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DaMiao Studio: passive monitor + unified control/monitor UI - #6

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jia-xie merged 14 commits into
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feat/passive-monitor-dashboard
Jun 16, 2026
Merged

DaMiao Studio: passive monitor + unified control/monitor UI#6
jia-xie merged 14 commits into
mainfrom
feat/passive-monitor-dashboard

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@jia-xie

@jia-xie jia-xie commented Jun 16, 2026

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Summary

Adds a passive listen-only monitor and unifies it with active control into one app — DaMiao Studio — plus a fix to the recent CAN-FD change.

1. Passive monitor (listen-only)

  • New damiao_motor/monitor/ package: decodes both another controller's command frames and the motors' feedback off the bus, never transmitting (guaranteed structurally; asserted by test). Best-effort CAN_RAW_LISTEN_ONLY on socketcan.
  • Auto-learned signal registry with cmd↔feedback pairing; ring-buffered series.
  • Flask service + WebSocket streaming (flask-sock), subscription-scoped & server-decimated; --demo synthetic source for hardware-free use.

2. Unified Studio UI (control + monitor)

  • One server, one shared signal store, two modes: Monitor (passive, never sends — control endpoints return 409) and Control (active DaMiaoController; every command + feedback feeds the same live plots).
  • Full control parity: connect/scan, enable/disable, MIT/POS_VEL/VEL/FORCE_POS (single + continuous), set-zero, clear-error, store-params, editable register table (ms timeout, hex IDs, mode/baud dropdowns), motor-type.
  • damiao gui → Studio in control mode; damiao monitor → monitor mode. Legacy web_gui.py retained (unused).

3. Professional front-end (gui/webapp, React + TS + Vite)

  • Free-form widget canvas (GridStack): drag/resize/float widgets anywhere; add/remove; layout persists.
  • uPlot cmd-vs-actual plots (drag a signal onto a plot; drop cmd over fb to overlay), virtualized table + raw CAN log, per-motor cards.
  • Light/dark theme (default light). Prebuilt bundle committed so pip install needs no Node.

4. fd fix

  • DaMiaoMotor(fd=...) defaults to False again (the recent change made it a required positional arg — breaking).

Validation

  • Unit: 11 tests (decode round-trips vs the real encoders, never-transmit assertion).
  • Hardware (linearbot): passive monitor verified on both arms (real cmd+feedback decode, pairing, 0 errors, TX stays 0). Control verified on can_arm_l motor 7 through the full Studio path: connect → scan → clear-error → enable → MIT command physically moves the motor → return → register read → disable, with cmd+fb landing in the shared store.
  • Packaging/CI: wheel bundles the SPA (+ asserts it); fixed a latent bug where core/cli/gui subpackages were excluded from the wheel; release.yml builds the SPA before the wheel; repo is ruff-clean.

Notes / known limitations (beta)

  • Latched motor status 0x3 needs clear-error before enable (undocumented DaMiao state; surfaced honestly).
  • Base motors need a per-motor type selection for correct scaling (DM4310V is ±π).
  • WS not load-tested at full multi-bus 250 Hz; gs_usb passive path untested.
  • No automated tests yet for ControlService/the unified server (decode/store/listener are covered).

Intended to ship as prerelease v1.0.7b2 (CI auto-marks b/rc as prerelease).

🤖 Generated with Claude Code

jia-xie and others added 14 commits June 15, 2026 16:20
@jia-xie @claude
feat(monitor): passive decode core (commands + feedback), store, list…
a934920 
…ener

- damiao_motor/monitor/decode.py: reverse MIT/POS_VEL/VEL/FORCE_POS commands and
  feedback frames; cmd-vs-feedback disambiguation via p16 offset + structural check;
  extended motor-type presets (incl. DM4310V/FLOW_WHEEL +/-pi variants).
- store.py: auto-learned signal registry, per-signal ring buffers, cmd<->fb pairing,
  per-motor aggregate views.
- listener.py: listen-only PassiveCanListener; best-effort CAN_RAW_LISTEN_ONLY; never
  calls bus.send (guaranteed structurally + by test).
- tests/test_monitor.py: 10 round-trip + never-transmit tests (all green).
- motor.py: fd defaults to False (non-breaking).
- .gitignore: ship the built monitor SPA despite the build/ and dist/ rules.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
feat(monitor): service + flask-sock WS transport + demo source
145d8ad 
- monitor/service.py: owns listener+store, raw-frame ring log, thread-safe snapshots,
  per-motor type override, optional demo source.
- monitor/server.py: Flask REST (status/signals/snapshot/motor-types) + WS /stream
  (subscription-scoped, ~30Hz, per-signal decimation cap); serves built SPA with
  client-routing fallback + dev placeholder.
- monitor/demo.py: synthetic cmd+feedback traffic (no CAN) for dev/screenshots/demo.
- pyproject: add flask-sock dependency.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
feat(monitor): professional dockable realtime SPA (React/TS/Vite)
70459f8 
Dashboard at damiao_motor/gui/webapp:
- dockview (VS Code-style) panels: drag to dock/split/merge into tabs; layout persisted.
- uPlot cmd-vs-actual plots: drag a signal chip onto a plot to add it; drop cmd onto fb
  to overlay (dashed=command, solid=feedback); per-plot time window; rAF render loop.
- views: multi-motor table, per-motor cards/gauges (+motor-type override), virtualized
  raw decoded CAN log; toolbar adds more panels (user-expandable).
- dnd-kit signal DnD kept disjoint from dockview tab DnD; Zustand registry + out-of-React
  ring buffers; WS client with auto-reconnect, subscription-scoped streaming, snapshot
  backfill on drop.
- prebuilt bundle committed to dist/ (end users need no node toolchain).

Fixes during bring-up: include series in uPlot options; hydrate plotConfigs
synchronously (avoid TDZ on PLOT_KEY + effect-ordering race that wiped plot signals).

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
feat(monitor): wire 'damiao monitor' CLI + package the SPA bundle
62310af 
- cli: new 'damiao monitor' subcommand (passive dashboard) mirroring 'gui', with
  --channel/--bustype/--bitrate/--feedback-offset/--motor-type/--demo; cmd_monitor handler.
- packaging: switch to setuptools packages.find (was packages=['damiao_motor'], which
  silently omitted core/cli/gui subpackages from the wheel — latent bug); ship
  gui/webapp/dist via package-data.
- CI: build the SPA (npm ci && npm run build) before the wheel and assert the bundle +
  monitor package are present in the wheel.

Verified: wheel contains monitor/*, gui/webapp/dist/*, and the previously-missing
core/cli/gui subpackages.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
docs(monitor): usage, dev workflow, and hardware test checklist
18fef57 
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
refactor(monitor ui): registry-driven panels + raw-log polish
4515dde 
- panels/registry.tsx: single source of truth for panel types (kind/title/icon/
  description/render). Dock component map, toolbar add-buttons, panel titling, and
  default layout all derive from it — a new view is now one entry.
- raw CAN log: sticky header inside the scroll container sharing the exact grid + padding
  (columns now align); single-line cells with ellipsis; compact decoded fields; clock
  timestamp instead of raw epoch.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
fix(monitor): don't require known status nibble to classify feedback
83864ab 
Real linearbot arm joints 4-7 report an undocumented status nibble (3), which made the
feedback detector fall through and misclassify their feedback as MIT commands (phantom
m20-23 signals). The arb-range + can-id-nibble match already disambiguates feedback
(ids offset+1..offset+15) from MIT commands (ids 1..15), so the status gate was both
unnecessary and wrong. Status still surfaces (e.g. UNKNOWN(3)) for display.

Validated live on can_arm_l and can_arm_r: all 7 joints decode (cmd+feedback), pairs
link, values plausible, 0 decode errors, monitor stays listen-only.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
redesign(monitor ui): free-form widget canvas (GridStack) + softer theme
50caf09 
Replaces the rigid dockview tiling with a Grafana-style free-form canvas: every panel
is a widget you drag (by header) and resize (any edge) anywhere on a 12-col grid; add
from the toolbar, remove via the header ×, layout persists. Refreshed to a softer, more
modern dark theme (rounded surfaces, gentler palette, more breathing room).

- lib/widgets.ts: widget store (geometry + persistence, default layout, reset).
- components/Canvas.tsx: GridStack init + React content via portals (no DOM fighting);
  geometry synced back to the store on drag/resize.
- panels/registry.tsx: drop dockview component map; panels render unchanged.
- remove components/Dock.tsx, lib/dock.ts, dockview dep (bundle -25%).
- Toolbar adds widgets via the store; dnd-kit signal->plot drag still works.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
feat(monitor ui): light/dark theme, default light
57db391 
- lib/theme.ts: persisted theme (default light), applied via data-theme on <html>
  before first paint.
- index.css: split palette into :root (light) + [data-theme=dark]; add --hover; replace
  hardcoded dark colors (toolbar, buttons, widget header, table hover) with variables.
- Toolbar: ☾/☀ toggle.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
fix(monitor plots): replace shimmering dashed command line with solid…
30e29ed 
… weight/opacity cue

Dense data turned the dashed command trace into visual noise. Now: actual = bold solid,
command = a fainter (45% alpha), thinner 'ghost' line in the same hue. Legend swatches
match. Cleaner cmd-vs-actual read at any point density.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
feat(studio): unified Control/Monitor backend (one server, shared store)
f7d3941 
- monitor/control.py: ControlService wraps DaMiaoController; connect/scan/enable/disable/
  command(4 modes)/set-zero/clear-error/store-params/registers(GET+PUT w/ ms + ID changes)/
  motor-type. Pushes cmd+feedback into the shared SignalStore so the same plots/table/cards
  visualize active control (offset-agnostic). Transmits only in control mode.
- monitor/server.py: unified Studio server. Two modes — monitor (passive listener) and
  control (ControlService) feeding ONE shared store. /api/mode switch, /api/connect, gated
  /api/control/*, shared /api/monitor/{signals,snapshot,stream}. Control endpoints 409 in
  monitor mode (passivity preserved structurally).

Verified: demo monitor (33 signals/3 motors), control gating, mode switch, graceful
connect failure, register table — all green.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
feat(studio ui): control UI in the canvas — unified Control/Monitor
a05ebad 
- Toolbar: Control/Monitor mode switch (+ active·TX / listen-only badge); 'DaMiao Studio'.
- New widgets (registry): Connection (bus/scan/motor select), Motor Control (MIT/POS_VEL/
  VEL/FORCE_POS, enable/disable, single+continuous send, set-zero/clear-error/store, motor-
  type), Registers (read/write incl. ms timeout, hex IDs, mode/baud dropdowns).
- lib/control.ts REST client; store gains mode/currentMotor/controlMotors/registerTable.
- Default canvas is now a full Studio layout; control widgets show an inert hint in monitor
  mode. Commands feed the same live plots/table/cards via the shared store.
- CLI: 'damiao gui' now launches the unified Studio in control mode (legacy web_gui kept).
- types: ServerStatus gains mode/connected.

Builds clean; backend + tests green. UI pending visual check (local browser wedged).

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
fix(studio control): map extended motor-type names to core presets
dbe5573 
ControlService passed UI/default names like 'DM4310' straight to DaMiaoController, whose
core preset table only knows '4310' -> scan silently added no motors. Map extended->core
(_core_motor_type) in scan + set_motor_type.

Hardware-validated on linearbot can_arm_l motor 7 through the full ControlService path:
connect -> scan (motors 1-7) -> clear_error -> enable (ENABLED) -> MIT command MOVES the
motor (-1.2255 -> -1.154 toward target) -> return -> registers read -> disable; cmd+fb
signals land in the shared store. (Tip surfaced: latched status 0x3 needs clear-error
before enable.)

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie @claude
style: ruff check --fix + format (CI Ruff workflow clean)
ea0834a 
Remove now-unused web_gui import from cli/commands.py and ruff-format the new monitor/
modules + edited cli/tests files so the Ruff workflow (ruff check . / ruff format --check .)
passes. No behavior change.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@jia-xie
jia-xie merged commit 3427350 into main Jun 16, 2026
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