tests/test_console.py

@@ -0,0 +1,89 @@
+"""The page and the node are one contract, checked here rather than by eye.
+
+`ui.py` translates for a console it cannot import, and the page reads telemetry
+by key. Nothing in either language catches a rename, so a typo would surface as
+a dead button on a machine that can move — which is the wrong place to find it.
+"""
+
+import json
+import re
+from pathlib import Path
+
+from dora_teleop import ui
+
+PAGE = Path(__file__).resolve().parent.parent / "web" / "index.html"
+
+
+def page():
+    return PAGE.read_text()
+
+
+def sent_types():
+    """Return every message type the page can send."""
+    return set(re.findall(r'type:\s*"([a-z_]+)"', page()))
+
+
+def read_keys():
+    """Return the telemetry keys the page renders by name."""
+    listed = re.search(r"const KEYS = \[(.*?)\]", page(), re.DOTALL).group(1)
+    return set(re.findall(r'"([a-z_]+)"', listed))
+
+
+def snapshot_keys():
+    view = ui.ArmView()
+    view.pose = [1.0] * 6
+    return set(ui.snapshot(view, "web", False, 0.0))
+
+
+def test_every_message_the_page_sends_is_one_the_node_serves():
+    # `data` is the bridge's own envelope, not a console command.
+    for kind in sent_types() - {"data"}:
+        assert ui.command_of({"type": kind}) is not None or kind == "jog", kind
+
+
+def test_every_telemetry_key_the_page_reads_is_one_the_node_sends():
+    missing = read_keys() - snapshot_keys()
+
+    assert not missing, f"the page reads keys the node does not send: {sorted(missing)}"
+
+
+def test_the_page_reads_the_pose_units_from_the_node():
+    # Rather than assuming mm, which is only true of one robot.
+    assert "units.position" in page().replace("telemetry.units && telemetry.units.position", "units.position")
+    assert "units" in snapshot_keys()
+
+
+def test_the_jog_the_page_sends_is_normalised_and_accepted():
+    # Six axes, each a fraction of full deflection. If the page ever sent a
+    # velocity instead, it would have to know the robot's units.
+    command = ui.command_of(json.loads('{"type": "jog", "axes": [0, -0.6, 0, 0, 0, 0]}'))
+
+    assert command is not None
+    assert command.axes == [0.0, -0.6, 0.0, 0.0, 0.0, 0.0]
+
+
+def test_the_page_can_ask_for_everything_the_node_serves():
+    # `move` is the one command with no button: it is a pose in the robot's own
+    # units, which is exactly what this page is built not to know.
+    served = {"jog", "jog_stop", "estop", "reset", "home", "control", "gripper", "freedrive"}
+
+    assert served <= sent_types()
+
+
+def test_the_page_gates_its_jog_pad_on_holding_the_lease():
+    # The node refuses a jog from a non-owner and answers with a toast; a pad
+    # that looks live but is refused teaches an operator to distrust the screen.
+    assert 'owner === "web"' in page()
+
+
+def test_the_published_schemas_do_not_depend_on_the_value_sent():
+    # pyarrow reads a null `value` as its own type, so an inferred schema would
+    # change the type of the `command` port between one verb and the next.
+    from dora_teleop import message
+
+    assert message.pack_command("stop", None).type == message.COMMAND
+    assert message.pack_command("freedrive", 1.0).type == message.COMMAND
+    assert (
+        message.pack_twist({"linear": [0.0] * 3, "angular": [0.0] * 3, "frame": "base"}).type == message.TWIST
+    )
+    assert message.pack_jog([0.0] * 6).type == message.JOG

web/index.html

@@ -3,47 +3,137 @@
 <head>
 <meta charset="utf-8">
 <meta name="viewport" content="width=device-width, initial-scale=1">
-<title>teleop — placeholder console</title>
+<title>teleop console</title>
 <style>
   :root { color-scheme: dark; }
   body { margin: 0; padding: 24px; background: #15151c; color: #e6e6ef;
          font: 14px/1.5 ui-monospace, SFMono-Regular, Menlo, monospace; }
   h1 { font-size: 16px; margin: 0 0 4px; }
-  p.note { color: #8a8a9e; margin: 0 0 20px; max-width: 60ch; }
+  p.note { color: #8a8a9e; margin: 0 0 20px; max-width: 62ch; }
   .card { background: #1d1d26; border: 1px solid #2c2c3a; border-radius: 8px;
-          padding: 16px; margin-bottom: 16px; max-width: 60ch; }
+          padding: 16px; margin-bottom: 16px; max-width: 62ch; }
+  .card h2 { font-size: 12px; text-transform: uppercase; letter-spacing: .08em;
+             color: #8a8a9e; margin: 0 0 12px; font-weight: 600; }
   .row { display: flex; justify-content: space-between; gap: 16px; padding: 3px 0; }
   .row span:last-child { color: #7fd1e8; }
   button { background: #2c2c3a; color: #e6e6ef; border: 1px solid #3c3c4e;
-           border-radius: 6px; padding: 8px 14px; font: inherit; cursor: pointer; }
+           border-radius: 6px; padding: 8px 14px; font: inherit; cursor: pointer;
-  button:hover { background: #363648; }
+           touch-action: manipulation; user-select: none; }
+  button:hover:not(:disabled) { background: #363648; }
+  button:disabled { opacity: .35; cursor: not-allowed; }
   button.stop { background: #5a1f27; border-color: #7d2b35; }
+  button.stop:hover { background: #6d2630; }
+  button.holding { background: #1f4a5a; border-color: #2b6d7d; }
+  .pad { display: grid; grid-template-columns: repeat(3, 1fr); gap: 8px; max-width: 280px; }
+  .pad button { padding: 14px 0; }
+  .pad .blank { visibility: hidden; }
+  .pads { display: flex; flex-wrap: wrap; gap: 24px; }
+  .pads figure { margin: 0; }
+  .pads figcaption { color: #8a8a9e; padding-bottom: 8px; }
+  .bar { display: flex; flex-wrap: wrap; gap: 8px; }
+  label.speed { display: flex; align-items: center; gap: 10px; color: #8a8a9e; }
+  label.speed input { flex: 1; }
+  #owner { color: #7fd1e8; }
+  #toast { color: #e8a37f; min-height: 1.5em; }
   #link { color: #8a8a9e; }
 </style>
 </head>
 <body>
-<h1>teleop — placeholder console</h1>
+<h1>teleop console</h1>
 <p class="note">
-  Not the real console. This page exists so the dataflow has something to serve and so the
+  Hold a direction to move; release to stop. The page never sends a speed in the robot's
-  node can be checked end to end before the Control section is ported across from the
+  units — it sends a fraction of full deflection, exactly as a gamepad stick does, and the
-  monolithic repo. It reads telemetry and can take, release and stop — nothing else.
+  node scales it. That is why this console does not need to know what robot is on the
+  other end.
 </p>
 
-<div class="card" id="state"></div>
-
 <div class="card">
-  <button onclick="send({type:'control', action:'take', preempt:true})">Take control</button>
+  <h2>State</h2>
-  <button onclick="send({type:'control', action:'release'})">Release</button>
+  <div id="state"></div>
-  <button class="stop" onclick="send({type:'estop'})">E-STOP</button>
-  <button onclick="send({type:'reset'})">Reset</button>
 </div>
 
+<div class="card">
+  <h2>Control</h2>
+  <div class="bar">
+    <button id="take">Take control</button>
+    <button id="release">Release</button>
+    <button class="stop" id="estop">E-STOP</button>
+    <button id="reset">Reset</button>
+  </div>
+</div>
+
+<div class="card" id="drive">
+  <h2>Move</h2>
+  <div class="pads">
+    <figure>
+      <figcaption>translation</figcaption>
+      <div class="pad">
+        <button class="blank"></button>
+        <button data-axis="0" data-sign="1">+X</button>
+        <button data-axis="2" data-sign="1">+Z</button>
+        <button data-axis="1" data-sign="-1">&minus;Y</button>
+        <button data-axis="0" data-sign="-1">&minus;X</button>
+        <button data-axis="1" data-sign="1">+Y</button>
+        <button class="blank"></button>
+        <button class="blank"></button>
+        <button data-axis="2" data-sign="-1">&minus;Z</button>
+      </div>
+    </figure>
+    <figure>
+      <figcaption>rotation</figcaption>
+      <div class="pad">
+        <button class="blank"></button>
+        <button data-axis="4" data-sign="1">+pitch</button>
+        <button data-axis="5" data-sign="1">+yaw</button>
+        <button data-axis="3" data-sign="-1">&minus;roll</button>
+        <button data-axis="4" data-sign="-1">&minus;pitch</button>
+        <button data-axis="3" data-sign="1">+roll</button>
+        <button class="blank"></button>
+        <button class="blank"></button>
+        <button data-axis="5" data-sign="-1">&minus;yaw</button>
+      </div>
+    </figure>
+  </div>
+  <p></p>
+  <label class="speed">
+    speed
+    <input id="speed" type="range" min="10" max="100" step="5" value="60">
+    <span id="speedout">60%</span>
+  </label>
+</div>
+
+<div class="card">
+  <h2>Tool</h2>
+  <div class="bar">
+    <button id="close">Close gripper</button>
+    <button id="open">Open gripper</button>
+    <button id="freedrive">Freedrive</button>
+    <button id="home">Home</button>
+  </div>
+</div>
+
+<div id="toast"></div>
 <div id="link"></div>
 
 <script>
 "use strict";
-const KEYS = ["arm_state", "owner", "connected", "ready", "estop", "vacuum", "freedrive"];
+
+// Read by name out of the node's telemetry snapshot. Robot-agnostic: `gripper`,
+// not `vacuum`, because a page that says vacuum only fits a robot with one.
+const KEYS = ["arm_state", "owner", "connected", "ready", "estop", "gripper", "freedrive"];
+
+// The node refreshes a jog every tick and stops the robot if the stream dries
+// up (JOG_TTL_S, 0.4 s). Resending faster than that is what makes releasing a
+// button a stop, with nothing needing to be sent to say so.
+const REFRESH_MS = 150;
+
 let socket = null;
+let owner = "none";
+// One axis per degree of freedom: [x, y, z, roll, pitch, yaw], each -1..1. A
+// fraction of full speed, never a velocity.
+let axes = [0, 0, 0, 0, 0, 0];
+const held = new Map();
+let refresh = null;
 
 function send(payload) {
   if (socket && socket.readyState === WebSocket.OPEN) {
@@ -51,15 +141,121 @@ function send(payload) {
   }
 }
 
+function scale() {
+  return Number(document.getElementById("speed").value) / 100;
+}
+
+function recompute() {
+  axes = [0, 0, 0, 0, 0, 0];
+  for (const [, { axis, sign }] of held) axes[axis] = sign * scale();
+}
+
+function moving() {
+  return axes.some((value) => value !== 0);
+}
+
+function pump() {
+  if (moving()) send({ type: "jog", axes });
+}
+
+function press(button) {
+  if (button.disabled) return;
+  held.set(button, { axis: Number(button.dataset.axis), sign: Number(button.dataset.sign) });
+  button.classList.add("holding");
+  recompute();
+  pump();
+  // Resend while held. The node's deadman expects a stream, not one message.
+  if (refresh === null) refresh = setInterval(pump, REFRESH_MS);
+}
+
+function letGo(button) {
+  if (!held.has(button)) return;
+  held.delete(button);
+  button.classList.remove("holding");
+  recompute();
+  if (!moving()) {
+    // Say so rather than going quiet: the deadman would stop it either way,
+    // but a button released is an intention and 400 ms of travel is not.
+    send({ type: "jog_stop" });
+    clearInterval(refresh);
+    refresh = null;
+  }
+}
+
+function releaseEverything() {
+  for (const button of [...held.keys()]) letGo(button);
+}
+
+function wire() {
+  for (const button of document.querySelectorAll(".pad button[data-axis]")) {
+    button.addEventListener("pointerdown", (event) => {
+      // Keeps the pointer's events coming to this button even if the finger
+      // slides off it, so letting go always reaches letGo().
+      button.setPointerCapture(event.pointerId);
+      press(button);
+    });
+    for (const name of ["pointerup", "pointercancel", "lostpointercapture"]) {
+      button.addEventListener(name, () => letGo(button));
+    }
+    button.addEventListener("contextmenu", (event) => event.preventDefault());
+  }
+
+  // A tab that goes away mid-jog must not leave the robot travelling. The node
+  // and the bridge both cover this; doing it here too costs one line.
+  window.addEventListener("blur", releaseEverything);
+  document.addEventListener("visibilitychange", () => {
+    if (document.hidden) releaseEverything();
+  });
+
+  const speed = document.getElementById("speed");
+  speed.addEventListener("input", () => {
+    document.getElementById("speedout").textContent = `${speed.value}%`;
+    recompute();
+  });
+
+  const click = {
+    take: { type: "control", action: "take", preempt: true },
+    release: { type: "control", action: "release" },
+    estop: { type: "estop" },
+    reset: { type: "reset" },
+    close: { type: "gripper", closed: true },
+    open: { type: "gripper", closed: false },
+    home: { type: "home" },
+  };
+  for (const [id, payload] of Object.entries(click)) {
+    document.getElementById(id).addEventListener("click", () => send(payload));
+  }
+  document.getElementById("freedrive").addEventListener("click", () => {
+    send({ type: "freedrive", enabled: !current.freedrive });
+  });
+}
+
+let current = {};
+
 function render(telemetry) {
+  current = telemetry;
   const rows = KEYS.map((key) =>
     `<div class="row"><span>${key}</span><span>${telemetry[key]}</span></div>`);
   const pose = telemetry.position;
   if (pose) {
+    // The node says what the pose is in rather than the page assuming it.
+    const unit = (telemetry.units && telemetry.units.position) || "";
     const shown = ["x", "y", "z"].map((axis) => pose[axis].toFixed(1)).join(", ");
-    rows.push(`<div class="row"><span>position</span><span>${shown} mm</span></div>`);
+    rows.push(`<div class="row"><span>position</span><span>${shown} ${unit}</span></div>`);
   }
   document.getElementById("state").innerHTML = rows.join("");
+
+  // The jog pad is gated on holding the lease, so a button that would be
+  // refused looks refused. E-STOP and Reset never are.
+  owner = telemetry.owner;
+  const mine = owner === "web";
+  for (const id of ["close", "open", "freedrive", "home"]) {
+    document.getElementById(id).disabled = !mine;
+  }
+  for (const button of document.querySelectorAll(".pad button[data-axis]")) {
+    button.disabled = !mine;
+  }
+  if (!mine) releaseEverything();
 }
 
 function connect() {
@@ -72,13 +268,18 @@ function connect() {
     const message = JSON.parse(event.data);
     if (message.type !== "data" || !message.payload) return;
     if (message.payload.type === "telemetry") render(message.payload);
+    if (message.payload.type === "error") {
+      document.getElementById("toast").textContent = message.payload.detail;
+    }
   };
   socket.onclose = () => {
+    releaseEverything();
     document.getElementById("link").textContent = `socket: ${url} — closed, retrying`;
     setTimeout(connect, 2000);
   };
 }
 
+wire();
 connect();
 </script>
 </body>