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.
59 lines
1.8 KiB
YAML
59 lines
1.8 KiB
YAML
# The repo's own example, and what CI validates.
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#
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# Self-contained on purpose: teleop plus a bench stand-in for the arm and the
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# browser, both built from this checkout, so `dora validate` resolves every
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# manifest from `path:` and CI needs no gamepad, no robot and no sibling clones.
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#
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# There is **no gamepad here**, because the pad is another node and wiring it in
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# by `git:` would cost this file the one property it has. For a real pad on a
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# real bench, use `dataflow-gamepad.yml`.
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#
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# This is **not** the real stack. The bench answers services and publishes
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# telemetry but never moves anything. README.md carries the four-node wiring a
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# consumer actually uses.
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strict_types: true
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# Lets `dora topic echo` and `dora topic hz` read what is on the wire, so the
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# velocities this node sends can be watched without the bench printing them —
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# and without a robot. Costs nothing when nobody is looking.
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debug:
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enable_debug_inspection: true
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nodes:
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- id: teleop
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path: dora-teleop
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build: pip install .
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inputs:
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tick: dora/timer/millis/50
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response: bench/response
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robot_state: bench/robot_state
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tcp_pose: bench/tcp_pose
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joint_pose: bench/joint_pose
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outputs:
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- twist
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- command
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- jog
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- request
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- ui_state
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env:
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SPEED_MM_S: "60"
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SPEED_DEG_S: "30"
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# The console is served by this node. CI runs this dataflow, so it binds
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# to localhost and stays off any interface a colleague could reach.
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WEB_HOST: "127.0.0.1"
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WEB_PORT: "7000"
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- id: bench
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path: examples/bench.py
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inputs:
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tick: dora/timer/millis/200
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jog: teleop/jog
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request: teleop/request
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ui_state: teleop/ui_state
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outputs:
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- response
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- robot_state
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- tcp_pose
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- joint_pose
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