Wall Finishing Robot Control System

A complete backend-driven control system for an autonomous wall-finishing robot. This system provides intelligent path planning, trajectory management, and a web-based visualization interface.

Features

• Grid-based coverage path planning with obstacle avoidance
• Real-time trajectory visualization with playback controls
• Trajectory storage and management
• RESTful API for integration with robot control systems
• Comprehensive logging and monitoring
• Automated test suite

Prerequisites

• Python 3.9 or higher
• pip (Python package manager)

Installation

1. Clone the repository:

   git clone <repository-url>
   cd wall-finishing-robot

2. Create and activate a virtual environment:

   # Windows
   python -m venv venv
   .\venv\Scripts\activate
   
   # Linux/Mac
   python3 -m venv venv
   source venv/bin/activate

3. Install dependencies:

   pip install -r requirements.txt

4. Start the server:

   cd backend
   uvicorn main:app --reload

5. Open your browser and navigate to:

   http://localhost:8000
   

API Endpoints

Coverage Planning

• POST /api/coverage-plan
  • Generates a coverage trajectory for a wall with optional obstacles
  • Request body:

    {
      "wall_width": 5.0,
      "wall_height": 5.0,
      "obstacles": [
        {
          "x": 1.0,
          "y": 2.0,
          "width": 0.25,
          "height": 0.25
        }
      ]
    }

Trajectory Management

• GET /api/trajectories

  • Lists stored trajectories with pagination
  • Query parameters:
    • limit (default: 10)
    • offset (default: 0)

• GET /api/trajectory/{trajectory_id}

  • Retrieves a specific trajectory with its waypoints

• DELETE /api/trajectory/{trajectory_id}

  • Deletes a stored trajectory

Testing

Run the test suite:

pytest --maxfail=1 --disable-warnings -q

The test suite includes:

• Coverage planning algorithm tests
• API endpoint tests
• Database integration tests
• Performance tests (response time < 200ms)

Project Structure

/project_root
  /backend
    main.py              # FastAPI application
    coverage_planner.py  # Path planning algorithm
    models.py           # SQLAlchemy models
    database.py         # Database connection
    schemas.py          # Pydantic models
    /routers
      coverage.py       # Coverage planning routes
      trajectories.py   # Trajectory management routes
    /logs
      server.log       # Application logs
  /frontend
    index.html         # Main UI
    styles.css         # Styling
    app.js            # Frontend logic
  /tests
    test_coverage_plan.py
    test_trajectories.py
  requirements.txt
  README.md

Logging

The system logs all API requests and responses to backend/logs/server.log with the following format:

[2025-06-04 10:15:30] [INFO] Request: POST /api/coverage-plan body={...}
[2025-06-04 10:15:30] [INFO] Response time: 15 ms

Contributing

1. Fork the repository
2. Create a feature branch
3. Commit your changes
4. Push to the branch
5. Create a Pull Request

License

This project is licensed under the MIT License - see the LICENSE file for details.