4 Commits

Include renames

Author	SHA1	Message	Date
cristhian	da1b079b7b	serve the web console from the node and drop the websocket bridge ... The browser reached this node through `dora-websocket-transceiver`: a second node, a second port, and a round trip through the dataflow for every button press, to carry a UI only this node can interpret. The node now serves the page and holds the browsers' sockets itself on one port, so the console is one URL and a consumer wires nothing for it. `dora_teleop/server.py` runs aiohttp on a thread of its own and meets the control loop at two non-blocking points: a bounded queue the tick drains, and a snapshot handed back. Both queues are bounded deliberately — a flood is dropped rather than grown, and a slow browser loses stale snapshots rather than the newest — because nothing a browser does may stall the thread that stops the arm. A port already in use stops the node rather than leaving it announcing a console nobody can open. The web deadman moved but did not change: it was a `clients` message from the bridge and is now the open-socket count read each tick. One hop fewer, same meaning. Contract, so 0.2.0 -> 0.3.0: `ui_command` and `clients` are gone. `ui_state` stays published for `dora topic echo` and the bench, with no browser reading it. New WEB_HOST and WEB_PORT (7000; 0 opens no port). The console itself is laid out like the arm's own pendant — two rings quartered into arc sectors you hold, each with its out-of-plane axis as pills above. Directions and signs match xArm Studio on the controller, `Y+` on the left included: two consoles driving one arm that disagree about which way is +Y is a trap, not a preference. Also sends a velocity only when it changes, repeating an unchanged one on JOG_KEEPALIVE_S (0.2 s) purely to beat the consumer's own expiry. Repeating every tick made `dora-ulite6` re-plan the same motion twenty times a second. That turned out not to be the whole cause of the stepping an operator felt — the rest was fixed in dora-ulite6 v0.3.1, pinned here — but sending 18 messages where 83 went before is worth keeping on its own. `dora-joy` moves to v0.1.1: v0.1 is an annotated tag, and dora 1.0.1 records the tag object's id as the commit hash and then rejects its own checkout for sitting on the peeled commit. Neither dataflow could be built before this.	2026-09-16 14:50:21 -03:00
cristhian	ffbba0f4d1	update version to 0.2.0 for the new output contract ... `twist` and `command` are the ports a consumer should wire from now on, and `jog` and `request` are deprecated. Nothing breaks yet — both still publish — but the version should say the contract moved.	2026-09-16 12:24:49 -05:00
cristhian	d336f8d499	read the gamepad from dora-joy and publish twist and command ... The pad moves to dora-joy, so this node keeps no hardware dependency and the pad becomes reusable. It arrives on `joy` as a plain reading; `JoyInput.read` treats silence past JOY_TTL_S as absence, because that node dying looks like silence rather than like an unplugged pad and the arm cannot tell them apart. Both control sources are now normalised to a [-1, 1] six-vector before anything is scaled, and the scaling happens in one function. The web path used to pass a velocity straight through without going near mapping, which is why the console had to speak the arm's units. It no longer does. `twist` (SI) and `command` (robot-agnostic verbs) are the standard ports. `jog` and `request` still carry the same intent in dora-ulite6's units and service names so the two repositories can move independently; LEGACY_REQUEST is the only place that knows what that node calls a verb. Wire one or the other, never both. `joint_jog` is specified in the manifest and deliberately not built. Schemas are declared rather than inferred: pyarrow reads a null `value` as its own type, so an inferred `command` would change its port's type between one verb and the next. Three bugs found while moving this code, each with a test: - `Sample.active` compared raw axes against a threshold, but SDL rests a trigger at -1.0, so every connected pad read as in use for ever: the pad took the lease on plug-in and GAMEPAD_IDLE_RELEASE_S never fired. - The e-stop latch was never consulted when deciding a velocity, so Back stopped the arm for one tick and the next stick nudge drove it again. Nothing on the pad could clear it either. It is now checked above the lease, and X releases it and clears the controller's error, as the console's RESET does. - Buttons were read before the arbiter granted the lease, so the first press after the pad had been idle was swallowed: not owned yet when read, and no longer a rising edge by the next tick.	2026-09-16 12:18:51 -05:00
cristhian	bde8582de3	add the gamepad reader and the node's settings ... The reader owns the pad on a thread of its own, and nothing outside that file may touch pygame: everything else sees a plain immutable Sample. That is what lets the rest of the node be tested with no hardware, and what keeps SDL's quirks out of the arm logic. Sample.present is the field that matters. A pad that has been unplugged reads as absent rather than as centred, so "the operator let go" and "the pad fell off the desk" stay distinguishable — they call for the same stop, but only one of them is worth logging. Only the display and joystick subsystems are initialised. pygame.init() also opens audio, which on a headless robot fills stderr with ALSA errors for a device this node never uses; the display is needed despite there being no window, because SDL refreshes joystick state during the event pump. Settings are parsed once at startup so a deadzone that would silently make the pad inert stops the node before it joins the dataflow.	2026-09-15 15:42:48 -05:00