diff --git a/AGENTS.md b/AGENTS.md index 879df1b..c0ca8d0 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -7,16 +7,22 @@ This file provides guidance to AI coding assistants when working with code in th A dora-rs Python node that gives a human control of a robot arm, from a gamepad or from a web browser, and decides which of the two is driving. -It is **the piece in the middle and nothing else**, and it **touches no hardware at all**. -The arm is [`dora-ulite6`](https://gitea.liria.cl/liria/dora-ulite6), reached through that -node's ordinary `jog` and `request` ports. The browser is carried by -[`dora-websocket-transceiver`](https://gitea.liria.cl/liria/dora-websocket-transceiver). -The gamepad is [`dora-joy`](https://gitea.liria.cl/liria/dora-joy), which publishes raw -axes and buttons on `joy` and knows nothing about arms. Do not add any of the three here. -A teleop node that grew its own HTTP server is exactly the monolith `dora-ulite6` was -rewritten to get out of, and the pad was split out of this repo for the same reason: a -node whose job is policy should not carry a hardware dependency, and a pad nobody else can -reach is a pad that gets reimplemented. +It is **the piece in the middle**, and it **touches no hardware at all**. The arm is +[`dora-ulite6`](https://gitea.liria.cl/liria/dora-ulite6), reached through that node's +ordinary `jog` and `request` ports. The gamepad is +[`dora-joy`](https://gitea.liria.cl/liria/dora-joy), which publishes raw axes and buttons +on `joy` and knows nothing about arms. Do not add either here: a node whose job is policy +should not carry a hardware dependency, and a pad nobody else can reach is a pad that gets +reimplemented. + +**The web console is the exception, and it is deliberate.** This node serves the page and +holds the browsers' sockets itself (`dora_teleop/server.py`), rather than going through +`dora-websocket-transceiver` as it did up to v0.2.0. A bridge node for one page meant a +second node, a second port and a round trip through the dataflow for every button press, +to carry a UI that only this node can interpret anyway. That is not the monolith +`dora-ulite6` was rewritten to escape — the monolith was one process owning the robot +driver, perception and the UI at once. What is forbidden is the hardware, and that has not +moved. **What stays here is everything about what a reading *means***: the deadzone, the response curve, the layout (which button is grasp), and the mapping to base-frame mm/s and deg/s. @@ -26,7 +32,8 @@ number. The web console it serves is ported from `Littlehand/monolitic-littlehand-python` (`littlehand/console/static/`), and **only its Control section**. Perception, calibration, tasks, chat, ROI, settings and health belong to other nodes; porting them here would -rebuild the monolith inside a node. +rebuild the monolith inside a node. That boundary is the one that matters, and the +built-in server does not move it: the console can ask for motion and nothing else. ## Build @@ -86,7 +93,7 @@ a source goes away**. for ever and `GAMEPAD_IDLE_RELEASE_S` never fires. - **`dora_teleop/arbiter.py`** — The lease. One place that answers "why did it not move", rather than one answer per input path. Ported from the monolithic repo's `RobotService` - lease because the console's `app.js` is already built on it — it gates its jog pad on + lease because the console is already built on it — it gates its controls on `t.owner === "web"` and draws an owner chip. A simpler last-writer-wins scheme would mean rewriting the page to match the node rather than the other way round. - **`dora_teleop/ui.py`** — Translation both ways. The console's telemetry keys are a @@ -100,7 +107,13 @@ a source goes away**. layers that are out of order, which is otherwise invisible until the day it matters. - **`dora_teleop/log.py`** — Timestamped stderr logging. stderr because dora reads a dynamic node's stdout. -- **`examples/bench.py`** — A stand-in for the arm *and* the browser, so `dataflow.yml` +- **`dora_teleop/server.py`** — The console's HTTP and WebSocket server, on a thread of + its own. Serves `dora_teleop/web/index.html` at `/` and holds the browsers at `/ws`, on + one port so the page finds its socket on its own origin. Both queues are bounded: a + flood of messages is dropped rather than grown, and a slow browser loses stale snapshots + rather than the newest one. **The browser's deadman lives here** — `clients` counts open + sockets, and the tick reads it. +- **`examples/bench.py`** — A stand-in for the arm, so `dataflow.yml` is self-contained and CI can validate it with no sibling clones. **It is not a simulator** and must not become one: it never integrates a velocity or moves a pose. Its job is to close the loop so this node can be watched, not to stand in for @@ -138,6 +151,11 @@ belongs here, and a port nothing wires reads as supported while having never run ## Rules that are not negotiable +- **Send the change, not the state.** A velocity is a set-point the arm holds. `_drive` + sends when it changes and otherwise repeats on `JOG_KEEPALIVE_S`, which exists only to + beat the arm's own expiry. Repeating every tick made a real xArm re-plan the same motion + twenty times a second, which reads as stepping. Do not restore the every-tick re-send. + A change must never be made to wait for the repeat. - **The stop is sent once, not every tick.** A stream of zero velocities keeps `dora-ulite6` believing a jog is live and holds `robot_state` at `moving` forever. - **E-STOP is never gated on the lease, and neither is its release.** From either @@ -156,8 +174,13 @@ belongs here, and a port nothing wires reads as supported while having never run a velocity straight through, which is why the console had to speak mm/s. One conversion point or none. - **Declare every published Arrow schema.** See `message.py`. -- **Do not reintroduce a web server, a robot driver or a gamepad driver here.** See above. - In particular: no `pygame`, no `evdev`, and no environment variable naming a device. +- **Do not add a robot driver or a gamepad driver here.** See above. In particular: no + `pygame`, no `evdev`, and no environment variable naming a device. The web server is + the one deliberate exception and is scoped to the Control console; anything the console + cannot ask the arm to do does not belong on it. +- **Nothing on the server thread may block the control loop.** `server.py` meets the loop + at two non-blocking points only — the queue the tick drains and the snapshot handed + back. A browser that stops reading must never stall the thread that stops the arm. ## What this node cannot do diff --git a/README.md b/README.md index ef1816b..0f829c5 100644 --- a/README.md +++ b/README.md @@ -5,11 +5,10 @@ open a browser and move it from there — one of the two at a time, decided here It drives [`dora-ulite6`](https://gitea.liria.cl/liria/dora-ulite6) through that node's ordinary `jog` and `request` ports, reads the pad from -[`dora-joy`](https://gitea.liria.cl/liria/dora-joy), and talks to the browser through -[`dora-websocket-transceiver`](https://gitea.liria.cl/liria/dora-websocket-transceiver). -It contains no web server, no robot driver and no gamepad driver: it is the piece in the -middle that decides what the arm should be doing, and that decision is the only thing it -owns. It touches no hardware at all. +[`dora-joy`](https://gitea.liria.cl/liria/dora-joy), and **serves the browser console +itself** on one port. It contains no robot driver and no gamepad driver: it is the piece +in the middle that decides what the arm should be doing, and that decision is the only +thing it owns. It touches no hardware at all. ## The gamepad @@ -18,8 +17,9 @@ axes and buttons and knows nothing about arms. Everything below — the deadzone response curve, which button is which, and what any of it means in mm/s — happens here. Analog and blended — several axes at once, and how fast depends on how far you push. That -is the whole reason a pad beats the web console's four-sector dial pad, which can only ask -for one axis at a time at one fixed speed. +is the whole reason a pad beats the console, whose ring sectors ask for one direction at +the speed the dial is set to. The console can still hold two at once — a sector and a Z +pill — but it cannot ask for a third of full speed on one axis and full on another. | Control | Does | Units | |-------------|-------------------------------------------|-------| @@ -144,7 +144,7 @@ An arm under a velocity command keeps moving until told otherwise, so the questi never whether to start but whether anything has happened that means it must stop. Four layers, outermost last: -1. **Re-send every tick** (50 ms) while a source is driving. +1. **The repeat** (`JOG_KEEPALIVE_S`, 0.2 s) while a source is driving. 2. **The pad's freshness** (`JOY_TTL_S`, 0.2 s). The pad is another process now, and that process dying looks like silence rather than like an unplugged pad — so silence means the same thing. `dora-joy` publishes on every tick whether or not the pad moved, which @@ -165,14 +165,27 @@ controller, not in this process. The stop is sent **once**, not every tick. A stream of zeroes would keep `dora-ulite6` believing a jog is live and hold `robot_state` at `moving` forever. +### What goes on the wire is the change + +A velocity is a set-point the arm holds, not a frame in a sequence. This node sends one +when it **changes** — a new direction, or the stop — and otherwise repeats the current one +only every `JOG_KEEPALIVE_S` (0.2 s), which exists solely so the arm's own expiry never +fires mid-motion. + +It used to repeat every tick. On a real xArm that means the controller is handed the same +velocity twenty times a second and re-plans the same motion each time, which an operator +feels as the arm moving in steps rather than travelling. Keep the repeat well under the +arm's `VELOCITY_COMMAND_TTL_S` and no faster than it needs to be. + +**A change never waits for the repeat.** Releasing a button is acted on the tick it +happens, so sending less does not cost anything at the operator's end. + ## Ports | Direction | Name | Description | |-----------|----------------|------------------------------------------------------| -| in | `tick` | 50 ms — re-send, deadman, telemetry | +| in | `tick` | 50 ms — change detection, deadman, telemetry | | in | `joy` | One pad reading from `dora-joy` | -| in | `ui_command` | One console message, from the bridge's `data_out` | -| in | `clients` | Connect/disconnect from the bridge — the web deadman | | in | `response` | An answer from the arm | | in | `motion_state` | How a motion ended | | in | `robot_state` | The arm's own state | @@ -182,11 +195,15 @@ believing a jog is live and hold `robot_state` at `moving` forever. | out | `command` | **Standard.** `{action, value}`, robot-agnostic verbs | | out | `jog` | *Deprecated.* mm/s + deg/s, for `dora-ulite6` | | out | `request` | *Deprecated.* A service call, `request_id` in metadata | -| out | `ui_state` | The console's telemetry snapshot, as JSON | +| out | `ui_state` | The console's telemetry snapshot, as JSON — see below | Wire `twist` **or** `jog`, never both: they carry the same intent, and a robot reading both is driven twice. Same for `command` and `request`. +The browser is not on this table. It reaches the node over the node's own HTTP and +WebSocket port rather than through the dataflow, so there is nothing to wire for it — +`ui_state` is published for anyone else watching and has no consumer in the stacks below. + ## Environment Variables | Variable | Default | Description | @@ -208,12 +225,13 @@ somebody picks up the pad. ## Usage -The real stack is four nodes: this one, the pad, the WebSocket bridge and the arm. +The real stack is three nodes: this one, the pad and the arm. The console comes with +this node. ```yaml - id: teleop git: ssh://git@gitea.liria.cl:5001/liria/dora-teleop.git - tag: v0.1.0 + tag: v0.3.0 build: pip install . path: dora-teleop inputs: @@ -222,25 +240,29 @@ The real stack is four nodes: this one, the pad, the WebSocket bridge and the ar source: joy/joy queue_size: 1 queue_policy: drop_oldest - ui_command: ws-transceiver/data_out - clients: ws-transceiver/clients response: ulite6/response motion_state: ulite6/motion_state robot_state: ulite6/robot_state tcp_pose: ulite6/tcp_pose joint_pose: ulite6/joint_pose outputs: [jog, request, ui_state] + env: + WEB_PORT: "7000" ``` -Point `ws-transceiver`'s `data_in` at `teleop/ui_state` and its `STATIC_DIR` at this -repo's `web/`, and wire `ulite6`'s `request` and `jog` from this node. Add `dora-joy` on a -20 ms tick for the pad — `queue_size: 1` matters, because it ticks faster than this node -does and an arm should be driven by the newest reading or by none. +Wire `ulite6`'s `request` and `jog` from this node, and add `dora-joy` on a 20 ms tick for +the pad — `queue_size: 1` matters, because it ticks faster than this node does and an arm +should be driven by the newest reading or by none. -Leave `joy` unwired for a browser-only console; the node starts without it. +Then open `http://:7000` for the console. Nothing else needs +wiring: the node serves the page and holds the browsers' sockets, and the page finds the +socket on its own origin. + +Leave `joy` unwired for a browser-only console; the node starts without it. Set +`WEB_PORT: "0"` for a pad-only one, and no port is opened. **Requirements:** dora 1.0+ (verified with `dora-cli 1.0.1`), Python 3.11+ and `uv`. No -hardware: the pad, the arm and the browser are all other nodes. +hardware: the pad and the arm are other nodes, and the browser is any browser. ### Driving a real arm @@ -250,30 +272,48 @@ Both sibling nodes come in by `git:`, so it runs from a fresh clone with nothing checked out. ```bash -dora build dataflow-robot.yml --uv # clones and installs both, needs the network -dora run dataflow-robot.yml --uv +source .venv/bin/activate # see the note below before reaching for --uv +dora build dataflow-robot.yml # clones and installs both, needs the network +dora run dataflow-robot.yml ``` +**`--uv` does not work for a dataflow with `git:` nodes** (dora 1.0.1). `dora build --uv` +installs each `git:` node into a venv inside its own clone directory, while `dora run +--uv` resolves the entrypoint by running `uv run which ` from the *dataflow's* +directory — which only ever sees the dataflow's own venv. The node is installed where the +spawner does not look, and the run fails with `Could not find source path dora-joy within +uv`. Building into one activated environment, as above, puts every node's entrypoint +somewhere the spawner finds it. The venv needs `pip` for that (`uv pip install pip`), +since `uv` does not create one. + +`dataflow.yml` is unaffected and `--uv` is fine there: its only Python node is this repo, +which is already in this repo's venv. + Set `ROBOT_IP` and `TOOL_TYPE` in that file to match the arm in front of you; the defaults are `dora-ulite6`'s own, `192.168.1.192` and a vacuum tool. `INIT_MODE` is `none`, so nothing moves until somebody pushes a stick. -The four deadman timings have to stay ordered, each below the one behind it, and the file -pins all of them so the chain is visible in one place: +The deadman timings have to stay ordered, each below the one behind it, and the file pins +all of them so the chain is visible in one place: | Layer | Setting | Default | |---|---|---| | Pad reading goes stale | `JOY_TTL_S` (teleop) | 0.2 s | +| Held velocity repeated | `JOG_KEEPALIVE_S` (teleop) | 0.2 s | | Owner goes quiet | `JOG_TTL_S` (teleop) | 0.4 s | -| Controller's own expiry | `VELOCITY_COMMAND_TTL_S` (ulite6) | 0.5 s | +| Jog sender goes quiet | `VELOCITY_COMMAND_TTL_S` (ulite6) | 0.5 s | + +The last one is enforced by `dora-ulite6` itself from v0.3.1 on, not by the controller: +the velocity is set once and held, so that node stops the arm rather than letting a +controller-side timer do it. `dora` type-checks a dataflow before it fetches a `git:` source, so it cannot read the arm's manifest from here. The `output_types:` block on the `ulite6` node repeats what -`dora-ulite6` v0.3.0 annotates, which is also what pinning that tag asserts — re-check it +`dora-ulite6` v0.3.1 annotates, which is also what pinning that tag asserts — re-check it when moving to a newer one. -Adding the web console means adding `dora-websocket-transceiver` and wiring `ui_command`, -`clients` and its `data_in`; the four-node stack under **Usage** above has that. +The console is already there — `dataflow-robot.yml` sets `WEB_PORT` to 7000, so opening +`http://:7000` gets you the same arm the pad drives, under the same lease. ### Running it with no arm and no browser @@ -333,16 +373,48 @@ Tear it down with `dora stop --name teleop-bench && dora down`. ## The console -`web/index.html` is the browser half: a jog pad for translation and rotation, gripper, -freedrive, home, the lease buttons and E-STOP, over a telemetry readout. Plain HTML with -no build step — the bridge serves the directory as it stands, and a console you cannot -fix without a toolchain is the wrong thing to have between a person and a robot. +`dora_teleop/web/index.html` is the browser half: two analog sticks, a lift lane and a +yaw lane, plus gripper, freedrive, home, the lease buttons and E-STOP over a telemetry +readout. Plain HTML with no build step — the node serves the file as it stands, and a +console you cannot fix without a toolchain is the wrong thing to have between a person and +a robot. + +**Laid out like the arm's own pendant.** Each ring is quartered into arc sectors you hold, +with the out-of-plane axis as a pair of pills above it — the same shape as xArm Studio's +jog control on the controller at `:18333`, and deliberately the same directions, because +two consoles driving one arm that disagree about which way is `+Y` is a trap rather than a +preference. + +| Ring | Sectors | Pills above | +|-----------|------------------------------------------------|----------------| +| translate | `+X` north, `−X` south, `Y+` **west**, `Y−` east | `−Z` `+Z` | +| rotate | `+pitch` north, `−pitch` south, `−roll` west, `+roll` east | `−yaw` `+yaw` | + +**`Y+` is on the left**, matching xArm Studio and the right-hand rule with `+X` away from +the operator and `+Z` up. It is the one direction that does not read as "screen right is +right", and it is that way on purpose. + +Directions are held, not analog: speed comes from the dial, and every held direction is a +separate pointer, so two fingers work at once — driving `+X` while lifting on `+Z` is one +gesture. + +The node serves it on `WEB_PORT` (7000) and holds the WebSocket on `/ws` of that same +port, so the console is one URL. That work happens on a thread of its own and meets the +control loop at two points only — the messages the next tick drains, and the snapshot +handed back — because a browser that stops reading must never be able to stall the thread +that stops the arm. + +**The browser's deadman is the socket itself.** The last one closing releases the lease +and stops the arm, which is why the tab closing mid-jog does not leave it travelling. Hold a direction to move, release to stop. The page re-sends its jog every 150 ms against the node's 400 ms deadline, so letting go stops the robot even if the release is lost. It sends a **fraction of full deflection**, never a speed, so it never learns the robot's -units; the speed slider scales that fraction. The jog pad is disabled unless the console -holds the lease, so a button that would be refused looks refused. +units; the speed dial sets that fraction. Every control is dimmed and inert unless the +console holds the lease, so one that would be refused looks refused. + +If `WEB_PORT` is already taken the node **refuses to start** and says so, rather than +carrying on with a console nobody can open. `tests/test_console.py` checks the page against `ui.py` — every message type it sends is one the node serves, and every telemetry key it reads is one the node sends. Neither diff --git a/dataflow-gamepad.yml b/dataflow-gamepad.yml index fb1e779..23057f8 100644 --- a/dataflow-gamepad.yml +++ b/dataflow-gamepad.yml @@ -27,7 +27,7 @@ debug: nodes: - id: joy git: https://gitea.liria.cl/liria/dora-joy.git - tag: v0.1 + tag: v0.1.1 build: pip install . path: dora-joy inputs: @@ -47,7 +47,6 @@ nodes: source: joy/joy queue_size: 1 queue_policy: drop_oldest - clients: bench/clients response: bench/response robot_state: bench/robot_state tcp_pose: bench/tcp_pose @@ -61,6 +60,9 @@ nodes: env: SPEED_MM_S: "60" SPEED_DEG_S: "30" + # This one is about the pad, so the console stays shut. Set a port to + # bring it up alongside and watch the lease move between the two. + WEB_PORT: "0" # Declared, not spawned: `dora-teleop-probe` attaches to this id when you run # it, and the dataflow runs perfectly well when nobody does. @@ -81,4 +83,3 @@ nodes: - robot_state - tcp_pose - joint_pose - - clients diff --git a/dataflow-robot.yml b/dataflow-robot.yml index cdf69be..d113d5a 100644 --- a/dataflow-robot.yml +++ b/dataflow-robot.yml @@ -8,16 +8,21 @@ # Both sibling nodes are pulled by `git:`, so this runs from a fresh clone with # no other checkouts. It needs the network on its first build, and an arm. # -# dora build dataflow-robot.yml --uv -# dora run dataflow-robot.yml --uv +# source .venv/bin/activate +# dora build dataflow-robot.yml +# dora run dataflow-robot.yml +# +# Not `--uv`: dora 1.0.1 installs a `git:` node into a venv inside its own clone and +# then looks for its entrypoint in this dataflow's venv instead. README.md has the +# detail. `dataflow.yml` has no `git:` nodes and is fine with --uv. # # Set ROBOT_IP and TOOL_TYPE below to match the arm in front of you. The # defaults are `dora-ulite6`'s own: 192.168.1.192 and a vacuum tool. # -# For the web console as well as the pad, add `dora-websocket-transceiver` and -# wire `ui_command`, `clients` and its `data_in` — README.md has that wiring. -# Without it the console ports below simply go unread, which is why `ui_state` -# has no consumer here. +# The web console comes with the node: it serves the page and holds the +# browsers' sockets itself, so `http://:7000` is a second way to +# drive the same arm, with the same lease deciding who gets it. Set WEB_PORT to +# 0 below for a pad-only run that opens no port at all. strict_types: true @@ -29,7 +34,7 @@ debug: nodes: - id: joy git: https://gitea.liria.cl/liria/dora-joy.git - tag: v0.1 + tag: v0.1.1 build: pip install . path: dora-joy inputs: @@ -68,10 +73,14 @@ nodes: # inside it, and a backstop that fires first backs up nothing. JOY_TTL_S: "0.2" JOG_TTL_S: "0.4" + # The console, on this machine. It is bound to every interface because + # the operator is rarely sitting at the box wired to the arm. + WEB_HOST: "0.0.0.0" + WEB_PORT: "7000" - id: ulite6 git: https://gitea.liria.cl/liria/dora-ulite6.git - tag: v0.3.0 + tag: v0.3.1 build: pip install . path: dora-ulite6 inputs: @@ -86,7 +95,7 @@ nodes: - robot_state # dora type-checks before it fetches a `git:` source, so it cannot read the # arm's own manifest from here. These three repeat what `dora-ulite6` - # v0.3.0 annotates; `response` and `motion_state` stay untyped there and so + # v0.3.1 annotates; `response` and `motion_state` stay untyped there and so # stay untyped here. Re-check them when moving to a new tag. output_types: joint_pose: std/core/v1/Float32 diff --git a/dataflow.yml b/dataflow.yml index bd4582e..33e3cbb 100644 --- a/dataflow.yml +++ b/dataflow.yml @@ -26,7 +26,6 @@ nodes: build: pip install . inputs: tick: dora/timer/millis/50 - clients: bench/clients response: bench/response robot_state: bench/robot_state tcp_pose: bench/tcp_pose @@ -40,6 +39,10 @@ nodes: env: SPEED_MM_S: "60" SPEED_DEG_S: "30" + # The console is served by this node. CI runs this dataflow, so it binds + # to localhost and stays off any interface a colleague could reach. + WEB_HOST: "127.0.0.1" + WEB_PORT: "7000" - id: bench path: examples/bench.py @@ -53,4 +56,3 @@ nodes: - robot_state - tcp_pose - joint_pose - - clients diff --git a/dora-node.yml b/dora-node.yml index c61d5a1..55c6ac9 100644 --- a/dora-node.yml +++ b/dora-node.yml @@ -5,7 +5,7 @@ # dataflow against it without running the node, so CI needs neither a gamepad # nor a robot. # -# `joy`, `jog`, `request`, `response`, `motion_state` and the two `ui_` ports are +# `joy`, `jog`, `request`, `response`, `motion_state` and `ui_state` are # deliberately **untyped**. dora treats a port carrying `request_id` as # pattern-correlated and skips type checks on it, several Arrow schemas # legitimately flow over each — one per service, one per console message — and @@ -30,7 +30,8 @@ dora: ">=1.0" inputs: tick: description: >- - Drives everything time-based: re-sending the held velocity, expiring a + Drives everything time-based: noticing a changed velocity, repeating the + held one, expiring a source that has gone quiet, and publishing the console's telemetry. Use 50 ms. Slower than about 100 ms and the arm node's own velocity expiry starts firing between ticks, which an operator feels as the arm stuttering. @@ -53,20 +54,6 @@ inputs: concerned. Leave it unwired for a browser-only console. The node says so and starts. - ui_command: - required: false - description: >- - One message from the web console, as the JSON string the WebSocket bridge - publishes on `data_out`. Wire it from the bridge. A message this node does - not recognise is dropped rather than refused, so a page from a newer build - cannot take the arm down. - clients: - required: false - description: >- - Connect and disconnect events from the WebSocket bridge, as - `{connected, event}`. **This is the browser's deadman.** Without it a tab - closing mid-jog leaves the arm travelling until the arm node's own expiry - catches up, because a socket that went away sends nothing to say so. response: required: false description: >- @@ -105,11 +92,13 @@ outputs: second and radians per second — in the frame named by `frame`, currently always `base`. - Re-sent every tick while a source is driving, and followed by exactly one - all-zero Twist when it stops — once, not repeatedly, because a stream of - zeroes keeps a consumer believing a jog is live. There is no answer to a - Twist, ever: it expires on the consumer's own TTL and the sender keeps - sending. + Sent when the velocity **changes**, and otherwise repeated every + `JOG_KEEPALIVE_S` so the consumer's own expiry never fires mid-motion — a + velocity is a set-point a consumer holds, not a frame in a sequence, and a + consumer that re-plans on every message moves in steps if it is fed one + every tick. A stop is a change: exactly one all-zero Twist, not repeatedly, + because a stream of zeroes keeps a consumer believing a jog is live. There + is no answer to a Twist, ever: it expires on the consumer's own TTL. Both control sources are normalised to a fraction of full speed before anything is scaled, so a gamepad and the web console asking for the same @@ -137,9 +126,13 @@ outputs: no standard equivalent yet and go only here. ui_state: description: >- - The console's telemetry snapshot, as a JSON string for the WebSocket - bridge to broadcast. Also carries error toasts. Every key in it is read by - name in the console's page, so the two change together. + The console's telemetry snapshot, as a JSON string. Also carries error + toasts. Every key in it is read by name in the console's page, so the two + change together. + + The browsers get this straight from the node's own server and do not read + this port; it is published for anyone else watching — `dora topic echo`, + a recorder, a second screen — and costs nothing when nobody is. # Reserved, not implemented. A joint-space robot — a lerobot SO-101, say — takes # joint targets rather than a Cartesian velocity, and no amount of scaling turns @@ -190,6 +183,16 @@ env: How long the owning source may go quiet before the arm is stopped. Keep it **below** the arm node's VELOCITY_COMMAND_TTL_S (0.5 s by default), which is the controller-side backstop behind this one. Defaults to 0.4. + JOG_KEEPALIVE_S: + type: float + default: 0.2 + description: >- + How often to repeat a velocity that has not changed. Must be **above 0 and + below JOG_TTL_S**, which in turn sits below the arm's own + VELOCITY_COMMAND_TTL_S — so the repeat outpaces the expiry it exists to + beat. Raising it sends fewer messages and asks the controller to re-plan + less; too high and the arm stops between repeats. A change is never + delayed by it. Defaults to 0.2. JOY_TTL_S: type: float default: 0.2 @@ -210,11 +213,26 @@ env: description: >- How often to call `get_state` for what telemetry does not carry: whether the tool is engaged and whether freedrive is on. Defaults to 0.5. + WEB_HOST: + type: string + default: "0.0.0.0" + description: >- + The address the built-in web console binds to. Defaults to `0.0.0.0`, + because the operator is rarely sitting at the machine wired to the arm. + Set `127.0.0.1` where they are, or where the network is not yours. + WEB_PORT: + type: int + default: 7000 + description: >- + The port the console is served on — the page and the browsers' WebSocket + both, so there is one URL and nothing to keep in step. **Set it to 0 to + open no port at all**, which is what a pad-only dataflow wants. Defaults + to 7000. example: | - id: teleop git: ssh://git@gitea.liria.cl:5001/liria/dora-teleop.git - tag: v0.1.0 + tag: v0.3.0 build: pip install . path: dora-teleop inputs: @@ -223,8 +241,6 @@ example: | source: joy/joy queue_size: 1 queue_policy: drop_oldest - ui_command: ws-transceiver/data_out - clients: ws-transceiver/clients response: ulite6/response motion_state: ulite6/motion_state robot_state: ulite6/robot_state diff --git a/dora_teleop/arbiter.py b/dora_teleop/arbiter.py index 38196df..830a8c3 100644 --- a/dora_teleop/arbiter.py +++ b/dora_teleop/arbiter.py @@ -5,7 +5,7 @@ that decision, in one place, so there is exactly one answer to "why did it not move" rather than one per input path. The model comes from the monolithic repo's `RobotService` lease, and is kept -because the old web console is built on it: its jog pad is gated on owning the +because the web console is built on it: its controls are gated on owning the arm and it renders an owner chip. A simpler last-writer-wins scheme would mean rewriting the console to match the node rather than the other way round. diff --git a/dora_teleop/config.py b/dora_teleop/config.py index 3ba6be4..e125cdf 100644 --- a/dora_teleop/config.py +++ b/dora_teleop/config.py @@ -20,22 +20,72 @@ def env_float(name: str, default: float) -> float: raise ValueError(f"{name} must be a number, not {value!r}") from None +def env_int(name: str, default: int) -> int: + """Read a whole number, naming the variable if it cannot be read as one.""" + value = os.environ.get(name, "").strip() + if not value: + return default + try: + return int(value) + except ValueError: + raise ValueError(f"{name} must be a whole number, not {value!r}") from None + + +@dataclass +class ConsoleConfig: + """Where the built-in web console listens. + + The node serves the page and holds the browsers' sockets itself, so there is + one address and one port rather than a bridge node and two. `0.0.0.0` is the + default because the operator is rarely sitting at the machine driving the + arm; bind it to `127.0.0.1` where that is not true. + """ + + host: str = "0.0.0.0" + port: int = 7000 + + @property + def enabled(self) -> bool: + """Whether to open the port at all. Port 0 means a pad-only dataflow.""" + return self.port != 0 + + @classmethod + def from_env(cls) -> "ConsoleConfig": + """Build the console's address from the environment.""" + port = env_int("WEB_PORT", 7000) + if not 0 <= port <= 65535: + raise ValueError(f"WEB_PORT must be a port number, not {port}") + return cls(host=os.environ.get("WEB_HOST", "").strip() or "0.0.0.0", port=port) + + @dataclass class DeadmanConfig: """How long a source may go quiet before the arm is told to stop. Four layers, outermost last. `joy_ttl_s` is how long a pad reading stays - worth acting on; this node re-sends the current velocity every tick; - `jog_ttl_s` is how long it will keep doing so without hearing from the - source; and behind all of them sits the arm node's own - `VELOCITY_COMMAND_TTL_S`, which the controller enforces whether or not this - process is alive. + worth acting on; `jog_keepalive_s` is how often an unchanged velocity is + repeated; `jog_ttl_s` is how long this node keeps driving without hearing + from the source; and behind all of them sits the arm node's own + `VELOCITY_COMMAND_TTL_S`, enforced there whether or not this process is + alive. Keep them in that order — each shorter than the one behind it — or a backstop fires before the thing it is backing up. """ jog_ttl_s: float = 0.4 + # How often to repeat a velocity that has not changed. A velocity is a + # set-point, not a sequence: the arm holds the last one until its own expiry + # or a new one, so repeating it 20 times a second only makes the controller + # re-plan the same motion 20 times, which an operator feels as stepping. + # Low enough that the arm's VELOCITY_COMMAND_TTL_S never fires mid-motion, + # and no lower. A change — a new direction, or the stop — never waits for it. + # + # It is checked on the tick, so the period actually achieved is this rounded + # *up* to the next tick: 0.2 with a 50 ms tick repeats every 250 ms, because + # the tick at 200 ms lands a hair early and does not qualify. Budget against + # that number, not this one. + jog_keepalive_s: float = 0.2 # How long the `joy` stream may go quiet before the pad reads as gone. The # pad lives in another node now, and that node dying looks like silence # rather than like an unplugged pad, so silence has to mean the same thing. @@ -53,6 +103,7 @@ class DeadmanConfig: """Build the timings from the environment.""" return cls( jog_ttl_s=env_float("JOG_TTL_S", 0.4), + jog_keepalive_s=env_float("JOG_KEEPALIVE_S", 0.2), joy_ttl_s=env_float("JOY_TTL_S", 0.2), gamepad_idle_release_s=env_float("GAMEPAD_IDLE_RELEASE_S", 2.0), state_poll_s=env_float("STATE_POLL_S", 0.5), @@ -63,9 +114,9 @@ class DeadmanConfig: class Config: """The node's settings.""" - # Full-deflection speeds. A stick is analog, so these are the maximum and - # anything less moves proportionally slower — which is the whole reason a - # gamepad beats the console's dial pad. + # Full-deflection speeds. Both sources are analog — a gamepad stick and the + # console's on-screen ones — so these are the maximum and anything less + # moves proportionally slower. speed_mm_s: float speed_deg_s: float # Stick travel to ignore. A worn stick that does not centre would otherwise @@ -75,6 +126,7 @@ class Config: # positioning happens near centre, and expo is what buys resolution there. expo: float deadman: DeadmanConfig = field(default_factory=DeadmanConfig) + console: ConsoleConfig = field(default_factory=ConsoleConfig) @classmethod def from_env(cls) -> "Config": @@ -93,10 +145,20 @@ class Config: raise ValueError( f"JOY_TTL_S must be below JOG_TTL_S ({deadman.jog_ttl_s}), not {deadman.joy_ttl_s}" ) + # The repeat has to be quicker than the arm's own velocity expiry or the + # arm stops between repeats. That expiry cannot be read from here, but + # JOG_TTL_S is already required to sit below it, so staying under + # JOG_TTL_S keeps the repeat under both. + if not 0.0 < deadman.jog_keepalive_s < deadman.jog_ttl_s: + raise ValueError( + f"JOG_KEEPALIVE_S must be above 0 and below JOG_TTL_S ({deadman.jog_ttl_s}), " + f"not {deadman.jog_keepalive_s}" + ) return cls( speed_mm_s=env_float("SPEED_MM_S", 60.0), speed_deg_s=env_float("SPEED_DEG_S", 30.0), deadzone=deadzone, expo=expo, deadman=deadman, + console=ConsoleConfig.from_env(), ) diff --git a/dora_teleop/main.py b/dora_teleop/main.py index f4cefe8..4e94369 100644 --- a/dora_teleop/main.py +++ b/dora_teleop/main.py @@ -4,15 +4,20 @@ The loop owns the one decision this node exists to make — whether a velocity reaches the arm this tick, and from whom. Everything else is delegated: :mod:`dora_teleop.joy` takes the pad off the wire, :mod:`dora_teleop.mapping` turns a reading into a velocity, :mod:`dora_teleop.arbiter` says who is allowed -to, and :mod:`dora_teleop.ui` speaks the console's language. **No hardware is -touched here at all** — the pad is `dora-joy`, the arm is `dora-ulite6` and the -browser is the WebSocket bridge. +to, :mod:`dora_teleop.ui` speaks the console's language and +:mod:`dora_teleop.server` serves it. **No hardware is touched here at all** — +the pad is `dora-joy` and the arm is `dora-ulite6`. **The safety-critical part is `_drive`.** An arm moving under a velocity command keeps moving until told otherwise, so the question is never "should it start" but "has anything happened that means it must stop". Three things mean that: the source went quiet, the source went away, or this process is going away. All three end in the same place — one all-zero velocity, sent once. + +What goes out is the *change*: a velocity is a set-point the arm holds, not a +frame in a sequence, so an unchanged one is repeated only as often as the arm's +own expiry demands. A change — a new direction, or the stop — is never made to +wait for that timer. """ import argparse @@ -22,7 +27,7 @@ import time import pyarrow as pa from dora import Node -from dora_teleop import joy, mapping, message, ui +from dora_teleop import joy, mapping, message, server, ui from dora_teleop.arbiter import GAMEPAD, WEB, Arbiter from dora_teleop.config import Config from dora_teleop.joy import JoyInput, now @@ -68,11 +73,20 @@ class Teleop: # pad's — the console does not know the robot's units. self.web_axes = STOP_AXES self.web_seen_at = 0.0 + # How many browsers are on the console right now, read from the server + # every tick. The last one leaving has to stop the arm, and a socket + # that went away sends nothing to say so. self.clients = 0 + self.console: server.Console | None = None # Whether the arm is currently being driven by us. Used to send the stop # once rather than every tick: a stream of zeroes would keep the arm # node believing a jog is live and hold `robot_state` at `moving`. self.jogging = False + # The last velocity actually put on the wire, and when. `_drive` sends + # only when what it wants differs from this, so the arm is told about + # changes rather than told the same thing 20 times a second. + self.sent_axes = STOP_AXES + self.sent_at = 0.0 self.buttons: list[bool] = [] self.requests = 0 self.polled_at = 0.0 @@ -92,6 +106,9 @@ def main() -> None: # dora spawns it, the id from the dataflow wins. node = Node(args.name) state = Teleop(config) + if config.console.enabled: + state.console = server.Console(config.console.host, config.console.port) + state.console.start() try: for event in node: @@ -106,6 +123,8 @@ def main() -> None: # controller's own expiry catches up, which is the one moment nobody is # watching for it. _send_motion(node, state, STOP_AXES) + if state.console is not None: + state.console.stop() def _parse_args() -> argparse.Namespace: @@ -126,10 +145,6 @@ def _handle(node: Node, state: Teleop, event: dict) -> None: _tick(node, state) elif event_id == "joy": state.joy.accept(joy.decode(event), now()) - elif event_id == "ui_command": - _accept_ui_command(node, state, event) - elif event_id == "clients": - _accept_clients(state, event) elif event_id == "robot_state": state.view.state = event["value"][0].as_py() elif event_id == "tcp_pose": @@ -150,6 +165,10 @@ def _handle(node: Node, state: Teleop, event: dict) -> None: def _tick(node: Node, state: Teleop) -> None: """Decide what the arm should be doing, and say so.""" moment = now() + # Before anything else: what the browser asked for since the last tick is + # part of this tick's picture, and the client count it implies is what the + # web deadman reads below. + _drain_console(node, state) # Absent covers three things now: no pad plugged in, a pad unplugged # mid-jog, and `dora-joy` no longer sending. The arm cannot tell them apart # and does not need to. @@ -179,22 +198,27 @@ def _tick(node: Node, state: Teleop) -> None: def _drive(node: Node, state: Teleop, sample, moment: float) -> None: """Send the velocity the owner is asking for, or the stop that ends it. - A velocity is only re-sent while it is non-zero: the arm node treats a - stream of jogs as one continuous one, and the re-send exists so the - controller's own expiry never fires mid-motion. + Changes go out at once; an unchanged velocity is repeated only on + `jog_keepalive_s`, which exists solely so the arm's own velocity expiry + never fires mid-motion. Repeating it every tick instead made the controller + re-plan the same motion twenty times a second, which an operator feels as + the arm moving in steps rather than travelling. + + The stop is a change like any other, so releasing a button is acted on the + tick it happens and never waits for the repeat. """ axes = _wanted_axes(state, sample, moment) - if mapping.is_moving(axes): - state.jogging = True + if axes != state.sent_axes: + # Includes the stop: going to all-zero is a change, sent once, and the + # `jogging` flag then keeps it from being repeated. A stream of zeroes + # would hold the arm node's `robot_state` at `moving` forever. + state.jogging = mapping.is_moving(axes) _send_motion(node, state, axes) return - if state.jogging: - # Once, not every tick. Repeating it would keep the arm node believing a - # jog is live and hold `robot_state` at `moving` forever. - state.jogging = False - _send_motion(node, state, STOP_AXES) + if state.jogging and moment - state.sent_at >= state.config.deadman.jog_keepalive_s: + _send_motion(node, state, axes) def _wanted_axes(state: Teleop, sample, moment: float) -> list[float]: @@ -278,17 +302,17 @@ def _poll_state(node: Node, state: Teleop, moment: float) -> None: # --- what the console asks for --- -def _accept_ui_command(node: Node, state: Teleop, event: dict) -> None: - """Take one console message and do what it says.""" - raw = event["value"][0].as_py() if len(event["value"]) else None - if raw is None: - return - try: - payload = json.loads(raw) if isinstance(raw, str) else raw - except json.JSONDecodeError: - log("ignoring a console message that was not JSON") +def _drain_console(node: Node, state: Teleop) -> None: + """Act on everything the browsers sent, then note how many are still there.""" + if state.console is None: return + for payload in state.console.take(): + _accept_ui_command(node, state, payload) + _set_clients(state, state.console.clients) + +def _accept_ui_command(node: Node, state: Teleop, payload: dict) -> None: + """Take one console message and do what it says.""" command = ui.command_of(payload) if command is None: return @@ -305,7 +329,7 @@ def _accept_ui_command(node: Node, state: Teleop, event: dict) -> None: return if not state.arbiter.may_drive(WEB): - _post_ui(node, ui.error("take control first")) + _post_ui(node, state, ui.error("take control first")) return if command.type == "jog": @@ -332,14 +356,13 @@ def _control(node: Node, state: Teleop, command, moment: float) -> None: state.web_axes = STOP_AXES return if not state.arbiter.take(WEB, moment, preempt=command.preempt): - _post_ui(node, ui.error(f"the {state.arbiter.owner} has the arm")) + _post_ui(node, state, ui.error(f"the {state.arbiter.owner} has the arm")) -def _accept_clients(state: Teleop, event: dict) -> None: +def _set_clients(state: Teleop, count: int) -> None: """Track who is watching, because the last one leaving has to stop the arm.""" - row = event["value"][0].as_py() - state.clients = int(row.get("connected", 0)) - if state.clients == 0: + state.clients = count + if count == 0: state.arbiter.release(WEB) state.web_axes = STOP_AXES @@ -356,14 +379,14 @@ def _accept_response(node: Node, state: Teleop, event: dict) -> None: if not row.get("ok", True): message = row.get("message", "") log(f"{row.get('service')} failed: {message}") - _post_ui(node, ui.error(message)) + _post_ui(node, state, ui.error(message)) def _accept_motion_state(node: Node, state: Teleop, event: dict) -> None: """Report a motion that failed, which a non-blocking request learns no other way.""" row = event["value"][0].as_py() if row.get("state") == "failed": - _post_ui(node, ui.error(row.get("message", "the motion failed"))) + _post_ui(node, state, ui.error(row.get("message", "the motion failed"))) # --- talking to the dataflow --- @@ -402,10 +425,16 @@ def _send_motion(node: Node, state: Teleop, axes: list[float]) -> None: is `dora-ulite6`'s mm/s and deg/s, published alongside until that node learns the standard. Both carry the same intent, so wiring either is safe; wiring both would drive the arm twice. + + This always sends. The decision not to is `_drive`'s, so that the e-stop and + the shutdown stop — neither of which goes through it — can never be + suppressed by having sent the same thing already. """ config = state.config node.send_output("twist", message.pack_twist(mapping.twist(axes, config))) node.send_output("jog", message.pack_jog(mapping.scale(axes, config))) + state.sent_axes = list(axes) + state.sent_at = now() def _act(node: Node, state: Teleop, action: str, value: float | None = None) -> None: @@ -434,11 +463,18 @@ def _request(node: Node, state: Teleop, row: dict) -> None: def _publish(node: Node, state: Teleop) -> None: """Send the console its picture of the arm.""" - _post_ui(node, ui.snapshot(state.view, state.arbiter.owner, state.jogging, time.time())) + _post_ui(node, state, ui.snapshot(state.view, state.arbiter.owner, state.jogging, time.time())) -def _post_ui(node: Node, payload: dict) -> None: - """Hand one object to the bridge, which broadcasts it to every browser.""" +def _post_ui(node: Node, state: Teleop, payload: dict) -> None: + """Send one object to every browser, and out on the wire for anyone watching. + + `ui_state` carries no browser any more — the sockets are ours. It stays + published because it is the one port that says what an operator is being + shown, which is what `dora topic echo` and the bench read it for. + """ + if state.console is not None: + state.console.broadcast(payload) node.send_output("ui_state", pa.array([json.dumps(payload)]), metadata={"encoding": "json"}) diff --git a/dora_teleop/mapping.py b/dora_teleop/mapping.py index db08c19..f54d3dc 100644 --- a/dora_teleop/mapping.py +++ b/dora_teleop/mapping.py @@ -120,7 +120,7 @@ def from_pad(axes: list[float], buttons: list[bool], config, layout: Layout = LA Translation comes from the left stick and the triggers, rotation from the right stick and the bumpers. Several axes move at once on purpose: a stick - is analog and blended, which is exactly what a four-sector dial pad cannot do. + is analog and blended, which is exactly what the console's ring sectors cannot do. The deadzone and the response curve are applied here and nowhere else, because they exist to correct a physical stick. A browser has no worn diff --git a/dora_teleop/server.py b/dora_teleop/server.py new file mode 100644 index 0000000..732135c --- /dev/null +++ b/dora_teleop/server.py @@ -0,0 +1,184 @@ +"""The console's web server, running inside this node. + +The browser used to reach the node through `dora-websocket-transceiver`, which +meant a second node, a second port and a round trip through the dataflow for +every button press. This serves the page and holds the sockets directly, so the +console is one URL and the operator wires nothing. + +**Nothing here runs on the dora thread.** aiohttp wants an asyncio loop and the +node's loop is a blocking `for event in node`, so the server owns a thread of +its own and the two sides meet at two places only: :meth:`Console.take`, which +the tick drains, and :meth:`Console.broadcast`, which hands a snapshot the other +way. Both are non-blocking by construction — a browser that stops reading must +never be able to stall the thread that stops the arm. +""" + +import asyncio +import json +import queue +import threading +from pathlib import Path + +from aiohttp import WSMsgType, web + +from dora_teleop.log import log + +INDEX = Path(__file__).parent / "web" / "index.html" + +# How many console messages may pile up between two ticks before we start +# dropping them. The console sends a jog every 150 ms and the tick runs every +# 50, so reaching this at all means something is flooding us; an unbounded +# queue would answer that by growing until the node died. +INBOX_LIMIT = 256 + +# How many snapshots may wait on one socket. Telemetry is a snapshot, not a +# log, so a client too slow to keep up wants the newest one and not a backlog +# of the arm's recent past. +OUTBOX_LIMIT = 8 + + +class _Client: + """One connected browser, and the snapshots waiting to reach it.""" + + def __init__(self) -> None: + self.outbox: asyncio.Queue[str] = asyncio.Queue(maxsize=OUTBOX_LIMIT) + + def offer(self, text: str) -> None: + """Queue one snapshot, discarding the stalest if this client is behind.""" + if self.outbox.full(): + self.outbox.get_nowait() + self.outbox.put_nowait(text) + + +class Console: + """The page, the sockets, and the thread they live on.""" + + def __init__(self, host: str, port: int): + self.host = host + self.port = port + # Read every tick by the deadman: the last browser leaving has to stop + # the arm, and a closed socket sends nothing to say so. + self.clients = 0 + self._inbox: queue.Queue[dict] = queue.Queue(maxsize=INBOX_LIMIT) + self._sockets: set[_Client] = set() + self._loop: asyncio.AbstractEventLoop | None = None + self._thread: threading.Thread | None = None + self._ready = threading.Event() + # Whatever stopped the server coming up, kept so `start` can raise it on + # the caller's thread instead of leaving a traceback on stderr and a + # node that believes it is serving a console. + self._failure: BaseException | None = None + + def start(self) -> None: + """Bring the server up, or raise saying why it could not. + + Refusing to start is the point. The port being taken used to leave a + traceback on the server thread and a node that carried on announcing a + console nobody could open — an operator typing the URL and getting + nothing, with the log saying everything was fine. + """ + self._thread = threading.Thread(target=self._run, name="teleop-console", daemon=True) + self._thread.start() + if not self._ready.wait(timeout=10.0): + raise RuntimeError(f"the console did not come up on {self.host}:{self.port} within 10s") + if self._failure is not None: + raise self._failure + log(f"console on http://{self.host}:{self.port}") + + def take(self) -> list[dict]: + """Return every console message that arrived since the last call.""" + drained = [] + while True: + try: + drained.append(self._inbox.get_nowait()) + except queue.Empty: + return drained + + def broadcast(self, payload: dict) -> None: + """Hand one object to every connected browser.""" + if self._loop is None: + return + text = json.dumps(payload) + self._loop.call_soon_threadsafe(self._offer, text) + + def stop(self) -> None: + """Close the sockets and stop the thread.""" + if self._loop is None: + return + self._loop.call_soon_threadsafe(self._loop.stop) + if self._thread is not None: + self._thread.join(timeout=2.0) + + # --- everything below runs on the server thread --- + + def _run(self) -> None: + loop = asyncio.new_event_loop() + asyncio.set_event_loop(loop) + self._loop = loop + try: + runner = loop.run_until_complete(self._listen()) + except BaseException as error: # noqa: BLE001 — handed to `start` to raise + self._failure = error + self._loop = None + loop.close() + # Releases `start` at once rather than making it wait out its + # timeout for a server that is never coming up. + self._ready.set() + return + try: + loop.run_forever() + finally: + loop.run_until_complete(runner.cleanup()) + loop.close() + + async def _listen(self) -> web.AppRunner: + app = web.Application() + app.router.add_get("/", self._page) + app.router.add_get("/ws", self._socket) + runner = web.AppRunner(app) + await runner.setup() + await web.TCPSite(runner, self.host, self.port).start() + self._ready.set() + return runner + + async def _page(self, request: web.Request) -> web.FileResponse: + """Serve the console itself.""" + return web.FileResponse(INDEX) + + async def _socket(self, request: web.Request) -> web.WebSocketResponse: + """Hold one browser's socket for as long as it stays.""" + socket = web.WebSocketResponse(heartbeat=20) + await socket.prepare(request) + client = _Client() + self._sockets.add(client) + self.clients = len(self._sockets) + writer = asyncio.create_task(self._write(socket, client)) + try: + async for received in socket: + if received.type == WSMsgType.TEXT: + self._accept(received.data) + finally: + writer.cancel() + self._sockets.discard(client) + self.clients = len(self._sockets) + return socket + + def _accept(self, text: str) -> None: + """Park one message from a browser for the next tick to read.""" + try: + payload = json.loads(text) + except json.JSONDecodeError: + log("ignoring a console message that was not JSON") + return + try: + self._inbox.put_nowait(payload) + except queue.Full: + log("console inbox full, dropping a message") + + def _offer(self, text: str) -> None: + for client in self._sockets: + client.offer(text) + + async def _write(self, socket: web.WebSocketResponse, client: _Client) -> None: + while True: + await socket.send_str(await client.outbox.get()) diff --git a/dora_teleop/web/index.html b/dora_teleop/web/index.html new file mode 100644 index 0000000..67b0241 --- /dev/null +++ b/dora_teleop/web/index.html @@ -0,0 +1,449 @@ +teleop console + + +
+ +
+

teleop console

+ — + — +
+ +
+

Control

+
+ + + + +
+
+ +
+
+

Translate

+
+ + +
+ + + +
+ +
+

Rotate

+
+ + +
+ + + +
+
+ +
+

Speed

+ +
+ +
+

Tool

+
+ + + + +
+
+ +
+

State

+
+
+ +
+ + +
+ + diff --git a/examples/bench.py b/examples/bench.py index f770284..024d83c 100644 --- a/examples/bench.py +++ b/examples/bench.py @@ -42,9 +42,6 @@ def main() -> None: node.send_output("robot_state", pa.array(["ready"])) node.send_output("tcp_pose", pa.array(POSE, type=pa.float32()), {"units_position": "mm"}) node.send_output("joint_pose", pa.array(JOINTS, type=pa.float32()), {"units": "deg"}) - # No browser is attached to this dataflow, and saying so is what - # keeps teleop from believing one went away mid-jog. - node.send_output("clients", pa.array([{"connected": 0, "event": "close"}])) elif event["id"] == "jog": velocity = event["value"][0].as_py()["velocity"] diff --git a/examples/dora-node.yml b/examples/dora-node.yml index 5e4199e..0c0a9c8 100644 --- a/examples/dora-node.yml +++ b/examples/dora-node.yml @@ -23,8 +23,9 @@ inputs: description: A service call. Every one is answered ok. ui_state: description: >- - The console snapshot teleop publishes. Accepted and dropped: no browser is - attached to this dataflow. + The console snapshot teleop publishes. Printed on change, which is how the + lease moving and the arm starting and stopping can be watched without a + browser. outputs: response: @@ -38,5 +39,3 @@ outputs: joint_pose: description: Fixed joint angles, for the same reason. type: std/core/v1/Float32 - clients: - description: Always zero connected, since the WebSocket bridge is not in this dataflow. diff --git a/pyproject.toml b/pyproject.toml index da94c5d..6d6c934 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "dora-teleop" -version = "0.2.0" +version = "0.3.0" description = "Dora node giving a human the arm, from a gamepad or a browser" readme = "README.md" license = { text = "MIT" } @@ -9,11 +9,14 @@ authors = [{ name = "Liria" }] # dora-rs 1.0 requires 3.11; the node uses PEP 604 unions and zip(strict=). requires-python = ">=3.11" -# No hardware dependency. The pad is `dora-joy`, the arm is `dora-ulite6` and the -# browser is `dora-websocket-transceiver`; this node decides and nothing else. +# No hardware dependency. The pad is `dora-joy` and the arm is `dora-ulite6`; +# this node decides, and serves the console that asks it to. dependencies = [ "dora-rs >= 1.0.1", "pyarrow >= 17.0", + # The web console: the page and the browsers' sockets on one port. Replaces + # `dora-websocket-transceiver`, which was a second node for the same job. + "aiohttp >= 3.9", ] [dependency-groups] diff --git a/tests/conftest.py b/tests/conftest.py index b9a65c7..ab074b3 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -101,9 +101,12 @@ def clean_env(monkeypatch): "DEADZONE", "EXPO", "JOG_TTL_S", + "JOG_KEEPALIVE_S", "JOY_TTL_S", "GAMEPAD_IDLE_RELEASE_S", "STATE_POLL_S", + "WEB_HOST", + "WEB_PORT", ): monkeypatch.delenv(name, raising=False) diff --git a/tests/test_config.py b/tests/test_config.py index 6c1bf37..49190bb 100644 --- a/tests/test_config.py +++ b/tests/test_config.py @@ -47,6 +47,26 @@ def test_a_joy_ttl_at_or_above_the_jog_ttl_is_refused_at_startup(monkeypatch): Config.from_env() +def test_a_keepalive_at_or_above_the_jog_ttl_is_refused_at_startup(monkeypatch): + # The repeat has to outpace the arm's own velocity expiry. It cannot be read + # from here, but JOG_TTL_S already sits below it, so a repeat slower than + # JOG_TTL_S is a repeat the arm stops between — an arm that stutters under a + # held stick, with nothing in the logs to say why. + monkeypatch.setenv("JOG_KEEPALIVE_S", "0.4") + + with pytest.raises(ValueError, match="JOG_KEEPALIVE_S"): + Config.from_env() + + +def test_a_keepalive_of_zero_is_refused_at_startup(monkeypatch): + # Zero would mean repeating every tick, which is the behaviour the keepalive + # exists to replace. + monkeypatch.setenv("JOG_KEEPALIVE_S", "0") + + with pytest.raises(ValueError, match="JOG_KEEPALIVE_S"): + Config.from_env() + + @pytest.mark.parametrize("value", ["1.0", "-0.1", "2"]) def test_a_deadzone_outside_the_stick_is_refused_at_startup(monkeypatch, value): # A deadzone of 1 would silently make the pad inert; catching it here beats diff --git a/tests/test_console.py b/tests/test_console.py index b138ab8..0b1078a 100644 --- a/tests/test_console.py +++ b/tests/test_console.py @@ -11,7 +11,7 @@ from pathlib import Path from dora_teleop import ui -PAGE = Path(__file__).resolve().parent.parent / "web" / "index.html" +PAGE = Path(__file__).resolve().parent.parent / "dora_teleop" / "web" / "index.html" def page(): diff --git a/tests/test_deadman.py b/tests/test_deadman.py index d3c6505..2a54e04 100644 --- a/tests/test_deadman.py +++ b/tests/test_deadman.py @@ -1,8 +1,5 @@ """The deadman: every way a source can go away, and the stop that follows it.""" -import json - -import pyarrow as pa import pytest from dora_teleop import main as loop @@ -59,8 +56,7 @@ def drive(node, state, sample, count=1): def web_jog(node, state, axes): """Deliver one console jog message, in the normalised units the page speaks.""" - payload = json.dumps({"type": "jog", "axes": axes}) - loop._accept_ui_command(node, state, input_event("ui_command", pa.array([payload]))) + loop._accept_ui_command(node, state, {"type": "jog", "axes": axes}) # --- the gamepad --- @@ -112,7 +108,7 @@ def test_a_joy_node_that_keeps_publishing_keeps_the_arm_moving(clock): clock.advance(0.05) sent = drive(node, state, stick(axes=PUSHED)) - assert len(sent) == 4 + assert sent assert all(jog[0] > 0 for jog in sent) @@ -138,15 +134,45 @@ def test_a_stick_at_rest_sends_one_zero_not_a_stream(clock): assert jogs == [STOP] -def test_a_held_stick_is_resent_every_tick(clock): - # The arm's controller expires a velocity on its own; the re-send is what - # keeps that backstop from firing mid-motion. +def test_a_held_stick_is_not_resent_every_tick(clock): + # A velocity is a set-point the arm holds, not a frame in a sequence. + # Repeating it every tick made the controller re-plan the same motion twenty + # times a second, which an operator feels as the arm stepping rather than + # travelling. node, state = build() jogs = drive(node, state, stick(axes=PUSHED), count=4) - assert len(jogs) == 4 - assert all(jog[0] > 0 for jog in jogs) + assert len(jogs) == 1 + assert jogs[0][0] > 0 + + +def test_a_held_stick_is_repeated_before_the_arm_would_expire_it(clock): + # The repeat exists for one reason: the arm's controller drops a velocity on + # its own, and the repeat is what keeps that backstop from firing mid-motion. + node, state = build() + drive(node, state, stick(axes=PUSHED)) + node.clear() + + clock.advance(state.config.deadman.jog_keepalive_s) + jogs = drive(node, state, stick(axes=PUSHED)) + + assert len(jogs) == 1 + assert jogs[0][0] > 0 + + +def test_a_change_of_direction_never_waits_for_the_repeat(clock): + # Sending only on change is worth nothing if the change itself is delayed: + # a press or a release has to be acted on the tick it happens, not up to a + # keepalive later. + node, state = build() + drive(node, state, stick(axes=PUSHED)) + node.clear() + + jogs = drive(node, state, stick(axes=[0.0, 1.0])) + + assert len(jogs) == 1 + assert jogs[0][0] < 0 def test_a_pad_that_was_never_wired_up_leaves_the_arm_alone(clock): @@ -172,7 +198,7 @@ def test_the_last_browser_leaving_stops_the_arm(clock): ticks(node, state) node.clear() - loop._accept_clients(state, input_event("clients", pa.array([{"connected": 0, "event": "close"}]))) + loop._set_clients(state, 0) jogs = ticks(node, state) assert jogs == [STOP] @@ -231,8 +257,7 @@ def test_estop_is_never_gated_by_the_lease(clock): state.clients = 1 state.arbiter.take(GAMEPAD, clock.t) - payload = json.dumps({"type": "estop"}) - loop._accept_ui_command(node, state, input_event("ui_command", pa.array([payload]))) + loop._accept_ui_command(node, state, {"type": "estop"}) assert node.jogs() == [STOP] assert "stop" in node.services() @@ -321,8 +346,7 @@ def test_a_latched_estop_is_cleared_by_reset(clock): node, state = build() state.view.estop = True - payload = json.dumps({"type": "reset"}) - loop._accept_ui_command(node, state, input_event("ui_command", pa.array([payload]))) + loop._accept_ui_command(node, state, {"type": "reset"}) assert state.view.estop is False assert "clear" in node.services() diff --git a/tests/test_server.py b/tests/test_server.py new file mode 100644 index 0000000..35fa6b5 --- /dev/null +++ b/tests/test_server.py @@ -0,0 +1,223 @@ +"""The embedded console server: a real socket, and the deadman it feeds. + +These start the server for real rather than faking it. The thing worth checking +is the boundary between the two threads — a browser's message reaching the tick, +and a browser going away reaching the deadman — and a fake on either side of +that boundary would check nothing. +""" + +import asyncio +import json +import socket +import time + +import aiohttp +import pytest + +from dora_teleop import main as loop +from dora_teleop.arbiter import WEB +from dora_teleop.config import Config, ConsoleConfig +from dora_teleop.server import Console +from tests.conftest import RecordingNode + + +def free_port(): + """Ask the OS for a port nobody is using.""" + with socket.socket() as held: + held.bind(("127.0.0.1", 0)) + return held.getsockname()[1] + + +@pytest.fixture +def console(): + """Run a real server on a real port, and stop it however the test ends.""" + running = Console("127.0.0.1", free_port()) + running.start() + try: + yield running + finally: + running.stop() + + +def visit(console, exchange): + """Open one browser's socket against the server and run `exchange` on it.""" + + async def session(): + async with aiohttp.ClientSession() as client: + url = f"http://{console.host}:{console.port}" + async with client.ws_connect(f"{url}/ws") as socket_: + return await exchange(client, url, socket_) + + return asyncio.run(session()) + + +def wait_for(predicate): + """Block until the server thread catches up, rather than guessing at a sleep.""" + for _ in range(200): + if predicate(): + return + time.sleep(0.01) + raise AssertionError("the server never got there") + + +def test_the_page_is_served_at_the_root(console): + async def exchange(client, url, socket_): + async with client.get(url) as answer: + return answer.status, await answer.text() + + status, body = visit(console, exchange) + + assert status == 200 + assert "teleop console" in body + + +def test_a_message_from_a_browser_reaches_the_tick(console): + # The console's half of the boundary: what the page sends has to be waiting + # on the queue the next tick drains, in the shape the loop reads. + async def exchange(client, url, socket_): + await socket_.send_str(json.dumps({"type": "jog", "axes": [1.0, 0, 0, 0, 0, 0]})) + await asyncio.sleep(0.05) + + visit(console, exchange) + + assert console.take() == [{"type": "jog", "axes": [1.0, 0, 0, 0, 0, 0]}] + assert console.take() == [] + + +def test_a_snapshot_reaches_the_browser(console): + # The other half: a telemetry object handed over from the dora thread comes + # out of the socket as the page's own JSON, with no envelope around it. + async def exchange(client, url, socket_): + console.broadcast({"type": "telemetry", "arm_state": "idle"}) + return json.loads(await socket_.receive_str()) + + assert visit(console, exchange) == {"type": "telemetry", "arm_state": "idle"} + + +def test_a_browser_that_is_not_talking_json_is_ignored(console): + # A page from a newer build saying something we cannot parse must not take + # the arm down, and must not stop the messages after it being read. + async def exchange(client, url, socket_): + await socket_.send_str("{not json") + await socket_.send_str(json.dumps({"type": "estop"})) + await asyncio.sleep(0.05) + + visit(console, exchange) + + assert console.take() == [{"type": "estop"}] + + +def test_the_server_counts_the_browsers_on_it(console): + assert console.clients == 0 + seen = [] + + async def exchange(client, url, socket_): + await asyncio.sleep(0.05) + seen.append(console.clients) + + visit(console, exchange) + + assert seen == [1] + + # And the socket closing is what the deadman below reads. + wait_for(lambda: console.clients == 0) + + +def test_a_flood_from_one_browser_cannot_grow_without_bound(console): + # An unbounded queue would answer a flood by growing until the node died, + # and the node dying is the one thing that must not stop the arm from being + # stopped. + async def exchange(client, url, socket_): + for index in range(600): + await socket_.send_str(json.dumps({"type": "jog_stop", "n": index})) + await asyncio.sleep(0.2) + + visit(console, exchange) + + assert 0 < len(console.take()) <= 256 + + +# --- where the server meets the deadman --- + + +def build(): + config = Config.from_env() + config.expo = 0.0 + return RecordingNode(), loop.Teleop(config) + + +def test_the_last_browser_leaving_takes_the_arm_back(console): + # The web deadman used to arrive as a `clients` message from the bridge. It + # is now read straight off the server, and it has to mean the same thing. + node, state = build() + state.console = console + state.arbiter.take(WEB, 1000.0) + + loop._drain_console(node, state) + + assert state.clients == 0 + assert state.arbiter.owner is None + assert state.web_axes == [0.0] * 6 + + +def test_a_node_with_no_console_is_left_alone(): + # A pad-only dataflow opens no port, and the tick must not read a lease + # release out of a server that was never started. + node, state = build() + state.clients = 1 + state.arbiter.take(WEB, 1000.0) + + loop._drain_console(node, state) + + assert state.arbiter.owner == WEB + + +# --- the port itself --- + + +def test_the_console_is_on_by_default(monkeypatch): + monkeypatch.delenv("WEB_PORT", raising=False) + settings = ConsoleConfig.from_env() + + assert settings.enabled is True + # Pinned because it is the number in the README, the manifest and every + # dataflow: a default that drifts from the docs sends an operator to a port + # nothing is listening on. + assert settings.port == 7000 + + +def test_port_zero_means_no_port_is_opened(monkeypatch): + # How `dataflow-gamepad.yml` asks for a pad and nothing else. + monkeypatch.setenv("WEB_PORT", "0") + assert ConsoleConfig.from_env().enabled is False + + +def test_a_port_that_is_not_a_port_stops_the_node(monkeypatch): + monkeypatch.setenv("WEB_PORT", "99999") + with pytest.raises(ValueError, match="WEB_PORT"): + ConsoleConfig.from_env() + + +def test_a_port_that_is_not_a_number_stops_the_node(monkeypatch): + monkeypatch.setenv("WEB_PORT", "eight-thousand") + with pytest.raises(ValueError, match="WEB_PORT"): + ConsoleConfig.from_env() + + +def test_a_port_already_in_use_stops_the_node(console): + # Found the hard way: the bind failed on the server thread, `start` waited + # out its timeout and then announced a console anyway, and the node ran on + # serving nothing. An operator opening the URL got silence while the log + # said it was up. + second = Console(console.host, console.port) + + with pytest.raises(OSError): + second.start() + + second.stop() + + +def test_stopping_a_console_that_never_started_is_harmless(): + # `main` stops the console in a `finally`, which runs whether or not the + # server ever came up. + Console("127.0.0.1", 0).stop() diff --git a/uv.lock b/uv.lock index 67c6715..e22832b 100644 --- a/uv.lock +++ b/uv.lock @@ -6,6 +6,155 @@ resolution-markers = [ "python_full_version < '3.12'", ] +[[package]] +name = "aiohappyeyeballs" +version = "2.7.1" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/ce/f4/eec0465c2f67b2664688d0240b3212d5196fd89e741df67ddb81f8d35658/aiohappyeyeballs-2.7.1.tar.gz", hash = "sha256:065665c041c42a5938ed220bdcd7230f22527fbec085e1853d2402c8a3615d9d", size = 24757, upload-time = "2026-07-01T17:11:55.501Z" } +wheels = [ + { url = 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- Hold a direction to move; release to stop. The page never sends a speed in the robot's - units — it sends a fraction of full deflection, exactly as a gamepad stick does, and the - node scales it. That is why this console does not need to know what robot is on the - other end. -

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