cristhian
da1b079b7b
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.
42 lines
1.3 KiB
YAML
42 lines
1.3 KiB
YAML
# Manifest for the bench stand-in.
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#
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# dora resolves a node's manifest from its `path:`, so without this file the
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# bench would be validated against the teleop node's own contract and every port
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# would look wrong.
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apiVersion: 1
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name: bench
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namespace: liria
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description: Bench stand-in for the arm and the browser, so teleop can run with neither
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runtime: python
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entrypoint: bench.py
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dora: ">=1.0"
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inputs:
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tick:
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description: Drives the telemetry the arm node would publish.
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type: std/core/v1/UInt64
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jog:
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description: A velocity teleop wants the arm to move at. Printed, then forgotten.
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request:
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description: A service call. Every one is answered ok.
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ui_state:
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description: >-
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The console snapshot teleop publishes. Printed on change, which is how the
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lease moving and the arm starting and stopping can be watched without a
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browser.
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outputs:
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response:
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description: One answer per request, under the id it arrived with.
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robot_state:
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description: Reports `ready` once, so teleop stops drawing the arm as disconnected.
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type: std/core/v1/String
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tcp_pose:
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description: A fixed tool-tip pose. Fixed on purpose — nothing here integrates a velocity.
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type: std/core/v1/Float32
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joint_pose:
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description: Fixed joint angles, for the same reason.
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type: std/core/v1/Float32
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