void initESPNow(){ + WiFi.mode(WIFI_STA); + if (esp_now_init() != ESP_OK) { + Serial.println("ESP-NOW init failed"); + return; + } + + esp_now_register_send_cb(OnDataSent); + memcpy(peerInfo.peer_addr, broadcastAddress, 6); + peerInfo.channel = 0; + peerInfo.encrypt = false; + + if (esp_now_add_peer(&peerInfo) != ESP_OK) { + Serial.println("ESP-NOW peer add failed"); + } +} + +void sendESPNow(int mode) { + myData.sima_start = mode; + esp_err_t result = esp_now_send(broadcastAddress, (uint8_t*)&myData, sizeof(myData)); + Serial.println(result == ESP_OK ? "ESP-NOW Success" : "ESP-NOW Error"); +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/comm/espnow_comm.h b/app/esp_daemon/arduino/ESP_Daemon/lib/comm/espnow_comm.h new file mode 100644 index 0000000..e1eb2d8 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/comm/espnow_comm.h @@ -0,0 +1,13 @@ +#ifndef ESPNOW_COMM_H +#define ESPNOW_COMM_H + +#include + +typedef struct { + int sima_start; +} struct_message; + +void initESPNow(); +void sendESPNow(int mode); + +#endif diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/led_control/led_control.cpp b/app/esp_daemon/arduino/ESP_Daemon/lib/led_control/led_control.cpp new file mode 100644 index 0000000..0324e1b --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/led_control/led_control.cpp @@ -0,0 +1,45 @@ +#include "led_control.h" +#include "config.h" +#include + +Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800); +volatile int mode = 0; // use volatile to ensure the variable is updated correctly in ISR + +void initLED() { + strip.begin(); + strip.show(); + strip.setBrightness(LED_BRIGHTNESS); +} + +void colorWipe(uint32_t color, int wait) { + for (int i = 0; i < strip.numPixels(); i++) { + strip.setPixelColor(i, color); + strip.show(); + delay(wait); + } +} + +void rainbow(int wait){ + for (long firstPixelHue = 0; firstPixelHue < 5 * 65536; firstPixelHue += 256) { + strip.rainbow(firstPixelHue); + strip.show(); + delay(wait); + } +} + +void LEDTask(void* pvParameters) { + for (;;) { + switch (mode) { + case 2: + colorWipe(strip.Color(0, 0, 255), 50); + colorWipe(strip.Color(0, 0, 0), 50); + break; + case 1: + colorWipe(strip.Color(255, 0, 0), 50); + colorWipe(strip.Color(0, 0, 0), 50); + break; + default: + rainbow(1); + } + } +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/led_control/led_control.h b/app/esp_daemon/arduino/ESP_Daemon/lib/led_control/led_control.h new file mode 100644 index 0000000..d53f817 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/led_control/led_control.h @@ -0,0 +1,14 @@ +#ifndef LED_CONTROL_H +#define LED_CONTROL_H + +#include + +extern Adafruit_NeoPixel strip; +extern volatile int mode; + +void initLED(); +void colorWipe(uint32_t color, int wait); +void rainbow(int wait); +void LEDTask(void* pvParameters); + +#endif diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/ros_node/ros_node.cpp b/app/esp_daemon/arduino/ESP_Daemon/lib/ros_node/ros_node.cpp new file mode 100644 index 0000000..936c994 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/ros_node/ros_node.cpp @@ -0,0 +1,133 @@ +#include "ros_node.h" +#include "config.h" + +#include "espnow_comm.h" +#include "led_control.h" + +#include +#include + +// micro-ROS essential components +rcl_publisher_t counter_publisher; +rcl_publisher_t battery_voltage_publisher; +rcl_subscription_t sima_command_subscriber; +rcl_subscription_t emergency_subscriber; +std_msgs__msg__Int32 counter_msg; +std_msgs__msg__Float32 battery_voltage_msg; +std_msgs__msg__Int16 sima_command_msg; +std_msgs__msg__Bool emergency_msg; + +rclc_executor_t executor; +rcl_allocator_t allocator; +rclc_support_t support; +rcl_init_options_t init_options; +rcl_node_t node; +rcl_timer_t timer; + +extern float Vbattf; +AgentState state = WAITING_AGENT; + +#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) { error_loop(); } } +#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) {} } + +void error_loop() { while (1) { delay(100); } } + +void timer_callback(rcl_timer_t* timer, int64_t last_call_time) { + RCLC_UNUSED(last_call_time); + if (timer != NULL) { + RCSOFTCHECK(rcl_publish(&counter_publisher, &counter_msg, NULL)); + RCSOFTCHECK(rcl_publish(&battery_voltage_publisher, &battery_voltage_msg, NULL)); + counter_msg.data++; + battery_voltage_msg.data = Vbattf; + } +} + +void sima_callback(const void* msgin) { + const std_msgs__msg__Int16* incoming = (const std_msgs__msg__Int16*)msgin; + + sendESPNow(incoming->data); + mode = incoming->data; // For Testing +} + +void emergency_callback(const void* msgin) { + const std_msgs__msg__Bool* incoming = (const std_msgs__msg__Bool*)msgin; + + if (incoming->data) digitalWrite(RELAY_PIN, HIGH); + else digitalWrite(RELAY_PIN, LOW); +} + +// Free the resources allocated by micro-ROS +void destroy_entities() { + rmw_context_t * rmw_context = rcl_context_get_rmw_context(&support.context); + (void) rmw_uros_set_context_entity_destroy_session_timeout(rmw_context, 0); + + rcl_timer_fini(&timer); + rclc_executor_fini(&executor); + rcl_init_options_fini(&init_options); + rcl_node_fini(&node); + rclc_support_fini(&support); + + rcl_publisher_fini(&counter_publisher, &node); + rcl_publisher_fini(&battery_voltage_publisher, &node); + rcl_subscription_fini(&sima_command_subscriber, &node); + rcl_subscription_fini(&emergency_subscriber, &node); +} + +bool create_entities() { + allocator = rcl_get_default_allocator(); + init_options = rcl_get_zero_initialized_init_options(); + rcl_init_options_init(&init_options, allocator); + rcl_init_options_set_domain_id(&init_options, ROS_DOMAIN_ID); + rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator); + rclc_node_init_default(&node, ROS_NODE_NAME, "", &support); + + rclc_timer_init_default(&timer, &support, RCL_MS_TO_NS(ROS_TIMER_MS), timer_callback); + + rclc_publisher_init_default( + &counter_publisher, + &node, + ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), + "/esp32_counter"); + + rclc_publisher_init_default( + &battery_voltage_publisher, + &node, + ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32), + "/robot_status/battery_voltage"); + + + // Initialize executor with 3 handles (2 subscriptions + 1 timer) + unsigned int num_handles = 3; + executor = rclc_executor_get_zero_initialized_executor(); + rclc_executor_init(&executor, &support.context, num_handles, &allocator); + rclc_executor_add_timer(&executor, &timer); + + rclc_subscription_init_default( + &sima_command_subscriber, + &node, + ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int16), + "/sima/start"); + rclc_executor_add_subscription(&executor, &sima_command_subscriber, &sima_command_msg, &sima_callback, ON_NEW_DATA); + + rclc_subscription_init_default( + &emergency_subscriber, + &node, + ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Bool), + "/robot_status/emergency_stop"); + rclc_executor_add_subscription(&executor, &emergency_subscriber, &emergency_msg, &emergency_callback, ON_NEW_DATA); + + return true; +} + +void initROS() { + set_microros_serial_transports(Serial); + + pinMode(RELAY_PIN, OUTPUT); + digitalWrite(RELAY_PIN, LOW); // Ensure relay is off initially + + sima_command_msg.data = 0; + counter_msg.data = 0; + battery_voltage_msg.data = 0.0; + emergency_msg.data = false; + state = WAITING_AGENT; +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/ros_node/ros_node.h b/app/esp_daemon/arduino/ESP_Daemon/lib/ros_node/ros_node.h new file mode 100644 index 0000000..3ebd4c0 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/ros_node/ros_node.h @@ -0,0 +1,36 @@ +#ifndef ROS_NODE_H +#define ROS_NODE_H + +#include +#include +#include +#include +#include +#include +#include + +#define EXECUTE_EVERY_N_MS(MS, X) do { \ + static volatile int64_t init = -1; \ + if (init == -1) { init = uxr_millis();} \ + if (uxr_millis() - init > MS) { X; init = uxr_millis();} \ +} while (0) + +enum AgentState { + WAITING_AGENT, + AGENT_AVAILABLE, + AGENT_CONNECTED, + AGENT_DISCONNECTED +}; + +extern AgentState state; + +void initROS(); +bool create_entities(); +void destroy_entities(); +void emergency_callback(const void* msgin); +void sima_callback(const void* msgin); +void timer_callback(rcl_timer_t* timer, int64_t last_call_time); + +extern rclc_executor_t executor; + +#endif diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/sensors/voltmeter.cpp b/app/esp_daemon/arduino/ESP_Daemon/lib/sensors/voltmeter.cpp new file mode 100644 index 0000000..4c2a9ca --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/sensors/voltmeter.cpp @@ -0,0 +1,73 @@ +#include "voltmeter.h" +#include "ros_node.h" +#include "config.h" +#include +#include + +extern AsyncEventSource events; + +float Vbattf = 0.0; +uint32_t Vbatt = 0; +float offset = VOLTMETER_OFFSET; +volatile int interruptCounter = 0; +hw_timer_t* _timer = NULL; +portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED; + +void initVoltmeter() { + pinMode(VOLTMETER_PIN, INPUT); + _timer = timerBegin(0, 80, true); + timerAttachInterrupt(_timer, &onTimer, true); + timerAlarmWrite(_timer, TIMER_PERIOD_US, true); + timerAlarmEnable(_timer); +} + +void IRAM_ATTR onTimer() { + portENTER_CRITICAL_ISR(&timerMux); + interruptCounter++; + portEXIT_CRITICAL_ISR(&timerMux); +} + +void voltmeter() { + Vbatt = 0; + for (int i = 0; i < SLIDING_WINDOW_SIZE; i++) { + Vbatt += analogReadMilliVolts(VOLTMETER_PIN); + } + Vbattf = VOLTMETER_CALIBRATION * Vbatt / SLIDING_WINDOW_SIZE / 1000.0 + offset; + if (Vbattf < 3) Vbattf = 0.0; +} + +String getSensorReadings() { + JSONVar readings; + readings["sensor"] = String(Vbattf); + readings["GND"] = 0; + + if (Vbattf < 3) readings["batteryStatus"] = "DISCONNECTED"; + else if (Vbattf < 17.5) readings["batteryStatus"] = "LOW"; + else readings["batteryStatus"] = "NORMAL"; + + switch (state) { + case WAITING_AGENT: readings["microROS"] = "WAITING_AGENT"; break; + case AGENT_AVAILABLE: readings["microROS"] = "AGENT_AVAILABLE"; break; + case AGENT_CONNECTED: readings["microROS"] = "AGENT_CONNECTED"; break; + case AGENT_DISCONNECTED: readings["microROS"] = "AGENT_DISCONNECTED"; break; + default: readings["microROS"] = "UNKNOWN"; break; + } + + return JSON.stringify(readings); +} + +void voltmeterTask(void* pvParameters) { + for (;;) { + voltmeter(); + + if (interruptCounter > 0) { + portENTER_CRITICAL(&timerMux); + interruptCounter--; + portEXIT_CRITICAL(&timerMux); + + events.send(getSensorReadings().c_str(), "new_readings", millis()); + } + + delay(100); + } +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/sensors/voltmeter.h b/app/esp_daemon/arduino/ESP_Daemon/lib/sensors/voltmeter.h new file mode 100644 index 0000000..6fedb8d --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/sensors/voltmeter.h @@ -0,0 +1,14 @@ +#ifndef VOLTMETER_H +#define VOLTMETER_H + +#include + +extern float Vbattf; + +void initVoltmeter(); +void voltmeter(); +void IRAM_ATTR onTimer(); +void voltmeterTask(void* pvParameters); +String getSensorReadings(); + +#endif diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/web_server/web_server.cpp b/app/esp_daemon/arduino/ESP_Daemon/lib/web_server/web_server.cpp new file mode 100644 index 0000000..c43ae6d --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/web_server/web_server.cpp @@ -0,0 +1,128 @@ +#include "web_server.h" +#include "ros_node.h" // Include for emergency_msg +#include +#include +#include +#include + +AsyncWebServer server(80); +AsyncEventSource events("/events"); + +// For accessing the ROS emergency message +extern std_msgs__msg__Bool emergency_msg; + +void initSPIFFS() { + if (!SPIFFS.begin()) { + Serial.println("SPIFFS Mount Failed"); + } +} + +void initWebServer() { + // [ 2025-04-04 ] + // | Removed the initSPIFFS() call here as it is already invoked in main.cpp. + // | This ensures SPIFFS is initialized before starting the web server and WiFi manager. + // initSPIFFS(); + + // Serve the main index page + server.on("/", HTTP_GET, [](AsyncWebServerRequest* request) { + request->send(SPIFFS, "/index.html", "text/html"); + }); + + // Serve static files from SPIFFS + server.serveStatic("/", SPIFFS, "/"); + + // Endpoint for sensor readings + server.on("/readings", HTTP_GET, [](AsyncWebServerRequest* request) { + request->send(200, "application/json", "{}"); + }); + + // Emergency button endpoint - handles both form data and JSON requests + server.on("/emergency", HTTP_POST, + [](AsyncWebServerRequest* request) { + String response = "{\"success\":false,\"message\":\"Invalid request\"}"; + + // Process form data submission + if (request->hasParam("emergency", true)) { + String emergencyValue = request->getParam("emergency", true)->value(); + + // Set emergency state based on parameter value + if (emergencyValue == "true" || emergencyValue == "1") { + emergency_msg.data = true; + emergency_callback(&emergency_msg); + response = "{\"success\":true,\"message\":\"Emergency mode ENABLED\"}"; + // Serial.println("Emergency mode ENABLED via web interface"); + } else if (emergencyValue == "false" || emergencyValue == "0") { + emergency_msg.data = false; + emergency_callback(&emergency_msg); + response = "{\"success\":true,\"message\":\"Emergency mode DISABLED\"}"; + // Serial.println("Emergency mode DISABLED via web interface"); + } + } + + // Process JSON submission (stored by body handler) + if (request->_tempObject != nullptr) { + String jsonStr = (const char*)request->_tempObject; + JSONVar jsonObj = JSON.parse(jsonStr); + + if (JSON.typeof(jsonObj) == "object" && jsonObj.hasOwnProperty("emergency")) { + bool emergencyState = (bool)jsonObj["emergency"]; + emergency_msg.data = emergencyState; + + // Call emergency callback to ensure immediate action + emergency_callback(&emergency_msg); + + String status = emergencyState ? "ENABLED" : "DISABLED"; + response = "{\"success\":true,\"message\":\"Emergency mode " + status + "\"}"; + + // Serial.print("Emergency mode "); + // Serial.print(status); + // Serial.println(" via web interface (JSON)"); + + // Broadcast change as SSE event + JSONVar statusObj; + statusObj["emergency"] = emergencyState; + statusObj["status"] = status; + events.send(JSON.stringify(statusObj), "emergency_update", millis()); + } + + // Free allocated memory + free(request->_tempObject); + request->_tempObject = nullptr; + } + + request->send(200, "application/json", response); + }, + nullptr, // No upload handler needed + [](AsyncWebServerRequest* request, uint8_t *data, size_t len, size_t index, size_t total) { + // Store incoming JSON data for processing in the main handler + if (len && index == 0) { + // First chunk - allocate memory + request->_tempObject = malloc(total + 1); + if (request->_tempObject) { + memcpy(request->_tempObject, data, len); + ((char*)request->_tempObject)[len] = 0; // Null terminator + } + } else if (len && request->_tempObject) { + // Subsequent chunks - append data + memcpy(((char*)request->_tempObject) + index, data, len); + // Add null terminator if this is the last chunk + if (index + len >= total) { + ((char*)request->_tempObject)[total] = 0; + } + } + } + ); + + // Configure SSE events + events.onConnect([](AsyncEventSourceClient* client) { + // if (client->lastId()) { + // Serial.printf("Client reconnected! Last ID: %u\n", client->lastId()); + // } + client->send("connected", NULL, millis(), 10000); + }); + + // Add event handler and start the server + server.addHandler(&events); + AsyncElegantOTA.begin(&server); + server.begin(); +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/web_server/web_server.h b/app/esp_daemon/arduino/ESP_Daemon/lib/web_server/web_server.h new file mode 100644 index 0000000..3963a7c --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/web_server/web_server.h @@ -0,0 +1,12 @@ +#ifndef WEB_SERVER_H +#define WEB_SERVER_H + +#include + +extern AsyncWebServer server; +extern AsyncEventSource events; + +void initSPIFFS(); +void initWebServer(); + +#endif diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/wifi_config/wifi_config.cpp b/app/esp_daemon/arduino/ESP_Daemon/lib/wifi_config/wifi_config.cpp new file mode 100644 index 0000000..4c0cfef --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/wifi_config/wifi_config.cpp @@ -0,0 +1,18 @@ +#include "wifi_config.h" +#include "config.h" +#include +#include +#include + +void initWiFi() { + WiFiManager wifiManager; + wifiManager.autoConnect(HOSTNAME); + + Serial.println(WiFi.localIP()); + + if (!MDNS.begin(MDNS_NAME)) { + Serial.println("mDNS init failed"); + } else { + Serial.println("mDNS started"); + } +} diff --git a/app/esp_daemon/arduino/ESP_Daemon/lib/wifi_config/wifi_config.h b/app/esp_daemon/arduino/ESP_Daemon/lib/wifi_config/wifi_config.h new file mode 100644 index 0000000..2d8d732 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/lib/wifi_config/wifi_config.h @@ -0,0 +1,6 @@ +#ifndef WIFI_CONFIG_H +#define WIFI_CONFIG_H + +void initWiFi(); + +#endif diff --git a/app/esp_daemon/arduino/ESP_Daemon/platformio.ini b/app/esp_daemon/arduino/ESP_Daemon/platformio.ini new file mode 100644 index 0000000..f015445 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/platformio.ini @@ -0,0 +1,27 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:seeed_xiao_esp32c3] +platform = espressif32 +board = seeed_xiao_esp32c3 +framework = arduino +lib_deps = + adafruit/Adafruit NeoPixel@^1.12.3 + arduino-libraries/Arduino_JSON@^0.2.0 + https://github.com/ayushsharma82/AsyncElegantOTA.git#v2.2.8 + https://github.com/dvarrel/AsyncTCP.git#1.1.4 + me-no-dev/ESPAsyncWebServer@^3.0.6 + tzapu/WiFiManager@^2.0.17 + https://github.com/micro-ROS/micro_ros_platformio +build_flags = -Iinclude +upload_port = /dev/ttyACM0 +monitor_port = /dev/ttyACM0 +monitor_speed = 115200 +board_microros_distro = humble diff --git a/app/esp_daemon/arduino/ESP_Daemon/src/main.cpp b/app/esp_daemon/arduino/ESP_Daemon/src/main.cpp new file mode 100644 index 0000000..ed3d4e1 --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/src/main.cpp @@ -0,0 +1,67 @@ +#include "config.h" +#include "led_control.h" +#include "voltmeter.h" +#include "espnow_comm.h" +#include "ros_node.h" +#include "web_server.h" +#include "wifi_config.h" +#include +#include + +TaskHandle_t Task1; +TaskHandle_t Task2; + +void microROSTask(void* pvParameters) { + while (true) { + switch (state) { + case WAITING_AGENT: + EXECUTE_EVERY_N_MS(MROS_PING_INTERVAL, state = (RMW_RET_OK == rmw_uros_ping_agent(MROS_TIMEOUT_MS, 1)) ? AGENT_AVAILABLE : WAITING_AGENT;); + break; + case AGENT_AVAILABLE: + state = (true == create_entities()) ? AGENT_CONNECTED : WAITING_AGENT; + if (state == WAITING_AGENT) { + destroy_entities(); + state = WAITING_AGENT; + } + break; + case AGENT_CONNECTED: + EXECUTE_EVERY_N_MS(MROS_PING_INTERVAL, state = (RMW_RET_OK == rmw_uros_ping_agent(MROS_TIMEOUT_MS, 1)) ? AGENT_CONNECTED : AGENT_DISCONNECTED;); + if (state == AGENT_CONNECTED) { + rclc_executor_spin_some(&executor, RCL_MS_TO_NS(ROS_TIMER_MS)); + // vTaskDelay(10 / portTICK_PERIOD_MS); + } + break; + case AGENT_DISCONNECTED: + destroy_entities(); + state = WAITING_AGENT; + break; + default: + break; + } + } +} + +void setup() { + Serial.begin(115200); + + // ================================================================ + // NOTE: DO NOT CHANGE THE ORDER OF THE FOLLOWING INITIALIZATIONS + // ================================================================ + + initROS(); + + initLED(); + initVoltmeter(); + + xTaskCreatePinnedToCore(LEDTask, "LED Task", 10000, NULL, 1, &Task1, 0); + xTaskCreatePinnedToCore(voltmeterTask, "Sensor Task", 10000, NULL, 1, &Task2, 1); + xTaskCreatePinnedToCore(microROSTask, "microROS", 10000, NULL, 1, NULL, 1); + + initESPNow(); + + initSPIFFS(); + initWiFi(); + initWebServer(); +} + +void loop() {} diff --git a/app/esp_daemon/arduino/ESP_Daemon/test/README b/app/esp_daemon/arduino/ESP_Daemon/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/app/esp_daemon/arduino/ESP_Daemon/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html diff --git a/app/esp_daemon/docker-compose.yaml b/app/esp_daemon/docker-compose.yaml new file mode 100644 index 0000000..b9a8f6c --- /dev/null +++ b/app/esp_daemon/docker-compose.yaml @@ -0,0 +1,43 @@ +services: + esp-daemon: + build: + context: . + dockerfile: Dockerfile + target: final + args: + ROS_DISTRO: ${ROS_DISTRO} + USERNAME: ros + image: scx/esp-daemon:${ROS_DISTRO} + container_name: esp-daemon + stdin_open: true + tty: true + privileged: true + network_mode: "host" + restart: unless-stopped + + working_dir: /home/ros + + environment: + - TERM=xterm-256color + - DISPLAY=${DISPLAY} + - ROS_DOMAIN_ID=${ROS_DOMAIN_ID} + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + + volumes: + - ./entrypoint.sh:/entrypoint.sh + # Mount app resources into container. + - ./esp_daemon/:/home/ros/esp_daemon/ # ros2 workspace + + # Mount local timezone into container. + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Mount X11 server + - /tmp/.X11-unix:/tmp/.X11-unix + + # Direct Rendering Infrastructure + - /dev:/dev + + stop_grace_period: 1s + + entrypoint: ["/bin/bash", "-c", "/entrypoint.sh"] + command: ["/bin/bash"] \ No newline at end of file diff --git a/app/esp_daemon/entrypoint.sh b/app/esp_daemon/entrypoint.sh new file mode 100755 index 0000000..aa71a31 --- /dev/null +++ b/app/esp_daemon/entrypoint.sh @@ -0,0 +1,16 @@ +#!/bin/bash + +WS_DIR=~/esp_daemon + +cd $WS_DIR +# . /opt/ros/humble/setup.sh && colcon build --symlink-install + +source $WS_DIR/install/setup.bash +# ros2 run robot_status_monitor robot_status_node +# ./micro-ROS_install.sh + +while true; do + sleep 60 +done + +exec "$@" \ No newline at end of file diff --git a/app/esp_daemon/esp_daemon/micro-ROS_install.sh b/app/esp_daemon/esp_daemon/micro-ROS_install.sh new file mode 100755 index 0000000..62db0ae --- /dev/null +++ b/app/esp_daemon/esp_daemon/micro-ROS_install.sh @@ -0,0 +1,22 @@ +#!/bin/bash -e + +# Source the ROS 2 installation +source /opt/ros/$ROS_DISTRO/setup.bash + +# Clone the micro-ROS setup repository +git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros + +# Update dependencies using rosdep +sudo apt update && rosdep update +rosdep install --from-paths src --ignore-src -y + +# Build micro-ROS tools and source them +colcon build +source install/local_setup.bash + +# Download micro-ROS-Agent packages +ros2 run micro_ros_setup create_agent_ws.sh + +# Build step +ros2 run micro_ros_setup build_agent.sh +source install/local_setup.bash diff --git a/app/esp_daemon/esp_daemon/src/ros2.repos b/app/esp_daemon/esp_daemon/src/ros2.repos new file mode 100644 index 0000000..db7b0ce --- /dev/null +++ b/app/esp_daemon/esp_daemon/src/ros2.repos @@ -0,0 +1,2 @@ +repositories: {} + diff --git a/app/robot_status_bridge/.bashrc b/app/robot_status_bridge/.bashrc new file mode 100644 index 0000000..edc47c8 --- /dev/null +++ b/app/robot_status_bridge/.bashrc @@ -0,0 +1,50 @@ +# ==================== ROS ==================== # +# ==== Description: ROS environment setup ===== # +# =================== BEGIN =================== # + +source_ros_environment() { + if [ "$ROS_DISTRO" = "humble" ]; then + # Custom Alias + alias rosdep-check='rosdep install -i --from-path src --rosdistro humble -y' + alias build='colcon build --symlink-install' + + # Source ROS environment + source /opt/ros/humble/setup.bash + + # Source workspace environment + # latest_setup_bash: Find the latest setup.bash over user's root directory based on the last modified time + latest_setup_bash=$(find $(pwd) -type f -name "setup.bash" -wholename "*/install/setup.bash" -printf "%T@ %p\n" | sort -nr | awk '{print $2}' | head -n 1) + if [ -n "$latest_setup_bash" ]; then + source $latest_setup_bash + # Source colcon environment + source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash + source /usr/share/colcon_cd/function/colcon_cd.sh + export _colcon_cd_root="${latest_setup_bash%/install/setup.bash}" + else + echo "No setup.bash file found for humble" + fi + elif [ "$ROS_DISTRO" = "noetic" ]; then + source /opt/ros/noetic/setup.bash + # Source workspace environment + if [ -n "$ROS_WS" ]; then + source $ROS_WS/devel/setup.bash + else + echo "ROS_WS variable is not set for noetic" + fi + else + echo "Unsupported ROS_DISTRO: $ROS_DISTRO" + fi +} + +# ==================== END ==================== # + + + +# ================= Functions ================= # +# Note: If you want to use the custom function, # +# you need to uncomment the line below. # +# =================== BEGIN =================== # + +source_ros_environment + +# ==================== END ==================== # diff --git a/app/robot_status_bridge/.env b/app/robot_status_bridge/.env new file mode 100644 index 0000000..17fff1a --- /dev/null +++ b/app/robot_status_bridge/.env @@ -0,0 +1,6 @@ + +# COMPOSE_BUILDER=bake +COMPOSE_BAKE=true + +ROS_DISTRO=humble +# ROS_DOMAIN_ID=25 \ No newline at end of file diff --git a/app/robot_status_bridge/Dockerfile b/app/robot_status_bridge/Dockerfile new file mode 100644 index 0000000..2b82b27 --- /dev/null +++ b/app/robot_status_bridge/Dockerfile @@ -0,0 +1,79 @@ +###################################################################### +# - Base stage +# - This stage serves as the base image for the following stages. +###################################################################### + +ARG ROS_DISTRO=humble +FROM osrf/ros:${ROS_DISTRO}-desktop AS base + +LABEL org.opencontainers.image.title="Robot Status Bridge" +LABEL org.opencontainers.image.authors="scx@gapp.nthu.edu.tw" +LABEL org.opencontainers.image.licenses="MIT" + +ARG USERNAME=ros +# Use the same UID and GID as the host user +ARG USER_UID=1000 +ARG USER_GID=1000 + +###################################################################### +# - User setup stage +# - Create a non-root user with default bash shell. +###################################################################### + +FROM base AS user-setup + +RUN groupadd --gid $USER_GID $USERNAME \ + && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ + && apt-get update \ + && apt-get install -y sudo \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ + && chmod 0440 /etc/sudoers.d/$USERNAME \ + && rm -rf /var/lib/apt/lists/* + +###################################################################### +# - Tools Installation stage +# - Install common tools for development. +###################################################################### + +FROM user-setup AS tools + +RUN apt-get update && apt-get install -y \ + tree \ + vim \ + wget \ + unzip \ + python3-pip \ + bash-completion \ + wireless-tools \ + usbutils \ + ros-humble-rmw-cyclonedds-cpp \ + ros-humble-foxglove-bridge + +RUN apt-get update && apt-get dist-upgrade -y \ + && apt-get autoremove -y \ + && apt-get autoclean -y \ + && apt-get clean -y \ + && rm -rf /var/lib/apt/lists/* + +###################################################################### +# - Final stage +# - Install the main packages and set the entrypoint. +###################################################################### + +FROM tools AS final + +# Set up the user environment +ENV TZ=Asia/Taipei +ENV SHELL=/bin/bash +USER $USERNAME +WORKDIR /robot_status_br + +# Set up bashrc +COPY .bashrc /home/$USERNAME/.bashrc.conf +RUN cat /home/$USERNAME/.bashrc.conf >> /home/$USERNAME/.bashrc + +# Set up python environment +# RUN pip install --upgrade pip +# RUN pip install --no-cache-dir + +CMD ["/bin/bash"] \ No newline at end of file diff --git a/app/robot_status_bridge/docker-compose.yaml b/app/robot_status_bridge/docker-compose.yaml new file mode 100644 index 0000000..19e4dd3 --- /dev/null +++ b/app/robot_status_bridge/docker-compose.yaml @@ -0,0 +1,67 @@ +services: + robot-status-bridge: + build: + context: . + dockerfile: Dockerfile + target: final + args: + ROS_DISTRO: ${ROS_DISTRO} + USERNAME: ros + image: scx/robot-status-bridge:${ROS_DISTRO} + container_name: robot-status-bridge + stdin_open: true + tty: true + privileged: true + network_mode: "host" + restart: unless-stopped + + working_dir: /home/ros + + environment: + - TERM=xterm-256color + - DISPLAY=${DISPLAY} + - ROS_DOMAIN_ID=${ROS_DOMAIN_ID} + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + + volumes: + - ./entrypoint.sh:/entrypoint.sh + # Mount app resources into container. + - ./robot_status_br/:/home/ros/robot_status_br/ # ros2 workspace + - /sys/class:/sys/class:ro # for system status monitoring + - /dev:/dev # for usb status monitoring + + # Mount local timezone into container. + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Mount X11 server + - /tmp/.X11-unix:/tmp/.X11-unix + + stop_grace_period: 1s + + entrypoint: ["/bin/bash", "-c", "/entrypoint.sh"] + command: ["/bin/bash"] + + samba: + image: dperson/samba + container_name: robot-samba + restart: unless-stopped + ports: + - "445:445" + + environment: + - USERID=1001 + - GROUPID=1001 + + volumes: + # TO-DO: Change the path to the shared folder + # - /home/share:/mount/samba + - /home/main/Eurobot-2025-Main/src/bt_app_2025/bt_m_config:/mount/samba + + # Mount local timezone into container. + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + + command: > + -u "dit;robotics" + -s "dit;/mount/samba;yes;no;no;all;dit" + -p \ No newline at end of file diff --git a/app/robot_status_bridge/entrypoint.sh b/app/robot_status_bridge/entrypoint.sh new file mode 100755 index 0000000..5119cbc --- /dev/null +++ b/app/robot_status_bridge/entrypoint.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +cd ~/robot_status_br +# . /opt/ros/humble/setup.sh && colcon build --symlink-install --packages-skip micro_ros_msgs + +source ~/robot_status_br/install/setup.bash +# ros2 launch foxglove_bridge foxglove_bridge_launch.xml & +# ros2 run robot_status_monitor robot_status_node +ros2 launch robot_status_monitor robot_status.launch + +while true; do + sleep 60 +done + +exec "$@" \ No newline at end of file diff --git a/app/robot_status_bridge/robot_status_br/micro-ROS_install.sh b/app/robot_status_bridge/robot_status_br/micro-ROS_install.sh new file mode 100755 index 0000000..62db0ae --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/micro-ROS_install.sh @@ -0,0 +1,22 @@ +#!/bin/bash -e + +# Source the ROS 2 installation +source /opt/ros/$ROS_DISTRO/setup.bash + +# Clone the micro-ROS setup repository +git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros + +# Update dependencies using rosdep +sudo apt update && rosdep update +rosdep install --from-paths src --ignore-src -y + +# Build micro-ROS tools and source them +colcon build +source install/local_setup.bash + +# Download micro-ROS-Agent packages +ros2 run micro_ros_setup create_agent_ws.sh + +# Build step +ros2 run micro_ros_setup build_agent.sh +source install/local_setup.bash diff --git a/app/robot_status_bridge/robot_status_br/src/battery_monitor/CMakeLists.txt b/app/robot_status_bridge/robot_status_br/src/battery_monitor/CMakeLists.txt new file mode 100644 index 0000000..d41c1fb --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/battery_monitor/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.8) +project(battery_monitor) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) + +# add executable +add_executable(battery_publisher src/battery_publisher.cpp) +ament_target_dependencies(battery_publisher rclcpp std_msgs) +add_executable(battery_subscriber src/battery_subscriber.cpp) +ament_target_dependencies(battery_subscriber rclcpp std_msgs) + +# install executable +install(TARGETS battery_publisher battery_subscriber +DESTINATION lib/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/app/robot_status_bridge/robot_status_br/src/battery_monitor/package.xml b/app/robot_status_bridge/robot_status_br/src/battery_monitor/package.xml new file mode 100644 index 0000000..8d685f4 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/battery_monitor/package.xml @@ -0,0 +1,20 @@ + + + battery_monitor + 0.0.0 + TODO: Package description + ros + TODO: License declaration + + ament_cmake + + rclcpp + std_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_publisher.cpp b/app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_publisher.cpp new file mode 100644 index 0000000..5c8fb81 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_publisher.cpp @@ -0,0 +1,59 @@ +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/float32.hpp" +#include +#include + +class BatteryMonitor : public rclcpp::Node { +public: + BatteryMonitor() : Node("battery_monitor") { + publisher_ = this->create_publisher("battery_percentage", 10); + timer_ = this->create_wall_timer(std::chrono::seconds(10), std::bind(&BatteryMonitor::publish_battery_status, this)); + } + +private: + void publish_battery_status() { + float battery_percentage = get_battery_percentage(); + if (battery_percentage < 0.0) { + RCLCPP_WARN(this->get_logger(), "Failed to read battery percentage!"); + return; + } + + auto msg = std_msgs::msg::Float32(); + msg.data = battery_percentage; + publisher_->publish(msg); + + RCLCPP_INFO(this->get_logger(), "Published Battery Percentage: %.2f%%", battery_percentage); + } + + float get_battery_percentage() { + + std::ifstream file("/sys/class/power_supply/BAT0/capacity"); + if (!file.is_open()) { + file.open("/sys/class/power_supply/BAT1/capacity"); + } + if (!file.is_open()) { + return -1.0; + } + + std::string line; + std::getline(file, line); + file.close(); + + try { + return std::stof(line); + } catch (...) { + return -1.0; + } + } + + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::TimerBase::SharedPtr timer_; +}; + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_subscriber.cpp b/app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_subscriber.cpp new file mode 100644 index 0000000..4fe93ea --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/battery_monitor/src/battery_subscriber.cpp @@ -0,0 +1,25 @@ +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/float32.hpp" + +class BatterySubscriber : public rclcpp::Node { +public: + BatterySubscriber() : Node("battery_subscriber") { + subscription_ = this->create_subscription( + "battery_percentage", 10, std::bind(&BatterySubscriber::topic_callback, this, std::placeholders::_1)); + } + +private: + void topic_callback(const std_msgs::msg::Float32::SharedPtr msg) { + RCLCPP_INFO(this->get_logger(), "Received Battery Percentage: %.2f%%", msg->data); + } + + rclcpp::Subscription::SharedPtr subscription_; +}; + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/CMakeLists.txt b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/CMakeLists.txt new file mode 100644 index 0000000..f8e1fe8 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/CMakeLists.txt @@ -0,0 +1,38 @@ +cmake_minimum_required(VERSION 3.5) +project(robot_status_monitor) + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +# Set msg files +set(msg_files + "msg/RobotStatus.msg" +) + +# Generate ROS 2 interfaces (msg) +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} + DEPENDENCIES std_msgs +) + +# Set include directories +include_directories(${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp) + +add_executable(robot_status_publisher src/robot_status_publisher.cpp) +ament_target_dependencies(robot_status_publisher rclcpp std_msgs) +add_executable(robot_status_subscriber src/robot_status_subscriber.cpp) +ament_target_dependencies(robot_status_subscriber rclcpp std_msgs) + +rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} rosidl_typesupport_cpp) +target_link_libraries(robot_status_publisher ${cpp_typesupport_target}) +target_link_libraries(robot_status_subscriber ${cpp_typesupport_target}) + +install(TARGETS + robot_status_publisher + robot_status_subscriber + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/COLCON_IGNORE b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/msg/RobotStatus.msg b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/msg/RobotStatus.msg new file mode 100644 index 0000000..b740305 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/msg/RobotStatus.msg @@ -0,0 +1,11 @@ +int32 battery_percentage +bool charging +float32 cpu_usage +float32 cpu_temperature +float32 ram_usage +int32 wifi_signal_strength +bool wifi_connected +string wifi_ssid +int32 disk_usage +string robot_ip +float32 uptime diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/package.xml b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/package.xml new file mode 100644 index 0000000..6a7a211 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/package.xml @@ -0,0 +1,21 @@ + + + robot_status_monitor + 0.1.0 + Monitor robot status + SeanChangX + Apache-2.0 + + ament_cmake + rosidl_default_generators + + rclcpp + std_msgs + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + \ No newline at end of file diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/src/robot_status_publisher.cpp b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/src/robot_status_publisher.cpp new file mode 100644 index 0000000..f2f95f3 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/src/robot_status_publisher.cpp @@ -0,0 +1,160 @@ +#include "rclcpp/rclcpp.hpp" +#include "robot_status_monitor/msg/robot_status.hpp" +#include +#include +#include +#include +#include +#include + +class RobotStatusPublisher : public rclcpp::Node { +public: + RobotStatusPublisher() : Node("robot_status_publisher") { + std::string hostname = get_valid_hostname(); + topic_name_ = "/" + hostname + "/robot_status"; + + publisher_ = this->create_publisher(topic_name_, 10); + timer_ = this->create_wall_timer(std::chrono::seconds(5), std::bind(&RobotStatusPublisher::publish_status, this)); + + RCLCPP_INFO(this->get_logger(), "Publishing robot status to topic: %s", topic_name_.c_str()); + } + +private: + std::string get_valid_hostname() { + char hostname[128]; + if (gethostname(hostname, sizeof(hostname)) != 0) { + return "unknown_robot"; + } + std::string valid_hostname(hostname); + std::replace(valid_hostname.begin(), valid_hostname.end(), '-', '_'); + valid_hostname.erase(std::remove_if(valid_hostname.begin(), valid_hostname.end(), + [](char c) { return !std::isalnum(c) && c != '_'; }), valid_hostname.end()); + return valid_hostname.empty() ? "unknown_robot" : valid_hostname; + } + + int get_battery_percentage() { // Host battery percentage + float battery_percentage = execute_command("cat /sys/class/power_supply/BAT0/capacity"); + if (battery_percentage < 0) { + battery_percentage = execute_command("cat /sys/class/power_supply/BAT1/capacity"); + } + return battery_percentage; + } + + bool get_charging() { // Host charging status + std::string status = execute_string_command("cat /sys/class/power_supply/BAT0/status"); + if (status.empty()) { + status = execute_string_command("cat /sys/class/power_supply/BAT1/status"); + } + return (status.find("Charging") != std::string::npos); + } + + float get_cpu_usage() { // Host CPU usage percentage + return execute_command("top -bn1 | grep 'Cpu(s)' | awk '{print 100 - $8}'"); + } + + float get_cpu_temperature() { // Host CPU temperature in Celsius + return execute_command("cat /sys/class/thermal/thermal_zone0/temp") / 1000.0; + } + + float get_ram_usage() { // Host RAM usage percentage + return execute_command("free | grep Mem | awk '{print ($3/$2) * 100.0}'"); + } + + int get_wifi_signal_strength() { // Host Wi-Fi signal strength in percentage + return execute_command("awk 'NR==3 {print int($3 * 100 / 70)}' /proc/net/wireless"); + } + + bool get_wifi_connected() { // Host Wi-Fi connection status + std::string result = execute_string_command("cat /sys/class/net/wlp2s0/operstate"); + if (result.find("up") != std::string::npos) { + return true; + } + return false; + } + + std::string get_wifi_ssid() { // Host Wi-Fi SSID + return execute_string_command("iwgetid -r"); + } + + int get_disk_usage() { // Host disk usage percentage + return execute_command("df --output=pcent / | tail -1 | tr -d '%'"); + } + + std::string get_robot_ip() { // Host IP address + return execute_string_command("hostname -I | awk '{print $1}'"); + } + + float get_uptime() { // Host uptime in hours + return execute_command("awk '{print $1/3600}' /proc/uptime"); + } + + + + float execute_command(const std::string& command) { + char buffer[128]; + std::string result; + FILE* pipe = popen(command.c_str(), "r"); + if (!pipe) return -1.0; + while (fgets(buffer, sizeof(buffer), pipe) != nullptr) { + result += buffer; + } + pclose(pipe); + try { + return std::stof(result); + } catch (...) { + return -1.0; + } + } + + std::string execute_string_command(const std::string& command) { + char buffer[128]; + std::string result; + FILE* pipe = popen(command.c_str(), "r"); + if (!pipe) return ""; + while (fgets(buffer, sizeof(buffer), pipe) != nullptr) { + result += buffer; + } + pclose(pipe); + return result; + } + + void publish_status() { + auto msg = robot_status_monitor::msg::RobotStatus(); + msg.battery_percentage = get_battery_percentage(); + msg.charging = get_charging(); + msg.cpu_usage = get_cpu_usage(); + msg.cpu_temperature = get_cpu_temperature(); + msg.ram_usage = get_ram_usage(); + msg.wifi_signal_strength = get_wifi_signal_strength(); + msg.wifi_connected = get_wifi_connected(); + msg.wifi_ssid = get_wifi_ssid(); + msg.disk_usage = get_disk_usage(); + msg.robot_ip = get_robot_ip(); + msg.uptime = get_uptime(); + + publisher_->publish(msg); + RCLCPP_INFO(this->get_logger(), "Battery: %d%%, Charging: %s, CPU: %.2f%%, Temp: %.2f°C, RAM: %.2f%%, WiFi Signal: %d%%, WiFi Connected: %s, WiFi SSID: %s, Disk Usage: %d%%, IP: %s, Uptime: %.2f hours", + msg.battery_percentage, + msg.charging ? "Yes" : "No", + msg.cpu_usage, msg.cpu_temperature, + msg.ram_usage, + msg.wifi_signal_strength, + msg.wifi_connected ? "Yes" : "No", + msg.wifi_ssid.c_str(), + msg.disk_usage, + msg.robot_ip.c_str(), + msg.uptime); + } + + std::string topic_name_; + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::TimerBase::SharedPtr timer_; +}; + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/src/robot_status_subscriber.cpp b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/src/robot_status_subscriber.cpp new file mode 100644 index 0000000..2d2c677 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor.bak/src/robot_status_subscriber.cpp @@ -0,0 +1,54 @@ +#include "rclcpp/rclcpp.hpp" +#include "robot_status_monitor/msg/robot_status.hpp" +#include +#include + +class RobotStatusSubscriber : public rclcpp::Node { +public: + RobotStatusSubscriber() : Node("robot_status_subscriber") { + std::string hostname = get_valid_hostname(); + std::string topic_name = "/" + hostname + "/robot_status"; + + subscription_ = this->create_subscription( + topic_name, 10, + std::bind(&RobotStatusSubscriber::callback, this, std::placeholders::_1)); + } + +private: + std::string get_valid_hostname() { + char hostname[128]; + if (gethostname(hostname, sizeof(hostname)) != 0) { + return "unknown_robot"; + } + std::string valid_hostname(hostname); + std::replace(valid_hostname.begin(), valid_hostname.end(), '-', '_'); + valid_hostname.erase(std::remove_if(valid_hostname.begin(), valid_hostname.end(), + [](char c) { return !std::isalnum(c) && c != '_'; }), valid_hostname.end()); + return valid_hostname.empty() ? "unknown_robot" : valid_hostname; + } + + void callback(const robot_status_monitor::msg::RobotStatus::SharedPtr msg) { + RCLCPP_INFO(this->get_logger(), + "Battery: %d%%, Charging: %s, CPU: %.2f%%, Temp: %.2f°C, RAM: %.2f%%, WiFi Signal: %d%%, WiFi Connected: %s, WiFi SSID: %s, Disk Usage: %d%%, IP: %s, Uptime: %.2f hours", + msg->battery_percentage, + msg->charging ? "Yes" : "No", + msg->cpu_usage, msg->cpu_temperature, + msg->ram_usage, + msg->wifi_signal_strength, + msg->wifi_connected ? "Yes" : "No", + msg->wifi_ssid.c_str(), + msg->disk_usage, + msg->robot_ip.c_str(), + msg->uptime); + } + + rclcpp::Subscription::SharedPtr subscription_; +}; + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/CMakeLists.txt b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/CMakeLists.txt new file mode 100644 index 0000000..e704e36 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.8) +project(robot_status_monitor) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +add_executable(robot_status_node src/robot_status_node.cpp) +ament_target_dependencies(robot_status_node rclcpp std_msgs) + +install(TARGETS robot_status_node DESTINATION lib/${PROJECT_NAME}) + +# Install launch files +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch +) + +ament_package() diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/launch/robot_status.launch b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/launch/robot_status.launch new file mode 100644 index 0000000..0a8318e --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/launch/robot_status.launch @@ -0,0 +1,11 @@ + + + + + + + \ No newline at end of file diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/package.xml b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/package.xml new file mode 100644 index 0000000..9536423 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/package.xml @@ -0,0 +1,23 @@ + + + robot_status_monitor + 0.1.0 + Monitor robot status including battery, CPU usage, RAM usage, and network status. + SeanChangX + Apache-2.0 + + ament_cmake + + rclcpp + std_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + launch/robot_status.launch + + + \ No newline at end of file diff --git a/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/src/robot_status_node.cpp b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/src/robot_status_node.cpp new file mode 100644 index 0000000..7da70f3 --- /dev/null +++ b/app/robot_status_bridge/robot_status_br/src/robot_status_monitor/src/robot_status_node.cpp @@ -0,0 +1,287 @@ +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/int32.hpp" +#include "std_msgs/msg/float32.hpp" +#include "std_msgs/msg/string.hpp" +#include // For system commands +#include // For string operations +#include // For mapping topics to commands +#include // For time operations +#include // For file operations + +// Temporary file to store battery status +#define BATTERY_STATUS_FILE "/home/ros/robot_status_br/tmp/battery_status.json" + +class RobotStatusPublisher : public rclcpp::Node { +public: + RobotStatusPublisher() : Node("robot_status_node") { + // std::string hostname = get_valid_hostname(); + + // Set the refresh rate for each topic (seconds) + topic_refresh_rates_ = { + {"/robot_status/battery", 5.0}, + {"/robot_status/charging", 10.0}, + {"/robot_status/power", 1.0}, + {"/robot_status/cpu", 1.0}, + {"/robot_status/cpu_temp", 1.0}, + {"/robot_status/ram", 1.0}, + {"/robot_status/wifi_signal", 1.0}, + {"/robot_status/wifi_connected", 5.0}, + {"/robot_status/wifi_ssid", 5.0}, + {"/robot_status/disk", 60.0}, + {"/robot_status/robot_ip", 5.0}, + {"/robot_status/uptime", 30.0}, + {"/robot_status/usb/mission", 5.0}, + {"/robot_status/usb/chassis", 5.0}, + {"/robot_status/usb/lidar", 5.0}, + {"/robot_status/usb/esp", 5.0}, + {"/robot_status/usb/imu", 5.0}, + }; + + // Set the shell commands for each topic + status_commands_ = { + /* + ================================================================================ + [ Robot Status Topic List ] + -------------------------------------------------------------------------------- + /robot_status/battery: Get battery percentage from BAT0 or BAT1 + /robot_status/charging: Check if BAT0 or BAT1 is charging + /robot_status/power: Get real-time power consumption in watts + /robot_status/cpu: Get CPU usage percentage + /robot_status/cpu_temp: Get CPU temperature in Celsius + /robot_status/ram: Get RAM usage percentage + /robot_status/wifi_signal: Get Wi-Fi signal strength + /robot_status/wifi_connected: Check if Wi-Fi is connected + /robot_status/wifi_ssid: Get Wi-Fi SSID + /robot_status/disk: Get disk usage percentage + /robot_status/robot_ip: Get robot IP address + /robot_status/uptime: Get system uptime in hours + /robot_status/usb/ Check if USB devices are connected + ================================================================================ + */ + + {"/robot_status/battery", {"std_msgs::msg::Int32", "cat /sys/class/power_supply/BAT0/capacity 2>/dev/null || cat /sys/class/power_supply/BAT1/capacity 2>/dev/null" }}, + {"/robot_status/charging", {"std_msgs::msg::Bool", "cat /sys/class/power_supply/BAT0/status 2>/dev/null | grep -q 'Charging' || cat /sys/class/power_supply/BAT1/status 2>/dev/null | grep -q 'Charging' && echo 1 || echo 0" }}, + {"/robot_status/power", {"std_msgs::msg::Float32", "[ -f /sys/class/power_supply/BAT0/current_now ] && awk '{getline v < \"/sys/class/power_supply/BAT0/voltage_now\"; printf \"%.1f\", v * $1 / 1000000000000}' /sys/class/power_supply/BAT0/current_now || echo 0" }}, + {"/robot_status/cpu", {"std_msgs::msg::Float32", "top -bn1 | grep 'Cpu(s)' | awk '{print 100 - $8}'" }}, + {"/robot_status/cpu_temp", {"std_msgs::msg::Float32", "cat /sys/class/thermal/thermal_zone0/temp 2>/dev/null | awk '{print $1/1000}'" }}, + {"/robot_status/ram", {"std_msgs::msg::Float32", "free | grep Mem | awk '{print ($3/$2) * 100.0}'" }}, + {"/robot_status/wifi_signal", {"std_msgs::msg::Int32", "awk 'NR==3 {print int($3 * 100 / 70)}' /proc/net/wireless" }}, + {"/robot_status/wifi_connected", {"std_msgs::msg::Bool", "cat /sys/class/net/wlp2s0/operstate 2>/dev/null | grep -q 'up' && echo 1 || echo 0" }}, + {"/robot_status/wifi_ssid", {"std_msgs::msg::String", "iwgetid -r 2>/dev/null" }}, + {"/robot_status/disk", {"std_msgs::msg::Int32", "df --output=pcent / | tail -1 | tr -d '%'" }}, + {"/robot_status/robot_ip", {"std_msgs::msg::String", "hostname -I | awk '{print $1}'" }}, + {"/robot_status/uptime", {"std_msgs::msg::Float32", "awk '{print $1/3600}' /proc/uptime" }}, + {"/robot_status/usb/mission", {"std_msgs::msg::Bool", "[ -e /dev/mission ] && echo 1 || echo 0" }}, + {"/robot_status/usb/chassis", {"std_msgs::msg::Bool", "[ -e /dev/chassis ] && echo 1 || echo 0" }}, + {"/robot_status/usb/lidar", {"std_msgs::msg::Bool", "[ -e /dev/lidar ] && echo 1 || echo 0" }}, + {"/robot_status/usb/esp", {"std_msgs::msg::Bool", "[ -e /dev/esp ] && echo 1 || echo 0" }}, + {"/robot_status/usb/imu", {"std_msgs::msg::Bool", "lsusb | grep -E '06c2:00[3-a][0-f]' > /dev/null && echo 1 || echo 0" }}, + }; + + // Create publishers and timers based on the data type + for (const auto& [topic, cmd_info] : status_commands_) { + double refresh_rate = topic_refresh_rates_[topic]; + + if (cmd_info.type == "std_msgs::msg::Float32") { + float_publishers_[topic] = this->create_publisher(topic, 10); + } else if (cmd_info.type == "std_msgs::msg::Bool") { + bool_publishers_[topic] = this->create_publisher(topic, 10); + } else if (cmd_info.type == "std_msgs::msg::Int32") { + int_publishers_[topic] = this->create_publisher(topic, 10); + } else if (cmd_info.type == "std_msgs::msg::String") { + string_publishers_[topic] = this->create_publisher(topic, 10); + } + + timers_[topic] = this->create_wall_timer( + std::chrono::duration(refresh_rate), + [this, topic, cmd_info]() { publish_status(topic, cmd_info); } + ); + } + + // Add a publisher for battery uptime + battery_uptime_publisher = this->create_publisher("/robot_status/battery_uptime", 10); + + // Subscribe to battery voltage + battery_voltage_subscription = this->create_subscription( + "/robot_status/battery_voltage", 10, + [this](const std_msgs::msg::Float32::SharedPtr msg) { + auto now = std::chrono::steady_clock::now(); + last_voltage_update_time = now; // Update last voltage update time + + if (msg->data > 0.0) { + // If the battery was previously disconnected, reset the uptime when reconnected + if (battery_was_disconnected) { + battery_uptime = 0; + battery_start_time = now; + battery_was_disconnected = false; + // RCLCPP_INFO(this->get_logger(), "Battery reconnected. Uptime reset to 0."); + } + + // If the battery voltage is greater than 0, update the uptime + if (battery_voltage_active) { + // On active tracking, calculate total seconds from the start time + int total_elapsed = std::chrono::duration_cast( + now - battery_start_time).count(); + + // Update the total uptime + battery_uptime = total_elapsed; + + } else { + // First time tracking or transitioning from inactive to active (but not from disconnected) + if (!battery_was_disconnected) { + battery_start_time = now; + battery_uptime = 0; + } + battery_voltage_active = true; + // RCLCPP_INFO(this->get_logger(), "Battery monitoring activated with voltage: %.2f V", msg->data); + } + last_battery_voltage = msg->data; + + // Publish the battery uptime + auto uptime_msg = std_msgs::msg::Float32(); + uptime_msg.data = static_cast(battery_uptime); + battery_uptime_publisher->publish(uptime_msg); + } else { + // If the battery voltage is 0, we stop tracking the uptime but keep the last value + if (battery_voltage_active) { + battery_voltage_active = false; + // RCLCPP_INFO(this->get_logger(), "Battery voltage is zero, uptime preserved: %d seconds", battery_uptime); + + // Continue publishing the current uptime without resetting + auto uptime_msg = std_msgs::msg::Float32(); + uptime_msg.data = static_cast(battery_uptime); + battery_uptime_publisher->publish(uptime_msg); + } + } + }); + + // Add a timer to check if the battery voltage is still active + battery_timeout_timer = this->create_wall_timer( + std::chrono::milliseconds(500), // Check every 500ms + [this]() { + if (battery_voltage_active) { + auto now = std::chrono::steady_clock::now(); + auto elapsed_since_update = std::chrono::duration_cast( + now - last_voltage_update_time).count(); + + // If no update for 1 second, consider the battery disconnected + if (elapsed_since_update > 1) { + battery_voltage_active = false; + battery_was_disconnected = true; + // RCLCPP_INFO(this->get_logger(), "Battery voltage updates stopped. Last uptime: %d seconds will be preserved.", battery_uptime); + } + } + }); + + setup_battery_voltage_subscription(); + } + +private: + struct CommandInfo { + std::string type; + std::string command; + }; + + std::map status_commands_; + std::map topic_refresh_rates_; + std::map::SharedPtr> float_publishers_; + std::map::SharedPtr> bool_publishers_; + std::map::SharedPtr> int_publishers_; + std::map::SharedPtr> string_publishers_; + std::map timers_; + + rclcpp::Publisher::SharedPtr battery_uptime_publisher; + rclcpp::Subscription::SharedPtr battery_voltage_subscription; + + int battery_uptime = 0; + std::chrono::steady_clock::time_point battery_start_time; + bool battery_voltage_active = false; + float last_battery_voltage = 0.0; + bool battery_was_disconnected = false; + std::chrono::steady_clock::time_point last_voltage_update_time; + rclcpp::TimerBase::SharedPtr battery_timeout_timer; + + const std::string battery_status_file = BATTERY_STATUS_FILE; + + void publish_status(const std::string& topic, const CommandInfo& cmd_info) { + std::string result = execute_command(cmd_info.command); + + if (cmd_info.type == "std_msgs::msg::Float32") { + auto msg = std_msgs::msg::Float32(); + msg.data = std::stof(result); + float_publishers_[topic]->publish(msg); + } else if (cmd_info.type == "std_msgs::msg::Bool") { + auto msg = std_msgs::msg::Bool(); + msg.data = (result == "1"); + bool_publishers_[topic]->publish(msg); + } else if (cmd_info.type == "std_msgs::msg::Int32") { + auto msg = std_msgs::msg::Int32(); + msg.data = std::stoi(result); + int_publishers_[topic]->publish(msg); + } else if (cmd_info.type == "std_msgs::msg::String") { + auto msg = std_msgs::msg::String(); + msg.data = result; + string_publishers_[topic]->publish(msg); + } + + // RCLCPP_INFO(this->get_logger(), "Published %s: %s", topic.c_str(), result.c_str()); + } + + void write_battery_status_to_file(float voltage) { + std::ofstream file(battery_status_file); + if (file.is_open()) { + file << "{\"voltage\": " << voltage << "}"; // JSON format + file.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to write battery status to file"); + } + } + + std::string execute_command(const std::string& command) { + char buffer[128]; + std::string result; + FILE* pipe = popen(command.c_str(), "r"); + if (!pipe) return "0"; + while (fgets(buffer, sizeof(buffer), pipe) != nullptr) { + result += buffer; + } + pclose(pipe); + result.erase(std::remove(result.begin(), result.end(), '\n'), result.end()); + return result.empty() ? "0" : result; + } + + std::string get_valid_hostname() { + char hostname[128]; + if (gethostname(hostname, sizeof(hostname)) != 0) { + return "unknown_robot"; + } + std::string valid_hostname(hostname); + std::replace(valid_hostname.begin(), valid_hostname.end(), '-', '_'); + valid_hostname.erase(std::remove_if(valid_hostname.begin(), valid_hostname.end(), + [](char c) { return !std::isalnum(c) && c != '_'; }), valid_hostname.end()); + return valid_hostname.empty() ? "unknown_robot" : valid_hostname; + } + + void handle_battery_voltage(const std_msgs::msg::Float32::SharedPtr msg) { + float voltage = msg->data; + write_battery_status_to_file(voltage); + } + + void setup_battery_voltage_subscription() { + battery_voltage_subscription_ = this->create_subscription( + "/robot_status/battery_voltage", 10, + std::bind(&RobotStatusPublisher::handle_battery_voltage, this, std::placeholders::_1) + ); + } + + rclcpp::Subscription::SharedPtr battery_voltage_subscription_; +}; + +int main(int argc, char** argv) { + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/app/robot_status_bridge/robot_status_br/tmp/.gitkeep b/app/robot_status_bridge/robot_status_br/tmp/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/desktop/DIT.desktop b/desktop/DIT.desktop index 1b71861..fa6a2e4 100755 --- a/desktop/DIT.desktop +++ b/desktop/DIT.desktop @@ -1,7 +1,7 @@ [Desktop Entry] Type=Application Name=DIT Launcher -Exec=firefox http://localhost:5000 +Exec=sh -c 'firefox "http://localhost:8080/?ds=foxglove-websocket&ds.url=ws://$(hostname -I | cut -d" " -f1):8765"' Icon=/home/ditrobotics/DIT-Scripts/dit/DIT_logo.png Terminal=false Comment=Launch DIT script diff --git a/desktop/blue.desktop b/desktop/blue.desktop new file mode 100755 index 0000000..f69d1da --- /dev/null +++ b/desktop/blue.desktop @@ -0,0 +1,8 @@ +[Desktop Entry] +Type=Application +Name=Blue +Exec=/bin/bash -c "/home/share/scripts/blue.run" +Icon=utilities-terminal +Terminal=true +Comment=Launch DIT script + diff --git a/desktop/main.desktop b/desktop/main.desktop new file mode 100755 index 0000000..6b0c9c7 --- /dev/null +++ b/desktop/main.desktop @@ -0,0 +1,8 @@ +[Desktop Entry] +Type=Application +Name=Main +Exec=/bin/bash -c "/home/share/scripts/main.run" +Icon=utilities-terminal +Terminal=true +Comment=Launch DIT script + diff --git a/desktop/nav.desktop b/desktop/nav.desktop new file mode 100755 index 0000000..9b72b31 --- /dev/null +++ b/desktop/nav.desktop @@ -0,0 +1,8 @@ +[Desktop Entry] +Type=Application +Name=Navigation +Exec=/bin/bash -c "/home/share/scripts/nav.run" +Icon=utilities-terminal +Terminal=true +Comment=Launch DIT script + diff --git a/desktop/rm-main.desktop b/desktop/rm-main.desktop new file mode 100755 index 0000000..e574c4d --- /dev/null +++ b/desktop/rm-main.desktop @@ -0,0 +1,8 @@ +[Desktop Entry] +Type=Application +Name=MAIN STOP +Exec=/bin/bash -c "/home/share/scripts/rm-main.sh" +Icon=/home/ditrobotics/DIT-Scripts/dit/trash.png +Terminal=true +Comment=Launch DIT script + diff --git a/desktop/rm-nav.desktop b/desktop/rm-nav.desktop new file mode 100755 index 0000000..32bcb2d --- /dev/null +++ b/desktop/rm-nav.desktop @@ -0,0 +1,8 @@ +[Desktop Entry] +Type=Application +Name=NAV STOP +Exec=/bin/bash -c "/home/share/scripts/rm-nav.sh" +Icon=/home/ditrobotics/DIT-Scripts/dit/trash.png +Terminal=true +Comment=Launch DIT script + diff --git a/desktop/run.desktop b/desktop/run.desktop index 899d0f8..9d52cec 100755 --- a/desktop/run.desktop +++ b/desktop/run.desktop @@ -1,7 +1,7 @@ [Desktop Entry] Type=Application Name=launch -Exec=/bin/bash -c "/home/share/scripts/run.sh" +Exec=/bin/bash -c "ffplay -nodisp -autoexit /home/ditrobotics/.config/conky/conky-esp-config/welcome_Paimon.mp3" Icon=/home/ditrobotics/DIT-Scripts/dit/rocket.png Terminal=true Comment=Launch DIT script diff --git a/desktop/yellow.desktop b/desktop/yellow.desktop new file mode 100755 index 0000000..03e2f5e --- /dev/null +++ b/desktop/yellow.desktop @@ -0,0 +1,8 @@ +[Desktop Entry] +Type=Application +Name=Yellow +Exec=/bin/bash -c "/home/share/scripts/yellow.run" +Icon=utilities-terminal +Terminal=true +Comment=Launch DIT script + diff --git a/share/data/voltage.cache b/share/data/voltage.cache index 48eb703..ecba69c 100644 --- a/share/data/voltage.cache +++ b/share/data/voltage.cache @@ -1 +1 @@ -19.5 +00.0 diff --git a/share/data/group.json b/share/eurobot_2024/data/group.json similarity index 100% rename from share/data/group.json rename to share/eurobot_2024/data/group.json diff --git a/share/data/score.cache b/share/eurobot_2024/data/score.cache similarity index 100% rename from share/data/score.cache rename to share/eurobot_2024/data/score.cache diff --git a/share/data/state.json b/share/eurobot_2024/data/state.json similarity index 100% rename from share/data/state.json rename to share/eurobot_2024/data/state.json diff --git a/share/data/usb.json b/share/eurobot_2024/data/usb.json similarity index 100% rename from share/data/usb.json rename to share/eurobot_2024/data/usb.json diff --git a/share/scripts/ladybug.sh b/share/eurobot_2024/scripts/ladybug.sh similarity index 100% rename from share/scripts/ladybug.sh rename to share/eurobot_2024/scripts/ladybug.sh diff --git a/share/scripts/run.sh b/share/eurobot_2024/scripts/run.sh similarity index 100% rename from share/scripts/run.sh rename to share/eurobot_2024/scripts/run.sh diff --git a/share/scripts/blue.run b/share/scripts/blue.run new file mode 100755 index 0000000..0255b19 --- /dev/null +++ b/share/scripts/blue.run @@ -0,0 +1,10 @@ +#!/bin/bash + +# Run a new session +tmux new-session -d -s eurobot-script-local-blue + +# Run localization +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p localization-blue -f /home/localization/Eurobot-2025-Localization/docker/testBot/OdomComm/docker/blue-compose.yml up" C-m + +# Attach to the session +tmux attach-session -d diff --git a/share/scripts/main.run b/share/scripts/main.run new file mode 100755 index 0000000..832324c --- /dev/null +++ b/share/scripts/main.run @@ -0,0 +1,10 @@ +#!/bin/bash + +# Run a new session +tmux new-session -d -s eurobot-script-main + +# Run main program +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p main-run -f /home/main/Eurobot-2025-Main/docker/docker-compose.yaml up" C-m + +# Attach to the session +tmux attach-session -d diff --git a/share/scripts/nav.run b/share/scripts/nav.run new file mode 100755 index 0000000..6088442 --- /dev/null +++ b/share/scripts/nav.run @@ -0,0 +1,10 @@ +#!/bin/bash + +# Run a new session +tmux new-session -d -s eurobot-script-nav + +# Run navigation +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p navigation-run -f /home/navigation/Eurobot-2025-machine-ws/src/Eurobot-2025-Navigation2-envs/Navigation2-humble-deploy/docker-compose.yaml up navigation-run" C-m + +# Attach to the session +tmux attach-session -d diff --git a/share/scripts/remove.sh b/share/scripts/remove.sh index 07bee47..988a5a6 100755 --- a/share/scripts/remove.sh +++ b/share/scripts/remove.sh @@ -1,4 +1,19 @@ #!/bin/bash +# Run a new session +tmux new-session -d -s eurobot-kill-script + +# Remove localization +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p localization-yellow -f /home/localization/Eurobot-2025-Localization/docker/testBot/OdomComm/docker/yellow-compose.yml down" C-m +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p localization-blue -f /home/localization/Eurobot-2025-Localization/docker/testBot/OdomComm/docker/blue-compose.yml down" C-m +# Remove navigation +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p navigation-run -f /home/navigation/Eurobot-2025-machine-ws/src/Eurobot-2025-Navigation2-envs/Navigation2-humble-deploy/docker-compose.yaml down" C-m +# Remove main +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p main-run -f /home/main/Eurobot-2025-Main/docker/docker-compose.yaml down" C-m + +# Attach to the session +tmux attach-session -d + # Delete the tmux session -tmux kill-session -t eurobot-script \ No newline at end of file +#tmux kill-session -t eurobot-script +tmux kill-server diff --git a/share/scripts/rm-main.sh b/share/scripts/rm-main.sh new file mode 100755 index 0000000..40b1b9d --- /dev/null +++ b/share/scripts/rm-main.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +# Run a new session +tmux new-session -d -s eurobot-kill-script + +# Remove main +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p main-run -f /home/main/Eurobot-2025-Main/docker/docker-compose.yaml down" C-m + +# Attach to the session +tmux attach-session -d + +# Delete the tmux session +tmux kill-session -t eurobot-kill-script +# tmux kill-server diff --git a/share/scripts/rm-nav.sh b/share/scripts/rm-nav.sh new file mode 100755 index 0000000..4a5cebc --- /dev/null +++ b/share/scripts/rm-nav.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +# Run a new session +tmux new-session -d -s eurobot-kill-script + +# Remove navigation +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p navigation-run -f /home/navigation/Eurobot-2025-machine-ws/src/Eurobot-2025-Navigation2-envs/Navigation2-humble-deploy/docker-compose.yaml down" C-m + +# Attach to the session +tmux attach-session -d + +# Delete the tmux session +tmux kill-session -t eurobot-kill-script +# tmux kill-server diff --git a/share/scripts/yellow.run b/share/scripts/yellow.run new file mode 100755 index 0000000..1904009 --- /dev/null +++ b/share/scripts/yellow.run @@ -0,0 +1,10 @@ +#!/bin/bash + +# Run a new session +tmux new-session -d -s eurobot-script-local-yellow + +# Run localization +tmux send-keys -t 0 "echo 'ditrobotics' | sudo -S docker compose -p localization-yellow -f /home/localization/Eurobot-2025-Localization/docker/testBot/OdomComm/docker/yellow-compose.yml up" C-m + +# Attach to the session +tmux attach-session -d diff --git a/system/plymouth-themes/abstract_ring_alt/LICENSE b/system/plymouth-themes/abstract_ring_alt/LICENSE new file mode 100644 index 0000000..9cecc1d --- /dev/null +++ b/system/plymouth-themes/abstract_ring_alt/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + {project} Copyright (C) {year} {fullname} + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/system/plymouth-themes/abstract_ring_alt/abstract_ring_alt.plymouth b/system/plymouth-themes/abstract_ring_alt/abstract_ring_alt.plymouth new file mode 100755 index 0000000..58f3b3c --- /dev/null +++ b/system/plymouth-themes/abstract_ring_alt/abstract_ring_alt.plymouth @@ -0,0 +1,9 @@ +[Plymouth Theme] +Name=abstract_ring_alt +Description=display another abstract ring +Comment=created By Aditya Shakya (@adi1090x) +ModuleName=script + +[script] +ImageDir=/usr/share/plymouth/themes/abstract_ring_alt +ScriptFile=/usr/share/plymouth/themes/abstract_ring_alt/abstract_ring_alt.script diff --git a/system/plymouth-themes/abstract_ring_alt/abstract_ring_alt.script b/system/plymouth-themes/abstract_ring_alt/abstract_ring_alt.script new file mode 100755 index 0000000..0e66f33 --- /dev/null +++ b/system/plymouth-themes/abstract_ring_alt/abstract_ring_alt.script @@ -0,0 +1,108 @@ +## Author : Aditya Shakya (adi1090x) +## Mail : adi1090x@gmail.com +## Github : @adi1090x +## Reddit : @adi1090x + +// Screen size +screen.w = Window.GetWidth(0); +screen.h = Window.GetHeight(0); +screen.half.w = Window.GetWidth(0) / 2; +screen.half.h = Window.GetHeight(0) / 2; + +// Question prompt +question = null; +answer = null; + +// Message +message = null; + +// Password prompt +bullets = null; +prompt = null; +bullet.image = Image.Text("*", 1, 1, 1); + +// Flow +state.status = "play"; +state.time = 0.0; + +//--------------------------------- Refresh (Logo animation) -------------------------- + +# cycle through all images +for (i = 0; i < 76; i++) + flyingman_image[i] = Image("progress-" + i + ".png"); +flyingman_sprite = Sprite(); + +# set image position +flyingman_sprite.SetX(Window.GetX() + (Window.GetWidth(0) / 2 - flyingman_image[0].GetWidth() / 2)); # Place images in the center +flyingman_sprite.SetY(Window.GetY() + (Window.GetHeight(0) / 2 - flyingman_image[0].GetHeight() / 2)); + +progress = 0; + +fun refresh_callback () + { + flyingman_sprite.SetImage(flyingman_image[Math.Int(progress / 2) % 76]); + progress++; + } + +Plymouth.SetRefreshFunction (refresh_callback); + +//------------------------------------- Password prompt ------------------------------- +fun DisplayQuestionCallback(prompt, entry) { + question = null; + answer = null; + + if (entry == "") + entry = ""; + + question.image = Image.Text(prompt, 1, 1, 1); + question.sprite = Sprite(question.image); + question.sprite.SetX(screen.half.w - question.image.GetWidth() / 2); + question.sprite.SetY(screen.h - 4 * question.image.GetHeight()); + + answer.image = Image.Text(entry, 1, 1, 1); + answer.sprite = Sprite(answer.image); + answer.sprite.SetX(screen.half.w - answer.image.GetWidth() / 2); + answer.sprite.SetY(screen.h - 2 * answer.image.GetHeight()); +} +Plymouth.SetDisplayQuestionFunction(DisplayQuestionCallback); + +//------------------------------------- Password prompt ------------------------------- +fun DisplayPasswordCallback(nil, bulletCount) { + state.status = "pause"; + totalWidth = bulletCount * bullet.image.GetWidth(); + startPos = screen.half.w - totalWidth / 2; + + prompt.image = Image.Text("Enter Password", 1, 1, 1); + prompt.sprite = Sprite(prompt.image); + prompt.sprite.SetX(screen.half.w - prompt.image.GetWidth() / 2); + prompt.sprite.SetY(screen.h - 4 * prompt.image.GetHeight()); + + // Clear all bullets (user might hit backspace) + bullets = null; + for (i = 0; i < bulletCount; i++) { + bullets[i].sprite = Sprite(bullet.image); + bullets[i].sprite.SetX(startPos + i * bullet.image.GetWidth()); + bullets[i].sprite.SetY(screen.h - 2 * bullet.image.GetHeight()); + } +} +Plymouth.SetDisplayPasswordFunction(DisplayPasswordCallback); + +//--------------------------- Normal display (unset all text) ---------------------- +fun DisplayNormalCallback() { + state.status = "play"; + bullets = null; + prompt = null; + message = null; + question = null; + answer = null; +} +Plymouth.SetDisplayNormalFunction(DisplayNormalCallback); + +//----------------------------------------- Message -------------------------------- +fun MessageCallback(text) { + message.image = Image.Text(text, 1, 1, 1); + message.sprite = Sprite(message.image); + message.sprite.SetPosition(screen.half.w - message.image.GetWidth() / 2, message.image.GetHeight()); +} +Plymouth.SetMessageFunction(MessageCallback); + diff --git a/system/plymouth-themes/abstract_ring_alt/progress-0.png b/system/plymouth-themes/abstract_ring_alt/progress-0.png new file mode 100644 index 0000000..9056e89 Binary files /dev/null and b/system/plymouth-themes/abstract_ring_alt/progress-0.png differ diff --git a/system/plymouth-themes/abstract_ring_alt/progress-1.png b/system/plymouth-themes/abstract_ring_alt/progress-1.png new file mode 100644 index 0000000..e72ed4c Binary files /dev/null and b/system/plymouth-themes/abstract_ring_alt/progress-1.png differ diff --git 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b/system/plymouth-themes/abstract_ring_alt/progress-75.png new file mode 100644 index 0000000..48198df Binary files /dev/null and b/system/plymouth-themes/abstract_ring_alt/progress-75.png differ diff --git a/system/plymouth-themes/abstract_ring_alt/progress-8.png b/system/plymouth-themes/abstract_ring_alt/progress-8.png new file mode 100644 index 0000000..6145ddc Binary files /dev/null and b/system/plymouth-themes/abstract_ring_alt/progress-8.png differ diff --git a/system/plymouth-themes/abstract_ring_alt/progress-9.png b/system/plymouth-themes/abstract_ring_alt/progress-9.png new file mode 100644 index 0000000..96ad94f Binary files /dev/null and b/system/plymouth-themes/abstract_ring_alt/progress-9.png differ diff --git a/udev/80-dit.rules b/udev/80-dit.rules index 61f8374..536b191 100644 --- a/udev/80-dit.rules +++ b/udev/80-dit.rules @@ -1,9 +1,9 @@ -# DIT-2024-11 -ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="1835fcde3dd3ec11931b5383a1ca919a", SYMLINK+="stm_00", MODE="0666" -ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", ATTRS{serial}=="066DFF343047463043161846", SYMLINK+="stm_01", MODE="0666" -# DIT-2024-12 -ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="081c079d3ed3ec11a12b5383a1ca919a", SYMLINK+="stm_00", MODE="0666" -ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", ATTRS{serial}=="066CFF545383564867213526", SYMLINK+="stm_01", MODE="0666" +# DIT-2025-11 +ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="e40c7173d914ef11aba16db8bf9df066", SYMLINK+="chassis", MODE="0666" +ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="b60451c2ae14ef11b0f075b8bf9df066", SYMLINK+="mission", MODE="0666" +ACTION=="add", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="f450dedc3e77ed118311f6fafdf7b791", SYMLINK+="lidar", MODE="0666" -ACTION=="add", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="0001", SYMLINK+="lidar", MODE="0666" -SUBSYSTEM=="tty", ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001", SYMLINK+="esp32", MODE="0666" +# DIT-2025-14 +ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="a83661c5e014ef118e9175b8bf9df066", SYMLINK+="chassis", MODE="0666" +ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="3ca485551115ef11bc2c75b8bf9df066", SYMLINK+="mission", MODE="0666" +ACTION=="add", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="e8ddfc52f40aee11b2654502f59e3369", SYMLINK+="lidar", MODE="0666" diff --git a/udev/99-vive.rules b/udev/archive/99-vive.rules similarity index 100% rename from udev/99-vive.rules rename to udev/archive/99-vive.rules diff --git a/web/app/Eurobot_2025_Web/assets/MStiffHeiHK.otf b/web/app/Eurobot_2025_Web/assets/MStiffHeiHK.otf new file mode 100644 index 0000000..50ebd9b Binary files /dev/null and b/web/app/Eurobot_2025_Web/assets/MStiffHeiHK.otf differ diff --git a/web/app/Eurobot_2025_Web/assets/game_elements_FINAL.svg b/web/app/Eurobot_2025_Web/assets/game_elements_FINAL.svg new file mode 100644 index 0000000..276692b --- /dev/null +++ b/web/app/Eurobot_2025_Web/assets/game_elements_FINAL.svg @@ -0,0 +1,91310 @@ + +image/svg+xml diff --git a/web/app/Eurobot_2025_Web/assets/playmat_2025_FINAL.png b/web/app/Eurobot_2025_Web/assets/playmat_2025_FINAL.png new file mode 100644 index 0000000..311729f Binary files /dev/null and b/web/app/Eurobot_2025_Web/assets/playmat_2025_FINAL.png differ diff --git a/web/app/Eurobot_2025_Web/assets/playmat_2025_FINAL.svg b/web/app/Eurobot_2025_Web/assets/playmat_2025_FINAL.svg new file mode 100644 index 0000000..5de2fa5 --- /dev/null +++ b/web/app/Eurobot_2025_Web/assets/playmat_2025_FINAL.svg @@ -0,0 +1,62256 @@ + +image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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--- /dev/null +++ b/web/app/Eurobot_2025_Web/assets/playmat_grid_v1.svg @@ -0,0 +1,27739 @@ + +image/svg+xml0°90°-90°180°45°30°60°120°135°150°-45°-135°ππ/2-π/20°90°-90°180°45°30°60°120°135°150°-45°-135°ππ/2-π/20°90°-90°180°45°30°60°120°135°150°-45°-135°ππ/2-π/20°90°-90°180°45°30°60°120°135°150°-45°-135°ππ/2-π/210020030040050060070080090010001100120013001400150016001700180019002000210022002300240025002600270028002900x10020030040050060070080090010001100120013001400150016001700180019002000210022002300240025002600270028002900190018001700160015001400130012001100100090080070060050040030020010019001800170016001500140013001200110010009008007006005004003002001000yyy190018001700160015001400130012001100100090080070060050040030020010010020030040050060070080090010001100120013001400150016001700180019002000210022002300240025002600270028002900123456DCBADCBADCBA123456123456yxxx diff --git a/web/app/Eurobot_2025_Web/index.html b/web/app/Eurobot_2025_Web/index.html new file mode 100644 index 0000000..493060d --- /dev/null +++ b/web/app/Eurobot_2025_Web/index.html @@ -0,0 +1,92 @@ + + + + + + ROS2 Dashboard + + + +
+
+
+ +
+
+ +
+
+
+
+ Main +
+
+
+ Camera +
+
+
+ Navigation +
+
+
+ + +
+
+ Battery Status: + 19.7V +
+
+ Debug Panel: Full +
+
+
+
+ + +
+
+
+

320

+

Estimated Score

+
+
+
+ + +
+
+
+

Strategy Preview

+
+ Go to zone A + Collect the columns + +
+
+
+

Mode Change

+
+ Go to zone A + Collect the columns + Go Home +
+
+
+

Plan Select

+
+ We will + went to + Paris +
+
+
+
+
+
+
+ + + + diff --git a/web/app/Eurobot_2025_Web/script.js b/web/app/Eurobot_2025_Web/script.js new file mode 100644 index 0000000..d5641d3 --- /dev/null +++ b/web/app/Eurobot_2025_Web/script.js @@ -0,0 +1,29 @@ +// Connect to ROS2 backend using ROS2 Bridge +const ros = new ROSLIB.Ros({ + url: 'ws://localhost:9090' // Adjust to your ROS2 websocket URL +}); + +ros.on('connection', () => { + console.log('Connected to ROS2'); +}); + +ros.on('error', (error) => { + console.error('Error connecting to ROS2:', error); +}); + +ros.on('close', () => { + console.log('Disconnected from ROS2'); +}); + +// Example subscription +const scoreListener = new ROSLIB.Topic({ + ros: ros, + name: '/score', + messageType: 'std_msgs/Int32' +}); + +scoreListener.subscribe((message) => { + document.querySelector('.score h1').textContent = message.data; +}); + +// Additional ROS2 integration here diff --git a/web/app/Eurobot_2025_Web/styles.css b/web/app/Eurobot_2025_Web/styles.css new file mode 100644 index 0000000..9b37515 --- /dev/null +++ b/web/app/Eurobot_2025_Web/styles.css @@ -0,0 +1,316 @@ +@font-face { + font-family: 'MStiffHeiHK'; + src: url('./assets/MStiffHeiHK.otf') format('opentype'); +} + +body, +html { + margin: 0; + padding: 0; + width: 100%; + height: 100%; + overflow: hidden; + background-color: #222; + font-family: 'MStiffHeiHK', Arial, sans-serif; + color: #fff; +} + +body { + display: flex; + justify-content: center; + align-items: center; + height: 100vh; +} + +/* Main Container */ +.dashboard { + width: 100%; + height: 100%; + display: grid; + grid-template-rows: 1fr 1.4fr 1fr; + grid-template-columns: repeat(3, 1fr); +} + +/* Common Components */ +.box { + width: 97%; + height: 98%; + margin: auto; + background-color: #333; + border-radius: 2rem; + box-shadow: 0 0 10px rgba(0, 0, 0, 0.5); + display: flex; + flex-direction: column; + justify-content: center; + align-items: center; +} + +.header, +.footer { + grid-column: 1 / span 3; + display: flex; +} + +.header { + justify-content: space-around; +} + +.header div { + font-size: 2rem; +} + +.footer { + display: flex; + justify-content: center; + align-items: center; +} + +/* Map Area */ +.map-area { + grid-column: 1 / span 3; + position: relative; + background: url('./assets/playmat_2025_FINAL.png') no-repeat center center; + background-size: contain; + background-color: #333; + display: flex; + justify-content: center; + align-items: center; +} + +/* Score Display */ +.score-container { + position: absolute; + top: 55%; + left: 50%; + transform: translate(-50%, -50%); + display: inline-block; +} + +.score { + position: relative; + background-color: rgba(0, 0, 0, 0.5); + padding: 1rem 1.5rem; + text-align: center; + clip-path: polygon(25px 0, calc(100% - 25px) 0, 100% 25px, + 100% calc(100% - 25px), calc(100% - 25px) 100%, + 25px 100%, 0 calc(100% - 25px), 0 25px); + backdrop-filter: blur(5px); +} + +.score::before { + content: ""; + position: absolute; + top: -5px; + left: -15px; + right: -15px; + bottom: -5px; + background-color: transparent; + border: 15px solid #900; + clip-path: polygon(25px 0, calc(100% - 25px) 0, 100% 25px, + 100% calc(100% - 25px), calc(100% - 25px) 100%, + 25px 100%, 0 calc(100% - 25px), 0 25px); + z-index: -1; +} + +.score h1 { + font-size: 8rem; + margin: 0.2rem 0; +} + +.score p { + font-size: 2rem; + margin: 0.2rem 0; +} + +/* Function Area */ +.func-area { + height: 90%; + width: 95%; + display: grid; + grid-template-columns: repeat(3, 1fr); + gap: 4.5rem; + padding: 0; + margin: auto; + place-items: center; +} + +.func-area .box { + width: 95%; + height: 95%; + display: flex; + flex-direction: column; + align-items: center; + justify-content: flex-start; + padding: 2rem; + margin: 0; + background-color: rgba(30, 30, 30, 0.9); +} + +.func-area .box h3 { + margin: 0 0 1.5rem 0; + font-size: 2rem; + width: 100%; + text-align: left; + border-bottom: 2px solid rgba(250, 0, 0, 0.7); + padding-bottom: 0.5rem; +} + +.func-area .box .content { + margin: 0; + width: 100%; + display: flex; + flex-direction: column; + gap: 1rem; + align-items: center; +} + +.func-area .box .content-line { + font-size: 1.2rem; + color: rgba(255, 255, 255, 0.7); + text-align: left; + border-bottom: 1px solid rgba(255, 255, 255, 0.1); + font-style: italic; + width: 100%; +} + +.aspect-ratio-container { + position: relative; + width: 100%; + height: 100%; + display: flex; + justify-content: center; + align-items: center; +} + +.aspect-ratio-content { + position: relative; + width: 100%; + height: 100%; + transform: scale(calc(min(100vw / 10, 100vh / 16))); + transform-origin: top left; + aspect-ratio: 10 / 16; + background-color: #222; + border: 2px solid #fff; + border-radius: 10px; +} + +.header-container { + display: flex; + justify-content: space-between; + align-items: center; + /* width: 100%; */ + gap: 1rem; + padding: 0.5rem; +} + +.header-group { + display: flex; + gap: 1rem; + align-items: center; +} + +.header-item { + padding: 0.5rem 1rem; + border-radius: 0.5rem; + background: rgba(0, 0, 0, 0.3); + display: flex; + align-items: center; + gap: 0.5rem; + min-width: 100px; + justify-content: center; + height: 5rem; +} + +.header-item.status { + font-size: 0.9rem; +} + +.header-item.info { + /* width: 26rem; */ +} + +.header-item.button { + background: rgba(100, 0, 0, 0.3); + cursor: pointer; + transition: all 0.3s ease; +} + +.header-item.button:hover { + background: rgba(100, 0, 0, 0.5); + transform: scale(1.05); +} + +.status-light { + width: 12px; + height: 12px; + border-radius: 50%; + display: inline-block; + margin-right: 1rem; + position: relative; + box-shadow: 0 0 10px rgba(255, 255, 255, 0.3); + animation: pulse 2s infinite; +} + +.status-group { + background: rgba(20, 20, 20, 0.6); + backdrop-filter: blur(10px); + border-radius: 1.2rem; + padding: 0.8rem; + display: flex; + border: 1px solid rgba(255, 255, 255, 0.1); + box-shadow: 0 4px 24px -1px rgba(0, 0, 0, 0.2); +} + +.status-wrapper { + display: flex; + gap: 1.2rem; +} + +.status-wrapper .header-item.status { + background: rgba(0, 0, 0, 0.2); + border: 1px solid rgba(255, 255, 255, 0.1); + border-radius: 0.8rem; + padding: 1rem 1.5rem; + font-size: 1.4rem; + min-width: 160px; + justify-content: flex-start; + transition: all 0.3s ease; +} + +.status-wrapper .header-item.status:hover { + background: rgba(255, 255, 255, 0.05); + transform: translateY(-2px); + box-shadow: 0 4px 12px -2px rgba(0, 0, 0, 0.3); +} + +.status-wrapper .header-item.status:first-child { + border-left: 1px solid rgba(255, 255, 255, 0.5); /* Add left border to first item */ +} + +.status-wrapper .header-item.status + .header-item.status { + border-left: 1px solid rgba(255, 255, 255, 0.5); /* Add left border to subsequent items */ +} + +.status-wrapper .header-item.status:last-child { + border-right: none; +} + +/* Status light glow effects */ +.status-light[style*="green"] { + box-shadow: 0 0 15px rgba(0, 255, 0, 0.4); +} + +.status-light[style*="yellow"] { + box-shadow: 0 0 15px rgba(255, 255, 0, 0.4); +} + +.status-light[style*="red"] { + box-shadow: 0 0 15px rgba(255, 0, 0, 0.4); +} + +/* Status light pulse animation */ +@keyframes pulse { + 0% { transform: scale(1); opacity: 1; } + 50% { transform: scale(1.1); opacity: 0.8; } + 100% { transform: scale(1); opacity: 1; } +} diff --git a/web/config/xbox.config.yaml b/web/config/xbox.config.yaml new file mode 100644 index 0000000..4d2945d --- /dev/null +++ b/web/config/xbox.config.yaml @@ -0,0 +1,21 @@ +teleop_twist_joy_node: + ros__parameters: + require_enable_button: true + enable_button: 5 + + axis_linear: + x: 1 + y: 0 + scale_linear: + x: 1.0 + y: 1.0 + scale_linear_turbo: + x: 1.2 + y: 1.2 + + axis_angular: + yaw: 3 + scale_angular: + yaw: 5.0 + scale_angular_turbo: + yaw: 6.0 \ No newline at end of file diff --git a/web/docker/.bashrc b/web/docker/.bashrc new file mode 100644 index 0000000..edc47c8 --- /dev/null +++ b/web/docker/.bashrc @@ -0,0 +1,50 @@ +# ==================== ROS ==================== # +# ==== Description: ROS environment setup ===== # +# =================== BEGIN =================== # + +source_ros_environment() { + if [ "$ROS_DISTRO" = "humble" ]; then + # Custom Alias + alias rosdep-check='rosdep install -i --from-path src --rosdistro humble -y' + alias build='colcon build --symlink-install' + + # Source ROS environment + source /opt/ros/humble/setup.bash + + # Source workspace environment + # latest_setup_bash: Find the latest setup.bash over user's root directory based on the last modified time + latest_setup_bash=$(find $(pwd) -type f -name "setup.bash" -wholename "*/install/setup.bash" -printf "%T@ %p\n" | sort -nr | awk '{print $2}' | head -n 1) + if [ -n "$latest_setup_bash" ]; then + source $latest_setup_bash + # Source colcon environment + source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash + source /usr/share/colcon_cd/function/colcon_cd.sh + export _colcon_cd_root="${latest_setup_bash%/install/setup.bash}" + else + echo "No setup.bash file found for humble" + fi + elif [ "$ROS_DISTRO" = "noetic" ]; then + source /opt/ros/noetic/setup.bash + # Source workspace environment + if [ -n "$ROS_WS" ]; then + source $ROS_WS/devel/setup.bash + else + echo "ROS_WS variable is not set for noetic" + fi + else + echo "Unsupported ROS_DISTRO: $ROS_DISTRO" + fi +} + +# ==================== END ==================== # + + + +# ================= Functions ================= # +# Note: If you want to use the custom function, # +# you need to uncomment the line below. # +# =================== BEGIN =================== # + +source_ros_environment + +# ==================== END ==================== # diff --git a/web/docker/.env b/web/docker/.env new file mode 100644 index 0000000..0be2fd5 --- /dev/null +++ b/web/docker/.env @@ -0,0 +1 @@ +ROS_DISTRO=humble \ No newline at end of file diff --git a/web/docker/Dockerfile b/web/docker/Dockerfile new file mode 100644 index 0000000..efa62af --- /dev/null +++ b/web/docker/Dockerfile @@ -0,0 +1,81 @@ +###################################################################### +# - Base stage +# - This stage serves as the base image for the following stages. +###################################################################### + +ARG ROS_DISTRO=humble +FROM osrf/ros:${ROS_DISTRO}-desktop-full AS base + +LABEL org.opencontainers.image.title="Eurobot 2025 WebUI" +LABEL org.opencontainers.image.authors="scx@gapp.nthu.edu.tw" +LABEL org.opencontainers.image.licenses="MIT" + +LABEL shell=bash + +ARG USERNAME=user +ARG USER_UID=1000 +ARG USER_GID=$USER_UID + +###################################################################### +# - User setup stage +# - Create a non-root user with default bash shell. +###################################################################### + +FROM base AS user-setup + +RUN groupadd --gid $USER_GID $USERNAME \ + && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ + && apt-get update \ + && apt-get install -y sudo \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ + && chmod 0440 /etc/sudoers.d/$USERNAME \ + && rm -rf /var/lib/apt/lists/* + +###################################################################### +# - Tools Installation stage +# - Install common tools for development. +###################################################################### + +FROM user-setup AS tools + +RUN apt-get update && apt-get install -y \ + curl \ + git \ + git-extras \ + htop \ + tree \ + net-tools \ + tmux \ + vim \ + wget \ + python3-pip \ + bash-completion + +RUN apt-get update && apt-get dist-upgrade -y \ + && apt-get autoremove -y \ + && apt-get autoclean -y \ + && apt-get clean -y \ + && rm -rf /var/lib/apt/lists/* + +###################################################################### +# - Final stage +# - Install the main packages and set the entrypoint. +###################################################################### + +FROM tools AS final + +RUN apt-get update && apt-get install -y \ + ros-${ROS_DISTRO}-foxglove-bridge \ + && rm -rf /var/lib/apt/lists/* + +# Set up the user environment +ENV SHELL /bin/bash +ENV TERM=xterm-256color +USER $USERNAME +WORKDIR /home/$USERNAME + +# Set up bashrc +COPY .bashrc /home/$USERNAME/.bashrc.conf +RUN cat /home/$USERNAME/.bashrc.conf >> /home/$USERNAME/.bashrc + +CMD ["/bin/bash"] diff --git a/web/docker/docker-compose.yaml b/web/docker/docker-compose.yaml new file mode 100644 index 0000000..6f6d1a6 --- /dev/null +++ b/web/docker/docker-compose.yaml @@ -0,0 +1,52 @@ +services: + foxglove-bridge: + build: + context: . + dockerfile: Dockerfile + target: final + args: + ROS_DISTRO: ${ROS_DISTRO} + USERNAME: user + image: scx/foxglove-bridge:${ROS_DISTRO} + container_name: foxglove-bridge + stdin_open: true + tty: true + privileged: true + network_mode: host + restart: always + + working_dir: /home/user + + environment: + - DISPLAY=${DISPLAY} + - ROS_DOMAIN_ID=${ROS_DOMAIN_ID} + + volumes: + - ../app:/home/user/app + - ./entrypoint.sh:/entrypoint.sh + + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Mount X11 server + - /tmp/.X11-unix:/tmp/.X11-unix + # Direct Rendering Infrastructure + - /dev:/dev + + # Mount Temporary Directory + - ../config:/opt/ros/humble/share/teleop_twist_joy/config + + entrypoint: ["/bin/bash", "-c", "/entrypoint.sh"] + command: ["/bin/bash"] + + lichtblick: + build: + context: ../lichtblick + dockerfile: Dockerfile + image: scx/lichtblick:latest + container_name: lichtblick + ports: + - "8080:8080" + restart: always + diff --git a/web/docker/entrypoint.sh b/web/docker/entrypoint.sh new file mode 100755 index 0000000..f4f0e38 --- /dev/null +++ b/web/docker/entrypoint.sh @@ -0,0 +1,13 @@ +#!/bin/bash + +if [ "$ROS_DISTRO" = 'noetic' ]; then + source /opt/ros/noetic/setup.bash + roslaunch foxglove_bridge foxglove_bridge.launch; +elif [ "$ROS_DISTRO" = 'humble' ]; then + source /opt/ros/humble/setup.bash + ros2 launch foxglove_bridge foxglove_bridge_launch.xml & + ros2 launch teleop_twist_joy teleop-launch.py joy_config:=xbox joy_vel:=cmd_vel_nav & + ros2 run image_tools cam2image --ros-args --log-level WARN -p video_device:=/dev/video0; +fi + +exec "$@" \ No newline at end of file diff --git a/web/lichtblick b/web/lichtblick new file mode 160000 index 0000000..077e77d --- /dev/null +++ b/web/lichtblick @@ -0,0 +1 @@ +Subproject commit 077e77d25421156e10e52b60d7317ac1f69c29d1 diff --git a/web/update-submodules.sh b/web/update-submodules.sh new file mode 100755 index 0000000..525bdf9 --- /dev/null +++ b/web/update-submodules.sh @@ -0,0 +1,92 @@ +#!/bin/bash -e + +# ========== Prompt for DRY_RUN ========== +read -p "Enable dry-run mode? (y/N): " yn +case "$yn" in + [Yy]* ) export DRY_RUN=true ;; + * ) export DRY_RUN=false ;; +esac + +# ========== Config ========== +export USE_GITHUB_API=true + +# ========== Color codes ========== +export NC='\033[0m' +export GREEN='\033[0;32m' +export BLUE='\033[0;34m' +export YELLOW='\033[1;33m' +export RED='\033[0;31m' + +# ========== Header ========== +printf "${BLUE}========== Submodule Update Started ==========\n" +printf "Config → USE_GITHUB_API=%s, DRY_RUN=%s\n" "$USE_GITHUB_API" "$DRY_RUN" +printf "==============================================${NC}\n\n" + +# ========== Main ========== +git submodule foreach --quiet --recursive ' + bash -e -c " + name=\"\$1\" + path=\"\$2\" + toplevel=\"\$3\" + + printf \"──────────────────────────────────────────────\n\" + printf \"[Submodule] %s\n\" \"\$name\" + printf \"Path → %s\n\" \"\$path\" + + get_latest_github_release_tag() { + local remote_url=\$1 + local repo_path + repo_path=\$(echo \"\$remote_url\" | sed -E \"s|.*github\\.com[/:]([^/]+/[^/.]+)(\\.git)?|\1|\") + local api_url=\"https://api.github.com/repos/\${repo_path}/releases/latest\" + local tag + tag=\$(curl -s \"\$api_url\" | jq -r .tag_name) + echo \"\$tag\" + } + + get_latest_tag_by_git() { + git fetch --tags > /dev/null + git tag -l | sort -V | tail -n 1 + } + + cd \"\$toplevel/\$path\" || exit 1 + remote_url=\$(git remote get-url origin) + printf \"Remote → %s\n\" \"\$remote_url\" + + if [ \"$USE_GITHUB_API\" = true ]; then + latest_tag=\$(get_latest_github_release_tag \"\$remote_url\") + fi + + if [ -z \"\$latest_tag\" ] || [ \"\$latest_tag\" = \"null\" ]; then + latest_tag=\$(get_latest_tag_by_git) + printf \"${YELLOW}Note → GitHub API fallback to git tags.${NC}\n\" + fi + + if [ -z \"\$latest_tag\" ]; then + printf \"${YELLOW}Result → No valid tags found. Skipping.${NC}\n\" + exit 0 + fi + + current_tag=\$(git describe --tags --exact-match 2>/dev/null || echo \"none\") + printf \"Current tag → %s\n\" \"\$current_tag\" + printf \"Latest tag → %s\n\" \"\$latest_tag\" + + if [ \"\$current_tag\" = \"\$latest_tag\" ]; then + printf \"${GREEN}Result → Already up to date.${NC}\n\" + else + if [ \"$DRY_RUN\" = true ]; then + printf \"${YELLOW}Result → Would update from %s to %s (dry-run only).${NC}\n\" \"\$current_tag\" \"\$latest_tag\" + else + printf \"${BLUE}Action → Updating to %s...${NC}\n\" \"\$latest_tag\" + git fetch --tags + git checkout \"\$latest_tag\" > /dev/null 2>&1 + + cd \"\$toplevel\" || exit 1 + git add \"\$path\" + git commit -m \"Update submodule \$name to \$latest_tag\" > /dev/null + printf \"${GREEN}Result → Updated and committed to %s${NC}\n\" \"\$latest_tag\" + fi + fi + " _ "$name" "$path" "$toplevel" +' + +printf "\n${BLUE}========= Submodule Update Completed =========${NC}\n"