diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 7ce61ec..f0bb3e6 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -21,12 +21,33 @@ jobs: with: python-version: "3.11" + - uses: actions/setup-node@v4 + with: + node-version: "20" + + - name: Build monitor dashboard (SPA) + run: | + cd damiao_motor/gui/webapp + npm ci + npm run build + - name: Install build tools run: python -m pip install --upgrade build twine - name: Build package run: python -m build + - name: Verify SPA bundle is in the wheel + run: | + python - <<'PY' + import glob, zipfile, sys + whl = sorted(glob.glob("dist/*.whl"))[-1] + names = zipfile.ZipFile(whl).namelist() + assert any("gui/webapp/dist/index.html" in n for n in names), "SPA index.html missing from wheel" + assert any("monitor/server.py" in n for n in names), "monitor package missing from wheel" + print("OK: SPA + monitor present in", whl) + PY + - name: Upload to PyPI run: python -m twine upload dist/* env: diff --git a/.gitignore b/.gitignore index 8e5c2ab..549c460 100644 --- a/.gitignore +++ b/.gitignore @@ -15,6 +15,12 @@ dist/ *.egg damiao_motor/_version.py +# ...but DO ship the built monitor SPA (end users have no node toolchain). +# These negations override the unanchored build/ and dist/ rules above. +!damiao_motor/gui/webapp/dist/ +!damiao_motor/gui/webapp/dist/** +damiao_motor/gui/webapp/node_modules/ + # IDE / editor .vscode/ .idea/ diff --git a/damiao_motor/cli/__init__.py b/damiao_motor/cli/__init__.py index 47d77c2..ee37292 100644 --- a/damiao_motor/cli/__init__.py +++ b/damiao_motor/cli/__init__.py @@ -19,6 +19,7 @@ cmd_send_cmd_vel, cmd_send_cmd_force_pos, cmd_gui, + cmd_monitor, ) from .formatter import ColorizedHelpFormatter @@ -161,6 +162,78 @@ def unified_main() -> None: ) gui_parser.set_defaults(func=cmd_gui) + # monitor command (passive, listen-only dashboard) + monitor_parser = subparsers.add_parser( + "monitor", + help="Launch passive (listen-only) realtime monitoring dashboard", + description=( + "Launch a listen-only dashboard that decodes both the commands another " + "controller is sending and the motors' feedback, in realtime. Never transmits." + ), + formatter_class=argparse.RawDescriptionHelpFormatter, + epilog=""" +Examples: + # Monitor a socketcan bus while another controller drives the motors + damiao monitor --channel can0 + + # I2RT-style feedback id scheme is +16 (the default); override if needed + damiao monitor --channel can_arm_l --feedback-offset 16 + + # Try the dashboard with synthetic traffic (no CAN hardware needed) + damiao monitor --demo + """, + ) + monitor_parser.add_argument( + "--host", + type=str, + default="127.0.0.1", + help="Host to bind to (default: 127.0.0.1)", + ) + monitor_parser.add_argument( + "--port", type=int, default=5001, help="Port to bind to (default: 5001)" + ) + monitor_parser.add_argument( + "--channel", + type=str, + default="can0", + help="CAN channel to listen on (default: can0)", + ) + monitor_parser.add_argument( + "--bustype", + type=str, + default="socketcan", + help="CAN bus type (default: socketcan)", + ) + monitor_parser.add_argument( + "--bitrate", + type=int, + default=None, + help="CAN bitrate (required for some interfaces, e.g. gs_usb)", + ) + monitor_parser.add_argument( + "--feedback-offset", + type=int, + default=16, + dest="feedback_offset", + help="feedback arb id = motor id + offset (default: 16, the p16 scheme)", + ) + monitor_parser.add_argument( + "--motor-type", + type=str, + default="DM4310", + dest="default_motor_type", + help="Default motor type for value scaling (default: DM4310)", + ) + monitor_parser.add_argument( + "--demo", + action="store_true", + help="Synthesize traffic instead of opening a CAN bus", + ) + monitor_parser.add_argument( + "--debug", action="store_true", help="Enable debug mode" + ) + monitor_parser.set_defaults(func=cmd_monitor) + # Helper function to add global arguments to subcommands def add_global_args(subparser, include_motor_type: bool = True): """Add global arguments to a subcommand parser.""" diff --git a/damiao_motor/cli/commands.py b/damiao_motor/cli/commands.py index 4a90e4b..f9f2830 100644 --- a/damiao_motor/cli/commands.py +++ b/damiao_motor/cli/commands.py @@ -6,7 +6,6 @@ import time from damiao_motor.core.controller import DaMiaoController -from damiao_motor.gui import web_gui from .display import ( BOX_CORNER_TL, BOX_CORNER_TR, @@ -718,8 +717,39 @@ def cmd_gui(args) -> None: - debug: Enable debug mode (default: False) - production: Use production WSGI server (default: False) """ - web_gui.run_server( - host=args.host, port=args.port, debug=args.debug, production=args.production + # `gui` now launches the unified DaMiao Studio in control mode (active control + + # the realtime monitor in one UI). The legacy Flask GUI remains in web_gui.py. + from damiao_motor.monitor import server as studio_server + + studio_server.run_server( + host=args.host, port=args.port, mode="control", debug=args.debug + ) + + +def cmd_monitor(args) -> None: + """ + Handle 'monitor' subcommand. + + Launches the passive (listen-only) realtime monitoring dashboard. It decodes both + the commands another controller is sending and the motors' feedback, and never + transmits on the bus. + + Args: + args: Parsed command-line arguments containing host, port, channel, bustype, + bitrate, feedback_offset, default_motor_type, demo, debug. + """ + from damiao_motor.monitor import server as monitor_server + + monitor_server.run_server( + host=args.host, + port=args.port, + channel=args.channel, + bustype=args.bustype, + bitrate=args.bitrate, + feedback_offset=args.feedback_offset, + default_motor_type=args.default_motor_type, + debug=args.debug, + demo=args.demo, ) diff --git a/damiao_motor/core/motor.py b/damiao_motor/core/motor.py index 40b9dcb..8e01e8f 100644 --- a/damiao_motor/core/motor.py +++ b/damiao_motor/core/motor.py @@ -279,7 +279,7 @@ def __init__( motor_id: int, feedback_id: int, bus: can.Bus, - fd: bool, + fd: bool = False, *, motor_type: str, p_min: Optional[float] = None, diff --git a/damiao_motor/gui/webapp/dist/assets/index-CDw8n6KX.js 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0&&(i=zy(t.event.target)),this.props=void 0,this.events=void 0,this.autoScrollEnabled=!0,this.document=void 0,this.activated=!1,this.initialCoordinates=void 0,this.timeoutId=null,this.listeners=void 0,this.documentListeners=void 0,this.windowListeners=void 0,this.props=t,this.events=r;const{event:u}=t,{target:c}=u;this.props=t,this.events=r,this.document=Dl(c),this.documentListeners=new Eo(this.document),this.listeners=new Eo(i),this.windowListeners=new Eo(Yn(c)),this.initialCoordinates=(o=uu(u))!=null?o:qr,this.handleStart=this.handleStart.bind(this),this.handleMove=this.handleMove.bind(this),this.handleEnd=this.handleEnd.bind(this),this.handleCancel=this.handleCancel.bind(this),this.handleKeydown=this.handleKeydown.bind(this),this.removeTextSelection=this.removeTextSelection.bind(this),this.attach()}attach(){const{events:t,props:{options:{activationConstraint:r,bypassActivationConstraint:i}}}=this;if(this.listeners.add(t.move.name,this.handleMove,{passive:!1}),this.listeners.add(t.end.name,this.handleEnd),t.cancel&&this.listeners.add(t.cancel.name,this.handleCancel),this.windowListeners.add(Ar.Resize,this.handleCancel),this.windowListeners.add(Ar.DragStart,gp),this.windowListeners.add(Ar.VisibilityChange,this.handleCancel),this.windowListeners.add(Ar.ContextMenu,gp),this.documentListeners.add(Ar.Keydown,this.handleKeydown),r){if(i!=null&&i({event:this.props.event,activeNode:this.props.activeNode,options:this.props.options}))return this.handleStart();if(yp(r)){this.timeoutId=setTimeout(this.handleStart,r.delay),this.handlePending(r);return}if(vp(r)){this.handlePending(r);return}}this.handleStart()}detach(){this.listeners.removeAll(),this.windowListeners.removeAll(),setTimeout(this.documentListeners.removeAll,50),this.timeoutId!==null&&(clearTimeout(this.timeoutId),this.timeoutId=null)}handlePending(t,r){const{active:i,onPending:o}=this.props;o(i,t,this.initialCoordinates,r)}handleStart(){const{initialCoordinates:t}=this,{onStart:r}=this.props;t&&(this.activated=!0,this.documentListeners.add(Ar.Click,Oy,{capture:!0}),this.removeTextSelection(),this.documentListeners.add(Ar.SelectionChange,this.removeTextSelection),r(t))}handleMove(t){var r;const{activated:i,initialCoordinates:o,props:u}=this,{onMove:c,options:{activationConstraint:d}}=u;if(!o)return;const p=(r=uu(t))!=null?r:qr,g=au(o,p);if(!i&&d){if(vp(d)){if(d.tolerance!=null&&uf(g,d.tolerance))return this.handleCancel();if(uf(g,d.distance))return this.handleStart()}if(yp(d)&&uf(g,d.tolerance))return this.handleCancel();this.handlePending(d,g);return}t.cancelable&&t.preventDefault(),c(p)}handleEnd(){const{onAbort:t,onEnd:r}=this.props;this.detach(),this.activated||t(this.props.active),r()}handleCancel(){const{onAbort:t,onCancel:r}=this.props;this.detach(),this.activated||t(this.props.active),r()}handleKeydown(t){t.code===ct.Esc&&this.handleCancel()}removeTextSelection(){var t;(t=this.document.getSelection())==null||t.removeAllRanges()}}const Py={cancel:{name:"pointercancel"},move:{name:"pointermove"},end:{name:"pointerup"}};class Kf extends Gf{constructor(t){const{event:r}=t,i=Dl(r.target);super(t,Py,i)}}Kf.activators=[{eventName:"onPointerDown",handler:(l,t)=>{let{nativeEvent:r}=l,{onActivation:i}=t;return!r.isPrimary||r.button!==0?!1:(i==null||i({event:r}),!0)}}];const Ay={move:{name:"mousemove"},end:{name:"mouseup"}};var Rf;(function(l){l[l.RightClick=2]="RightClick"})(Rf||(Rf={}));class jy extends Gf{constructor(t){super(t,Ay,Dl(t.event.target))}}jy.activators=[{eventName:"onMouseDown",handler:(l,t)=>{let{nativeEvent:r}=l,{onActivation:i}=t;return r.button===Rf.RightClick?!1:(i==null||i({event:r}),!0)}}];const cf={cancel:{name:"touchcancel"},move:{name:"touchmove"},end:{name:"touchend"}};class Iy extends Gf{constructor(t){super(t,cf)}static setup(){return window.addEventListener(cf.move.name,t,{capture:!1,passive:!1}),function(){window.removeEventListener(cf.move.name,t)};function t(){}}}Iy.activators=[{eventName:"onTouchStart",handler:(l,t)=>{let{nativeEvent:r}=l,{onActivation:i}=t;const{touches:o}=r;return o.length>1?!1:(i==null||i({event:r}),!0)}}];var Co;(function(l){l[l.Pointer=0]="Pointer",l[l.DraggableRect=1]="DraggableRect"})(Co||(Co={}));var fu;(function(l){l[l.TreeOrder=0]="TreeOrder",l[l.ReversedTreeOrder=1]="ReversedTreeOrder"})(fu||(fu={}));function Fy(l){let{acceleration:t,activator:r=Co.Pointer,canScroll:i,draggingRect:o,enabled:u,interval:c=5,order:d=fu.TreeOrder,pointerCoordinates:p,scrollableAncestors:g,scrollableAncestorRects:y,delta:v,threshold:x}=l;const T=Wy({delta:v,disabled:!u}),[N,C]=Jv(),L=P.useRef({x:0,y:0}),U=P.useRef({x:0,y:0}),A=P.useMemo(()=>{switch(r){case Co.Pointer:return p?{top:p.y,bottom:p.y,left:p.x,right:p.x}:null;case Co.DraggableRect:return o}},[r,o,p]),V=P.useRef(null),z=P.useCallback(()=>{const G=V.current;if(!G)return;const Y=L.current.x*U.current.x,Z=L.current.y*U.current.y;G.scrollBy(Y,Z)},[]),$=P.useMemo(()=>d===fu.TreeOrder?[...g].reverse():g,[d,g]);P.useEffect(()=>{if(!u||!g.length||!A){C();return}for(const G of $){if((i==null?void 0:i(G))===!1)continue;const Y=g.indexOf(G),Z=y[Y];if(!Z)continue;const{direction:K,speed:fe}=Ny(G,Z,A,t,x);for(const q of["x","y"])T[q][K[q]]||(fe[q]=0,K[q]=0);if(fe.x>0||fe.y>0){C(),V.current=G,N(z,c),L.current=fe,U.current=K;return}}L.current={x:0,y:0},U.current={x:0,y:0},C()},[t,z,i,C,u,c,JSON.stringify(A),JSON.stringify(T),N,g,$,y,JSON.stringify(x)])}const Hy={x:{[mn.Backward]:!1,[mn.Forward]:!1},y:{[mn.Backward]:!1,[mn.Forward]:!1}};function Wy(l){let{delta:t,disabled:r}=l;const i=ou(t);return Ao(o=>{if(r||!i||!o)return Hy;const u={x:Math.sign(t.x-i.x),y:Math.sign(t.y-i.y)};return{x:{[mn.Backward]:o.x[mn.Backward]||u.x===-1,[mn.Forward]:o.x[mn.Forward]||u.x===1},y:{[mn.Backward]:o.y[mn.Backward]||u.y===-1,[mn.Forward]:o.y[mn.Forward]||u.y===1}}},[r,t,i])}function By(l,t){const r=t!=null?l.get(t):void 0,i=r?r.node.current:null;return Ao(o=>{var u;return t==null?null:(u=i??o)!=null?u:null},[i,t])}function Uy(l,t){return P.useMemo(()=>l.reduce((r,i)=>{const{sensor:o}=i,u=o.activators.map(c=>({eventName:c.eventName,handler:t(c.handler,i)}));return[...r,...u]},[]),[l,t])}var Do;(function(l){l[l.Always=0]="Always",l[l.BeforeDragging=1]="BeforeDragging",l[l.WhileDragging=2]="WhileDragging"})(Do||(Do={}));var Nf;(function(l){l.Optimized="optimized"})(Nf||(Nf={}));const wp=new Map;function Vy(l,t){let{dragging:r,dependencies:i,config:o}=t;const[u,c]=P.useState(null),{frequency:d,measure:p,strategy:g}=o,y=P.useRef(l),v=L(),x=To(v),T=P.useCallback(function(U){U===void 0&&(U=[]),!x.current&&c(A=>A===null?U:A.concat(U.filter(V=>!A.includes(V))))},[x]),N=P.useRef(null),C=Ao(U=>{if(v&&!r)return wp;if(!U||U===wp||y.current!==l||u!=null){const A=new Map;for(let V of l){if(!V)continue;if(u&&u.length>0&&!u.includes(V.id)&&V.rect.current){A.set(V.id,V.rect.current);continue}const z=V.node.current,$=z?new $f(p(z),z):null;V.rect.current=$,$&&A.set(V.id,$)}return A}return U},[l,u,r,v,p]);return P.useEffect(()=>{y.current=l},[l]),P.useEffect(()=>{v||T()},[r,v]),P.useEffect(()=>{u&&u.length>0&&c(null)},[JSON.stringify(u)]),P.useEffect(()=>{v||typeof d!="number"||N.current!==null||(N.current=setTimeout(()=>{T(),N.current=null},d))},[d,v,T,...i]),{droppableRects:C,measureDroppableContainers:T,measuringScheduled:u!=null};function L(){switch(g){case Do.Always:return!1;case Do.BeforeDragging:return r;default:return!r}}}function Yf(l,t){return Ao(r=>l?r||(typeof t=="function"?t(l):l):null,[t,l])}function $y(l,t){return Yf(l,t)}function Gy(l){let{callback:t,disabled:r}=l;const i=_u(t),o=P.useMemo(()=>{if(r||typeof window>"u"||typeof window.MutationObserver>"u")return;const{MutationObserver:u}=window;return new u(i)},[i,r]);return P.useEffect(()=>()=>o==null?void 0:o.disconnect(),[o]),o}function Cu(l){let{callback:t,disabled:r}=l;const i=_u(t),o=P.useMemo(()=>{if(r||typeof window>"u"||typeof window.ResizeObserver>"u")return;const{ResizeObserver:u}=window;return new u(i)},[r]);return P.useEffect(()=>()=>o==null?void 0:o.disconnect(),[o]),o}function Ky(l){return new $f(jo(l),l)}function Sp(l,t,r){t===void 0&&(t=Ky);const[i,o]=P.useState(null);function u(){o(p=>{if(!l)return null;if(l.isConnected===!1){var g;return(g=p??r)!=null?g:null}const y=t(l);return JSON.stringify(p)===JSON.stringify(y)?p:y})}const c=Gy({callback(p){if(l)for(const g of p){const{type:y,target:v}=g;if(y==="childList"&&v instanceof HTMLElement&&v.contains(l)){u();break}}}}),d=Cu({callback:u});return Ni(()=>{u(),l?(d==null||d.observe(l),c==null||c.observe(document.body,{childList:!0,subtree:!0})):(d==null||d.disconnect(),c==null||c.disconnect())},[l]),i}function Yy(l){const t=Yf(l);return Pm(l,t)}const xp=[];function Qy(l){const t=P.useRef(l),r=Ao(i=>l?i&&i!==xp&&l&&t.current&&l.parentNode===t.current.parentNode?i:Vf(l):xp,[l]);return P.useEffect(()=>{t.current=l},[l]),r}function qy(l){const[t,r]=P.useState(null),i=P.useRef(l),o=P.useCallback(u=>{const c=af(u.target);c&&r(d=>d?(d.set(c,kf(c)),new Map(d)):null)},[]);return P.useEffect(()=>{const u=i.current;if(l!==u){c(u);const d=l.map(p=>{const g=af(p);return g?(g.addEventListener("scroll",o,{passive:!0}),[g,kf(g)]):null}).filter(p=>p!=null);r(d.length?new Map(d):null),i.current=l}return()=>{c(l),c(u)};function c(d){d.forEach(p=>{const g=af(p);g==null||g.removeEventListener("scroll",o)})}},[o,l]),P.useMemo(()=>l.length?t?Array.from(t.values()).reduce((u,c)=>_l(u,c),qr):Bm(l):qr,[l,t])}function _p(l,t){t===void 0&&(t=[]);const r=P.useRef(null);return P.useEffect(()=>{r.current=null},t),P.useEffect(()=>{const i=l!==qr;i&&!r.current&&(r.current=l),!i&&r.current&&(r.current=null)},[l]),r.current?au(l,r.current):qr}function Xy(l){P.useEffect(()=>{if(!xu)return;const t=l.map(r=>{let{sensor:i}=r;return i.setup==null?void 0:i.setup()});return()=>{for(const r of t)r==null||r()}},l.map(t=>{let{sensor:r}=t;return r}))}function Jy(l,t){return P.useMemo(()=>l.reduce((r,i)=>{let{eventName:o,handler:u}=i;return r[o]=c=>{u(c,t)},r},{}),[l,t])}function Gm(l){return P.useMemo(()=>l?Ey(l):null,[l])}const Ep=[];function Zy(l,t){t===void 0&&(t=jo);const[r]=l,i=Gm(r?Yn(r):null),[o,u]=P.useState(Ep);function c(){u(()=>l.length?l.map(p=>Hm(p)?i:new $f(t(p),p)):Ep)}const d=Cu({callback:c});return Ni(()=>{d==null||d.disconnect(),c(),l.forEach(p=>d==null?void 0:d.observe(p))},[l]),o}function Km(l){if(!l)return null;if(l.children.length>1)return l;const t=l.children[0];return Po(t)?t:l}function e0(l){let{measure:t}=l;const[r,i]=P.useState(null),o=P.useCallback(g=>{for(const{target:y}of g)if(Po(y)){i(v=>{const x=t(y);return v?{...v,width:x.width,height:x.height}:x});break}},[t]),u=Cu({callback:o}),c=P.useCallback(g=>{const y=Km(g);u==null||u.disconnect(),y&&(u==null||u.observe(y)),i(y?t(y):null)},[t,u]),[d,p]=lu(c);return P.useMemo(()=>({nodeRef:d,rect:r,setRef:p}),[r,d,p])}const t0=[{sensor:Kf,options:{}},{sensor:$m,options:{}}],n0={current:{}},eu={draggable:{measure:mp},droppable:{measure:mp,strategy:Do.WhileDragging,frequency:Nf.Optimized},dragOverlay:{measure:jo}};class ko extends Map{get(t){var r;return t!=null&&(r=super.get(t))!=null?r:void 0}toArray(){return Array.from(this.values())}getEnabled(){return this.toArray().filter(t=>{let{disabled:r}=t;return!r})}getNodeFor(t){var r,i;return(r=(i=this.get(t))==null?void 0:i.node.current)!=null?r:void 0}}const r0={activatorEvent:null,active:null,activeNode:null,activeNodeRect:null,collisions:null,containerNodeRect:null,draggableNodes:new Map,droppableRects:new Map,droppableContainers:new ko,over:null,dragOverlay:{nodeRef:{current:null},rect:null,setRef:cu},scrollableAncestors:[],scrollableAncestorRects:[],measuringConfiguration:eu,measureDroppableContainers:cu,windowRect:null,measuringScheduled:!1},Ym={activatorEvent:null,activators:[],active:null,activeNodeRect:null,ariaDescribedById:{draggable:""},dispatch:cu,draggableNodes:new Map,over:null,measureDroppableContainers:cu},Io=P.createContext(Ym),Qm=P.createContext(r0);function i0(){return{draggable:{active:null,initialCoordinates:{x:0,y:0},nodes:new Map,translate:{x:0,y:0}},droppable:{containers:new ko}}}function s0(l,t){switch(t.type){case tn.DragStart:return{...l,draggable:{...l.draggable,initialCoordinates:t.initialCoordinates,active:t.active}};case tn.DragMove:return l.draggable.active==null?l:{...l,draggable:{...l.draggable,translate:{x:t.coordinates.x-l.draggable.initialCoordinates.x,y:t.coordinates.y-l.draggable.initialCoordinates.y}}};case tn.DragEnd:case tn.DragCancel:return{...l,draggable:{...l.draggable,active:null,initialCoordinates:{x:0,y:0},translate:{x:0,y:0}}};case tn.RegisterDroppable:{const{element:r}=t,{id:i}=r,o=new ko(l.droppable.containers);return o.set(i,r),{...l,droppable:{...l.droppable,containers:o}}}case tn.SetDroppableDisabled:{const{id:r,key:i,disabled:o}=t,u=l.droppable.containers.get(r);if(!u||i!==u.key)return l;const c=new ko(l.droppable.containers);return c.set(r,{...u,disabled:o}),{...l,droppable:{...l.droppable,containers:c}}}case tn.UnregisterDroppable:{const{id:r,key:i}=t,o=l.droppable.containers.get(r);if(!o||i!==o.key)return l;const u=new ko(l.droppable.containers);return u.delete(r),{...l,droppable:{...l.droppable,containers:u}}}default:return l}}function l0(l){let{disabled:t}=l;const{active:r,activatorEvent:i,draggableNodes:o}=P.useContext(Io),u=ou(i),c=ou(r==null?void 0:r.id);return P.useEffect(()=>{if(!t&&!i&&u&&c!=null){if(!Uf(u)||document.activeElement===u.target)return;const d=o.get(c);if(!d)return;const{activatorNode:p,node:g}=d;if(!p.current&&!g.current)return;requestAnimationFrame(()=>{for(const y of[p.current,g.current]){if(!y)continue;const v=ty(y);if(v){v.focus();break}}})}},[i,t,o,c,u]),null}function qm(l,t){let{transform:r,...i}=t;return l!=null&&l.length?l.reduce((o,u)=>u({transform:o,...i}),r):r}function o0(l){return P.useMemo(()=>({draggable:{...eu.draggable,...l==null?void 0:l.draggable},droppable:{...eu.droppable,...l==null?void 0:l.droppable},dragOverlay:{...eu.dragOverlay,...l==null?void 0:l.dragOverlay}}),[l==null?void 0:l.draggable,l==null?void 0:l.droppable,l==null?void 0:l.dragOverlay])}function a0(l){let{activeNode:t,measure:r,initialRect:i,config:o=!0}=l;const u=P.useRef(!1),{x:c,y:d}=typeof o=="boolean"?{x:o,y:o}:o;Ni(()=>{if(!c&&!d||!t){u.current=!1;return}if(u.current||!i)return;const g=t==null?void 0:t.node.current;if(!g||g.isConnected===!1)return;const y=r(g),v=Pm(y,i);if(c||(v.x=0),d||(v.y=0),u.current=!0,Math.abs(v.x)>0||Math.abs(v.y)>0){const x=jm(g);x&&x.scrollBy({top:v.y,left:v.x})}},[t,c,d,i,r])}const ku=P.createContext({...qr,scaleX:1,scaleY:1});var ss;(function(l){l[l.Uninitialized=0]="Uninitialized",l[l.Initializing=1]="Initializing",l[l.Initialized=2]="Initialized"})(ss||(ss={}));const u0=P.memo(function(t){var r,i,o,u;let{id:c,accessibility:d,autoScroll:p=!0,children:g,sensors:y=t0,collisionDetection:v=vy,measuring:x,modifiers:T,...N}=t;const C=P.useReducer(s0,void 0,i0),[L,U]=C,[A,V]=oy(),[z,$]=P.useState(ss.Uninitialized),G=z===ss.Initialized,{draggable:{active:Y,nodes:Z,translate:K},droppable:{containers:fe}}=L,q=Y!=null?Z.get(Y):null,xe=P.useRef({initial:null,translated:null}),ce=P.useMemo(()=>{var ot;return Y!=null?{id:Y,data:(ot=q==null?void 0:q.data)!=null?ot:n0,rect:xe}:null},[Y,q]),ge=P.useRef(null),[ye,ke]=P.useState(null),[le,oe]=P.useState(null),ae=To(N,Object.values(N)),J=Eu("DndDescribedBy",c),M=P.useMemo(()=>fe.getEnabled(),[fe]),W=o0(x),{droppableRects:X,measureDroppableContainers:ee,measuringScheduled:be}=Vy(M,{dragging:G,dependencies:[K.x,K.y],config:W.droppable}),he=By(Z,Y),Ee=P.useMemo(()=>le?uu(le):null,[le]),Ie=Dt(),Fe=$y(he,W.draggable.measure);a0({activeNode:Y!=null?Z.get(Y):null,config:Ie.layoutShiftCompensation,initialRect:Fe,measure:W.draggable.measure});const 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yS={pos:"p",vel:"v",torque:"τ",kp:"kp",kd:"kd",vel_limit:"vlim",torque_limit:"τlim",t_mos:"Tm",t_rotor:"Tr"},wS=["pos","vel","torque","kp","kd","t_mos","t_rotor"];function SS(l){const t=[];for(const r of wS)r in l.fields&&t.push(`${yS[r]||r} ${l.fields[r].toFixed(2)}`);return t.join(" ")||l.note||""}function xS(l){const t=new Date(l*1e3),r=String(t.getHours()).padStart(2,"0"),i=String(t.getMinutes()).padStart(2,"0"),o=String(t.getSeconds()).padStart(2,"0"),u=String(Math.floor(l%1*1e3)).padStart(3,"0");return`${r}:${i}:${o}.${u}`}function _S(){const[,l]=P.useState(0),[t,r]=P.useState(!1),i=P.useRef(null),o=P.useRef([]);P.useEffect(()=>{vm(!0);const d=H1(()=>{t||(o.current=F1(),l(p=>p+1))});return()=>{vm(!1),d()}},[t]);const u=o.current,c=vS({count:u.length,getScrollElement:()=>i.current,estimateSize:()=>22,overscan:12});return P.useEffect(()=>{!t&&u.length&&c.scrollToIndex(u.length-1)},[u.length,t,c]),R.jsxs("div",{className:"panel 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Cn={status:()=>is("/api/status"),setMode:l=>ui("/api/mode",{mode:l}),connect:l=>ui("/api/connect",l),disconnect:()=>ui("/api/disconnect"),scan:l=>ui("/api/control/scan",{motor_type:l}),motors:()=>is("/api/control/motors"),enable:l=>ui(`/api/control/motors/${l}/enable`),disable:l=>ui(`/api/control/motors/${l}/disable`),setZero:l=>ui(`/api/control/motors/${l}/set-zero`),clearError:l=>ui(`/api/control/motors/${l}/clear-error`),storeParams:l=>ui(`/api/control/motors/${l}/store-parameters`),command:(l,t)=>ui(`/api/control/motors/${l}/command`,t),state:l=>is(`/api/control/motors/${l}/state`),getRegisters:l=>is(`/api/control/motors/${l}/registers`),setRegister:(l,t,r)=>km(`/api/control/motors/${l}/registers/${t}`,{value:r}),setMotorType:(l,t)=>km(`/api/control/motors/${l}/motor-type`,{motor_type:t}),registerTable:()=>is("/api/register-table"),motorTypes:()=>is("/api/motor-types"),canInterfaces:l=>is(`/api/can-interfaces?bustype=${l}`),platform:()=>is("/api/platform")};function ES(){const l=We(K=>K.mode),t=We(K=>K.status),r=We(K=>K.controlMotors),i=We(K=>K.currentMotorId),o=We(K=>K.setControlMotors),u=We(K=>K.setCurrentMotor),c=We(K=>K.motorTypes),[d,p]=P.useState("socketcan"),[g,y]=P.useState("can0"),[v,x]=P.useState(1e6),[T,N]=P.useState([]),[C,L]=P.useState("DM4310"),[U,A]=P.useState(!1),[V,z]=P.useState(null),$=!!(t!=null&&t.connected);P.useEffect(()=>{Cn.platform().then(K=>{K!=null&&K.success&&(p(K.default_bustype),y(K.default_channel))})},[]),P.useEffect(()=>{Cn.canInterfaces(d).then(K=>N((K==null?void 0:K.interfaces)||[]))},[d]);const G=async()=>{A(!0),z(null);const K={channel:g,bustype:d};d==="gs_usb"&&(K.bitrate=v),l==="control"&&(K.motor_type=C);const fe=await Cn.connect(K);if(A(!1),fe.success){const q=fe.motors||[];o(q),q.length&&u(q[0].id)}else z(fe.error||"Connect failed")},Y=async()=>{await Cn.disconnect(),o([]),u(null)},Z=async()=>{A(!0);const K=await Cn.scan(C);A(!1),K.success?(o(K.motors||[]),(K.motors||[]).length&&u(K.motors[0].id)):z(K.error||"Scan 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r=document.createElement("div");F.addElStyles(r,{opacity:"0",position:"fixed",top:"0px",left:"0px",width:"1px",height:"1px",zIndex:"-999999"}),t.appendChild(r);const i=r.getBoundingClientRect();return t.removeChild(r),r.remove(),{xScale:1/i.width,yScale:1/i.height,xOffset:i.left,yOffset:i.top}}static swap(t,r,i){if(!t)return;const o=t[r];t[r]=t[i],t[i]=o}static canBeRotated(t){var r;return!(!t||t.w===t.h||t.locked||t.noResize||(r=t.grid)!=null&&r.opts.disableResize||t.minW&&t.minW===t.maxW||t.minH&&t.minH===t.maxH)}}class ci{constructor(t={}){this.addedNodes=[],this.removedNodes=[],this.defaultColumn=12,this.column=t.column||this.defaultColumn,this.column>this.defaultColumn&&(this.defaultColumn=this.column),this.maxRow=t.maxRow,this._float=t.float,this.nodes=t.nodes||[],this.onChange=t.onChange}batchUpdate(t=!0,r=!0){return!!this.batchMode===t?this:(this.batchMode=t,t?(this._prevFloat=this._float,this._float=!0,this.cleanNodes(),this.saveInitial()):(this._float=this._prevFloat,delete this._prevFloat,r&&this._packNodes(),this._notify()),this)}_useEntireRowArea(t,r){return(!this.float||this.batchMode&&!this._prevFloat)&&!this._hasLocked&&(!t._moving||t._skipDown||r.y<=t.y)}_fixCollisions(t,r=t,i,o={}){if(this.sortNodes(-1),i=i||this.collide(t,r),!i)return!1;if(t._moving&&!o.nested&&!this.float&&this.swap(t,i))return!0;let u=r;!this._loading&&this._useEntireRowArea(t,r)&&(u={x:0,w:this.column,y:r.y,h:r.h},i=this.collide(t,u,o.skip));let c=!1;const d={nested:!0,pack:!1};let p=0;for(;i=i||this.collide(t,u,o.skip);){if(p++>this.nodes.length*2)throw new Error("Infinite collide check");let g;if(i.locked||this._loading||t._moving&&!t._skipDown&&r.y>t.y&&!this.float&&(!this.collide(i,{...i,y:t.y},t)||!this.collide(i,{...i,y:r.y-i.h},t))){t._skipDown=t._skipDown||r.y>t.y;const y={...r,y:i.y+i.h,...d};g=this._loading&&F.samePos(t,y)?!0:this.moveNode(t,y),(i.locked||this._loading)&&g?F.copyPos(r,t):!i.locked&&g&&o.pack&&(this._packNodes(),r.y=i.y+i.h,F.copyPos(t,r)),c=c||g}else g=this.moveNode(i,{...i,y:r.y+r.h,skip:t,...d});if(!g)return c;i=void 0}return c}collide(t,r=t,i){const o=t._id,u=i==null?void 0:i._id;return this.nodes.find(c=>c._id!==o&&c._id!==u&&F.isIntercepted(c,r))}collideAll(t,r=t,i){const o=t._id,u=i==null?void 0:i._id;return this.nodes.filter(c=>c._id!==o&&c._id!==u&&F.isIntercepted(c,r))}directionCollideCoverage(t,r,i){if(!r.rect||!t._rect)return;const o=t._rect,u={...r.rect};u.y>o.y?(u.h+=u.y-o.y,u.y=o.y):u.h+=o.y-u.y,u.x>o.x?(u.w+=u.x-o.x,u.x=o.x):u.w+=o.x-u.x;let c,d=.5;for(let p of i){if(p.locked||!p._rect)break;const g=p._rect;let y=Number.MAX_VALUE,v=Number.MAX_VALUE;o.yg.y+g.h&&(y=(g.y+g.h-u.y)/g.h),o.xg.x+g.w&&(v=(g.x+g.w-u.x)/g.w);const x=Math.min(v,y);x>d&&(d=x,c=p)}return r.collide=c,c}cacheRects(t,r,i,o,u,c){return this.nodes.forEach(d=>d._rect={y:d.y*r+i,x:d.x*t+c,w:d.w*t-c-o,h:d.h*r-i-u}),this}swap(t,r){if(!r||r.locked||!t||t.locked)return!1;function i(){const u=r.x,c=r.y;return r.x=t.x,r.y=t.y,t.h!=r.h?(t.x=u,t.y=r.y+r.h):t.w!=r.w?(t.x=r.x+r.w,t.y=c):(t.x=u,t.y=c),t._dirty=r._dirty=!0,!0}let o;if(t.w===r.w&&t.h===r.h&&(t.x===r.x||t.y===r.y)&&(o=F.isTouching(t,r)))return i();if(o!==!1){if(t.w===r.w&&t.x===r.x&&(o||(o=F.isTouching(t,r)))){if(r.y{let g;c.locked||(c.autoPosition=!0,t==="list"&&d&&(g=p[d-1])),this.addNode(c,!1,g)}),o||delete this._inColumnResize,i||this.batchUpdate(!1),this}set float(t){this._float!==t&&(this._float=t||!1,t||this._packNodes()._notify())}get float(){return this._float||!1}sortNodes(t=1){return this.nodes=F.sort(this.nodes,t),this}_packNodes(){return this.batchMode?this:(this.sortNodes(),this.float?this.nodes.forEach(t=>{if(t._updating||t._orig===void 0||t.y===t._orig.y)return;let r=t.y;for(;r>t._orig.y;)--r,this.collide(t,{x:t.x,y:r,w:t.w,h:t.h})||(t._dirty=!0,t.y=r)}):this.nodes.forEach((t,r)=>{if(!t.locked)for(;t.y>0;){const i=r===0?0:t.y-1;if(!(r===0||!this.collide(t,{x:t.x,y:i,w:t.w,h:t.h})))break;t._dirty=t.y!==i,t.y=i}}),this)}prepareNode(t,r){t._id=t._id??ci._idSeq++;const i=t.id;if(i){let u=1;for(;this.nodes.find(c=>c.id===t.id&&c!==t);)t.id=i+"_"+u++}(t.x===void 0||t.y===void 0||t.x===null||t.y===null)&&(t.autoPosition=!0);const o={x:0,y:0,w:1,h:1};return F.defaults(t,o),t.autoPosition||delete t.autoPosition,t.noResize||delete t.noResize,t.noMove||delete t.noMove,F.sanitizeMinMax(t),typeof t.x=="string"&&(t.x=Number(t.x)),typeof t.y=="string"&&(t.y=Number(t.y)),typeof t.w=="string"&&(t.w=Number(t.w)),typeof t.h=="string"&&(t.h=Number(t.h)),isNaN(t.x)&&(t.x=o.x,t.autoPosition=!0),isNaN(t.y)&&(t.y=o.y,t.autoPosition=!0),isNaN(t.w)&&(t.w=o.w),isNaN(t.h)&&(t.h=o.h),this.nodeBoundFix(t,r),t}nodeBoundFix(t,r){const i=t._orig||F.copyPos({},t);if(t.maxW&&(t.w=Math.min(t.w||1,t.maxW)),t.maxH&&(t.h=Math.min(t.h||1,t.maxH)),t.minW&&(t.w=Math.max(t.w||1,t.minW)),t.minH&&(t.h=Math.max(t.h||1,t.minH)),(t.x||0)+(t.w||1)>this.column&&this.columnthis.column?t.w=this.column:t.w<1&&(t.w=1),this.maxRow&&t.h>this.maxRow?t.h=this.maxRow:t.h<1&&(t.h=1),t.x<0&&(t.x=0),t.y<0&&(t.y=0),t.x+t.w>this.column&&(r?t.w=this.column-t.x:t.x=this.column-t.w),this.maxRow&&t.y+t.h>this.maxRow&&(r?t.h=this.maxRow-t.y:t.y=this.maxRow-t.h),F.samePos(t,i)||(t._dirty=!0),this}getDirtyNodes(t){return t?this.nodes.filter(r=>r._dirty&&!F.samePos(r,r._orig)):this.nodes.filter(r=>r._dirty)}_notify(t){if(this.batchMode||!this.onChange)return this;const r=(t||[]).concat(this.getDirtyNodes());return this.onChange(r),this}cleanNodes(){return this.batchMode?this:(this.nodes.forEach(t=>{delete t._dirty,delete t._lastTried}),this)}saveInitial(){return this.nodes.forEach(t=>{t._orig=F.copyPos({},t),delete t._dirty}),this._hasLocked=this.nodes.some(t=>t.locked),this}restoreInitial(){return this.nodes.forEach(t=>{!t._orig||F.samePos(t,t._orig)||(F.copyPos(t,t._orig),t._dirty=!0)}),this._notify(),this}findEmptyPosition(t,r=this.nodes,i=this.column,o){const u=o?o.y*i+(o.x+o.w):0;let c=!1;for(let d=u;!c;++d){const p=d%i,g=Math.floor(d/i);if(p+t.w>i)continue;const y={x:p,y:g,w:t.w,h:t.h};r.find(v=>F.isIntercepted(y,v))||((t.x!==p||t.y!==g)&&(t._dirty=!0),t.x=p,t.y=g,delete t.autoPosition,c=!0)}return c}addNode(t,r=!1,i){const o=this.nodes.find(c=>c._id===t._id);if(o)return o;this._inColumnResize?this.nodeBoundFix(t):this.prepareNode(t),delete t._temporaryRemoved,delete t._removeDOM;let u;return t.autoPosition&&this.findEmptyPosition(t,this.nodes,this.column,i)&&(delete t.autoPosition,u=!0),this.nodes.push(t),r&&this.addedNodes.push(t),u||this._fixCollisions(t),this.batchMode||this._packNodes()._notify(),t}removeNode(t,r=!0,i=!1){return this.nodes.find(o=>o._id===t._id)?(i&&this.removedNodes.push(t),r&&(t._removeDOM=!0),this.nodes=this.nodes.filter(o=>o._id!==t._id),t._isAboutToRemove||this._packNodes(),this._notify([t]),this):this}removeAll(t=!0,r=!0){if(delete this._layouts,!this.nodes.length)return this;t&&this.nodes.forEach(o=>o._removeDOM=!0);const i=this.nodes;return this.removedNodes=r?i:[],this.nodes=[],this._notify(i)}moveNodeCheck(t,r){if(!this.changedPosConstrain(t,r))return!1;if(r.pack=!0,!this.maxRow)return this.moveNode(t,r);let i;const o=new ci({column:this.column,float:this.float,nodes:this.nodes.map(c=>c._id===t._id?(i={...c},i):{...c})});if(!i)return!1;const u=o.moveNode(i,r)&&o.getRow()<=Math.max(this.getRow(),this.maxRow);if(!u&&!r.resizing&&r.collide){const c=r.collide.el.gridstackNode;if(this.swap(t,c))return this._notify(),!0}return u?(o.nodes.filter(c=>c._dirty).forEach(c=>{const d=this.nodes.find(p=>p._id===c._id);d&&(F.copyPos(d,c),d._dirty=!0)}),this._notify(),!0):!1}willItFit(t){if(delete t._willFitPos,!this.maxRow)return!0;const r=new ci({column:this.column,float:this.float,nodes:this.nodes.map(o=>({...o}))}),i={...t};return this.cleanupNode(i),delete i.el,delete i._id,delete i.content,delete i.grid,r.addNode(i),r.getRow()<=this.maxRow?(t._willFitPos=F.copyPos({},i),!0):!1}changedPosConstrain(t,r){return r.w=r.w||t.w,r.h=r.h||t.h,t.x!==r.x||t.y!==r.y?!0:(t.maxW&&(r.w=Math.min(r.w,t.maxW)),t.maxH&&(r.h=Math.min(r.h,t.maxH)),t.minW&&(r.w=Math.max(r.w,t.minW)),t.minH&&(r.h=Math.max(r.h,t.minH)),t.w!==r.w||t.h!==r.h)}moveNode(t,r){var g,y;if(!t||!r)return!1;let i;r.pack===void 0&&!this.batchMode&&(i=r.pack=!0),typeof r.x!="number"&&(r.x=t.x),typeof r.y!="number"&&(r.y=t.y),typeof r.w!="number"&&(r.w=t.w),typeof r.h!="number"&&(r.h=t.h);const o=t.w!==r.w||t.h!==r.h,u=F.copyPos({},t,!0);if(F.copyPos(u,r),this.nodeBoundFix(u,o),F.copyPos(r,u),!r.forceCollide&&F.samePos(t,r))return!1;const c=F.copyPos({},t),d=this.collideAll(t,u,r.skip);let p=!0;if(d.length){const v=t._moving&&!r.nested;let x=v?this.directionCollideCoverage(t,r,d):d[0];if(v&&x&&((y=(g=t.grid)==null?void 0:g.opts)!=null&&y.subGridDynamic)&&!t.grid._isTemp){const T=F.areaIntercept(r.rect,x._rect),N=F.area(r.rect),C=F.area(x._rect);T/(N.8&&(x.grid.makeSubGrid(x.el,void 0,t),x=void 0)}x?p=!this._fixCollisions(t,u,x,r):(p=!1,i&&delete r.pack)}return p&&!F.samePos(t,u)&&(t._dirty=!0,F.copyPos(t,u)),r.pack&&this._packNodes()._notify(),!F.samePos(t,c)}getRow(){return this.nodes.reduce((t,r)=>Math.max(t,r.y+r.h),0)}beginUpdate(t){return t._updating||(t._updating=!0,delete t._skipDown,this.batchMode||this.saveInitial()),this}endUpdate(){const t=this.nodes.find(r=>r._updating);return t&&(delete t._updating,delete t._skipDown),this}save(t=!0,r){var c;const i=(c=this._layouts)==null?void 0:c.length,o=i&&this.column!==i-1?this._layouts[i-1]:null,u=[];return this.sortNodes(),this.nodes.forEach(d=>{const p=o==null?void 0:o.find(y=>y._id===d._id),g={...d,...p||{}};F.removeInternalForSave(g,!t),r&&r(d,g),u.push(g)}),u}layoutsNodesChange(t){return!this._layouts||this._inColumnResize?this:(this._layouts.forEach((r,i)=>{if(!r||i===this.column)return this;if(i{if(!u._orig)return;const c=r.find(d=>d._id===u._id);c&&(c.y>=0&&u.y!==u._orig.y&&(c.y+=u.y-u._orig.y),u.x!==u._orig.x&&(c.x=Math.round(u.x*o)),u.w!==u._orig.w&&(c.w=Math.round(u.w*o)))})}}),this)}columnChanged(t,r,i="moveScale"){var d;if(!this.nodes.length||!r||t===r)return this;const o=i==="compact"||i==="list";o&&this.sortNodes(1),rt&&this._layouts){const p=this._layouts[r]||[],g=this._layouts.length-1;!p.length&&t!==g&&((d=this._layouts[g])!=null&&d.length)&&(t=g,this._layouts[g].forEach(y=>{const v=c.find(x=>x._id===y._id);v&&(!o&&!y.autoPosition&&(v.x=y.x??v.x,v.y=y.y??v.y),v.w=y.w??v.w,(y.x==null||y.y===void 0)&&(v.autoPosition=!0))})),p.forEach(y=>{const v=c.findIndex(x=>x._id===y._id);if(v!==-1){const x=c[v];if(o){x.w=y.w;return}(y.autoPosition||isNaN(y.x)||isNaN(y.y))&&this.findEmptyPosition(y,u),y.autoPosition||(x.x=y.x??x.x,x.y=y.y??x.y,x.w=y.w??x.w,u.push(x)),c.splice(v,1)}})}if(o)this.compact(i,!1);else{if(c.length)if(typeof i=="function")i(r,t,u,c);else{const p=o||i==="none"?1:r/t,g=i==="move"||i==="moveScale",y=i==="scale"||i==="moveScale";c.forEach(v=>{v.x=r===1?0:g?Math.round(v.x*p):Math.min(v.x,r-1),v.w=r===1||t===1?1:y?Math.round(v.w*p)||1:Math.min(v.w,r),u.push(v)}),c=[]}u=F.sort(u,-1),this._inColumnResize=!0,this.nodes=[],u.forEach(p=>{this.addNode(p,!1),delete p._orig})}return this.nodes.forEach(p=>delete p._orig),this.batchUpdate(!1,!o),delete this._inColumnResize,this}cacheLayout(t,r,i=!1){const o=[];return t.forEach((u,c)=>{if(u._id===void 0){const d=u.id?this.nodes.find(p=>p.id===u.id):void 0;u._id=(d==null?void 0:d._id)??ci._idSeq++}o[c]={x:u.x,y:u.y,w:u.w,_id:u._id}}),this._layouts=i?[]:this._layouts||[],this._layouts[r]=o,this}cacheOneLayout(t,r){t._id=t._id??ci._idSeq++;const i={x:t.x,y:t.y,w:t.w,_id:t._id};(t.autoPosition||t.x===void 0)&&(delete i.x,delete i.y,t.autoPosition&&(i.autoPosition=!0)),this._layouts=this._layouts||[],this._layouts[r]=this._layouts[r]||[];const o=this.findCacheLayout(t,r);return o===-1?this._layouts[r].push(i):this._layouts[r][o]=i,this}findCacheLayout(t,r){var i,o;return((o=(i=this._layouts)==null?void 0:i[r])==null?void 0:o.findIndex(u=>u._id===t._id))??-1}removeNodeFromLayoutCache(t){if(this._layouts)for(let r=0;r0||navigator.msMaxTouchPoints>0);class fi{}function gu(l,t){l.touches.length>1||(l.cancelable&&l.preventDefault(),F.simulateMouseEvent(l.changedTouches[0],t))}function Qg(l,t){l.cancelable&&l.preventDefault(),F.simulateMouseEvent(l,t)}function vu(l){fi.touchHandled||(fi.touchHandled=!0,gu(l,"mousedown"))}function yu(l){fi.touchHandled&&gu(l,"mousemove")}function wu(l){if(!fi.touchHandled)return;fi.pointerLeaveTimeout&&(window.clearTimeout(fi.pointerLeaveTimeout),delete fi.pointerLeaveTimeout);const t=!!Le.dragElement;gu(l,"mouseup"),t||gu(l,"click"),fi.touchHandled=!1}function Su(l){l.pointerType!=="mouse"&&l.target.releasePointerCapture(l.pointerId)}function bm(l){Le.dragElement&&l.pointerType!=="mouse"&&Qg(l,"mouseenter")}function Tm(l){Le.dragElement&&l.pointerType!=="mouse"&&(fi.pointerLeaveTimeout=window.setTimeout(()=>{delete fi.pointerLeaveTimeout,Qg(l,"mouseleave")},10))}class Lu{constructor(t,r,i){this.host=t,this.dir=r,this.option=i,this.moving=!1,this._mouseDown=this._mouseDown.bind(this),this._mouseMove=this._mouseMove.bind(this),this._mouseUp=this._mouseUp.bind(this),this._keyEvent=this._keyEvent.bind(this),this._init()}_init(){const t=this.el=document.createElement("div");return t.classList.add("ui-resizable-handle"),t.classList.add(`${Lu.prefix}${this.dir}`),t.style.zIndex="100",t.style.userSelect="none",this.host.appendChild(this.el),this.el.addEventListener("mousedown",this._mouseDown),Qr&&(this.el.addEventListener("touchstart",vu),this.el.addEventListener("pointerdown",Su)),this}destroy(){return this.moving&&this._mouseUp(this.mouseDownEvent),this.el.removeEventListener("mousedown",this._mouseDown),Qr&&(this.el.removeEventListener("touchstart",vu),this.el.removeEventListener("pointerdown",Su)),this.host.removeChild(this.el),delete this.el,delete this.host,this}_mouseDown(t){this.mouseDownEvent=t,document.addEventListener("mousemove",this._mouseMove,{capture:!0,passive:!0}),document.addEventListener("mouseup",this._mouseUp,!0),Qr&&(this.el.addEventListener("touchmove",yu),this.el.addEventListener("touchend",wu)),t.stopPropagation(),t.preventDefault()}_mouseMove(t){const r=this.mouseDownEvent;this.moving?this._triggerEvent("move",t):Math.abs(t.x-r.x)+Math.abs(t.y-r.y)>2&&(this.moving=!0,this._triggerEvent("start",this.mouseDownEvent),this._triggerEvent("move",t),document.addEventListener("keydown",this._keyEvent)),t.stopPropagation()}_mouseUp(t){this.moving&&(this._triggerEvent("stop",t),document.removeEventListener("keydown",this._keyEvent)),document.removeEventListener("mousemove",this._mouseMove,!0),document.removeEventListener("mouseup",this._mouseUp,!0),Qr&&(this.el.removeEventListener("touchmove",yu),this.el.removeEventListener("touchend",wu)),delete this.moving,delete this.mouseDownEvent,t.stopPropagation(),t.preventDefault()}_keyEvent(t){var r,i;t.key==="Escape"&&((i=(r=this.host.gridstackNode)==null?void 0:r.grid)==null||i.engine.restoreInitial(),this._mouseUp(this.mouseDownEvent))}_triggerEvent(t,r){return this.option[t]&&this.option[t](r),this}}Lu.prefix="ui-resizable-";class cd{constructor(){this._eventRegister={}}get disabled(){return this._disabled}on(t,r){this._eventRegister[t]=r}off(t){delete this._eventRegister[t]}enable(){this._disabled=!1}disable(){this._disabled=!0}destroy(){delete this._eventRegister}triggerEvent(t,r){if(!this.disabled&&this._eventRegister&&this._eventRegister[t])return this._eventRegister[t](r)}}class Oo extends cd{constructor(t,r={}){super(),this.el=t,this.option=r,this.rectScale={x:1,y:1},this._ui=()=>{const o=this.el.parentElement.getBoundingClientRect(),u={width:this.originalRect.width,height:this.originalRect.height+this.scrolled,left:this.originalRect.left,top:this.originalRect.top-this.scrolled},c=this.temporalRect||u;return{position:{left:(c.left-o.left)*this.rectScale.x,top:(c.top-o.top)*this.rectScale.y},size:{width:c.width*this.rectScale.x,height:c.height*this.rectScale.y}}},this._mouseOver=this._mouseOver.bind(this),this._mouseOut=this._mouseOut.bind(this),this.enable(),this._setupAutoHide(this.option.autoHide),this._setupHandlers()}on(t,r){super.on(t,r)}off(t){super.off(t)}enable(){super.enable(),this.el.classList.remove("ui-resizable-disabled"),this._setupAutoHide(this.option.autoHide)}disable(){super.disable(),this.el.classList.add("ui-resizable-disabled"),this._setupAutoHide(!1)}destroy(){this._removeHandlers(),this._setupAutoHide(!1),delete this.el,super.destroy()}updateOption(t){const r=t.handles&&t.handles!==this.option.handles,i=t.autoHide&&t.autoHide!==this.option.autoHide;return Object.keys(t).forEach(o=>this.option[o]=t[o]),r&&(this._removeHandlers(),this._setupHandlers()),i&&this._setupAutoHide(this.option.autoHide),this}_setupAutoHide(t){return t?(this.el.classList.add("ui-resizable-autohide"),this.el.addEventListener("mouseover",this._mouseOver),this.el.addEventListener("mouseout",this._mouseOut)):(this.el.classList.remove("ui-resizable-autohide"),this.el.removeEventListener("mouseover",this._mouseOver),this.el.removeEventListener("mouseout",this._mouseOut),Le.overResizeElement===this&&delete Le.overResizeElement),this}_mouseOver(t){Le.overResizeElement||Le.dragElement||(Le.overResizeElement=this,this.el.classList.remove("ui-resizable-autohide"))}_mouseOut(t){Le.overResizeElement===this&&(delete Le.overResizeElement,this.el.classList.add("ui-resizable-autohide"))}_setupHandlers(){return this.handlers=this.option.handles.split(",").map(t=>t.trim()).map(t=>new Lu(this.el,t,{start:r=>{this._resizeStart(r)},stop:r=>{this._resizeStop(r)},move:r=>{this._resizing(r,t)}})),this}_resizeStart(t){this.sizeToContent=F.shouldSizeToContent(this.el.gridstackNode,!0),this.originalRect=this.el.getBoundingClientRect(),this.scrollEl=F.getScrollElement(this.el),this.scrollY=this.scrollEl.scrollTop,this.scrolled=0,this.startEvent=t,this._setupHelper(),this._applyChange();const r=F.initEvent(t,{type:"resizestart",target:this.el});return this.option.start&&this.option.start(r,this._ui()),this.el.classList.add("ui-resizable-resizing"),this.triggerEvent("resizestart",r),this}_resizing(t,r){this.scrolled=this.scrollEl.scrollTop-this.scrollY,this.temporalRect=this._getChange(t,r),this._applyChange();const i=F.initEvent(t,{type:"resize",target:this.el});return this.option.resize&&this.option.resize(i,this._ui()),this.triggerEvent("resize",i),this}_resizeStop(t){const r=F.initEvent(t,{type:"resizestop",target:this.el});return this.option.stop&&this.option.stop(r),this.el.classList.remove("ui-resizable-resizing"),this.triggerEvent("resizestop",r),this._cleanHelper(),delete this.startEvent,delete this.originalRect,delete this.temporalRect,delete this.scrollY,delete this.scrolled,this}_setupHelper(){this.elOriginStyleVal=Oo._originStyleProp.map(i=>this.el.style[i]),this.parentOriginStylePosition=this.el.parentElement.style.position;const t=this.el.parentElement,r=F.getValuesFromTransformedElement(t);return this.rectScale={x:r.xScale,y:r.yScale},getComputedStyle(this.el.parentElement).position.match(/static/)&&(this.el.parentElement.style.position="relative"),this.el.style.position="absolute",this.el.style.opacity="0.8",this}_cleanHelper(){return Oo._originStyleProp.forEach((t,r)=>{this.el.style[t]=this.elOriginStyleVal[r]||null}),this.el.parentElement.style.position=this.parentOriginStylePosition||null,this}_getChange(t,r){const i=this.startEvent,o={width:this.originalRect.width,height:this.originalRect.height+this.scrolled,left:this.originalRect.left,top:this.originalRect.top-this.scrolled},u=t.clientX-i.clientX,c=this.sizeToContent?0:t.clientY-i.clientY;let d,p;r.indexOf("e")>-1?o.width+=u:r.indexOf("w")>-1&&(o.width-=u,o.left+=u,d=!0),r.indexOf("s")>-1?o.height+=c:r.indexOf("n")>-1&&(o.height-=c,o.top+=c,p=!0);const g=this._constrainSize(o.width,o.height,d,p);return Math.round(o.width)!==Math.round(g.width)&&(r.indexOf("w")>-1&&(o.left+=o.width-g.width),o.width=g.width),Math.round(o.height)!==Math.round(g.height)&&(r.indexOf("n")>-1&&(o.top+=o.height-g.height),o.height=g.height),o}_constrainSize(t,r,i,o){const u=this.option,c=(i?u.maxWidthMoveLeft:u.maxWidth)||Number.MAX_SAFE_INTEGER,d=u.minWidth/this.rectScale.x||t,p=(o?u.maxHeightMoveUp:u.maxHeight)||Number.MAX_SAFE_INTEGER,g=u.minHeight/this.rectScale.y||r,y=Math.min(c,Math.max(d,t)),v=Math.min(p,Math.max(g,r));return{width:y,height:v}}_applyChange(){let t={left:0,top:0,width:0,height:0};if(this.el.style.position==="absolute"){const r=this.el.parentElement,{left:i,top:o}=r.getBoundingClientRect();t={left:i,top:o,width:0,height:0}}return this.temporalRect?(Object.keys(this.temporalRect).forEach(r=>{const i=this.temporalRect[r],o=r==="width"||r==="left"?this.rectScale.x:r==="height"||r==="top"?this.rectScale.y:1;this.el.style[r]=(i-t[r])*o+"px"}),this):this}_removeHandlers(){return this.handlers.forEach(t=>t.destroy()),delete this.handlers,this}}Oo._originStyleProp=["width","height","position","left","top","opacity","zIndex"];const LS='input,textarea,button,select,option,[contenteditable="true"],.ui-resizable-handle';class Lo extends cd{constructor(t,r={}){var u;super(),this.el=t,this.option=r,this.dragTransform={xScale:1,yScale:1,xOffset:0,yOffset:0};const i=(u=r==null?void 0:r.handle)==null?void 0:u.substring(1),o=t.gridstackNode;this.dragEls=!i||t.classList.contains(i)?[t]:o!=null&&o.subGrid?[t.querySelector(r.handle)||t]:Array.from(t.querySelectorAll(r.handle)),this.dragEls.length===0&&(this.dragEls=[t]),this._mouseDown=this._mouseDown.bind(this),this._mouseMove=this._mouseMove.bind(this),this._mouseUp=this._mouseUp.bind(this),this._keyEvent=this._keyEvent.bind(this),this.enable()}on(t,r){super.on(t,r)}off(t){super.off(t)}enable(){this.disabled!==!1&&(super.enable(),this.dragEls.forEach(t=>{t.addEventListener("mousedown",this._mouseDown),Qr&&(t.addEventListener("touchstart",vu),t.addEventListener("pointerdown",Su))}),this.el.classList.remove("ui-draggable-disabled"))}disable(t=!1){this.disabled!==!0&&(super.disable(),this.dragEls.forEach(r=>{r.removeEventListener("mousedown",this._mouseDown),Qr&&(r.removeEventListener("touchstart",vu),r.removeEventListener("pointerdown",Su))}),t||this.el.classList.add("ui-draggable-disabled"))}destroy(){this.dragTimeout&&window.clearTimeout(this.dragTimeout),delete this.dragTimeout,this.mouseDownEvent&&this._mouseUp(this.mouseDownEvent),this.disable(!0),delete this.el,delete this.helper,delete this.option,super.destroy()}updateOption(t){return Object.keys(t).forEach(r=>this.option[r]=t[r]),this}_mouseDown(t){if(!Le.mouseHandled)return t.button!==0||!this.dragEls.find(r=>r===t.target)&&t.target.closest(LS)||this.option.cancel&&t.target.closest(this.option.cancel)||(this.mouseDownEvent=t,delete this.dragging,delete Le.dragElement,delete Le.dropElement,document.addEventListener("mousemove",this._mouseMove,{capture:!0,passive:!0}),document.addEventListener("mouseup",this._mouseUp,!0),Qr&&(t.currentTarget.addEventListener("touchmove",yu),t.currentTarget.addEventListener("touchend",wu)),t.preventDefault(),document.activeElement&&document.activeElement.blur(),Le.mouseHandled=!0),!0}_callDrag(t){if(!this.dragging)return;const r=F.initEvent(t,{target:this.el,type:"drag"});this.option.drag&&this.option.drag(r,this.ui()),this.triggerEvent("drag",r)}_mouseMove(t){var i;const r=this.mouseDownEvent;if(this.lastDrag=t,this.dragging)if(this._dragFollow(t),Le.pauseDrag){const o=Number.isInteger(Le.pauseDrag)?Le.pauseDrag:100;this.dragTimeout&&window.clearTimeout(this.dragTimeout),this.dragTimeout=window.setTimeout(()=>this._callDrag(t),o)}else this._callDrag(t);else if(Math.abs(t.x-r.x)+Math.abs(t.y-r.y)>3){this.dragging=!0,Le.dragElement=this;const o=(i=this.el.gridstackNode)==null?void 0:i.grid;o?Le.dropElement=o.el.ddElement.ddDroppable:delete Le.dropElement,this.helper=this._createHelper(),this._setupHelperContainmentStyle(),this.dragTransform=F.getValuesFromTransformedElement(this.helperContainment),this.dragOffset=this._getDragOffset(t,this.el,this.helperContainment),this._setupHelperStyle(t);const u=F.initEvent(t,{target:this.el,type:"dragstart"});this.option.start&&this.option.start(u,this.ui()),this.triggerEvent("dragstart",u),document.addEventListener("keydown",this._keyEvent)}return!0}_mouseUp(t){var r,i;if(document.removeEventListener("mousemove",this._mouseMove,!0),document.removeEventListener("mouseup",this._mouseUp,!0),Qr&&t.currentTarget&&(t.currentTarget.removeEventListener("touchmove",yu,!0),t.currentTarget.removeEventListener("touchend",wu,!0)),this.dragging){delete this.dragging,(r=this.el.gridstackNode)==null||delete r._origRotate,document.removeEventListener("keydown",this._keyEvent),((i=Le.dropElement)==null?void 0:i.el)===this.el.parentElement&&delete Le.dropElement,this.helperContainment.style.position=this.parentOriginStylePosition||null,this.helper!==this.el&&this.helper.remove(),this._removeHelperStyle();const o=F.initEvent(t,{target:this.el,type:"dragstop"});this.option.stop&&this.option.stop(o),this.triggerEvent("dragstop",o),Le.dropElement&&Le.dropElement.drop(t)}delete this.helper,delete this.mouseDownEvent,delete Le.dragElement,delete Le.dropElement,delete Le.mouseHandled,t.preventDefault()}_keyEvent(t){var o,u;const r=this.el.gridstackNode,i=(r==null?void 0:r.grid)||((u=(o=Le.dropElement)==null?void 0:o.el)==null?void 0:u.gridstack);if(t.key==="Escape")r&&r._origRotate&&(r._orig=r._origRotate,delete r._origRotate),i==null||i.cancelDrag(),this._mouseUp(this.mouseDownEvent);else if(r&&i&&(t.key==="r"||t.key==="R")){if(!F.canBeRotated(r))return;r._origRotate=r._origRotate||{...r._orig},delete r._moving,i.setAnimation(!1).rotate(r.el,{top:-this.dragOffset.offsetTop,left:-this.dragOffset.offsetLeft}).setAnimation(),r._moving=!0,this.dragOffset=this._getDragOffset(this.lastDrag,r.el,this.helperContainment),this.helper.style.width=this.dragOffset.width+"px",this.helper.style.height=this.dragOffset.height+"px",F.swap(r._orig,"w","h"),delete r._rect,this._mouseMove(this.lastDrag)}}_createHelper(){let t=this.el;return typeof this.option.helper=="function"?t=this.option.helper(this.el):this.option.helper==="clone"&&(t=F.cloneNode(this.el)),t.parentElement||F.appendTo(t,this.option.appendTo==="parent"?this.el.parentElement:this.option.appendTo),this.dragElementOriginStyle=Lo.originStyleProp.map(r=>this.el.style[r]),t}_setupHelperStyle(t){this.helper.classList.add("ui-draggable-dragging");const r=this.helper.style;return r.pointerEvents="none",r.width=this.dragOffset.width+"px",r.height=this.dragOffset.height+"px",r.willChange="left, top",r.position="fixed",this._dragFollow(t),r.transition="none",setTimeout(()=>{this.helper&&(r.transition=null)},0),this}_removeHelperStyle(){var r;this.helper.classList.remove("ui-draggable-dragging");const t=(r=this.helper)==null?void 0:r.gridstackNode;if(!(t!=null&&t._isAboutToRemove)&&this.dragElementOriginStyle){const i=this.helper,o=this.dragElementOriginStyle.transition||null;i.style.transition=this.dragElementOriginStyle.transition="none",Lo.originStyleProp.forEach(u=>i.style[u]=this.dragElementOriginStyle[u]||null),setTimeout(()=>i.style.transition=o,50)}return delete this.dragElementOriginStyle,this}_dragFollow(t){const r={left:0,top:0},i=this.helper.style,o=this.dragOffset;i.left=(t.clientX+o.offsetLeft-r.left)*this.dragTransform.xScale+"px",i.top=(t.clientY+o.offsetTop-r.top)*this.dragTransform.yScale+"px"}_setupHelperContainmentStyle(){return this.helperContainment=this.helper.parentElement,this.helper.style.position!=="fixed"&&(this.parentOriginStylePosition=this.helperContainment.style.position,getComputedStyle(this.helperContainment).position.match(/static/)&&(this.helperContainment.style.position="relative")),this}_getDragOffset(t,r,i){let o=0,u=0;i&&(o=this.dragTransform.xOffset,u=this.dragTransform.yOffset);const c=r.getBoundingClientRect();return{left:c.left,top:c.top,offsetLeft:-t.clientX+c.left-o,offsetTop:-t.clientY+c.top-u,width:c.width*this.dragTransform.xScale,height:c.height*this.dragTransform.yScale}}ui(){const r=this.el.parentElement.getBoundingClientRect(),i=this.helper.getBoundingClientRect();return{position:{top:(i.top-r.top)*this.dragTransform.yScale,left:(i.left-r.left)*this.dragTransform.xScale}}}}Lo.originStyleProp=["width","height","transform","transform-origin","transition","pointerEvents","position","left","top","minWidth","willChange"];class PS extends cd{constructor(t,r={}){super(),this.el=t,this.option=r,this._mouseEnter=this._mouseEnter.bind(this),this._mouseLeave=this._mouseLeave.bind(this),this.enable(),this._setupAccept()}on(t,r){super.on(t,r)}off(t){super.off(t)}enable(){this.disabled!==!1&&(super.enable(),this.el.classList.add("ui-droppable"),this.el.classList.remove("ui-droppable-disabled"),this.el.addEventListener("mouseenter",this._mouseEnter),this.el.addEventListener("mouseleave",this._mouseLeave),Qr&&(this.el.addEventListener("pointerenter",bm),this.el.addEventListener("pointerleave",Tm)))}disable(t=!1){this.disabled!==!0&&(super.disable(),this.el.classList.remove("ui-droppable"),t||this.el.classList.add("ui-droppable-disabled"),this.el.removeEventListener("mouseenter",this._mouseEnter),this.el.removeEventListener("mouseleave",this._mouseLeave),Qr&&(this.el.removeEventListener("pointerenter",bm),this.el.removeEventListener("pointerleave",Tm)))}destroy(){this.disable(!0),this.el.classList.remove("ui-droppable"),this.el.classList.remove("ui-droppable-disabled"),super.destroy()}updateOption(t){return Object.keys(t).forEach(r=>this.option[r]=t[r]),this._setupAccept(),this}_mouseEnter(t){if(!Le.dragElement||!this._canDrop(Le.dragElement.el))return;t.preventDefault(),t.stopPropagation(),Le.dropElement&&Le.dropElement!==this&&Le.dropElement._mouseLeave(t,!0),Le.dropElement=this;const r=F.initEvent(t,{target:this.el,type:"dropover"});this.option.over&&this.option.over(r,this._ui(Le.dragElement)),this.triggerEvent("dropover",r),this.el.classList.add("ui-droppable-over")}_mouseLeave(t,r=!1){var o;if(!Le.dragElement||Le.dropElement!==this)return;t.preventDefault(),t.stopPropagation();const i=F.initEvent(t,{target:this.el,type:"dropout"});if(this.option.out&&this.option.out(i,this._ui(Le.dragElement)),this.triggerEvent("dropout",i),Le.dropElement===this&&(delete Le.dropElement,!r)){let u,c=this.el.parentElement;for(;!u&&c;)u=(o=c.ddElement)==null?void 0:o.ddDroppable,c=c.parentElement;u&&u._mouseEnter(t)}}drop(t){t.preventDefault();const r=F.initEvent(t,{target:this.el,type:"drop"});this.option.drop&&this.option.drop(r,this._ui(Le.dragElement)),this.triggerEvent("drop",r)}_canDrop(t){return t&&(!this.accept||this.accept(t))}_setupAccept(){return this.option.accept?(typeof this.option.accept=="string"?this.accept=t=>t.classList.contains(this.option.accept)||t.matches(this.option.accept):this.accept=this.option.accept,this):this}_ui(t){return{draggable:t.el,...t.ui()}}}class fd{static init(t){return t.ddElement||(t.ddElement=new fd(t)),t.ddElement}constructor(t){this.el=t}on(t,r){return this.ddDraggable&&["drag","dragstart","dragstop"].indexOf(t)>-1?this.ddDraggable.on(t,r):this.ddDroppable&&["drop","dropover","dropout"].indexOf(t)>-1?this.ddDroppable.on(t,r):this.ddResizable&&["resizestart","resize","resizestop"].indexOf(t)>-1&&this.ddResizable.on(t,r),this}off(t){return this.ddDraggable&&["drag","dragstart","dragstop"].indexOf(t)>-1?this.ddDraggable.off(t):this.ddDroppable&&["drop","dropover","dropout"].indexOf(t)>-1?this.ddDroppable.off(t):this.ddResizable&&["resizestart","resize","resizestop"].indexOf(t)>-1&&this.ddResizable.off(t),this}setupDraggable(t){return this.ddDraggable?this.ddDraggable.updateOption(t):this.ddDraggable=new Lo(this.el,t),this}cleanDraggable(){return this.ddDraggable&&(this.ddDraggable.destroy(),delete this.ddDraggable),this}setupResizable(t){return this.ddResizable?this.ddResizable.updateOption(t):this.ddResizable=new Oo(this.el,t),this}cleanResizable(){return this.ddResizable&&(this.ddResizable.destroy(),delete this.ddResizable),this}setupDroppable(t){return this.ddDroppable?this.ddDroppable.updateOption(t):this.ddDroppable=new PS(this.el,t),this}cleanDroppable(){return this.ddDroppable&&(this.ddDroppable.destroy(),delete this.ddDroppable),this}}class AS{resizable(t,r,i,o){return this._getDDElements(t,r).forEach(u=>{if(r==="disable"||r==="enable")u.ddResizable&&u.ddResizable[r]();else if(r==="destroy")u.ddResizable&&u.cleanResizable();else if(r==="option")u.setupResizable({[i]:o});else{const d=u.el.gridstackNode.grid;let p=u.el.getAttribute("gs-resize-handles")||d.opts.resizable.handles||"e,s,se";p==="all"&&(p="n,e,s,w,se,sw,ne,nw");const g=!d.opts.alwaysShowResizeHandle;u.setupResizable({...d.opts.resizable,handles:p,autoHide:g,start:r.start,stop:r.stop,resize:r.resize})}}),this}draggable(t,r,i,o){return this._getDDElements(t,r).forEach(u=>{if(r==="disable"||r==="enable")u.ddDraggable&&u.ddDraggable[r]();else if(r==="destroy")u.ddDraggable&&u.cleanDraggable();else if(r==="option")u.setupDraggable({[i]:o});else{const c=u.el.gridstackNode.grid;u.setupDraggable({...c.opts.draggable,start:r.start,stop:r.stop,drag:r.drag})}}),this}dragIn(t,r){return this._getDDElements(t).forEach(i=>i.setupDraggable(r)),this}droppable(t,r,i,o){return typeof r.accept=="function"&&!r._accept&&(r._accept=r.accept,r.accept=u=>r._accept(u)),this._getDDElements(t,r).forEach(u=>{r==="disable"||r==="enable"?u.ddDroppable&&u.ddDroppable[r]():r==="destroy"?u.ddDroppable&&u.cleanDroppable():r==="option"?u.setupDroppable({[i]:o}):u.setupDroppable(r)}),this}isDroppable(t){var r;return!!((r=t==null?void 0:t.ddElement)!=null&&r.ddDroppable&&!t.ddElement.ddDroppable.disabled)}isDraggable(t){var r;return!!((r=t==null?void 0:t.ddElement)!=null&&r.ddDraggable&&!t.ddElement.ddDraggable.disabled)}isResizable(t){var r;return!!((r=t==null?void 0:t.ddElement)!=null&&r.ddResizable&&!t.ddElement.ddResizable.disabled)}on(t,r,i){return this._getDDElements(t).forEach(o=>o.on(r,u=>{i(u,Le.dragElement?Le.dragElement.el:u.target,Le.dragElement?Le.dragElement.helper:null)})),this}off(t,r){return this._getDDElements(t).forEach(i=>i.off(r)),this}_getDDElements(t,r){const i=t.gridstack||r!=="destroy"&&r!=="disable",o=F.getElements(t);return o.length?o.map(c=>c.ddElement||(i?fd.init(c):null)).filter(c=>c):[]}}/*! + * GridStack 11.5.1 + * https://gridstackjs.com/ + * + * Copyright (c) 2021-2024 Alain Dumesny + * see root license https://github.com/gridstack/gridstack.js/tree/master/LICENSE + */const Gn=new AS;class Te{static init(t={},r=".grid-stack"){if(typeof document>"u")return null;const i=Te.getGridElement(r);return i?(i.gridstack||(i.gridstack=new Te(i,F.cloneDeep(t))),i.gridstack):(console.error(typeof r=="string"?'GridStack.initAll() no grid was found with selector "'+r+`" - element missing or wrong selector ? +Note: ".grid-stack" is required for proper CSS styling and drag/drop, and is the default selector.`:"GridStack.init() no grid element was passed."),null)}static initAll(t={},r=".grid-stack"){const i=[];return typeof document>"u"||(Te.getGridElements(r).forEach(o=>{o.gridstack||(o.gridstack=new Te(o,F.cloneDeep(t))),i.push(o.gridstack)}),i.length===0&&console.error('GridStack.initAll() no grid was found with selector "'+r+`" - element missing or wrong selector ? +Note: ".grid-stack" is required for proper CSS styling and drag/drop, and is the default selector.`)),i}static addGrid(t,r={}){if(!t)return null;let i=t;if(i.gridstack){const c=i.gridstack;return r&&(c.opts={...c.opts,...r}),r.children!==void 0&&c.load(r.children),c}return(!t.classList.contains("grid-stack")||Te.addRemoveCB)&&(Te.addRemoveCB?i=Te.addRemoveCB(t,r,!0,!0):i=F.createDiv(["grid-stack",r.class],t)),Te.init(r,i)}static registerEngine(t){Te.engineClass=t}get placeholder(){if(!this._placeholder){this._placeholder=F.createDiv([this.opts.placeholderClass,wr.itemClass,this.opts.itemClass]);const t=F.createDiv(["placeholder-content"],this._placeholder);this.opts.placeholderText&&(t.textContent=this.opts.placeholderText)}return this._placeholder}constructor(t,r={}){var v,x,T;this.el=t,this.opts=r,this.animationDelay=310,this._gsEventHandler={},this._extraDragRow=0,this.dragTransform={xScale:1,yScale:1,xOffset:0,yOffset:0},t.gridstack=this,this.opts=r=r||{},t.classList.contains("grid-stack")||this.el.classList.add("grid-stack"),r.row&&(r.minRow=r.maxRow=r.row,delete r.row);const i=F.toNumber(t.getAttribute("gs-row"));r.column==="auto"&&delete r.column,r.alwaysShowResizeHandle!==void 0&&(r._alwaysShowResizeHandle=r.alwaysShowResizeHandle);let o=(v=r.columnOpts)==null?void 0:v.breakpoints;const u=r;if(u.oneColumnModeDomSort&&(delete u.oneColumnModeDomSort,console.log("warning: Gridstack oneColumnModeDomSort no longer supported. Use GridStackOptions.columnOpts instead.")),u.oneColumnSize||u.disableOneColumnMode===!1){const N=u.oneColumnSize||768;delete u.oneColumnSize,delete u.disableOneColumnMode,r.columnOpts=r.columnOpts||{},o=r.columnOpts.breakpoints=r.columnOpts.breakpoints||[];let C=o.find(L=>L.c===1);C?C.w=N:(C={c:1,w:N},o.push(C,{c:12,w:N+1}))}const c=r.columnOpts;c&&(!c.columnWidth&&!((x=c.breakpoints)!=null&&x.length)?(delete r.columnOpts,o=void 0):c.columnMax=c.columnMax||12),(o==null?void 0:o.length)>1&&o.sort((N,C)=>(C.w||0)-(N.w||0));const d={...F.cloneDeep(wr),column:F.toNumber(t.getAttribute("gs-column"))||wr.column,minRow:i||F.toNumber(t.getAttribute("gs-min-row"))||wr.minRow,maxRow:i||F.toNumber(t.getAttribute("gs-max-row"))||wr.maxRow,staticGrid:F.toBool(t.getAttribute("gs-static"))||wr.staticGrid,sizeToContent:F.toBool(t.getAttribute("gs-size-to-content"))||void 0,draggable:{handle:(r.handleClass?"."+r.handleClass:r.handle?r.handle:"")||wr.draggable.handle},removableOptions:{accept:r.itemClass||wr.removableOptions.accept,decline:wr.removableOptions.decline}};t.getAttribute("gs-animate")&&(d.animate=F.toBool(t.getAttribute("gs-animate"))),r=F.defaults(r,d),this._initMargin(),this.checkDynamicColumn(),this.el.classList.add("gs-"+r.column),r.rtl==="auto"&&(r.rtl=t.style.direction==="rtl"),r.rtl&&this.el.classList.add("grid-stack-rtl");const p=this.el.closest("."+wr.itemClass),g=p==null?void 0:p.gridstackNode;g&&(g.subGrid=this,this.parentGridNode=g,this.el.classList.add("grid-stack-nested"),g.el.classList.add("grid-stack-sub-grid")),this._isAutoCellHeight=r.cellHeight==="auto",this._isAutoCellHeight||r.cellHeight==="initial"?this.cellHeight(void 0,!1):(typeof r.cellHeight=="number"&&r.cellHeightUnit&&r.cellHeightUnit!==wr.cellHeightUnit&&(r.cellHeight=r.cellHeight+r.cellHeightUnit,delete r.cellHeightUnit),this.cellHeight(r.cellHeight,!1)),r.alwaysShowResizeHandle==="mobile"&&(r.alwaysShowResizeHandle=Qr),this._styleSheetClass="gs-id-"+ci._idSeq++,this.el.classList.add(this._styleSheetClass),this._setStaticClass();const y=r.engineClass||Te.engineClass||ci;if(this.engine=new y({column:this.getColumn(),float:r.float,maxRow:r.maxRow,onChange:N=>{let C=0;this.engine.nodes.forEach(L=>{C=Math.max(C,L.y+L.h)}),N.forEach(L=>{const U=L.el;U&&(L._removeDOM?(U&&U.remove(),delete L._removeDOM):this._writePosAttr(U,L))}),this._updateStyles(!1,C)}}),this._updateStyles(!1,0),r.auto&&(this.batchUpdate(),this.engine._loading=!0,this.getGridItems().forEach(N=>this._prepareElement(N)),delete this.engine._loading,this.batchUpdate(!1)),r.children){const N=r.children;delete r.children,N.length&&this.load(N)}this.setAnimation(),r.subGridDynamic&&!Le.pauseDrag&&(Le.pauseDrag=!0),((T=r.draggable)==null?void 0:T.pause)!==void 0&&(Le.pauseDrag=r.draggable.pause),this._setupRemoveDrop(),this._setupAcceptWidget(),this._updateResizeEvent()}addWidget(t){if(typeof t=="string"){console.error("V11: GridStack.addWidget() does not support string anymore. see #2736");return}if(t.ELEMENT_NODE)return console.error("V11: GridStack.addWidget() does not support HTMLElement anymore. use makeWidget()"),this.makeWidget(t);let r,i=t;if(i.grid=this,i!=null&&i.el?r=i.el:Te.addRemoveCB?r=Te.addRemoveCB(this.el,t,!0,!1):r=this.createWidgetDivs(i),!r)return;if(i=r.gridstackNode,i&&r.parentElement===this.el&&this.engine.nodes.find(u=>u._id===i._id))return r;const o=this._readAttr(r);return F.defaults(t,o),this.engine.prepareNode(t),this.el.appendChild(r),this.makeWidget(r,t),r}createWidgetDivs(t){const r=F.createDiv(["grid-stack-item",this.opts.itemClass]),i=F.createDiv(["grid-stack-item-content"],r);return F.lazyLoad(t)?t.visibleObservable||(t.visibleObservable=new IntersectionObserver(([o])=>{var u,c;o.isIntersecting&&((u=t.visibleObservable)==null||u.disconnect(),delete t.visibleObservable,Te.renderCB(i,t),(c=t.grid)==null||c.prepareDragDrop(t.el))}),window.setTimeout(()=>{var o;return(o=t.visibleObservable)==null?void 0:o.observe(r)})):Te.renderCB(i,t),r}makeSubGrid(t,r,i,o=!0){var T,N,C;let u=t.gridstackNode;if(u||(u=this.makeWidget(t).gridstackNode),(T=u.subGrid)!=null&&T.el)return u.subGrid;let c,d=this;for(;d&&!c;)c=(N=d.opts)==null?void 0:N.subGridOpts,d=(C=d.parentGridNode)==null?void 0:C.grid;r=F.cloneDeep({...this.opts,id:void 0,children:void 0,column:"auto",columnOpts:void 0,layout:"list",subGridOpts:void 0,...c||{},...r||u.subGridOpts||{}}),u.subGridOpts=r;let p;r.column==="auto"&&(p=!0,r.column=Math.max(u.w||1,(i==null?void 0:i.w)||1),delete r.columnOpts);let g=u.el.querySelector(".grid-stack-item-content"),y,v;if(o&&(this._removeDD(u.el),v={...u,x:0,y:0},F.removeInternalForSave(v),delete v.subGridOpts,u.content&&(v.content=u.content,delete u.content),Te.addRemoveCB?y=Te.addRemoveCB(this.el,v,!0,!1):(y=F.createDiv(["grid-stack-item"]),y.appendChild(g),g=F.createDiv(["grid-stack-item-content"],u.el)),this.prepareDragDrop(u.el)),i){const L=p?r.column:u.w,U=u.h+i.h,A=u.el.style;A.transition="none",this.update(u.el,{w:L,h:U}),setTimeout(()=>A.transition=null)}const x=u.subGrid=Te.addGrid(g,r);return i!=null&&i._moving&&(x._isTemp=!0),p&&(x._autoColumn=!0),o&&x.makeWidget(y,v),i&&(i._moving?window.setTimeout(()=>F.simulateMouseEvent(i._event,"mouseenter",x.el),0):x.makeWidget(u.el,u)),this.resizeToContentCheck(!1,u),x}removeAsSubGrid(t){var i;const r=(i=this.parentGridNode)==null?void 0:i.grid;r&&(r.batchUpdate(),r.removeWidget(this.parentGridNode.el,!0,!0),this.engine.nodes.forEach(o=>{o.x+=this.parentGridNode.x,o.y+=this.parentGridNode.y,r.makeWidget(o.el,o)}),r.batchUpdate(!1),this.parentGridNode&&delete this.parentGridNode.subGrid,delete this.parentGridNode,t&&window.setTimeout(()=>F.simulateMouseEvent(t._event,"mouseenter",r.el),0))}save(t=!0,r=!1,i=Te.saveCB){const o=this.engine.save(t,i);if(o.forEach(u=>{var c;if(t&&u.el&&!u.subGrid&&!i){const d=u.el.querySelector(".grid-stack-item-content");u.content=d==null?void 0:d.innerHTML,u.content||delete u.content}else if(!t&&!i&&delete u.content,(c=u.subGrid)!=null&&c.el){const d=u.subGrid.save(t,r,i);u.subGridOpts=r?d:{children:d},delete u.subGrid}delete u.el}),r){const u=F.cloneDeep(this.opts);u.marginBottom===u.marginTop&&u.marginRight===u.marginLeft&&u.marginTop===u.marginRight&&(u.margin=u.marginTop,delete u.marginTop,delete u.marginRight,delete u.marginBottom,delete u.marginLeft),u.rtl===(this.el.style.direction==="rtl")&&(u.rtl="auto"),this._isAutoCellHeight&&(u.cellHeight="auto"),this._autoColumn&&(u.column="auto");const c=u._alwaysShowResizeHandle;return delete u._alwaysShowResizeHandle,c!==void 0?u.alwaysShowResizeHandle=c:delete u.alwaysShowResizeHandle,F.removeInternalAndSame(u,wr),u.children=o,u}return o}load(t,r=Te.addRemoveCB||!0){var g;t=F.cloneDeep(t);const i=this.getColumn();t.forEach(y=>{y.w=y.w||1,y.h=y.h||1}),t=F.sort(t),this.engine.skipCacheUpdate=this._ignoreLayoutsNodeChange=!0;let o=0;t.forEach(y=>{o=Math.max(o,(y.x||0)+y.w)}),o>this.engine.defaultColumn&&(this.engine.defaultColumn=o),o>i&&this.engine.cacheLayout(t,o,!0);const u=Te.addRemoveCB;typeof r=="function"&&(Te.addRemoveCB=r);const c=[];this.batchUpdate();const d=!this.engine.nodes.length;d&&this.setAnimation(!1),!d&&r&&[...this.engine.nodes].forEach(v=>{if(!v.id)return;F.find(t,v.id)||(Te.addRemoveCB&&Te.addRemoveCB(this.el,v,!1,!1),c.push(v),this.removeWidget(v.el,!0,!1))}),this.engine._loading=!0;const p=[];return this.engine.nodes=this.engine.nodes.filter(y=>F.find(t,y.id)?(p.push(y),!1):!0),t.forEach(y=>{var x;const v=F.find(p,y.id);if(v){if(F.shouldSizeToContent(v)&&(y.h=v.h),this.engine.nodeBoundFix(y),(y.autoPosition||y.x===void 0||y.y===void 0)&&(y.w=y.w||v.w,y.h=y.h||v.h,this.engine.findEmptyPosition(y)),this.engine.nodes.push(v),F.samePos(v,y)&&this.engine.nodes.length>1&&(this.moveNode(v,{...y,forceCollide:!0}),F.copyPos(y,v)),this.update(v.el,y),(x=y.subGridOpts)!=null&&x.children){const T=v.el.querySelector(".grid-stack");T&&T.gridstack&&T.gridstack.load(y.subGridOpts.children)}}else r&&this.addWidget(y)}),delete this.engine._loading,this.engine.removedNodes=c,this.batchUpdate(!1),delete this._ignoreLayoutsNodeChange,delete this.engine.skipCacheUpdate,u?Te.addRemoveCB=u:delete Te.addRemoveCB,d&&((g=this.opts)!=null&&g.animate)&&this.setAnimation(this.opts.animate,!0),this}batchUpdate(t=!0){return this.engine.batchUpdate(t),t||(this._updateContainerHeight(),this._triggerRemoveEvent(),this._triggerAddEvent(),this._triggerChangeEvent()),this}getCellHeight(t=!1){if(this.opts.cellHeight&&this.opts.cellHeight!=="auto"&&(!t||!this.opts.cellHeightUnit||this.opts.cellHeightUnit==="px"))return this.opts.cellHeight;if(this.opts.cellHeightUnit==="rem")return this.opts.cellHeight*parseFloat(getComputedStyle(document.documentElement).fontSize);if(this.opts.cellHeightUnit==="em")return this.opts.cellHeight*parseFloat(getComputedStyle(this.el).fontSize);if(this.opts.cellHeightUnit==="cm")return this.opts.cellHeight*(96/2.54);if(this.opts.cellHeightUnit==="mm")return this.opts.cellHeight*(96/2.54)/10;const r=this.el.querySelector("."+this.opts.itemClass);if(r){const o=F.toNumber(r.getAttribute("gs-h"))||1;return Math.round(r.offsetHeight/o)}const i=parseInt(this.el.getAttribute("gs-current-row"));return i?Math.round(this.el.getBoundingClientRect().height/i):this.opts.cellHeight}cellHeight(t,r=!0){if(r&&t!==void 0&&this._isAutoCellHeight!==(t==="auto")&&(this._isAutoCellHeight=t==="auto",this._updateResizeEvent()),(t==="initial"||t==="auto")&&(t=void 0),t===void 0){const o=-this.opts.marginRight-this.opts.marginLeft+this.opts.marginTop+this.opts.marginBottom;t=this.cellWidth()+o}const i=F.parseHeight(t);return this.opts.cellHeightUnit===i.unit&&this.opts.cellHeight===i.h?this:(this.opts.cellHeightUnit=i.unit,this.opts.cellHeight=i.h,this.resizeToContentCheck(),r&&this._updateStyles(!0),this)}cellWidth(){return this._widthOrContainer()/this.getColumn()}_widthOrContainer(t=!1){var r;return t&&((r=this.opts.columnOpts)!=null&&r.breakpointForWindow)?window.innerWidth:this.el.clientWidth||this.el.parentElement.clientWidth||window.innerWidth}checkDynamicColumn(){var u,c;const t=this.opts.columnOpts;if(!t||!t.columnWidth&&!((u=t.breakpoints)!=null&&u.length))return!1;const r=this.getColumn();let i=r;const o=this._widthOrContainer(!0);if(t.columnWidth)i=Math.min(Math.round(o/t.columnWidth)||1,t.columnMax);else{i=t.columnMax;let d=0;for(;dp.c===i);return this.column(i,(d==null?void 0:d.layout)||t.layout),!0}return!1}compact(t="compact",r=!0){return this.engine.compact(t,r),this._triggerChangeEvent(),this}column(t,r="moveScale"){if(!t||t<1||this.opts.column===t)return this;const i=this.getColumn();return this.opts.column=t,this.engine?(this.engine.column=t,this.el.classList.remove("gs-"+i),this.el.classList.add("gs-"+t),this.engine.columnChanged(i,t,r),this._isAutoCellHeight&&this.cellHeight(),this.resizeToContentCheck(!0),this._ignoreLayoutsNodeChange=!0,this._triggerChangeEvent(),delete this._ignoreLayoutsNodeChange,this):this}getColumn(){return this.opts.column}getGridItems(){return Array.from(this.el.children).filter(t=>t.matches("."+this.opts.itemClass)&&!t.matches("."+this.opts.placeholderClass))}isIgnoreChangeCB(){return this._ignoreLayoutsNodeChange}destroy(t=!0){var r,i;if(this.el)return this.offAll(),this._updateResizeEvent(!0),this.setStatic(!0,!1),this.setAnimation(!1),t?this.el.parentNode.removeChild(this.el):(this.removeAll(t),this.el.classList.remove(this._styleSheetClass),this.el.removeAttribute("gs-current-row")),this._removeStylesheet(),(r=this.parentGridNode)==null||delete r.subGrid,delete this.parentGridNode,delete this.opts,(i=this._placeholder)==null||delete i.gridstackNode,delete this._placeholder,delete this.engine,delete this.el.gridstack,delete this.el,this}float(t){return this.opts.float!==t&&(this.opts.float=this.engine.float=t,this._triggerChangeEvent()),this}getFloat(){return this.engine.float}getCellFromPixel(t,r=!1){const i=this.el.getBoundingClientRect();let o;r?o={top:i.top+document.documentElement.scrollTop,left:i.left}:o={top:this.el.offsetTop,left:this.el.offsetLeft};const u=t.left-o.left,c=t.top-o.top,d=i.width/this.getColumn(),p=i.height/parseInt(this.el.getAttribute("gs-current-row"));return{x:Math.floor(u/d),y:Math.floor(c/p)}}getRow(){return Math.max(this.engine.getRow(),this.opts.minRow)}isAreaEmpty(t,r,i,o){return this.engine.isAreaEmpty(t,r,i,o)}makeWidget(t,r){const i=Te.getElement(t);if(!i)return;i.parentElement||this.el.appendChild(i),this._prepareElement(i,!0,r);const o=i.gridstackNode;this._updateContainerHeight(),o.subGridOpts&&this.makeSubGrid(i,o.subGridOpts,void 0,!1);let u;return this.opts.column===1&&!this._ignoreLayoutsNodeChange&&(u=this._ignoreLayoutsNodeChange=!0),this._triggerAddEvent(),this._triggerChangeEvent(),u&&delete this._ignoreLayoutsNodeChange,i}on(t,r){return t.indexOf(" ")!==-1?(t.split(" ").forEach(o=>this.on(o,r)),this):(t==="change"||t==="added"||t==="removed"||t==="enable"||t==="disable"?(t==="enable"||t==="disable"?this._gsEventHandler[t]=o=>r(o):this._gsEventHandler[t]=o=>{o.detail&&r(o,o.detail)},this.el.addEventListener(t,this._gsEventHandler[t])):t==="drag"||t==="dragstart"||t==="dragstop"||t==="resizestart"||t==="resize"||t==="resizestop"||t==="dropped"||t==="resizecontent"?this._gsEventHandler[t]=r:console.error("GridStack.on("+t+") event not supported"),this)}off(t){return t.indexOf(" ")!==-1?(t.split(" ").forEach(i=>this.off(i)),this):((t==="change"||t==="added"||t==="removed"||t==="enable"||t==="disable")&&this._gsEventHandler[t]&&this.el.removeEventListener(t,this._gsEventHandler[t]),delete this._gsEventHandler[t],this)}offAll(){return Object.keys(this._gsEventHandler).forEach(t=>this.off(t)),this}removeWidget(t,r=!0,i=!0){return t?(Te.getElements(t).forEach(o=>{if(o.parentElement&&o.parentElement!==this.el)return;let u=o.gridstackNode;u||(u=this.engine.nodes.find(c=>o===c.el)),u&&(r&&Te.addRemoveCB&&Te.addRemoveCB(this.el,u,!1,!1),delete o.gridstackNode,this._removeDD(o),this.engine.removeNode(u,r,i),r&&o.parentElement&&o.remove())}),i&&(this._triggerRemoveEvent(),this._triggerChangeEvent()),this):(console.error("Error: GridStack.removeWidget(undefined) called"),this)}removeAll(t=!0,r=!0){return this.engine.nodes.forEach(i=>{t&&Te.addRemoveCB&&Te.addRemoveCB(this.el,i,!1,!1),delete i.el.gridstackNode,this.opts.staticGrid||this._removeDD(i.el)}),this.engine.removeAll(t,r),r&&this._triggerRemoveEvent(),this}setAnimation(t=this.opts.animate,r){return r?setTimeout(()=>{this.opts&&this.setAnimation(t)}):t?this.el.classList.add("grid-stack-animate"):this.el.classList.remove("grid-stack-animate"),this}hasAnimationCSS(){return this.el.classList.contains("grid-stack-animate")}setStatic(t,r=!0,i=!0){return!!this.opts.staticGrid===t?this:(t?this.opts.staticGrid=!0:delete this.opts.staticGrid,this._setupRemoveDrop(),this._setupAcceptWidget(),this.engine.nodes.forEach(o=>{this.prepareDragDrop(o.el),o.subGrid&&i&&o.subGrid.setStatic(t,r,i)}),r&&this._setStaticClass(),this)}updateOptions(t){var i;const r=this.opts;return t.acceptWidgets!==void 0&&this._setupAcceptWidget(),t.animate!==void 0&&this.setAnimation(),t.cellHeight&&(this.cellHeight(t.cellHeight,!0),delete t.cellHeight),t.class&&t.class!==r.class&&(r.class&&this.el.classList.remove(r.class),this.el.classList.add(t.class)),typeof t.column=="number"&&!t.columnOpts&&(this.column(t.column),delete t.column),t.margin!==void 0&&this.margin(t.margin),t.staticGrid!==void 0&&this.setStatic(t.staticGrid),t.disableDrag!==void 0&&!t.staticGrid&&this.enableMove(!t.disableDrag),t.disableResize!==void 0&&!t.staticGrid&&this.enableResize(!t.disableResize),t.float!==void 0&&this.float(t.float),t.row!==void 0&&(r.minRow=r.maxRow=t.row),(i=t.children)!=null&&i.length&&(this.load(t.children),delete t.children),this.opts={...this.opts,...t},this}update(t,r){return Te.getElements(t).forEach(i=>{var y;const o=i==null?void 0:i.gridstackNode;if(!o)return;const u={...F.copyPos({},o),...F.cloneDeep(r)};this.engine.nodeBoundFix(u),delete u.autoPosition;const c=["x","y","w","h"];let d;if(c.some(v=>u[v]!==void 0&&u[v]!==o[v])&&(d={},c.forEach(v=>{d[v]=u[v]!==void 0?u[v]:o[v],delete u[v]})),!d&&(u.minW||u.minH||u.maxW||u.maxH)&&(d={}),u.content!==void 0){const v=i.querySelector(".grid-stack-item-content");v&&v.textContent!==u.content&&(o.content=u.content,Te.renderCB(v,u),(y=o.subGrid)!=null&&y.el&&(v.appendChild(o.subGrid.el),o.subGrid.opts.styleInHead||o.subGrid._updateStyles(!0))),delete u.content}let p=!1,g=!1;for(const v in u)v[0]!=="_"&&o[v]!==u[v]&&(o[v]=u[v],p=!0,g=g||!this.opts.staticGrid&&(v==="noResize"||v==="noMove"||v==="locked"));if(F.sanitizeMinMax(o),d){const v=d.w!==void 0&&d.w!==o.w;this.moveNode(o,d),v&&o.subGrid?o.subGrid.onResize(this.hasAnimationCSS()?o.w:void 0):this.resizeToContentCheck(v,o),delete o._orig}(d||p)&&this._writeAttr(i,o),g&&this.prepareDragDrop(o.el)}),this}moveNode(t,r){const i=t._updating;i||this.engine.cleanNodes().beginUpdate(t),this.engine.moveNode(t,r),this._updateContainerHeight(),i||(this._triggerChangeEvent(),this.engine.endUpdate())}resizeToContent(t){var x,T;if(!t||(t.classList.remove("size-to-content-max"),!t.clientHeight))return;const r=t.gridstackNode;if(!r)return;const i=r.grid;if(!i||t.parentElement!==i.el)return;const o=i.getCellHeight(!0);if(!o)return;let u=r.h?r.h*o:t.clientHeight,c;if(r.resizeToContentParent&&(c=t.querySelector(r.resizeToContentParent)),c||(c=t.querySelector(Te.resizeToContentParent)),!c)return;const d=t.clientHeight-c.clientHeight,p=r.h?r.h*o-d:c.clientHeight;let g;if(r.subGrid){g=r.subGrid.getRow()*r.subGrid.getCellHeight(!0);const N=r.subGrid.el.getBoundingClientRect(),C=r.subGrid.el.parentElement.getBoundingClientRect();g+=N.top-C.top}else{if((T=(x=r.subGridOpts)==null?void 0:x.children)!=null&&T.length)return;{const N=c.firstElementChild;if(!N){console.error(`Error: GridStack.resizeToContent() widget id:${r.id} '${Te.resizeToContentParent}'.firstElementChild is null, make sure to have a div like container. Skipping sizing.`);return}g=N.getBoundingClientRect().height||p}}if(p===g)return;u+=g-p;let y=Math.ceil(u/o);const v=Number.isInteger(r.sizeToContent)?r.sizeToContent:0;v&&y>v&&(y=v,t.classList.add("size-to-content-max")),r.minH&&yr.maxH&&(y=r.maxH),y!==r.h&&(i._ignoreLayoutsNodeChange=!0,i.moveNode(r,{h:y}),delete i._ignoreLayoutsNodeChange)}resizeToContentCBCheck(t){Te.resizeToContentCB?Te.resizeToContentCB(t):this.resizeToContent(t)}rotate(t,r){return Te.getElements(t).forEach(i=>{const o=i.gridstackNode;if(!F.canBeRotated(o))return;const u={w:o.h,h:o.w,minH:o.minW,minW:o.minH,maxH:o.maxW,maxW:o.maxH};if(r){const d=r.left>0?Math.floor(r.left/this.cellWidth()):0,p=r.top>0?Math.floor(r.top/this.opts.cellHeight):0;u.x=o.x+d-(o.h-(p+1)),u.y=o.y+p-d}Object.keys(u).forEach(d=>{u[d]===void 0&&delete u[d]});const c=o._orig;this.update(i,u),o._orig=c}),this}margin(t){if(!(typeof t=="string"&&t.split(" ").length>1)){const i=F.parseHeight(t);if(this.opts.marginUnit===i.unit&&this.opts.margin===i.h)return}return this.opts.margin=t,this.opts.marginTop=this.opts.marginBottom=this.opts.marginLeft=this.opts.marginRight=void 0,this._initMargin(),this._updateStyles(!0),this}getMargin(){return this.opts.margin}willItFit(t){if(arguments.length>1){console.warn("gridstack.ts: `willItFit(x,y,w,h,autoPosition)` is deprecated. Use `willItFit({x, y,...})`. It will be removed soon");const r=arguments;let i=0,o={x:r[i++],y:r[i++],w:r[i++],h:r[i++],autoPosition:r[i++]};return this.willItFit(o)}return this.engine.willItFit(t)}_triggerChangeEvent(){if(this.engine.batchMode)return this;const t=this.engine.getDirtyNodes(!0);return t&&t.length&&(this._ignoreLayoutsNodeChange||this.engine.layoutsNodesChange(t),this._triggerEvent("change",t)),this.engine.saveInitial(),this}_triggerAddEvent(){var t;if(this.engine.batchMode)return this;if((t=this.engine.addedNodes)!=null&&t.length){this._ignoreLayoutsNodeChange||this.engine.layoutsNodesChange(this.engine.addedNodes),this.engine.addedNodes.forEach(i=>{delete i._dirty});const r=[...this.engine.addedNodes];this.engine.addedNodes=[],this._triggerEvent("added",r)}return this}_triggerRemoveEvent(){var t;if(this.engine.batchMode)return this;if((t=this.engine.removedNodes)!=null&&t.length){const r=[...this.engine.removedNodes];this.engine.removedNodes=[],this._triggerEvent("removed",r)}return this}_triggerEvent(t,r){const i=r?new CustomEvent(t,{bubbles:!1,detail:r}):new Event(t);return this.el.dispatchEvent(i),this}_removeStylesheet(){if(this._styles){const t=this.opts.styleInHead?void 0:this.el.parentNode;F.removeStylesheet(this._styleSheetClass,t),delete this._styles}return this}_updateStyles(t=!1,r){if(t&&this._removeStylesheet(),r===void 0&&(r=this.getRow()),this._updateContainerHeight(),this.opts.cellHeight===0)return this;const i=this.opts.cellHeight,o=this.opts.cellHeightUnit,u=`.${this._styleSheetClass} > .${this.opts.itemClass}`;if(!this._styles){const c=this.opts.styleInHead?void 0:this.el.parentNode;if(this._styles=F.createStylesheet(this._styleSheetClass,c,{nonce:this.opts.nonce}),!this._styles)return this;this._styles._max=0,F.addCSSRule(this._styles,u,`height: ${i}${o}`);const d=this.opts.marginTop+this.opts.marginUnit,p=this.opts.marginBottom+this.opts.marginUnit,g=this.opts.marginRight+this.opts.marginUnit,y=this.opts.marginLeft+this.opts.marginUnit,v=`${u} > .grid-stack-item-content`,x=`.${this._styleSheetClass} > .grid-stack-placeholder > .placeholder-content`;F.addCSSRule(this._styles,v,`top: ${d}; right: ${g}; bottom: ${p}; left: ${y};`),F.addCSSRule(this._styles,x,`top: ${d}; right: ${g}; bottom: ${p}; left: ${y};`),F.addCSSRule(this._styles,`${u} > .ui-resizable-n`,`top: ${d};`),F.addCSSRule(this._styles,`${u} > .ui-resizable-s`,`bottom: ${p}`),F.addCSSRule(this._styles,`${u} > .ui-resizable-ne`,`right: ${g}; top: ${d}`),F.addCSSRule(this._styles,`${u} > .ui-resizable-e`,`right: ${g}`),F.addCSSRule(this._styles,`${u} > .ui-resizable-se`,`right: ${g}; bottom: ${p}`),F.addCSSRule(this._styles,`${u} > .ui-resizable-nw`,`left: ${y}; top: ${d}`),F.addCSSRule(this._styles,`${u} > .ui-resizable-w`,`left: ${y}`),F.addCSSRule(this._styles,`${u} > .ui-resizable-sw`,`left: ${y}; bottom: ${p}`)}if(r=r||this._styles._max,r>this._styles._max){const c=d=>i*d+o;for(let d=this._styles._max+1;d<=r;d++)F.addCSSRule(this._styles,`${u}[gs-y="${d}"]`,`top: ${c(d)}`),F.addCSSRule(this._styles,`${u}[gs-h="${d+1}"]`,`height: ${c(d+1)}`);this._styles._max=r}return this}_updateContainerHeight(){if(!this.engine||this.engine.batchMode)return this;const t=this.parentGridNode;let r=this.getRow()+this._extraDragRow;const i=this.opts.cellHeight,o=this.opts.cellHeightUnit;if(!i)return this;if(!t){const u=F.parseHeight(getComputedStyle(this.el).minHeight);if(u.h>0&&u.unit===o){const c=Math.floor(u.h/i);r1?t.setAttribute("gs-w",String(r.w)):t.removeAttribute("gs-w"),r.h>1?t.setAttribute("gs-h",String(r.h)):t.removeAttribute("gs-h"),this}_writeAttr(t,r){if(!r)return this;this._writePosAttr(t,r);const i={noResize:"gs-no-resize",noMove:"gs-no-move",locked:"gs-locked",id:"gs-id",sizeToContent:"gs-size-to-content"};for(const o in i)r[o]?t.setAttribute(i[o],String(r[o])):t.removeAttribute(i[o]);return this}_readAttr(t,r=!0){const i={};i.x=F.toNumber(t.getAttribute("gs-x")),i.y=F.toNumber(t.getAttribute("gs-y")),i.w=F.toNumber(t.getAttribute("gs-w")),i.h=F.toNumber(t.getAttribute("gs-h")),i.autoPosition=F.toBool(t.getAttribute("gs-auto-position")),i.noResize=F.toBool(t.getAttribute("gs-no-resize")),i.noMove=F.toBool(t.getAttribute("gs-no-move")),i.locked=F.toBool(t.getAttribute("gs-locked"));const o=t.getAttribute("gs-size-to-content");o&&(o==="true"||o==="false"?i.sizeToContent=F.toBool(o):i.sizeToContent=parseInt(o,10)),i.id=t.getAttribute("gs-id"),i.maxW=F.toNumber(t.getAttribute("gs-max-w")),i.minW=F.toNumber(t.getAttribute("gs-min-w")),i.maxH=F.toNumber(t.getAttribute("gs-max-h")),i.minH=F.toNumber(t.getAttribute("gs-min-h")),r&&(i.w===1&&t.removeAttribute("gs-w"),i.h===1&&t.removeAttribute("gs-h"),i.maxW&&t.removeAttribute("gs-max-w"),i.minW&&t.removeAttribute("gs-min-w"),i.maxH&&t.removeAttribute("gs-max-h"),i.minH&&t.removeAttribute("gs-min-h"));for(const u in i){if(!i.hasOwnProperty(u))return;!i[u]&&i[u]!==0&&u!=="gs-size-to-content"&&delete i[u]}return i}_setStaticClass(){const t=["grid-stack-static"];return this.opts.staticGrid?(this.el.classList.add(...t),this.el.setAttribute("gs-static","true")):(this.el.classList.remove(...t),this.el.removeAttribute("gs-static")),this}onResize(t=(r=>(r=this.el)==null?void 0:r.clientWidth)()){if(!t||this.prevWidth===t)return;this.prevWidth=t,this.batchUpdate();let i=!1;return this._autoColumn&&this.parentGridNode?this.opts.column!==this.parentGridNode.w&&(this.column(this.parentGridNode.w,this.opts.layout||"list"),i=!0):i=this.checkDynamicColumn(),this._isAutoCellHeight&&this.cellHeight(),this.engine.nodes.forEach(o=>{o.subGrid&&o.subGrid.onResize()}),this._skipInitialResize||this.resizeToContentCheck(i),delete this._skipInitialResize,this.batchUpdate(!1),this}resizeToContentCheck(t=!1,r=void 0){if(this.engine){if(t&&this.hasAnimationCSS())return setTimeout(()=>this.resizeToContentCheck(!1,r),this.animationDelay);if(r)F.shouldSizeToContent(r)&&this.resizeToContentCBCheck(r.el);else if(this.engine.nodes.some(i=>F.shouldSizeToContent(i))){const i=[...this.engine.nodes];this.batchUpdate(),i.forEach(o=>{F.shouldSizeToContent(o)&&this.resizeToContentCBCheck(o.el)}),this.batchUpdate(!1)}this._gsEventHandler.resizecontent&&this._gsEventHandler.resizecontent(null,r?[r]:this.engine.nodes)}}_updateResizeEvent(t=!1){const r=!this.parentGridNode&&(this._isAutoCellHeight||this.opts.sizeToContent||this.opts.columnOpts||this.engine.nodes.find(i=>i.sizeToContent));return!t&&r&&!this.resizeObserver?(this._sizeThrottle=F.throttle(()=>this.onResize(),this.opts.cellHeightThrottle),this.resizeObserver=new ResizeObserver(()=>this._sizeThrottle()),this.resizeObserver.observe(this.el),this._skipInitialResize=!0):(t||!r)&&this.resizeObserver&&(this.resizeObserver.disconnect(),delete this.resizeObserver,delete this._sizeThrottle),this}static getElement(t=".grid-stack-item"){return F.getElement(t)}static getElements(t=".grid-stack-item"){return F.getElements(t)}static getGridElement(t){return Te.getElement(t)}static getGridElements(t){return F.getElements(t)}_initMargin(){let t,r=0,i=[];return typeof this.opts.margin=="string"&&(i=this.opts.margin.split(" ")),i.length===2?(this.opts.marginTop=this.opts.marginBottom=i[0],this.opts.marginLeft=this.opts.marginRight=i[1]):i.length===4?(this.opts.marginTop=i[0],this.opts.marginRight=i[1],this.opts.marginBottom=i[2],this.opts.marginLeft=i[3]):(t=F.parseHeight(this.opts.margin),this.opts.marginUnit=t.unit,r=this.opts.margin=t.h),this.opts.marginTop===void 0?this.opts.marginTop=r:(t=F.parseHeight(this.opts.marginTop),this.opts.marginTop=t.h,delete this.opts.margin),this.opts.marginBottom===void 0?this.opts.marginBottom=r:(t=F.parseHeight(this.opts.marginBottom),this.opts.marginBottom=t.h,delete this.opts.margin),this.opts.marginRight===void 0?this.opts.marginRight=r:(t=F.parseHeight(this.opts.marginRight),this.opts.marginRight=t.h,delete this.opts.margin),this.opts.marginLeft===void 0?this.opts.marginLeft=r:(t=F.parseHeight(this.opts.marginLeft),this.opts.marginLeft=t.h,delete this.opts.margin),this.opts.marginUnit=t.unit,this.opts.marginTop===this.opts.marginBottom&&this.opts.marginLeft===this.opts.marginRight&&this.opts.marginTop===this.opts.marginRight&&(this.opts.margin=this.opts.marginTop),this}static getDD(){return Gn}static setupDragIn(t,r,i,o=document){(r==null?void 0:r.pause)!==void 0&&(Le.pauseDrag=r.pause),r={appendTo:"body",helper:"clone",...r||{}},(typeof t=="string"?F.getElements(t,o):t).forEach((c,d)=>{Gn.isDraggable(c)||Gn.dragIn(c,r),i!=null&&i[d]&&(c.gridstackNode=i[d])})}movable(t,r){return this.opts.staticGrid?this:(Te.getElements(t).forEach(i=>{const o=i.gridstackNode;o&&(r?delete o.noMove:o.noMove=!0,this.prepareDragDrop(o.el))}),this)}resizable(t,r){return this.opts.staticGrid?this:(Te.getElements(t).forEach(i=>{const o=i.gridstackNode;o&&(r?delete o.noResize:o.noResize=!0,this.prepareDragDrop(o.el))}),this)}disable(t=!0){if(!this.opts.staticGrid)return this.enableMove(!1,t),this.enableResize(!1,t),this._triggerEvent("disable"),this}enable(t=!0){if(!this.opts.staticGrid)return this.enableMove(!0,t),this.enableResize(!0,t),this._triggerEvent("enable"),this}enableMove(t,r=!0){return this.opts.staticGrid?this:(t?delete this.opts.disableDrag:this.opts.disableDrag=!0,this.engine.nodes.forEach(i=>{this.prepareDragDrop(i.el),i.subGrid&&r&&i.subGrid.enableMove(t,r)}),this)}enableResize(t,r=!0){return this.opts.staticGrid?this:(t?delete this.opts.disableResize:this.opts.disableResize=!0,this.engine.nodes.forEach(i=>{this.prepareDragDrop(i.el),i.subGrid&&r&&i.subGrid.enableResize(t,r)}),this)}cancelDrag(){var r;const t=(r=this._placeholder)==null?void 0:r.gridstackNode;t&&(t._isExternal?(t._isAboutToRemove=!0,this.engine.removeNode(t)):t._isAboutToRemove&&Te._itemRemoving(t.el,!1),this.engine.restoreInitial())}_removeDD(t){return Gn.draggable(t,"destroy").resizable(t,"destroy"),t.gridstackNode&&delete t.gridstackNode._initDD,delete t.ddElement,this}_setupAcceptWidget(){if(this.opts.staticGrid||!this.opts.acceptWidgets&&!this.opts.removable)return Gn.droppable(this.el,"destroy"),this;let t,r;const i=(o,u,c)=>{var x;c=c||u;const d=c.gridstackNode;if(!d)return;if(!((x=d.grid)!=null&&x.el)){c.style.transform=`scale(${1/this.dragTransform.xScale},${1/this.dragTransform.yScale})`;const T=c.getBoundingClientRect();c.style.left=T.x+(this.dragTransform.xScale-1)*(o.clientX-T.x)/this.dragTransform.xScale+"px",c.style.top=T.y+(this.dragTransform.yScale-1)*(o.clientY-T.y)/this.dragTransform.yScale+"px",c.style.transformOrigin="0px 0px"}let{top:p,left:g}=c.getBoundingClientRect();const y=this.el.getBoundingClientRect();g-=y.left,p-=y.top;const v={position:{top:p*this.dragTransform.xScale,left:g*this.dragTransform.yScale}};if(d._temporaryRemoved){if(d.x=Math.max(0,Math.round(g/r)),d.y=Math.max(0,Math.round(p/t)),delete d.autoPosition,this.engine.nodeBoundFix(d),!this.engine.willItFit(d)){if(d.autoPosition=!0,!this.engine.willItFit(d)){Gn.off(u,"drag");return}d._willFitPos&&(F.copyPos(d,d._willFitPos),delete d._willFitPos)}this._onStartMoving(c,o,v,d,r,t)}else this._dragOrResize(c,o,v,d,r,t)};return Gn.droppable(this.el,{accept:o=>{const u=o.gridstackNode||this._readAttr(o,!1);if((u==null?void 0:u.grid)===this)return!0;if(!this.opts.acceptWidgets)return!1;let c=!0;if(typeof this.opts.acceptWidgets=="function")c=this.opts.acceptWidgets(o);else{const d=this.opts.acceptWidgets===!0?".grid-stack-item":this.opts.acceptWidgets;c=o.matches(d)}if(c&&u&&this.opts.maxRow){const d={w:u.w,h:u.h,minW:u.minW,minH:u.minH};c=this.engine.willItFit(d)}return c}}).on(this.el,"dropover",(o,u,c)=>{let d=(c==null?void 0:c.gridstackNode)||u.gridstackNode;if((d==null?void 0:d.grid)===this&&!d._temporaryRemoved)return!1;if(d!=null&&d._sidebarOrig&&(d.w=d._sidebarOrig.w,d.h=d._sidebarOrig.h),d!=null&&d.grid&&d.grid!==this&&!d._temporaryRemoved&&d.grid._leave(u,c),c=c||u,r=this.cellWidth(),t=this.getCellHeight(!0),!d){const y=c.getAttribute("data-gs-widget")||c.getAttribute("gridstacknode");if(y){try{d=JSON.parse(y)}catch{console.error("Gridstack dropover: Bad JSON format: ",y)}c.removeAttribute("data-gs-widget"),c.removeAttribute("gridstacknode")}d||(d=this._readAttr(c)),d._sidebarOrig={w:d.w,h:d.h}}d.grid||(d.el||(d={...d}),d._isExternal=!0,c.gridstackNode=d);const p=d.w||Math.round(c.offsetWidth/r)||1,g=d.h||Math.round(c.offsetHeight/t)||1;return d.grid&&d.grid!==this?(u._gridstackNodeOrig||(u._gridstackNodeOrig=d),u.gridstackNode=d={...d,w:p,h:g,grid:this},delete d.x,delete d.y,this.engine.cleanupNode(d).nodeBoundFix(d),d._initDD=d._isExternal=d._temporaryRemoved=!0):(d.w=p,d.h=g,d._temporaryRemoved=!0),Te._itemRemoving(d.el,!1),Gn.on(u,"drag",i),i(o,u,c),!1}).on(this.el,"dropout",(o,u,c)=>{const d=(c==null?void 0:c.gridstackNode)||u.gridstackNode;return d&&(!d.grid||d.grid===this)&&(this._leave(u,c),this._isTemp&&this.removeAsSubGrid(d)),!1}).on(this.el,"drop",(o,u,c)=>{var T,N,C;const d=(c==null?void 0:c.gridstackNode)||u.gridstackNode;if((d==null?void 0:d.grid)===this&&!d._isExternal)return!1;const p=!!this.placeholder.parentElement,g=u!==c;this.placeholder.remove(),delete this.placeholder.gridstackNode;const y=p&&this.opts.animate;y&&this.setAnimation(!1);const v=u._gridstackNodeOrig;if(delete u._gridstackNodeOrig,p&&(v!=null&&v.grid)&&v.grid!==this){const L=v.grid;L.engine.removeNodeFromLayoutCache(v),L.engine.removedNodes.push(v),L._triggerRemoveEvent()._triggerChangeEvent(),L.parentGridNode&&!L.engine.nodes.length&&L.opts.subGridDynamic&&L.removeAsSubGrid()}if(!d||(p&&(this.engine.cleanupNode(d),d.grid=this),(T=d.grid)==null||delete T._isTemp,Gn.off(u,"drag"),c!==u?(c.remove(),u=c):u.remove(),this._removeDD(u),!p))return!1;const x=(C=(N=d.subGrid)==null?void 0:N.el)==null?void 0:C.gridstack;return F.copyPos(d,this._readAttr(this.placeholder)),F.removePositioningStyles(u),g&&(d.content||d.subGridOpts||Te.addRemoveCB)?(delete d.el,u=this.addWidget(d)):(this._prepareElement(u,!0,d),this.el.appendChild(u),this.resizeToContentCheck(!1,d),x&&(x.parentGridNode=d,x.opts.styleInHead||x._updateStyles(!0)),this._updateContainerHeight()),this.engine.addedNodes.push(d),this._triggerAddEvent(),this._triggerChangeEvent(),this.engine.endUpdate(),this._gsEventHandler.dropped&&this._gsEventHandler.dropped({...o,type:"dropped"},v&&v.grid?v:void 0,d),y&&this.setAnimation(this.opts.animate,!0),!1}),this}static _itemRemoving(t,r){if(!t)return;const i=t?t.gridstackNode:void 0;!(i!=null&&i.grid)||t.classList.contains(i.grid.opts.removableOptions.decline)||(r?i._isAboutToRemove=!0:delete i._isAboutToRemove,r?t.classList.add("grid-stack-item-removing"):t.classList.remove("grid-stack-item-removing"))}_setupRemoveDrop(){if(typeof this.opts.removable!="string")return this;const t=document.querySelector(this.opts.removable);return t?(!this.opts.staticGrid&&!Gn.isDroppable(t)&&Gn.droppable(t,this.opts.removableOptions).on(t,"dropover",(r,i)=>Te._itemRemoving(i,!0)).on(t,"dropout",(r,i)=>Te._itemRemoving(i,!1)),this):this}prepareDragDrop(t,r=!1){const i=t==null?void 0:t.gridstackNode;if(!i)return;const o=i.noMove||this.opts.disableDrag,u=i.noResize||this.opts.disableResize,c=this.opts.staticGrid||o&&u;if((r||c)&&(i._initDD&&(this._removeDD(t),delete i._initDD),c&&t.classList.add("ui-draggable-disabled","ui-resizable-disabled"),!r))return this;if(!i._initDD){let d,p;const g=(x,T)=>{this._gsEventHandler[x.type]&&this._gsEventHandler[x.type](x,x.target),d=this.cellWidth(),p=this.getCellHeight(!0),this._onStartMoving(t,x,T,i,d,p)},y=(x,T)=>{this._dragOrResize(t,x,T,i,d,p)},v=x=>{this.placeholder.remove(),delete this.placeholder.gridstackNode,delete i._moving,delete i._event,delete i._lastTried;const T=i.w!==i._orig.w,N=x.target;if(!(!N.gridstackNode||N.gridstackNode.grid!==this)){if(i.el=N,i._isAboutToRemove){const C=t.gridstackNode.grid;C._gsEventHandler[x.type]&&C._gsEventHandler[x.type](x,N),C.engine.nodes.push(i),C.removeWidget(t,!0,!0)}else F.removePositioningStyles(N),i._temporaryRemoved?(F.copyPos(i,i._orig),this._writePosAttr(N,i),this.engine.addNode(i)):this._writePosAttr(N,i),this._gsEventHandler[x.type]&&this._gsEventHandler[x.type](x,N);this._extraDragRow=0,this._updateContainerHeight(),this._triggerChangeEvent(),this.engine.endUpdate(),x.type==="resizestop"&&(Number.isInteger(i.sizeToContent)&&(i.sizeToContent=i.h),this.resizeToContentCheck(T,i))}};Gn.draggable(t,{start:g,stop:v,drag:y}).resizable(t,{start:g,stop:v,resize:y}),i._initDD=!0}return Gn.draggable(t,o?"disable":"enable").resizable(t,u?"disable":"enable"),this}_onStartMoving(t,r,i,o,u,c){var d;if(this.engine.cleanNodes().beginUpdate(o),this._writePosAttr(this.placeholder,o),this.el.appendChild(this.placeholder),this.placeholder.gridstackNode=o,(d=o.grid)!=null&&d.el)this.dragTransform=F.getValuesFromTransformedElement(t);else if(this.placeholder&&this.placeholder.closest(".grid-stack")){const p=this.placeholder.closest(".grid-stack");this.dragTransform=F.getValuesFromTransformedElement(p)}else this.dragTransform={xScale:1,xOffset:0,yScale:1,yOffset:0};if(o.el=this.placeholder,o._lastUiPosition=i.position,o._prevYPix=i.position.top,o._moving=r.type==="dragstart",delete o._lastTried,r.type==="dropover"&&o._temporaryRemoved&&(this.engine.addNode(o),o._moving=!0),this.engine.cacheRects(u,c,this.opts.marginTop,this.opts.marginRight,this.opts.marginBottom,this.opts.marginLeft),r.type==="resizestart"){const p=this.getColumn()-o.x,g=(this.opts.maxRow||Number.MAX_SAFE_INTEGER)-o.y;Gn.resizable(t,"option","minWidth",u*Math.min(o.minW||1,p)).resizable(t,"option","minHeight",c*Math.min(o.minH||1,g)).resizable(t,"option","maxWidth",u*Math.min(o.maxW||Number.MAX_SAFE_INTEGER,p)).resizable(t,"option","maxWidthMoveLeft",u*Math.min(o.maxW||Number.MAX_SAFE_INTEGER,o.x+o.w)).resizable(t,"option","maxHeight",c*Math.min(o.maxH||Number.MAX_SAFE_INTEGER,g)).resizable(t,"option","maxHeightMoveUp",c*Math.min(o.maxH||Number.MAX_SAFE_INTEGER,o.y+o.h))}}_dragOrResize(t,r,i,o,u,c){const d={...o._orig};let p,g=this.opts.marginLeft,y=this.opts.marginRight,v=this.opts.marginTop,x=this.opts.marginBottom;const T=Math.round(c*.1),N=Math.round(u*.1);if(g=Math.min(g,N),y=Math.min(y,N),v=Math.min(v,T),x=Math.min(x,T),r.type==="drag"){if(o._temporaryRemoved)return;const L=i.position.top-o._prevYPix;o._prevYPix=i.position.top,this.opts.draggable.scroll!==!1&&F.updateScrollPosition(t,i.position,L);const U=i.position.left+(i.position.left>o._lastUiPosition.left?-y:g),A=i.position.top+(i.position.top>o._lastUiPosition.top?-x:v);d.x=Math.round(U/u),d.y=Math.round(A/c);const V=this._extraDragRow;if(this.engine.collide(o,d)){const z=this.getRow();let $=Math.max(0,d.y+o.h-z);this.opts.maxRow&&z+$>this.opts.maxRow&&($=Math.max(0,this.opts.maxRow-z)),this._extraDragRow=$}else this._extraDragRow=0;if(this._extraDragRow!==V&&this._updateContainerHeight(),o.x===d.x&&o.y===d.y)return}else if(r.type==="resize"){if(d.x<0||(F.updateScrollResize(r,t,c),d.w=Math.round((i.size.width-g)/u),d.h=Math.round((i.size.height-v)/c),o.w===d.w&&o.h===d.h)||o._lastTried&&o._lastTried.w===d.w&&o._lastTried.h===d.h)return;const L=i.position.left+g,U=i.position.top+v;d.x=Math.round(L/u),d.y=Math.round(U/c),p=!0}o._event=r,o._lastTried=d;const C={x:i.position.left+g,y:i.position.top+v,w:(i.size?i.size.width:o.w*u)-g-y,h:(i.size?i.size.height:o.h*c)-v-x};if(this.engine.moveNodeCheck(o,{...d,cellWidth:u,cellHeight:c,rect:C,resizing:p})){o._lastUiPosition=i.position,this.engine.cacheRects(u,c,v,y,x,g),delete o._skipDown,p&&o.subGrid&&o.subGrid.onResize(),this._extraDragRow=0,this._updateContainerHeight();const L=r.target;o._sidebarOrig||this._writePosAttr(L,o),this._gsEventHandler[r.type]&&this._gsEventHandler[r.type](r,L)}}_leave(t,r){r=r||t;const i=r.gridstackNode;if(!i||(r.style.transform=r.style.transformOrigin=null,Gn.off(t,"drag"),i._temporaryRemoved))return;i._temporaryRemoved=!0,this.engine.removeNode(i),i.el=i._isExternal&&r?r:t;const o=i._sidebarOrig;i._isExternal&&this.engine.cleanupNode(i),i._sidebarOrig=o,this.opts.removable===!0&&Te._itemRemoving(t,!0),t._gridstackNodeOrig?(t.gridstackNode=t._gridstackNodeOrig,delete t._gridstackNodeOrig):i._isExternal&&this.engine.restoreInitial()}commit(){return 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"build": "tsc -b && vite build", + "preview": "vite preview" + }, + "dependencies": { + "@dnd-kit/core": "^6.1.0", + "@tanstack/react-virtual": "^3.10.8", + "gridstack": "^11.3.0", + "react": "^18.3.1", + "react-dom": "^18.3.1", + "uplot": "^1.6.31", + "zustand": "^5.0.2" + }, + "devDependencies": { + "@types/react": "^18.3.12", + "@types/react-dom": "^18.3.1", + "@vitejs/plugin-react": "^4.3.4", + "typescript": "^5.6.3", + "vite": "^6.0.3" + }, + "allowScripts": { + "esbuild@0.25.12": true + } +} diff --git a/damiao_motor/gui/webapp/src/App.tsx b/damiao_motor/gui/webapp/src/App.tsx new file mode 100644 index 0000000..1bf9609 --- /dev/null +++ b/damiao_motor/gui/webapp/src/App.tsx @@ -0,0 +1,78 @@ +import { useEffect, useState } from "react"; +import { + DndContext, + DragOverlay, + PointerSensor, + useSensor, + useSensors, + type DragEndEvent, + type DragStartEvent, +} from "@dnd-kit/core"; + +import Toolbar from "./components/Toolbar"; +import SignalSidebar from "./components/SignalSidebar"; +import Canvas from "./components/Canvas"; +import { useApp } from "./lib/store"; +import { connectWs, fetchMotorTypes } from "./lib/ws"; +import { shortSignal } from "./lib/format"; +import { api } from "./lib/control"; + +export default function App() { + const addSignalToPlot = useApp((s) => s.addSignalToPlot); + const setMotorTypes = useApp((s) => s.setMotorTypes); + const setMode = useApp((s) => s.setMode); + const setStatus = useApp((s) => s.setStatus); + const setRegisterTable = useApp((s) => s.setRegisterTable); + const [dragLabel, setDragLabel] = useState(null); + + // a 4 px activation distance so clicks on chips don't accidentally start drags + const sensors = useSensors(useSensor(PointerSensor, { activationConstraint: { distance: 4 } })); + + useEffect(() => { + // store hydrates plot configs synchronously at creation; just connect + load metadata + connectWs(); + fetchMotorTypes().then(setMotorTypes); + api.status().then((s) => { + if (s?.mode) setMode(s.mode); + setStatus(s); + }); + api.registerTable().then((d) => { + if (d?.registers) { + const t: Record = {}; + for (const r of d.registers) t[r.rid] = r; + setRegisterTable(t); + } + }); + }, [setMotorTypes, setMode, setStatus, setRegisterTable]); + + const onDragStart = (e: DragStartEvent) => { + const sid = e.active.data.current?.signalId as string | undefined; + setDragLabel(sid ? shortSignal(sid) : null); + }; + const onDragEnd = (e: DragEndEvent) => { + setDragLabel(null); + const sid = e.active.data.current?.signalId as string | undefined; + const overId = e.over?.id?.toString() || ""; + if (sid && overId.startsWith("plot:")) { + const panelId = e.over!.data.current?.panelId as string; + addSignalToPlot(panelId, sid); + } + }; + + return ( + +
+ +
+ +
+ +
+
+
+ + {dragLabel ?
{dragLabel}
: null} + + + ); +} diff --git a/damiao_motor/gui/webapp/src/components/Canvas.tsx b/damiao_motor/gui/webapp/src/components/Canvas.tsx new file mode 100644 index 0000000..2df56df --- /dev/null +++ b/damiao_motor/gui/webapp/src/components/Canvas.tsx @@ -0,0 +1,121 @@ +import { useEffect, useRef, useState } from "react"; +import { createPortal } from "react-dom"; +import { GridStack, type GridStackNode } from "gridstack"; +import "gridstack/dist/gridstack.min.css"; + +import { useWidgets, type Widget } from "../lib/widgets"; +import { PANEL_BY_KIND } from "../panels/registry"; + +function WidgetFrame({ widget, onRemove }: { widget: Widget; onRemove: () => void }) { + const def = PANEL_BY_KIND[widget.kind]; + return ( +
+
+ ⠿ + {def?.icon} + {def?.title || widget.kind} + +
+
{def ? def.render(widget.id) : null}
+
+ ); +} + +export default function Canvas() { + const widgets = useWidgets((s) => s.widgets); + const updateGeom = useWidgets((s) => s.updateGeom); + const removeWidget = useWidgets((s) => s.removeWidget); + + const rootRef = useRef(null); + const gridRef = useRef(null); + const itemEls = useRef>(new Map()); + const [contentEls, setContentEls] = useState>(new Map()); + const [ready, setReady] = useState(false); + + // init GridStack once + useEffect(() => { + if (!rootRef.current) return; + const grid = GridStack.init( + { + column: 12, + cellHeight: 56, + margin: 8, + float: true, + handle: ".widget-header", + resizable: { handles: "e, se, s, sw, w" }, + animate: true, + }, + rootRef.current + ); + gridRef.current = grid; + + grid.on("change", (_e, nodes) => { + const geoms = (nodes as GridStackNode[]).map((n) => ({ + id: String(n.id), + x: n.x ?? 0, + y: n.y ?? 0, + w: n.w ?? 1, + h: n.h ?? 1, + })); + if (geoms.length) updateGeom(geoms); + }); + + setReady(true); + return () => { + grid.destroy(false); + gridRef.current = null; + }; + }, [updateGeom]); + + // reconcile widget list -> gridstack items (add new, remove gone) + useEffect(() => { + const grid = gridRef.current; + if (!grid || !ready) return; + + const wanted = new Set(widgets.map((w) => w.id)); + let changed = false; + const nextContent = new Map(contentEls); + + // add new + grid.batchUpdate(); + for (const w of widgets) { + if (itemEls.current.has(w.id)) continue; + const el = grid.addWidget({ x: w.x, y: w.y, w: w.w, h: w.h, id: w.id }); + const content = el.querySelector(".grid-stack-item-content") as HTMLElement; + itemEls.current.set(w.id, el); + nextContent.set(w.id, content); + changed = true; + } + // remove gone + for (const [id, el] of Array.from(itemEls.current.entries())) { + if (!wanted.has(id)) { + grid.removeWidget(el, true); + itemEls.current.delete(id); + nextContent.delete(id); + changed = true; + } + } + grid.commit(); + + if (changed) setContentEls(nextContent); + // eslint-disable-next-line react-hooks/exhaustive-deps + }, [widgets, ready]); + + return ( +
+
+ {widgets.map((w) => { + const c = contentEls.get(w.id); + return c + ? createPortal( + removeWidget(w.id)} />, + c, + w.id + ) + : null; + })} +
+ ); +} diff --git a/damiao_motor/gui/webapp/src/components/SignalChip.tsx b/damiao_motor/gui/webapp/src/components/SignalChip.tsx new file mode 100644 index 0000000..b8862ac --- /dev/null +++ b/damiao_motor/gui/webapp/src/components/SignalChip.tsx @@ -0,0 +1,29 @@ +import { useDraggable } from "@dnd-kit/core"; +import type { SignalDescriptor } from "../lib/types"; +import { signalColor } from "../lib/format"; + +export default function SignalChip({ sig }: { sig: SignalDescriptor }) { + const { attributes, listeners, setNodeRef, isDragging } = useDraggable({ + id: `sig:${sig.id}`, + data: { signalId: sig.id }, + }); + const color = signalColor(sig); + return ( +
+ + + {sig.source}.{sig.field} + + {sig.unit && {sig.unit}} +
+ ); +} diff --git a/damiao_motor/gui/webapp/src/components/SignalSidebar.tsx b/damiao_motor/gui/webapp/src/components/SignalSidebar.tsx new file mode 100644 index 0000000..091d7ab --- /dev/null +++ b/damiao_motor/gui/webapp/src/components/SignalSidebar.tsx @@ -0,0 +1,67 @@ +import { useMemo, useState } from "react"; +import { useApp } from "../lib/store"; +import { FIELD_ORDER } from "../lib/format"; +import SignalChip from "./SignalChip"; +import type { SignalDescriptor } from "../lib/types"; + +function sortSignals(sigs: SignalDescriptor[]): SignalDescriptor[] { + return [...sigs].sort((a, b) => { + if (a.source !== b.source) return a.source === "cmd" ? -1 : 1; + const ai = FIELD_ORDER.indexOf(a.field); + const bi = FIELD_ORDER.indexOf(b.field); + return (ai < 0 ? 99 : ai) - (bi < 0 ? 99 : bi); + }); +} + +export default function SignalSidebar() { + const signals = useApp((s) => s.signals); + const status = useApp((s) => s.status); + const [filter, setFilter] = useState(""); + + const byMotor = useMemo(() => { + const map = new Map(); + for (const s of signals) { + if (filter && !s.id.toLowerCase().includes(filter.toLowerCase())) continue; + const arr = map.get(s.motorId) || []; + arr.push(s); + map.set(s.motorId, arr); + } + return Array.from(map.entries()).sort((a, b) => a[0] - b[0]); + }, [signals, filter]); + + return ( + + ); +} diff --git a/damiao_motor/gui/webapp/src/components/Toolbar.tsx b/damiao_motor/gui/webapp/src/components/Toolbar.tsx new file mode 100644 index 0000000..75ddbb5 --- /dev/null +++ b/damiao_motor/gui/webapp/src/components/Toolbar.tsx @@ -0,0 +1,82 @@ +import { useState } from "react"; +import { useApp } from "../lib/store"; +import { useWidgets } from "../lib/widgets"; +import { PANELS } from "../panels/registry"; +import { getTheme, setTheme, type Theme } from "../lib/theme"; +import { api } from "../lib/control"; + +export default function Toolbar() { + const connected = useApp((s) => s.connected); + const status = useApp((s) => s.status); + const mode = useApp((s) => s.mode); + const setMode = useApp((s) => s.setMode); + const setControlMotors = useApp((s) => s.setControlMotors); + const setCurrentMotor = useApp((s) => s.setCurrentMotor); + const addWidget = useWidgets((s) => s.addWidget); + const resetWidgets = useWidgets((s) => s.resetWidgets); + const [theme, setThemeState] = useState(getTheme()); + + const toggleTheme = () => { + const next: Theme = theme === "light" ? "dark" : "light"; + setTheme(next); + setThemeState(next); + }; + + const switchMode = async (m: "monitor" | "control") => { + if (m === mode) return; + setMode(m); + setControlMotors([]); + setCurrentMotor(null); + await api.setMode(m); + }; + + const busLabel = status?.demo ? "demo" : status?.channel || "—"; + + return ( +
+
+ + DaMiao Studio +
+ +
+ + +
+ +
+ + {busLabel} + {mode === "control" ? ( + active · TX + ) : ( + + listen-only + + )} + {status?.error && error} + {status && ( + {status.framesSeen?.toLocaleString?.() ?? 0} frames + )} +
+ +
+ +
+ {PANELS.map((p) => ( + + ))} + + +
+
+ ); +} diff --git a/damiao_motor/gui/webapp/src/index.css b/damiao_motor/gui/webapp/src/index.css new file mode 100644 index 0000000..97d6814 --- /dev/null +++ b/damiao_motor/gui/webapp/src/index.css @@ -0,0 +1,297 @@ +:root { + /* light theme (default) */ + --bg: #f4f6f9; + --bg-1: #eef1f6; + --surface: #ffffff; + --surface-2: #eef2f7; + --hover: #e6ecf3; + --border: #d6dde7; + --border-soft: #e7ecf2; + --text: #1e2733; + --muted: #5f6a78; + --accent: #2f6fed; + --ok: #16a34a; + --warn: #d97706; + --err: #e11d48; + --radius: 14px; + --radius-sm: 9px; + --shadow: 0 1px 2px rgba(16, 24, 40, 0.06), 0 8px 24px -16px rgba(16, 24, 40, 0.28); + --font: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Helvetica, Arial, sans-serif; + --mono: ui-monospace, SFMono-Regular, "SF Mono", Menlo, Consolas, monospace; +} + +:root[data-theme="dark"] { + --bg: #0f1216; + --bg-1: #141a21; + --surface: #171d25; + --surface-2: #1d242e; + --hover: #232c38; + --border: #262e3a; + --border-soft: #1f2630; + --text: #d7dde5; + --muted: #8a94a3; + --accent: #6aa3ff; + --ok: #4ade80; + --warn: #fbbf24; + --err: #fb7185; + --shadow: 0 1px 2px rgba(0, 0, 0, 0.3), 0 10px 28px -16px rgba(0, 0, 0, 0.65); +} + +* { box-sizing: border-box; } +html, body, #root { height: 100%; margin: 0; } +body { + font-family: var(--font); + background: var(--bg); + color: var(--text); + font-size: 13px; + -webkit-font-smoothing: antialiased; +} +.mono { font-family: var(--mono); font-variant-numeric: tabular-nums; } +.muted { color: var(--muted); } +.small { font-size: 11px; } +.center { text-align: center; } +.pad { padding: 16px; } +.strong { font-weight: 650; } +.dim { opacity: 0.5; } + +.app { display: flex; flex-direction: column; height: 100%; } +.body { flex: 1; display: flex; min-height: 0; } +.canvas-host { flex: 1; min-width: 0; position: relative; overflow: auto; } +.canvas { min-height: 100%; padding: 6px; } + +/* --------------------------------------------------------------- toolbar */ +.toolbar { + display: flex; + align-items: center; + gap: 16px; + height: 52px; + padding: 0 16px; + background: var(--surface); + border-bottom: 1px solid var(--border); +} +.brand { font-weight: 650; font-size: 15px; letter-spacing: 0.2px; display: flex; align-items: center; gap: 9px; } +.brand-sub { color: var(--muted); font-weight: 500; font-size: 12px; } +.brand-dot { width: 9px; height: 9px; border-radius: 50%; background: var(--accent); box-shadow: 0 0 12px var(--accent); } +.conn { display: flex; align-items: center; gap: 9px; } +.conn .dot { width: 8px; height: 8px; border-radius: 50%; } +.dot.on { background: var(--ok); box-shadow: 0 0 9px var(--ok); } +.dot.off { background: var(--err); } +.spacer { flex: 1; } +.actions { display: flex; gap: 7px; } + +.badge { + font-size: 10.5px; padding: 2px 8px; border-radius: 999px; font-weight: 650; + border: 1px solid transparent; text-transform: uppercase; letter-spacing: 0.4px; +} +.badge.ok { color: var(--ok); border-color: rgba(74,222,128,0.35); background: rgba(74,222,128,0.1); } +.badge.warn { color: var(--warn); border-color: rgba(251,191,36,0.35); background: rgba(251,191,36,0.1); } +.badge.err { color: var(--err); border-color: rgba(251,113,133,0.35); background: rgba(251,113,133,0.1); } + +.btn { + background: var(--surface-2); color: var(--text); border: 1px solid var(--border); + border-radius: var(--radius-sm); padding: 6px 11px; font-size: 12px; cursor: pointer; + transition: background 0.15s, border-color 0.15s, transform 0.05s; +} +.btn:hover { background: var(--hover); border-color: var(--border); } +.btn:active { transform: translateY(1px); } +.btn.ghost { background: transparent; } +.btn.small { padding: 3px 9px; font-size: 11px; } +.btn.active { border-color: var(--accent); color: var(--accent); } +.btn-icon { color: var(--accent); margin-right: 2px; } + +/* --------------------------------------------------------------- sidebar */ +.sidebar { + width: 236px; flex-shrink: 0; background: var(--bg-1); + border-right: 1px solid var(--border-soft); display: flex; flex-direction: column; +} +.sidebar-head { padding: 12px 14px; border-bottom: 1px solid var(--border-soft); } +.sidebar-title { font-weight: 650; margin-bottom: 9px; } +.filter, .type-select, select, input[type="text"], input[type="number"] { + width: 100%; background: var(--surface-2); border: 1px solid var(--border); + color: var(--text); border-radius: var(--radius-sm); padding: 6px 9px; font-size: 12px; + outline: none; transition: border-color 0.15s, box-shadow 0.15s; +} +.filter:focus, select:focus, input:focus { border-color: var(--accent); box-shadow: 0 0 0 3px rgba(106,163,255,0.15); } +.sidebar-body { flex: 1; overflow-y: auto; padding: 10px; } +.sidebar-foot { padding: 10px 14px; border-top: 1px solid var(--border-soft); font-size: 11px; line-height: 1.55; color: var(--muted); } +.motor-group { margin-bottom: 14px; } +.motor-group-title { + font-size: 11px; text-transform: uppercase; letter-spacing: 0.6px; + color: var(--muted); margin: 0 2px 6px; +} +.chips { display: flex; flex-direction: column; gap: 5px; } + +.sig-chip { + display: flex; align-items: center; gap: 8px; padding: 6px 9px; + background: var(--surface); border: 1px solid var(--border-soft); border-radius: var(--radius-sm); + cursor: grab; user-select: none; font-size: 12px; transition: background 0.12s, border-color 0.12s; +} +.sig-chip:hover { background: var(--surface-2); border-color: var(--border); } +.sig-chip.dragging { opacity: 0.4; } +.sig-swatch { width: 10px; height: 10px; border-radius: 3px; border: 2px solid; flex-shrink: 0; } +.sig-name { flex: 1; font-family: var(--mono); } +.sig-unit { color: var(--muted); font-size: 10.5px; } + +.drag-ghost { + background: var(--accent); color: #05203f; font-weight: 650; font-size: 12px; + padding: 6px 11px; border-radius: var(--radius-sm); font-family: var(--mono); + box-shadow: 0 10px 26px rgba(0,0,0,0.55); +} + +/* ----------------------------------------------------- gridstack + widget */ +.grid-stack { background: transparent; } +.grid-stack-item-content { + inset: 0; + overflow: visible; + background: transparent; + border: none; +} +.widget { + height: 100%; + display: flex; + flex-direction: column; + background: var(--surface); + border: 1px solid var(--border-soft); + border-radius: var(--radius); + box-shadow: var(--shadow); + overflow: hidden; +} +.widget-header { + display: flex; align-items: center; gap: 8px; + height: 34px; padding: 0 8px 0 10px; flex-shrink: 0; + border-bottom: 1px solid var(--border-soft); + background: var(--surface-2); + cursor: move; +} +.widget-grip { color: var(--muted); opacity: 0.5; font-size: 12px; letter-spacing: -2px; } +.widget-icon { color: var(--accent); font-size: 12px; } +.widget-title { flex: 1; font-size: 12.5px; font-weight: 600; letter-spacing: 0.2px; } +.widget-close { + width: 22px; height: 22px; border: none; background: transparent; color: var(--muted); + border-radius: 6px; cursor: pointer; font-size: 16px; line-height: 1; opacity: 0; + transition: opacity 0.12s, background 0.12s, color 0.12s; +} +.widget:hover .widget-close { opacity: 1; } +.widget-close:hover { background: rgba(251,113,133,0.15); color: var(--err); } +.widget-body { flex: 1; min-height: 0; position: relative; } +.widget-body .panel { height: 100%; } + +/* gridstack resize handles: subtle */ +.grid-stack-item > .ui-resizable-handle { filter: opacity(0.45); } +.grid-stack-item:hover > .ui-resizable-handle { filter: opacity(0.9); } +.grid-stack-placeholder > .placeholder-content { + border: 1px dashed var(--accent); border-radius: var(--radius); + background: rgba(106,163,255,0.06); +} + +/* ------------------------------------------------------------- panels */ +.panel { height: 100%; display: flex; flex-direction: column; overflow: hidden; } + +.plot-toolbar { + display: flex; align-items: center; gap: 8px; padding: 6px 10px; + border-bottom: 1px solid var(--border-soft); flex-wrap: wrap; +} +.plot-toolbar select { width: auto; } +.legend { display: flex; gap: 6px; flex-wrap: wrap; } +.legend-chip { + display: inline-flex; align-items: center; gap: 5px; font-size: 11px; + padding: 2px 7px 2px 6px; border: 1px solid var(--border); border-radius: 999px; + font-family: var(--mono); +} +.legend-swatch { width: 9px; height: 9px; border-radius: 2px; border: 1.5px solid; } +.legend-x { background: none; border: none; color: var(--muted); cursor: pointer; font-size: 13px; padding: 0 0 0 2px; } +.legend-x:hover { color: var(--err); } +.plot-host { flex: 1; min-height: 0; position: relative; padding: 6px; } +.plot-host.drop-over { outline: 2px dashed var(--accent); outline-offset: -5px; background: rgba(106,163,255,0.06); border-radius: 10px; } +.drop-hint { + position: absolute; inset: 0; display: flex; align-items: center; justify-content: center; + color: var(--muted); font-size: 12px; pointer-events: none; text-align: center; padding: 22px; +} + +/* table */ +.table-panel { overflow: auto; } +.motor-table { width: 100%; border-collapse: collapse; font-size: 12px; } +.motor-table th, .motor-table td { padding: 6px 10px; text-align: right; border-bottom: 1px solid var(--border-soft); white-space: nowrap; } +.motor-table th:first-child, .motor-table td:first-child { text-align: left; } +.motor-table th { + position: sticky; top: 0; background: var(--surface-2); color: var(--muted); + font-weight: 600; font-size: 11px; text-transform: uppercase; letter-spacing: 0.4px; +} +.motor-table tr:hover td { background: var(--hover); } +.cmd-col { color: var(--accent); } +.status-pill { font-size: 10px; padding: 2px 8px; border-radius: 999px; font-weight: 650; } +.status-pill.ok { color: var(--ok); background: rgba(74,222,128,0.12); } +.status-pill.off { color: var(--muted); background: rgba(138,148,163,0.12); } +.status-pill.warn { color: var(--warn); background: rgba(251,191,36,0.12); } + +/* cards */ +.cards-panel { overflow: auto; } +.cards-grid { display: grid; grid-template-columns: repeat(auto-fill, minmax(190px, 1fr)); gap: 11px; padding: 12px; } +.motor-card { background: var(--bg-1); border: 1px solid var(--border-soft); border-radius: 12px; padding: 13px; } +.motor-card-head { display: flex; justify-content: space-between; align-items: center; margin-bottom: 5px; } +.motor-card-sub { display: flex; justify-content: space-between; align-items: center; gap: 8px; margin-bottom: 11px; } +.type-select { width: auto; padding: 3px 7px; font-size: 11px; } +.metric { margin-bottom: 9px; } +.metric-label { font-size: 11px; color: var(--text); margin-bottom: 3px; } +.metric-values { display: flex; align-items: baseline; gap: 10px; } +.metric-act { font-family: var(--mono); font-size: 20px; font-weight: 650; } +.metric-cmd { font-family: var(--mono); font-size: 12px; color: var(--accent); } +.temp-row { display: flex; justify-content: space-between; font-size: 11px; color: var(--muted); margin-top: 7px; border-top: 1px solid var(--border-soft); padding-top: 7px; } + +/* raw log */ +.rawlog-panel { font-size: 11.5px; } +.rawlog-toolbar { display: flex; align-items: center; gap: 10px; padding: 6px 10px; border-bottom: 1px solid var(--border-soft); } +.rawlog-body { flex: 1; overflow: auto; } +.rawlog-head, .rawlog-row { + display: grid; + grid-template-columns: 96px 60px 46px 76px minmax(0, 1fr) 150px; + gap: 10px; align-items: center; padding: 0 10px; +} +.rawlog-head { + position: sticky; top: 0; z-index: 2; height: 26px; + background: var(--surface-2); border-bottom: 1px solid var(--border-soft); + color: var(--muted); font-size: 10.5px; text-transform: uppercase; letter-spacing: 0.4px; +} +.rawlog-row { position: absolute; left: 0; right: 0; height: 22px; line-height: 22px; border-bottom: 1px solid var(--border-soft); } +.rawlog-head > span, .rawlog-row > span { overflow: hidden; text-overflow: ellipsis; white-space: nowrap; min-width: 0; } +.rawlog-row .c-f { color: var(--text); } +.rawlog-row.k-command .c-k { color: var(--accent); } +.rawlog-row.k-feedback .c-k { color: var(--ok); } +.rawlog-row.k-special .c-k { color: var(--warn); } + +.message, .loading { color: var(--muted); text-align: center; padding: 24px; } + +/* ----------------------------------------------------- mode switch */ +.mode-switch { display: inline-flex; background: var(--surface-2); border: 1px solid var(--border); border-radius: 999px; padding: 2px; gap: 2px; } +.mode-tab { + border: none; background: transparent; color: var(--muted); cursor: pointer; + font-size: 12px; font-weight: 600; padding: 4px 12px; border-radius: 999px; transition: all 0.12s; +} +.mode-tab:hover { color: var(--text); } +.mode-tab.active { background: var(--accent); color: #fff; } + +/* button color variants */ +.btn.primary { background: var(--accent); color: #fff; border-color: transparent; } +.btn.primary:hover { filter: brightness(1.06); } +.btn.ok { background: rgba(22,163,74,0.14); color: var(--ok); border-color: rgba(22,163,74,0.4); } +.btn.danger { background: rgba(225,29,72,0.14); color: var(--err); border-color: rgba(225,29,72,0.4); } + +/* ----------------------------------------------------- control forms */ +.control-form { padding: 12px; overflow: auto; gap: 0; } +.form-row { display: grid; grid-template-columns: 92px 1fr; align-items: center; gap: 8px; margin-bottom: 8px; } +.form-row label { font-size: 12px; color: var(--muted); } +.form-row input, .form-row select { width: 100%; } +.form-actions { display: flex; align-items: center; gap: 8px; margin: 10px 0 4px; } +.form-actions.wrap { flex-wrap: wrap; } +.form-actions .toggle { display: inline-flex; align-items: center; gap: 5px; font-size: 12px; color: var(--muted); } +.form-actions .freq { width: 64px; } +.form-error { color: var(--err); font-size: 12px; margin-top: 8px; } +.form-msg { color: var(--muted); font-size: 12px; margin-top: 8px; } + +/* registers panel */ +.registers-panel { overflow: hidden; } +.registers-body { flex: 1; overflow: auto; } +.reg-table td { vertical-align: middle; } +.reg-table td:first-child { white-space: normal; max-width: 160px; } +.reg-table input, .reg-table select { padding: 3px 6px; font-size: 11.5px; } +.reg-table .btn.small { padding: 2px 8px; } diff --git a/damiao_motor/gui/webapp/src/lib/control.ts b/damiao_motor/gui/webapp/src/lib/control.ts new file mode 100644 index 0000000..7cf62a0 --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/control.ts @@ -0,0 +1,50 @@ +/** REST client for the unified server (control + common endpoints). */ + +async function jget(url: string): Promise { + const r = await fetch(url); + return r.json(); +} +async function jpost(url: string, body?: any): Promise { + const r = await fetch(url, { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(body || {}), + }); + return r.json(); +} +async function jput(url: string, body: any): Promise { + const r = await fetch(url, { + method: "PUT", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(body), + }); + return r.json(); +} + +export const api = { + status: () => jget("/api/status"), + setMode: (mode: "control" | "monitor") => jpost("/api/mode", { mode }), + connect: (body: { channel: string; bustype: string; bitrate?: number | null; motor_type?: string; feedback_offset?: number }) => + jpost("/api/connect", body), + disconnect: () => jpost("/api/disconnect"), + + scan: (motor_type: string) => jpost("/api/control/scan", { motor_type }), + motors: () => jget("/api/control/motors"), + enable: (id: number) => jpost(`/api/control/motors/${id}/enable`), + disable: (id: number) => jpost(`/api/control/motors/${id}/disable`), + setZero: (id: number) => jpost(`/api/control/motors/${id}/set-zero`), + clearError: (id: number) => jpost(`/api/control/motors/${id}/clear-error`), + storeParams: (id: number) => jpost(`/api/control/motors/${id}/store-parameters`), + command: (id: number, body: any) => jpost(`/api/control/motors/${id}/command`, body), + state: (id: number) => jget(`/api/control/motors/${id}/state`), + getRegisters: (id: number) => jget(`/api/control/motors/${id}/registers`), + setRegister: (id: number, rid: number, value: number) => + jput(`/api/control/motors/${id}/registers/${rid}`, { value }), + setMotorType: (id: number, motor_type: string) => + jput(`/api/control/motors/${id}/motor-type`, { motor_type }), + + registerTable: () => jget("/api/register-table"), + motorTypes: () => jget("/api/motor-types"), + canInterfaces: (bustype: string) => jget(`/api/can-interfaces?bustype=${bustype}`), + platform: () => jget("/api/platform"), +}; diff --git a/damiao_motor/gui/webapp/src/lib/dataStore.ts b/damiao_motor/gui/webapp/src/lib/dataStore.ts new file mode 100644 index 0000000..08bb8e0 --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/dataStore.ts @@ -0,0 +1,156 @@ +/** + * Out-of-React time-series store. + * + * Holds a fixed-capacity ring buffer of (t, value) per signal so that high-rate sample + * ingestion never triggers React re-renders. Plot panels read contiguous arrays from + * here on a requestAnimationFrame loop. Also tracks ref-counted subscriptions so the WS + * client can stream only the signals that some panel is currently displaying. + */ + +import type { RawFrame } from "./types"; + +const CAPACITY = 6000; // ~ up to 60 s at 100 Hz per signal + +class Ring { + t: Float64Array; + v: Float64Array; + len = 0; + head = 0; // index of next write + constructor(cap = CAPACITY) { + this.t = new Float64Array(cap); + this.v = new Float64Array(cap); + } + push(t: number, v: number) { + const cap = this.t.length; + this.t[this.head] = t; + this.v[this.head] = v; + this.head = (this.head + 1) % cap; + if (this.len < cap) this.len++; + } + /** Return chronological contiguous arrays for points with t >= sinceT. */ + read(sinceT = -Infinity): { t: Float64Array; v: Float64Array } { + const cap = this.t.length; + const n = this.len; + const start = (this.head - n + cap) % cap; + const ts = new Float64Array(n); + const vs = new Float64Array(n); + let k = 0; + for (let i = 0; i < n; i++) { + const idx = (start + i) % cap; + if (this.t[idx] >= sinceT) { + ts[k] = this.t[idx]; + vs[k] = this.v[idx]; + k++; + } + } + return { t: ts.subarray(0, k), v: vs.subarray(0, k) }; + } + last(): number | null { + if (this.len === 0) return null; + const cap = this.t.length; + return this.v[(this.head - 1 + cap) % cap]; + } +} + +const rings = new Map(); + +function ring(id: string): Ring { + let r = rings.get(id); + if (!r) { + r = new Ring(); + rings.set(id, r); + } + return r; +} + +export function appendSample(id: string, t: number, v: number) { + ring(id).push(t, v); +} + +export function appendBatch(id: string, points: [number, number][]) { + const r = ring(id); + for (const [t, v] of points) r.push(t, v); +} + +export function readSeries(id: string, sinceT = -Infinity) { + const r = rings.get(id); + if (!r) return { t: new Float64Array(0), v: new Float64Array(0) }; + return r.read(sinceT); +} + +export function lastValue(id: string): number | null { + const r = rings.get(id); + return r ? r.last() : null; +} + +// ---------------------------------------------------------------- subscriptions +const subCounts = new Map(); +let subListeners: (() => void)[] = []; + +function notifySubs() { + subListeners.forEach((fn) => fn()); +} + +export function subscribeSignal(id: string) { + subCounts.set(id, (subCounts.get(id) || 0) + 1); + notifySubs(); +} + +export function unsubscribeSignal(id: string) { + const c = (subCounts.get(id) || 0) - 1; + if (c <= 0) subCounts.delete(id); + else subCounts.set(id, c); + notifySubs(); +} + +export function currentSubscriptions(): string[] { + return Array.from(subCounts.keys()); +} + +export function onSubscriptionsChanged(fn: () => void): () => void { + subListeners.push(fn); + return () => { + subListeners = subListeners.filter((f) => f !== fn); + }; +} + +// ----------------------------------------------------------------- raw frames +const RAW_CAP = 3000; +let rawFrames: RawFrame[] = []; +let rawListeners: (() => void)[] = []; + +export function pushRawFrames(frames: RawFrame[]) { + if (!frames.length) return; + rawFrames = rawFrames.concat(frames); + if (rawFrames.length > RAW_CAP) rawFrames = rawFrames.slice(-RAW_CAP); + rawListeners.forEach((fn) => fn()); +} + +export function getRawFrames(): RawFrame[] { + return rawFrames; +} + +export function onRawFrames(fn: () => void): () => void { + rawListeners.push(fn); + return () => { + rawListeners = rawListeners.filter((f) => f !== fn); + }; +} + +// raw enable ref-count (so /stream only sends raw when a RawLog panel is open) +let rawWanted = 0; +let rawWantListeners: (() => void)[] = []; +export function wantRaw(on: boolean) { + rawWanted += on ? 1 : -1; + if (rawWanted < 0) rawWanted = 0; + rawWantListeners.forEach((fn) => fn()); +} +export function isRawWanted(): boolean { + return rawWanted > 0; +} +export function onRawWantChanged(fn: () => void): () => void { + rawWantListeners.push(fn); + return () => { + rawWantListeners = rawWantListeners.filter((f) => f !== fn); + }; +} diff --git a/damiao_motor/gui/webapp/src/lib/format.ts b/damiao_motor/gui/webapp/src/lib/format.ts new file mode 100644 index 0000000..9031762 --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/format.ts @@ -0,0 +1,70 @@ +import type { SignalDescriptor } from "./types"; + +// Color per physical field; cmd vs fb share a hue, distinguished by dash + brightness. +const FIELD_COLORS: Record = { + pos: "#58a6ff", + vel: "#3fb950", + torque: "#d29922", + kp: "#bc8cff", + kd: "#f778ba", + vel_limit: "#56d4dd", + torque_limit: "#e3b341", + t_mos: "#ff7b72", + t_rotor: "#ffa657", + status_code: "#8b949e", +}; + +export function fieldColor(field: string): string { + return FIELD_COLORS[field] || "#8b949e"; +} + +export function signalColor(sig: { field: string; source: string }): string { + const base = fieldColor(sig.field); + return sig.source === "cmd" ? lighten(base, 0.15) : base; +} + +export function withAlpha(hex: string, a: number): string { + const c = hex.replace("#", ""); + const r = parseInt(c.slice(0, 2), 16); + const g = parseInt(c.slice(2, 4), 16); + const b = parseInt(c.slice(4, 6), 16); + return `rgba(${r},${g},${b},${a})`; +} + +/** Plot stroke style: actual = bold solid; command = fainter, thinner "ghost" of the same hue. */ +export function seriesStyle(sig: { field: string; source: string }): { stroke: string; width: number } { + const base = fieldColor(sig.field); + return sig.source === "cmd" + ? { stroke: withAlpha(base, 0.45), width: 1.25 } + : { stroke: base, width: 1.85 }; +} + +export function signalLabel(sig: SignalDescriptor): string { + return `m${sig.motorId} ${sig.source}.${sig.field}`; +} + +export function shortSignal(id: string): string { + // "bus:m1:cmd.pos" -> "m1 cmd.pos" + const parts = id.split(":"); + if (parts.length >= 3) return `${parts[1]} ${parts[2]}`; + return id; +} + +export function isCmd(id: string): boolean { + return id.includes(":cmd."); +} + +export const FIELD_ORDER = ["pos", "vel", "torque", "kp", "kd", "t_mos", "t_rotor"]; + +function lighten(hex: string, amount: number): string { + const c = hex.replace("#", ""); + const r = Math.min(255, Math.round(parseInt(c.slice(0, 2), 16) + 255 * amount)); + const g = Math.min(255, Math.round(parseInt(c.slice(2, 4), 16) + 255 * amount)); + const b = Math.min(255, Math.round(parseInt(c.slice(4, 6), 16) + 255 * amount)); + return `rgb(${r},${g},${b})`; +} + +export function fmt(v: number | null | undefined, digits = 3): string { + if (v == null || Number.isNaN(v)) return "—"; + return v.toFixed(digits); +} diff --git a/damiao_motor/gui/webapp/src/lib/store.ts b/damiao_motor/gui/webapp/src/lib/store.ts new file mode 100644 index 0000000..72dff97 --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/store.ts @@ -0,0 +1,136 @@ +/** Low-frequency app state (registry, status, motor views, panel configs, layout). */ + +import { create } from "zustand"; +import type { MotorView, Pair, ServerStatus, SignalDescriptor } from "./types"; + +export interface PlotConfig { + signals: string[]; + duration: number; // seconds visible +} + +// Persistence helpers must be defined BEFORE the store, because the store initializer +// calls loadPlotConfigs() synchronously (a `const` declared later would be in the TDZ). +const PLOT_KEY = "damiao.monitor.plotConfigs"; +export function loadPlotConfigs(): Record { + try { + return JSON.parse(localStorage.getItem(PLOT_KEY) || "{}"); + } catch { + return {}; + } +} +export function persistPlotConfigs(cfgs: Record) { + try { + localStorage.setItem(PLOT_KEY, JSON.stringify(cfgs)); + } catch { + /* ignore quota */ + } +} + +export interface RegisterInfo { + rid: number; + variable: string; + description: string; + access: string; + range_str: string; + data_type: string; +} + +interface AppState { + connected: boolean; + status: ServerStatus | null; + signals: SignalDescriptor[]; + pairs: Pair[]; + motors: MotorView[]; + motorTypes: string[]; + // per-panel plot configs (signals shown), persisted alongside the dock layout + plotConfigs: Record; + + // control state + mode: "monitor" | "control"; + controlMotors: { id: number; motor_type: string }[]; + currentMotorId: number | null; + registerTable: Record; + + setConnected: (c: boolean) => void; + setStatus: (s: ServerStatus) => void; + setMeta: (signals: SignalDescriptor[], pairs: Pair[]) => void; + setMotors: (m: MotorView[]) => void; + setMotorTypes: (t: string[]) => void; + setMode: (m: "monitor" | "control") => void; + setControlMotors: (m: { id: number; motor_type: string }[]) => void; + setCurrentMotor: (id: number | null) => void; + setRegisterTable: (t: Record) => void; + + ensurePlot: (id: string) => void; + setPlotConfig: (id: string, cfg: Partial) => void; + addSignalToPlot: (id: string, signalId: string) => void; + removeSignalFromPlot: (id: string, signalId: string) => void; + dropPlot: (id: string) => void; +} + +export const useApp = create((set, get) => ({ + connected: false, + status: null, + signals: [], + pairs: [], + motors: [], + motorTypes: [], + plotConfigs: loadPlotConfigs(), // hydrate synchronously to avoid effect-ordering races + + mode: "monitor", + controlMotors: [], + currentMotorId: null, + registerTable: {}, + + setConnected: (c) => set({ connected: c }), + setStatus: (s) => set({ status: s }), + setMeta: (signals, pairs) => set({ signals, pairs }), + setMotors: (motors) => set({ motors }), + setMotorTypes: (motorTypes) => set({ motorTypes }), + setMode: (mode) => set({ mode }), + setControlMotors: (controlMotors) => set({ controlMotors }), + setCurrentMotor: (currentMotorId) => set({ currentMotorId }), + setRegisterTable: (registerTable) => set({ registerTable }), + + ensurePlot: (id) => + set((st) => + st.plotConfigs[id] + ? st + : { plotConfigs: { ...st.plotConfigs, [id]: { signals: [], duration: 10 } } } + ), + setPlotConfig: (id, cfg) => + set((st) => ({ + plotConfigs: { + ...st.plotConfigs, + [id]: { ...(st.plotConfigs[id] || { signals: [], duration: 10 }), ...cfg }, + }, + })), + addSignalToPlot: (id, signalId) => + set((st) => { + const cur = st.plotConfigs[id] || { signals: [], duration: 10 }; + if (cur.signals.includes(signalId)) return st; + return { + plotConfigs: { ...st.plotConfigs, [id]: { ...cur, signals: [...cur.signals, signalId] } }, + }; + }), + removeSignalFromPlot: (id, signalId) => + set((st) => { + const cur = st.plotConfigs[id]; + if (!cur) return st; + return { + plotConfigs: { + ...st.plotConfigs, + [id]: { ...cur, signals: cur.signals.filter((s) => s !== signalId) }, + }, + }; + }), + dropPlot: (id) => + set((st) => { + const next = { ...st.plotConfigs }; + delete next[id]; + return { plotConfigs: next }; + }), +})); + +// persist plot configs whenever they change (dock layout persisted by the Dock component) +useApp.subscribe((st) => persistPlotConfigs(st.plotConfigs)); diff --git a/damiao_motor/gui/webapp/src/lib/theme.ts b/damiao_motor/gui/webapp/src/lib/theme.ts new file mode 100644 index 0000000..0521731 --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/theme.ts @@ -0,0 +1,26 @@ +/** Light/dark theme, default light, persisted. Applied via data-theme on . */ + +export type Theme = "light" | "dark"; +const KEY = "damiao.monitor.theme"; + +export function getTheme(): Theme { + const t = localStorage.getItem(KEY); + return t === "dark" ? "dark" : "light"; // default light +} + +export function applyTheme(t: Theme) { + document.documentElement.setAttribute("data-theme", t); +} + +export function setTheme(t: Theme) { + try { + localStorage.setItem(KEY, t); + } catch { + /* ignore */ + } + applyTheme(t); +} + +export function initTheme() { + applyTheme(getTheme()); +} diff --git a/damiao_motor/gui/webapp/src/lib/types.ts b/damiao_motor/gui/webapp/src/lib/types.ts new file mode 100644 index 0000000..f5e2194 --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/types.ts @@ -0,0 +1,54 @@ +export interface SignalDescriptor { + id: string; + bus: string; + motorId: number; + source: "cmd" | "fb"; + field: string; + unit: string; + pairKey: string; +} + +export interface Pair { + pairKey: string; + cmd: string; + fb: string; +} + +export interface MotorView { + bus: string; + motorId: number; + mode: string | null; + status: string; + lastT: number; + cmd: Record; + fb: Record; +} + +export interface ServerStatus { + mode: "monitor" | "control"; + connected: boolean; + channel: string | null; + bustype: string; + error: string | null; + listenOnly: boolean; + feedbackOffset: number; + framesSeen: number; + decodeErrors: number; + registryVersion: number; + defaultMotorType: string; + demo?: boolean; +} + +export interface RawFrame { + seq: number; + t: number; + arb: number; + kind: string; + mode: string | null; + motorId: number; + note: string; + fields: Record; + raw: string; +} + +// Panel kinds are open-ended; see panels/registry.tsx for the registered set. diff --git a/damiao_motor/gui/webapp/src/lib/widgets.ts b/damiao_motor/gui/webapp/src/lib/widgets.ts new file mode 100644 index 0000000..b43c79b --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/widgets.ts @@ -0,0 +1,94 @@ +/** Free-form widget canvas state: a list of widgets with grid geometry, persisted. */ + +import { create } from "zustand"; + +export interface Widget { + id: string; + kind: string; // panel kind from panels/registry + x: number; + y: number; + w: number; + h: number; +} + +const KEY = "damiao.monitor.widgets.v3"; + +function load(): Widget[] | null { + try { + const raw = localStorage.getItem(KEY); + if (!raw) return null; + const arr = JSON.parse(raw); + return Array.isArray(arr) && arr.length ? arr : null; + } catch { + return null; + } +} + +function persist(widgets: Widget[]) { + try { + localStorage.setItem(KEY, JSON.stringify(widgets)); + } catch { + /* ignore quota */ + } +} + +const DEFAULT_WIDGETS: Widget[] = [ + { id: "connection-1", kind: "connection", x: 0, y: 0, w: 3, h: 4 }, + { id: "control-1", kind: "control", x: 0, y: 4, w: 3, h: 8 }, + { id: "plot-1", kind: "plot", x: 3, y: 0, w: 6, h: 6 }, + { id: "cards-1", kind: "cards", x: 9, y: 0, w: 3, h: 6 }, + { id: "table-1", kind: "table", x: 3, y: 6, w: 6, h: 6 }, + { id: "registers-1", kind: "registers", x: 9, y: 6, w: 3, h: 6 }, +]; + +let counter = 1; + +interface WidgetState { + widgets: Widget[]; + addWidget: (kind: string) => string; + removeWidget: (id: string) => void; + updateGeom: (geoms: { id: string; x: number; y: number; w: number; h: number }[]) => void; + resetWidgets: () => void; +} + +export const useWidgets = create((set, get) => ({ + widgets: load() || DEFAULT_WIDGETS, + + addWidget: (kind) => { + counter += 1; + const id = `${kind}-${Date.now().toString(36)}-${counter}`; + // place new widget at the bottom; GridStack will reflow/auto-position + const maxY = get().widgets.reduce((m, w) => Math.max(m, w.y + w.h), 0); + const widget: Widget = { id, kind, x: 0, y: maxY, w: 6, h: 5 }; + const next = [...get().widgets, widget]; + persist(next); + set({ widgets: next }); + return id; + }, + + removeWidget: (id) => { + const next = get().widgets.filter((w) => w.id !== id); + persist(next); + set({ widgets: next }); + }, + + updateGeom: (geoms) => { + const byId = new Map(geoms.map((g) => [g.id, g])); + const next = get().widgets.map((w) => { + const g = byId.get(w.id); + return g ? { ...w, x: g.x, y: g.y, w: g.w, h: g.h } : w; + }); + persist(next); + set({ widgets: next }); + }, + + resetWidgets: () => { + try { + localStorage.removeItem(KEY); + localStorage.removeItem("damiao.monitor.plotConfigs"); + } catch { + /* ignore */ + } + set({ widgets: DEFAULT_WIDGETS.map((w) => ({ ...w })) }); + }, +})); diff --git a/damiao_motor/gui/webapp/src/lib/ws.ts b/damiao_motor/gui/webapp/src/lib/ws.ts new file mode 100644 index 0000000..d3270b6 --- /dev/null +++ b/damiao_motor/gui/webapp/src/lib/ws.ts @@ -0,0 +1,117 @@ +/** WebSocket client: feeds the data store + zustand app state. Auto-reconnects. */ + +import { + appendBatch, + currentSubscriptions, + isRawWanted, + onRawWantChanged, + onSubscriptionsChanged, + pushRawFrames, +} from "./dataStore"; +import { useApp } from "./store"; +import type { MotorView, Pair, RawFrame, ServerStatus, SignalDescriptor } from "./types"; + +let ws: WebSocket | null = null; +let reconnectTimer: number | null = null; + +function wsUrl(): string { + const proto = location.protocol === "https:" ? "wss" : "ws"; + return `${proto}://${location.host}/api/monitor/stream`; +} + +function sendSubscribe() { + if (ws && ws.readyState === WebSocket.OPEN) { + ws.send(JSON.stringify({ type: "subscribe", signals: currentSubscriptions() })); + } +} +function sendRaw() { + if (ws && ws.readyState === WebSocket.OPEN) { + ws.send(JSON.stringify({ type: "raw", enabled: isRawWanted() })); + } +} + +export function connectWs() { + const sock = new WebSocket(wsUrl()); + ws = sock; + + sock.onopen = () => { + useApp.getState().setConnected(true); + sendSubscribe(); + sendRaw(); + }; + + sock.onclose = () => { + useApp.getState().setConnected(false); + if (reconnectTimer == null) { + reconnectTimer = window.setTimeout(() => { + reconnectTimer = null; + connectWs(); + }, 1000); + } + }; + + sock.onerror = () => sock.close(); + + sock.onmessage = (ev) => { + let msg: any; + try { + msg = JSON.parse(ev.data); + } catch { + return; + } + const app = useApp.getState(); + switch (msg.type) { + case "meta": + app.setMeta(msg.signals as SignalDescriptor[], msg.pairs as Pair[]); + app.setMotors(msg.motors as MotorView[]); + break; + case "motors": + app.setMotors(msg.motors as MotorView[]); + if (msg.status) app.setStatus(msg.status as ServerStatus); + break; + case "samples": + for (const [sid, pts] of Object.entries(msg.data as Record)) { + appendBatch(sid, pts); + } + break; + case "raw": + pushRawFrames(msg.frames as RawFrame[]); + break; + } + }; + + // re-send subscription set whenever panels change what they want (debounced) + let subTimer: number | null = null; + onSubscriptionsChanged(() => { + if (subTimer != null) return; + subTimer = window.setTimeout(() => { + subTimer = null; + sendSubscribe(); + }, 80); + }); + onRawWantChanged(sendRaw); +} + +export async function fetchSnapshot(ids: string[], n = 600): Promise> { + if (!ids.length) return {}; + const res = await fetch(`/api/monitor/snapshot?signals=${ids.join(",")}&n=${n}`); + return res.json(); +} + +export async function fetchMotorTypes(): Promise { + try { + const res = await fetch("/api/monitor/motor-types"); + const d = await res.json(); + return d.types || []; + } catch { + return []; + } +} + +export async function setMotorType(motorId: number, motorType: string) { + await fetch("/api/monitor/motor-type", { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ motorId, motorType }), + }); +} diff --git a/damiao_motor/gui/webapp/src/main.tsx b/damiao_motor/gui/webapp/src/main.tsx new file mode 100644 index 0000000..ef6c43e --- /dev/null +++ b/damiao_motor/gui/webapp/src/main.tsx @@ -0,0 +1,13 @@ +import React from "react"; +import ReactDOM from "react-dom/client"; +import App from "./App"; +import { initTheme } from "./lib/theme"; +import "./index.css"; + +initTheme(); // apply persisted (or default light) theme before first paint + +ReactDOM.createRoot(document.getElementById("root")!).render( + + + +); diff --git a/damiao_motor/gui/webapp/src/panels/CardsPanel.tsx b/damiao_motor/gui/webapp/src/panels/CardsPanel.tsx new file mode 100644 index 0000000..d6a3853 --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/CardsPanel.tsx @@ -0,0 +1,61 @@ +import { useApp } from "../lib/store"; +import { fmt } from "../lib/format"; +import { setMotorType } from "../lib/ws"; + +function Metric({ label, cmd, act, unit, digits = 2 }: { label: string; cmd?: number; act?: number; unit: string; digits?: number }) { + return ( +
+
{label} {unit}
+
+ {fmt(act, digits)} + {cmd !== undefined && ⌖ {fmt(cmd, digits)}} +
+
+ ); +} + +export default function CardsPanel() { + const motors = useApp((s) => s.motors); + const motorTypes = useApp((s) => s.motorTypes); + + return ( +
+ {motors.length === 0 &&
Waiting for traffic…
} +
+ {motors.map((m) => ( +
+
+ Motor {m.motorId} + + {m.status || "—"} + +
+
+ {m.mode || "—"} + {motorTypes.length > 0 && ( + + )} +
+ + + +
+ MOS {fmt(m.fb.t_mos, 1)}° + Rotor {fmt(m.fb.t_rotor, 1)}° +
+
+ ))} +
+
+ ); +} diff --git a/damiao_motor/gui/webapp/src/panels/ConnectionPanel.tsx b/damiao_motor/gui/webapp/src/panels/ConnectionPanel.tsx new file mode 100644 index 0000000..b1d6448 --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/ConnectionPanel.tsx @@ -0,0 +1,134 @@ +import { useEffect, useState } from "react"; +import { useApp } from "../lib/store"; +import { api } from "../lib/control"; + +export default function ConnectionPanel() { + const mode = useApp((s) => s.mode); + const status = useApp((s) => s.status); + const controlMotors = useApp((s) => s.controlMotors); + const currentMotorId = useApp((s) => s.currentMotorId); + const setControlMotors = useApp((s) => s.setControlMotors); + const setCurrentMotor = useApp((s) => s.setCurrentMotor); + const motorTypes = useApp((s) => s.motorTypes); + + const [bustype, setBustype] = useState("socketcan"); + const [channel, setChannel] = useState("can0"); + const [bitrate, setBitrate] = useState(1000000); + const [ifaces, setIfaces] = useState([]); + const [motorType, setMotorType] = useState("DM4310"); + const [busy, setBusy] = useState(false); + const [err, setErr] = useState(null); + + const connected = !!status?.connected; + + useEffect(() => { + api.platform().then((p) => { + if (p?.success) { + setBustype(p.default_bustype); + setChannel(p.default_channel); + } + }); + }, []); + useEffect(() => { + api.canInterfaces(bustype).then((d) => setIfaces(d?.interfaces || [])); + }, [bustype]); + + const connect = async () => { + setBusy(true); + setErr(null); + const body: any = { channel, bustype }; + if (bustype === "gs_usb") body.bitrate = bitrate; + if (mode === "control") body.motor_type = motorType; + const r = await api.connect(body); + setBusy(false); + if (r.success) { + const motors = r.motors || []; + setControlMotors(motors); + if (motors.length) setCurrentMotor(motors[0].id); + } else { + setErr(r.error || "Connect failed"); + } + }; + const disconnect = async () => { + await api.disconnect(); + setControlMotors([]); + setCurrentMotor(null); + }; + const rescan = async () => { + setBusy(true); + const r = await api.scan(motorType); + setBusy(false); + if (r.success) { + setControlMotors(r.motors || []); + if ((r.motors || []).length) setCurrentMotor(r.motors[0].id); + } else setErr(r.error || "Scan failed"); + }; + + return ( +
+
+ + +
+
+ + setChannel(e.target.value)} disabled={connected} /> + + {ifaces.map((i) => +
+ {bustype === "gs_usb" && ( +
+ + setBitrate(Number(e.target.value))} disabled={connected} /> +
+ )} + {mode === "control" && ( +
+ + +
+ )} +
+ {!connected ? ( + + ) : ( + + )} + {mode === "control" && connected && ( + + )} +
+ + {mode === "control" && connected && ( +
+ + +
+ )} + {mode === "monitor" && ( +
+ Monitor mode: listening only. Switch to Control to drive motors. +
+ )} + {err &&
{err}
} +
+ ); +} diff --git a/damiao_motor/gui/webapp/src/panels/ControlPanel.tsx b/damiao_motor/gui/webapp/src/panels/ControlPanel.tsx new file mode 100644 index 0000000..ef09d6c --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/ControlPanel.tsx @@ -0,0 +1,164 @@ +import { useEffect, useRef, useState } from "react"; +import { useApp } from "../lib/store"; +import { api } from "../lib/control"; + +type Mode = "MIT" | "POS_VEL" | "VEL" | "FORCE_POS"; + +export default function ControlPanel() { + const appMode = useApp((s) => s.mode); + const status = useApp((s) => s.status); + const id = useApp((s) => s.currentMotorId); + const motorTypes = useApp((s) => s.motorTypes); + const connected = !!status?.connected; + const active = appMode === "control" && connected && id != null; + + const [mode, setMode] = useState("MIT"); + const [pos, setPos] = useState(0); + const [vel, setVel] = useState(0); + const [kp, setKp] = useState(0); + const [kd, setKd] = useState(0); + const [tau, setTau] = useState(0); + const [vlim, setVlim] = useState(0); + const [tlim, setTlim] = useState(0); + const [continuous, setContinuous] = useState(false); + const [freq, setFreq] = useState(50); + const [running, setRunning] = useState(false); + const [msg, setMsg] = useState(null); + const timer = useRef(null); + + const body = () => ({ + control_mode: mode, + target_position: pos, + target_velocity: vel, + stiffness: kp, + damping: kd, + feedforward_torque: tau, + velocity_limit: vlim, + torque_limit_ratio: tlim, + }); + + const stop = () => { + if (timer.current != null) { + clearInterval(timer.current); + timer.current = null; + } + setRunning(false); + }; + + useEffect(() => stop, []); // cleanup on unmount + useEffect(() => { + stop(); + }, [id, appMode]); + + const sendOnce = async () => { + if (id == null) return; + const r = await api.command(id, body()); + if (!r.success) { + setMsg(r.error || "command failed"); + stop(); + } + }; + const onSend = () => { + if (!continuous) { + sendOnce(); + } else if (running) { + stop(); + } else { + setRunning(true); + setMsg(null); + sendOnce(); + const ms = 1000 / Math.max(1, Math.min(1000, freq)); + timer.current = window.setInterval(sendOnce, ms); + } + }; + + const act = async (fn: () => Promise, label: string) => { + const r = await fn(); + setMsg(r?.success ? `${label} ✓` : `${label} failed: ${r?.error || ""}`); + }; + + if (!active) { + return ( +
+
+ {appMode !== "control" + ? "Monitor mode — switch to Control to drive motors." + : !connected + ? "Connect to a bus (Connection widget)." + : "Select a motor in the Connection widget."} +
+
+ ); + } + + const showPos = mode !== "VEL"; + const showMit = mode === "MIT"; + const showForce = mode === "FORCE_POS"; + const velLabel = mode === "POS_VEL" || showForce ? "Vel limit" : "Velocity"; + + return ( +
+
+ + +
+ {showPos && ( +
+ setPos(+e.target.value)} />
+ )} +
+ (mode === "FORCE_POS" ? setVlim(+e.target.value) : setVel(+e.target.value))} />
+ {showMit && <> +
+ setKp(+e.target.value)} />
+
+ setKd(+e.target.value)} />
+
+ setTau(+e.target.value)} />
+ } + {showForce && ( +
+ setTlim(+e.target.value)} />
+ )} + +
+ + +
+ +
+ + + {continuous && ( + setFreq(+e.target.value)} title="Hz" /> + )} +
+ +
+ + + +
+
+ + +
+ {msg &&
{msg}
} +
+ ); +} diff --git a/damiao_motor/gui/webapp/src/panels/PlotPanel.tsx b/damiao_motor/gui/webapp/src/panels/PlotPanel.tsx new file mode 100644 index 0000000..79040a7 --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/PlotPanel.tsx @@ -0,0 +1,201 @@ +import { useEffect, useMemo, useRef } from "react"; +import { useDroppable } from "@dnd-kit/core"; +import uPlot from "uplot"; +import "uplot/dist/uPlot.min.css"; + +import { useApp } from "../lib/store"; +import { + appendBatch, + readSeries, + subscribeSignal, + unsubscribeSignal, +} from "../lib/dataStore"; +import { fetchSnapshot } from "../lib/ws"; +import { isCmd, shortSignal, seriesStyle } from "../lib/format"; + +const MAX_X = 2000; // cap aligned x points per frame + +/** Forward-fill align several signals onto the union of their timestamps. */ +function buildAligned(ids: string[], sinceT: number): uPlot.AlignedData { + const series = ids.map((id) => readSeries(id, sinceT)); + const tset = new Set(); + for (const s of series) for (let i = 0; i < s.t.length; i++) tset.add(s.t[i]); + let xs = Array.from(tset).sort((a, b) => a - b); + if (xs.length > MAX_X) { + const stride = Math.ceil(xs.length / MAX_X); + xs = xs.filter((_, i) => i % stride === 0); + } + const cols: (number | null)[][] = [xs]; + for (const s of series) { + const col: (number | null)[] = new Array(xs.length).fill(null); + let j = 0; + let last: number | null = null; + for (let i = 0; i < xs.length; i++) { + while (j < s.t.length && s.t[j] <= xs[i]) { + last = s.v[j]; + j++; + } + col[i] = last; + } + cols.push(col); + } + return cols as unknown as uPlot.AlignedData; +} + +export default function PlotPanel({ panelId }: { panelId: string }) { + const ensurePlot = useApp((s) => s.ensurePlot); + const removeSignalFromPlot = useApp((s) => s.removeSignalFromPlot); + const setPlotConfig = useApp((s) => s.setPlotConfig); + const cfg = useApp((s) => s.plotConfigs[panelId]); + const signalsMeta = useApp((s) => s.signals); + + useEffect(() => { + ensurePlot(panelId); + }, [panelId, ensurePlot]); + + const signals = cfg?.signals ?? []; + const duration = cfg?.duration ?? 10; + const sigKey = signals.join("|"); + + const { setNodeRef, isOver } = useDroppable({ id: `plot:${panelId}`, data: { panelId } }); + const hostRef = useRef(null); + const plotRef = useRef(null); + const maxTRef = useRef(0); + + // (re)create the uPlot instance whenever the set of signals changes + useEffect(() => { + if (!hostRef.current) return; + const el = hostRef.current; + + const descById = new Map(signalsMeta.map((s) => [s.id, s])); + const seriesCfg: uPlot.Series[] = [ + { label: "t" }, + ...signals.map((id) => { + const d = descById.get(id); + const style = d ? seriesStyle(d) : { stroke: "#8b949e", width: 1.5 }; + return { + label: shortSignal(id), + stroke: style.stroke, + width: style.width, + points: { show: false }, + } as uPlot.Series; + }), + ]; + + const opts: uPlot.Options = { + width: el.clientWidth || 400, + height: el.clientHeight || 220, + legend: { show: false }, + series: seriesCfg, + cursor: { y: false, points: { show: true } }, + scales: { x: { time: false } }, + axes: [ + { + stroke: "#8b949e", + grid: { stroke: "rgba(139,148,158,0.12)" }, + ticks: { stroke: "rgba(139,148,158,0.2)" }, + values: (_u, vals) => vals.map((v) => (v - maxTRef.current).toFixed(1) + "s"), + }, + { + stroke: "#8b949e", + grid: { stroke: "rgba(139,148,158,0.12)" }, + ticks: { stroke: "rgba(139,148,158,0.2)" }, + }, + ], + }; + + const plot = new uPlot(opts, [[], ...signals.map(() => [])] as unknown as uPlot.AlignedData, el); + plotRef.current = plot; + + const ro = new ResizeObserver(() => { + plot.setSize({ width: el.clientWidth, height: el.clientHeight }); + }); + ro.observe(el); + + return () => { + ro.disconnect(); + plot.destroy(); + plotRef.current = null; + }; + // eslint-disable-next-line react-hooks/exhaustive-deps + }, [sigKey, signalsMeta.length]); + + // subscribe to streams + backfill history when the signal set changes + useEffect(() => { + if (!signals.length) return; + signals.forEach(subscribeSignal); + let cancelled = false; + fetchSnapshot(signals, 1200).then((snap) => { + if (cancelled) return; + for (const [id, pts] of Object.entries(snap)) appendBatch(id, pts); + }); + return () => { + cancelled = true; + signals.forEach(unsubscribeSignal); + }; + }, [sigKey]); + + // rAF render loop: pull from the ring buffers and push into uPlot + useEffect(() => { + let raf = 0; + const tick = () => { + const plot = plotRef.current; + if (plot && signals.length) { + // find latest t across signals to anchor the window + let maxT = 0; + for (const id of signals) { + const s = readSeries(id); + if (s.t.length) maxT = Math.max(maxT, s.t[s.t.length - 1]); + } + maxTRef.current = maxT; + const data = buildAligned(signals, maxT - duration); + plot.setData(data, false); + plot.setScale("x", { min: maxT - duration, max: maxT }); + } + raf = requestAnimationFrame(tick); + }; + raf = requestAnimationFrame(tick); + return () => cancelAnimationFrame(raf); + }, [sigKey, duration]); + + const descById = useMemo(() => new Map(signalsMeta.map((s) => [s.id, s])), [signalsMeta]); + + return ( +
+
+ window + +
+ {signals.map((id) => { + const d = descById.get(id); + const style = d ? seriesStyle(d) : { stroke: "#555" }; + return ( + + + {shortSignal(id)} + + + ); + })} +
+
+
+ {signals.length === 0 && ( +
Drag signals here to plot — drop cmd onto fb to overlay
+ )} +
+
+ ); +} diff --git a/damiao_motor/gui/webapp/src/panels/RawLogPanel.tsx b/damiao_motor/gui/webapp/src/panels/RawLogPanel.tsx new file mode 100644 index 0000000..e5a1afb --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/RawLogPanel.tsx @@ -0,0 +1,111 @@ +import { useEffect, useRef, useState } from "react"; +import { useVirtualizer } from "@tanstack/react-virtual"; + +import { getRawFrames, onRawFrames, wantRaw } from "../lib/dataStore"; +import type { RawFrame } from "../lib/types"; + +const SHORT: Record = { + pos: "p", + vel: "v", + torque: "τ", + kp: "kp", + kd: "kd", + vel_limit: "vlim", + torque_limit: "τlim", + t_mos: "Tm", + t_rotor: "Tr", +}; +const SUMMARY_ORDER = ["pos", "vel", "torque", "kp", "kd", "t_mos", "t_rotor"]; + +function fieldsSummary(f: RawFrame): string { + const parts: string[] = []; + for (const k of SUMMARY_ORDER) { + if (k in f.fields) parts.push(`${SHORT[k] || k} ${f.fields[k].toFixed(2)}`); + } + return parts.join(" ") || f.note || ""; +} + +function fmtTime(t: number): string { + const d = new Date(t * 1000); + const hh = String(d.getHours()).padStart(2, "0"); + const mm = String(d.getMinutes()).padStart(2, "0"); + const ss = String(d.getSeconds()).padStart(2, "0"); + const ms = String(Math.floor((t % 1) * 1000)).padStart(3, "0"); + return `${hh}:${mm}:${ss}.${ms}`; +} + +export default function RawLogPanel() { + const [, force] = useState(0); + const [paused, setPaused] = useState(false); + const parentRef = useRef(null); + const framesRef = useRef([]); + + useEffect(() => { + wantRaw(true); + const off = onRawFrames(() => { + if (!paused) { + framesRef.current = getRawFrames(); + force((x) => x + 1); + } + }); + return () => { + wantRaw(false); + off(); + }; + }, [paused]); + + const frames = framesRef.current; + const rowVirt = useVirtualizer({ + count: frames.length, + getScrollElement: () => parentRef.current, + estimateSize: () => 22, + overscan: 12, + }); + + // auto-scroll to bottom unless paused + useEffect(() => { + if (!paused && frames.length) rowVirt.scrollToIndex(frames.length - 1); + }, [frames.length, paused, rowVirt]); + + return ( +
+
+ + {frames.length} frames +
+
+ {/* sticky header lives in the same scroll container as the rows, sharing the + exact grid + padding so columns line up perfectly */} +
+ time + arb + motor + kind + decoded + raw +
+
+ {rowVirt.getVirtualItems().map((vi) => { + const f = frames[vi.index]; + return ( +
+ {fmtTime(f.t)} + 0x{f.arb.toString(16).toUpperCase()} + m{f.motorId} + {f.mode || f.kind} + {fieldsSummary(f)} + {f.raw} +
+ ); + })} +
+
+
+ ); +} diff --git a/damiao_motor/gui/webapp/src/panels/RegisterPanel.tsx b/damiao_motor/gui/webapp/src/panels/RegisterPanel.tsx new file mode 100644 index 0000000..04c94c1 --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/RegisterPanel.tsx @@ -0,0 +1,120 @@ +import { useEffect, useState } from "react"; +import { useApp } from "../lib/store"; +import { api } from "../lib/control"; + +const CTRL_MODES: Record = { 1: "MIT", 2: "POS_VEL", 3: "VEL", 4: "FORCE_POS" }; +const BAUDS: Record = { 0: "125K", 1: "200K", 2: "250K", 3: "500K", 4: "1M" }; + +export default function RegisterPanel() { + const appMode = useApp((s) => s.mode); + const status = useApp((s) => s.status); + const id = useApp((s) => s.currentMotorId); + const regTable = useApp((s) => s.registerTable); + const setCurrentMotor = useApp((s) => s.setCurrentMotor); + const connected = !!status?.connected; + const active = appMode === "control" && connected && id != null; + + const [values, setValues] = useState>({}); + const [edits, setEdits] = useState>({}); + const [msg, setMsg] = useState(null); + const [loading, setLoading] = useState(false); + + const load = async () => { + if (id == null) return; + setLoading(true); + const r = await api.getRegisters(id); + setLoading(false); + if (r.success) { + setValues(r.registers || {}); + setEdits({}); + } else setMsg(r.error || "read failed"); + }; + useEffect(() => { + if (active) load(); + else setValues({}); + // eslint-disable-next-line react-hooks/exhaustive-deps + }, [id, active]); + + if (!active) { + return
+ {appMode !== "control" ? "Monitor mode — registers unavailable." : "Connect + select a motor."} +
; + } + + const parseFor = (rid: number, raw: string, dtype: string): number => { + if (rid === 7 || rid === 8) { + const s = raw.trim(); + return s.toLowerCase().startsWith("0x") ? parseInt(s, 16) : (parseInt(s, 16) || parseInt(s, 10)); + } + return dtype === "float" ? parseFloat(raw) : parseInt(raw, 10); + }; + + const write = async (rid: number) => { + const info = regTable[rid]; + const dtype = info?.data_type || "float"; + let val: number; + if (rid === 10 || rid === 35) val = parseInt(edits[rid], 10); + else if (rid === 9) val = parseFloat(edits[rid]); + else val = parseFor(rid, edits[rid] ?? "", dtype); + if (Number.isNaN(val)) { setMsg("invalid value"); return; } + const r = await api.setRegister(id!, rid, val); + if (r.success) { + if (r.updated_ids?.motor_id != null) setCurrentMotor(r.updated_ids.motor_id); + setMsg(`reg ${rid} written ✓`); + setTimeout(load, 100); + } else setMsg(r.error || "write failed"); + }; + + const display = (rid: number, v: any): string => { + if (rid === 9) return `${v} ms`; + if (rid === 7 || rid === 8) return `0x${Number(v).toString(16).toUpperCase()} (${v})`; + if (rid === 10) return CTRL_MODES[Number(v)] || String(v); + if (rid === 35) return BAUDS[Number(v)] || String(v); + const info = regTable[rid]; + return info?.data_type === "float" ? Number(v).toFixed(4) : String(v); + }; + + const rids = Object.keys(values).map(Number).sort((a, b) => a - b); + + return ( +
+
+ + {msg && {msg}} +
+
+ + + + {rids.map((rid) => { + const info = regTable[rid]; + const ro = info?.access === "RO"; + return ( + + + + + + ); + })} + +
RegisterValue
{info?.description || `reg ${rid}`} + {ro ? ( + display(rid, values[rid]) + ) : rid === 10 || rid === 35 ? ( + + ) : ( + setEdits({ ...edits, [rid]: e.target.value })} + /> + )} + {!ro && }
+
+
+ ); +} diff --git a/damiao_motor/gui/webapp/src/panels/TablePanel.tsx b/damiao_motor/gui/webapp/src/panels/TablePanel.tsx new file mode 100644 index 0000000..8f6bdcc --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/TablePanel.tsx @@ -0,0 +1,67 @@ +import { useApp } from "../lib/store"; +import { fmt } from "../lib/format"; + +const CMD_COLS: [string, string][] = [ + ["pos", "cmd p"], + ["vel", "cmd v"], + ["kp", "kp"], + ["kd", "kd"], + ["torque", "cmd τ"], +]; +const FB_COLS: [string, string][] = [ + ["pos", "act p"], + ["vel", "act v"], + ["torque", "act τ"], + ["t_mos", "Tmos"], + ["t_rotor", "Trot"], +]; + +export default function TablePanel() { + const motors = useApp((s) => s.motors); + + return ( +
+ + + + + + + {CMD_COLS.map(([k, l]) => ( + + ))} + {FB_COLS.map(([k, l]) => ( + + ))} + + + + {motors.length === 0 && ( + + + + )} + {motors.map((m) => ( + + + + + {CMD_COLS.map(([k]) => ( + + ))} + {FB_COLS.map(([k]) => ( + + ))} + + ))} + +
MotorModeStatus{l}{l}
+ Waiting for traffic… +
m{m.motorId}{m.mode || "—"} + + {m.status || "—"} + + {fmt(m.cmd[k], k === "kp" ? 0 : 3)}{fmt(m.fb[k], k.startsWith("t_") ? 1 : 3)}
+
+ ); +} diff --git a/damiao_motor/gui/webapp/src/panels/registry.tsx b/damiao_motor/gui/webapp/src/panels/registry.tsx new file mode 100644 index 0000000..268d273 --- /dev/null +++ b/damiao_motor/gui/webapp/src/panels/registry.tsx @@ -0,0 +1,80 @@ +/** + * Panel registry — the single source of truth for panel types. + * + * To add a new view, add ONE entry here: its kind, title, icon, and how to render it. + * The dock component map, the toolbar "add panel" buttons, the default layout, and panel + * titling are all derived from this list, so nothing else needs editing. + */ + +import PlotPanel from "./PlotPanel"; +import TablePanel from "./TablePanel"; +import CardsPanel from "./CardsPanel"; +import RawLogPanel from "./RawLogPanel"; +import ConnectionPanel from "./ConnectionPanel"; +import ControlPanel from "./ControlPanel"; +import RegisterPanel from "./RegisterPanel"; + +export interface PanelDef { + kind: string; + title: string; + icon: string; + description: string; + /** Render the panel body given its dockview panel id. */ + render: (panelId: string) => JSX.Element; +} + +export const PANELS: PanelDef[] = [ + { + kind: "connection", + title: "Connection", + icon: "⇄", + description: "Connect to a CAN bus, scan, and select a motor.", + render: () => , + }, + { + kind: "control", + title: "Motor Control", + icon: "◉", + description: "Drive the selected motor (MIT/POS_VEL/VEL/FORCE_POS), enable, zero, store.", + render: () => , + }, + { + kind: "registers", + title: "Registers", + icon: "≡", + description: "Read/write the selected motor's registers.", + render: () => , + }, + { + kind: "plot", + title: "Plot", + icon: "〜", + description: "Time-series chart; drag signals onto it (cmd over fb to overlay).", + render: (id) => , + }, + { + kind: "table", + title: "Motor Table", + icon: "▦", + description: "One row per motor: commanded vs actual.", + render: () => , + }, + { + kind: "cards", + title: "Motor Cards", + icon: "▢", + description: "Per-motor cards/gauges with big readouts.", + render: () => , + }, + { + kind: "rawlog", + title: "Raw CAN Log", + icon: "≣", + description: "Scrolling decoded frame log.", + render: () => , + }, +]; + +export const PANEL_BY_KIND: Record = Object.fromEntries( + PANELS.map((p) => [p.kind, p]) +); diff --git a/damiao_motor/gui/webapp/tsconfig.json b/damiao_motor/gui/webapp/tsconfig.json new file mode 100644 index 0000000..c1183c9 --- /dev/null +++ b/damiao_motor/gui/webapp/tsconfig.json @@ -0,0 +1,20 @@ +{ + "compilerOptions": { + "target": "ES2021", + "useDefineForClassFields": true, + "lib": ["ES2021", "DOM", "DOM.Iterable"], + "module": "ESNext", + "skipLibCheck": true, + "moduleResolution": "bundler", + "allowImportingTsExtensions": true, + "resolveJsonModule": true, + "isolatedModules": true, + "noEmit": true, + "jsx": "react-jsx", + "strict": true, + "noUnusedLocals": false, + "noUnusedParameters": false, + "noFallthroughCasesInSwitch": true + }, + "include": ["src"] +} diff --git a/damiao_motor/gui/webapp/tsconfig.tsbuildinfo b/damiao_motor/gui/webapp/tsconfig.tsbuildinfo new file mode 100644 index 0000000..4599721 --- /dev/null +++ b/damiao_motor/gui/webapp/tsconfig.tsbuildinfo @@ -0,0 +1 @@ +{"root":["./src/app.tsx","./src/main.tsx","./src/components/canvas.tsx","./src/components/signalchip.tsx","./src/components/signalsidebar.tsx","./src/components/toolbar.tsx","./src/lib/control.ts","./src/lib/datastore.ts","./src/lib/format.ts","./src/lib/store.ts","./src/lib/theme.ts","./src/lib/types.ts","./src/lib/widgets.ts","./src/lib/ws.ts","./src/panels/cardspanel.tsx","./src/panels/connectionpanel.tsx","./src/panels/controlpanel.tsx","./src/panels/plotpanel.tsx","./src/panels/rawlogpanel.tsx","./src/panels/registerpanel.tsx","./src/panels/tablepanel.tsx","./src/panels/registry.tsx"],"version":"5.9.3"} \ No newline at end of file diff --git a/damiao_motor/gui/webapp/vite.config.ts b/damiao_motor/gui/webapp/vite.config.ts new file mode 100644 index 0000000..6c2d08f --- /dev/null +++ b/damiao_motor/gui/webapp/vite.config.ts @@ -0,0 +1,22 @@ +import { defineConfig } from "vite"; +import react from "@vitejs/plugin-react"; + +// Built assets use relative paths so Flask can serve them from any mount point. +// In dev, proxy the REST API and the WebSocket stream to the Python monitor server. +const API_TARGET = process.env.MONITOR_API || "http://127.0.0.1:5001"; + +export default defineConfig({ + plugins: [react()], + base: "./", + build: { + outDir: "dist", + emptyOutDir: true, + }, + server: { + port: 5173, + proxy: { + "/api/monitor/stream": { target: API_TARGET.replace("http", "ws"), ws: true }, + "/api": { target: API_TARGET, changeOrigin: true }, + }, + }, +}); diff --git a/damiao_motor/monitor/README.md b/damiao_motor/monitor/README.md new file mode 100644 index 0000000..05852f5 --- /dev/null +++ b/damiao_motor/monitor/README.md @@ -0,0 +1,91 @@ +# DaMiao Passive Monitor + +A **listen-only** realtime dashboard. While another controller drives the motors on a CAN +bus, the monitor decodes **both** the commands that controller is sending **and** the +motors' feedback, and plots/tables them live. It never transmits on the bus. + +## Run + +```bash +# Listen on a socketcan bus that another controller is already driving +damiao monitor --channel can_arm_l + +# Try it with synthetic traffic — no CAN hardware needed +damiao monitor --demo + +# then open http://127.0.0.1:5001 +``` + +Key options: `--channel`, `--bustype` (default `socketcan`), `--bitrate` (e.g. for gs_usb), +`--feedback-offset` (feedback arb id = motor id + offset; default **16** = the I2RT `p16` +scheme), `--motor-type` (default scaling, default `DM4310`), `--demo`, `--port`. + +## Using the dashboard + +- **Free-form widget canvas**: each panel is a widget you can **drag by its header** and + **resize from any edge/corner**, placed anywhere on the grid. Add widgets from the + toolbar (**Plot / Motor Table / Motor Cards / Raw CAN Log**), remove with the **×** on + the widget header. Layout + plot contents persist across reloads (**Reset** restores the + default layout). +- **Drag** a signal from the left sidebar onto a **Plot** widget to chart it. Drop a `cmd.*` + signal onto the plot already showing its `fb.*` to **overlay** them (dashed = command, + solid = feedback). +- Per-motor **motor-type** can be overridden in the cards (rescales decode). + +## How it stays passive + +- The `monitor` package never imports or calls anything that transmits; it only ever calls + `bus.recv`. (`tests/test_monitor.py` asserts this.) +- On socketcan it also sets `CAN_RAW_LISTEN_ONLY` on the socket (best-effort defense in + depth). On a separate socketcan socket it sees all bus traffic without stealing frames + from the running controller. + +## Dev workflow (changing the UI) + +The dashboard is a Vite/React/TS app in `gui/webapp`. The built bundle in +`gui/webapp/dist/` is committed so end users need no Node toolchain. To develop: + +```bash +cd damiao_motor/gui/webapp +npm install +npm run dev # Vite dev server on :5173, proxies /api + WS to the monitor +# in another shell: +damiao monitor --demo # or --channel +# open the Vite URL (http://localhost:5173) + +npm run build # rebuild dist/ before committing UI changes +``` + +## Test checklist + +### A. Offline (no hardware — runs anywhere) +1. `pytest tests/test_monitor.py` — command/feedback decode round-trips + the + never-transmit assertion (10 tests). +2. `python -m build` then confirm the wheel ships the UI + package: + `unzip -l dist/*.whl | grep -E "webapp/dist/index.html|monitor/server.py"`. +3. `damiao monitor --demo` → open the URL: signals appear, drag `cmd.pos`+`fb.pos` onto a + plot and see the overlay track; cards + table update; add a Raw CAN Log panel and watch + frames stream; reload and confirm layout/plots persist. + +### B. On xdof_linearbot (real CAN) +4. **Idle bus, no crash:** with no controller running, + `damiao monitor --channel can_arm_l --host 0.0.0.0` → dashboard loads, top bar shows + `listen-only`, signal list empty (idle bus invents nothing). +5. **Passivity (do this any time it runs):** in another shell + `watch -n1 'ip -s link show can_arm_l | sed -n 5,6p'` → TX packets stay **0** while the + monitor runs. (Verified during development: opened the bus, `listen_only_applied=True`, + TX stayed 0.) +6. **Live decode:** start the real controller (FlowBase / LinearRail desktop launcher) or + a benign sender → on the monitor: + - signals auto-appear per motor; `cmd`↔`fb` pairs link; + - drag `cmd.pos` onto the `fb.pos` plot → overlay tracks (dashed cmd vs solid actual); + - Motor Table shows live commanded + actual columns; Cards update; Raw CAN Log streams + decoded MIT/POS_VEL/feedback frames. +7. **Right scaling:** if a motor reads with the wrong range (e.g. a base `DM4310V` uses + ±π rad), set its type in the card dropdown and confirm values correct. +8. **Feedback scheme:** if no feedback signals appear but commands do, the bus may not use + the `p16` (+16) feedback-id scheme — rerun with the correct `--feedback-offset`. +9. **Smoothness:** with all arm motors streaming at control rate, plots stay smooth and the + time window scrolls without growing lag. +10. **Coexistence:** the active controller is unaffected (the monitor only reads), and + `damiao gui` still works as before on its own run. diff --git a/damiao_motor/monitor/__init__.py b/damiao_motor/monitor/__init__.py new file mode 100644 index 0000000..5dab150 --- /dev/null +++ b/damiao_motor/monitor/__init__.py @@ -0,0 +1,18 @@ +"""Passive (listen-only) monitoring for DaMiao motors. + +This subpackage decodes both command and feedback frames observed on a CAN bus while +another controller drives the motors, and never transmits anything itself. +""" + +from damiao_motor.monitor.decode import DecodedFrame, decode_frame, resolve_limits +from damiao_motor.monitor.listener import PassiveCanListener +from damiao_motor.monitor.store import SignalDescriptor, SignalStore + +__all__ = [ + "DecodedFrame", + "decode_frame", + "resolve_limits", + "PassiveCanListener", + "SignalStore", + "SignalDescriptor", +] diff --git a/damiao_motor/monitor/control.py b/damiao_motor/monitor/control.py new file mode 100644 index 0000000..5bd8e92 --- /dev/null +++ b/damiao_motor/monitor/control.py @@ -0,0 +1,297 @@ +"""Active control service for the unified Control/Monitor UI. + +Wraps a :class:`~damiao_motor.core.controller.DaMiaoController` and, on every command and +state read, pushes the commanded values and the motor feedback into the shared +:class:`~damiao_motor.monitor.store.SignalStore` so the same realtime plots/table/cards +visualize what *we* are driving. This is offset-agnostic (the controller routes feedback +by the logical id in ``data[0]``), unlike the passive listener used in monitor mode. + +This module CAN transmit — it is only ever instantiated in Control mode. +""" + +from __future__ import annotations + +import time +from typing import Any, Dict, List, Optional + +from damiao_motor.core.controller import DaMiaoController +from damiao_motor.core.motor import MOTOR_TYPE_PRESETS, REGISTER_TABLE +from damiao_motor.monitor.decode import KIND_COMMAND, KIND_FEEDBACK, DecodedFrame +from damiao_motor.monitor.store import SignalStore + +TIMEOUT_REGISTER_ID = 9 +TIMEOUT_UNITS_PER_MS = 20.0 + + +def _core_motor_type(name: str) -> str: + """Map a (possibly extended, e.g. 'DM4310') motor-type name to a core preset name + the DaMiaoController understands ('4310'). Falls back to '4310'.""" + if name in MOTOR_TYPE_PRESETS: + return name + if name.startswith("DM") and name[2:] in MOTOR_TYPE_PRESETS: + return name[2:] + return "4310" + + +# command-mode -> the cmd field names the store/plots expect (match decode.py) +_CONTROL_MODES = {"MIT", "POS_VEL", "VEL", "FORCE_POS"} + + +class ControlService: + def __init__(self, store: SignalStore, raw_push=None) -> None: + self.store = store + self._raw_push = raw_push + self.controller: Optional[DaMiaoController] = None + self.channel: Optional[str] = None + self.bustype: str = "socketcan" + self.bitrate: Optional[int] = None + self.connected = False + self.error: Optional[str] = None + + # ------------------------------------------------------------- lifecycle + def connect( + self, channel: str, bustype: str = "socketcan", bitrate: Optional[int] = None + ) -> None: + self.disconnect() + self.controller = DaMiaoController( + channel=channel, bustype=bustype, bitrate=bitrate + ) + self.channel, self.bustype, self.bitrate = channel, bustype, bitrate + self.connected = True + self.error = None + + def disconnect(self) -> None: + if self.controller is not None: + try: + self.controller.shutdown() + except Exception: + pass + self.controller = None + self.connected = False + + def _require(self): + if self.controller is None: + raise RuntimeError("Not connected") + return self.controller + + # ---------------------------------------------------------------- scan + def scan(self, motor_type: str, settle: float = 0.5) -> List[Dict[str, Any]]: + c = self._require() + core_type = _core_motor_type(motor_type) + c.motors = {} + c._motors_by_feedback = {} + c.flush_bus() + for motor_id in range(0x01, 0x11): + try: + m = c.add_motor( + motor_id=motor_id, feedback_id=0x00, motor_type=core_type + ) + m.send_cmd_mit(0.0, 0.0, 0.0, 0.0, 0.0) + except ValueError: + pass + except Exception: + pass + found: List[Dict[str, Any]] = [] + responded = set() + t0 = time.perf_counter() + while time.perf_counter() - t0 < settle: + c.poll_feedback() + for mid, m in c.motors.items(): + if ( + m.state + and m.state.get("can_id") is not None + and mid not in responded + ): + responded.add(mid) + found.append( + { + "id": mid, + "arb_id": m.state.get("arbitration_id") or 0, + "motor_type": m.motor_type, + } + ) + self._push_feedback(mid, m.get_states()) + time.sleep(0.01) + # keep only responders + c.motors = {f["id"]: c.motors[f["id"]] for f in found} + return found + + def motors(self) -> List[Dict[str, Any]]: + c = self._require() + return [ + {"id": mid, "motor_type": m.motor_type} + for mid, m in sorted(c.motors.items()) + ] + + # ---------------------------------------------------------- store feed + def _push_command(self, motor_id: int, mode: str, fields: Dict[str, float]) -> None: + fr = DecodedFrame( + t=time.time(), + arbitration_id=motor_id, + kind=KIND_COMMAND, + motor_id=motor_id, + raw=b"", + mode=mode, + fields=fields, + ) + self.store.ingest(fr) + if self._raw_push: + self._raw_push(fr) + + def _push_feedback(self, motor_id: int, state: Dict[str, Any]) -> None: + if not state: + return + fields = { + "pos": float(state.get("pos", 0.0)), + "vel": float(state.get("vel", 0.0)), + "torque": float(state.get("torq", 0.0)), + "t_mos": float(state.get("t_mos", 0.0)), + "t_rotor": float(state.get("t_rotor", 0.0)), + "status_code": float(state.get("status_code", 0)), + } + fr = DecodedFrame( + t=time.time(), + arbitration_id=motor_id + 16, + kind=KIND_FEEDBACK, + motor_id=motor_id, + raw=b"", + fields=fields, + note=str(state.get("status", "")), + ) + self.store.ingest(fr) + if self._raw_push: + self._raw_push(fr) + + # ------------------------------------------------------------- actions + def enable(self, motor_id: int) -> None: + self._require().motors[motor_id].enable() + + def disable(self, motor_id: int) -> None: + m = self._require().motors[motor_id] + m.set_zero_command() + m.disable() + + def set_zero(self, motor_id: int) -> None: + self._require().motors[motor_id].set_zero_position() + + def clear_error(self, motor_id: int) -> None: + self._require().motors[motor_id].clear_error() + + def store_parameters(self, motor_id: int) -> None: + self._require().motors[motor_id].store_parameters() + + def set_motor_type(self, motor_id: int, motor_type: str) -> None: + self._require().motors[motor_id].set_motor_type(_core_motor_type(motor_type)) + + def command(self, motor_id: int, data: Dict[str, Any]) -> Dict[str, Any]: + c = self._require() + m = c.motors[motor_id] + mode = data.get("control_mode", "MIT") + pos = float(data.get("target_position", 0.0)) + vel = float(data.get("target_velocity", 0.0)) + kp = float(data.get("stiffness", 0.0)) + kd = float(data.get("damping", 0.0)) + tau = float(data.get("feedforward_torque", 0.0)) + vlim = float(data.get("velocity_limit", 0.0)) + tlim = float(data.get("torque_limit_ratio", 0.0)) + + if mode == "MIT": + m.send_cmd_mit(pos, vel, kp, kd, tau) + self._push_command( + motor_id, + "MIT", + {"pos": pos, "vel": vel, "kp": kp, "kd": kd, "torque": tau}, + ) + elif mode == "POS_VEL": + m.send_cmd_pos_vel(pos, vel) + self._push_command(motor_id, "POS_VEL", {"pos": pos, "vel_limit": vel}) + elif mode == "VEL": + m.send_cmd_vel(vel) + self._push_command(motor_id, "VEL", {"vel": vel}) + elif mode == "FORCE_POS": + m.send_cmd_force_pos(pos, vlim, tlim) + self._push_command( + motor_id, + "FORCE_POS", + {"pos": pos, "vel_limit": vlim, "torque_limit_ratio": tlim}, + ) + else: + raise ValueError(f"Unknown control_mode: {mode}") + + c.poll_feedback() + state = m.get_states() + self._push_feedback(motor_id, state) + return state + + def get_state(self, motor_id: int) -> Dict[str, Any]: + c = self._require() + c.poll_feedback() + state = c.motors[motor_id].get_states() + self._push_feedback(motor_id, state) + return state + + # ------------------------------------------------------------ registers + def get_registers(self, motor_id: int) -> Dict[str, Any]: + m = self._require().motors[motor_id] + regs = m.read_all_registers(timeout=0.05) + clean: Dict[int, Any] = {} + for rid, value in regs.items(): + if isinstance(value, str) and value.startswith("ERROR"): + continue + if rid == TIMEOUT_REGISTER_ID: + clean[rid] = float(value) / TIMEOUT_UNITS_PER_MS + else: + clean[rid] = value + return {"registers": clean, "motor_type": m.motor_type} + + def set_register(self, motor_id: int, rid: int, value: Any) -> Dict[str, Any]: + c = self._require() + m = c.motors[motor_id] + updated_ids: Dict[str, int] = {} + + if rid == TIMEOUT_REGISTER_ID: + units = int(round(float(value) * TIMEOUT_UNITS_PER_MS)) + if units < 0: + raise ValueError("Timeout must be >= 0 ms") + m.write_register(rid, units) + else: + m.write_register(rid, value) + + if rid == 7: # MST_ID / feedback id + new_fb = int(value) + old_fb = m.feedback_id + m.feedback_id = new_fb + if old_fb in c._motors_by_feedback: + del c._motors_by_feedback[old_fb] + c._motors_by_feedback[new_fb] = m + updated_ids["feedback_id"] = new_fb + elif rid == 8: # ESC_ID / receive (motor) id + new_id = int(value) + old_id = m.motor_id + m.motor_id = new_id + if old_id in c.motors: + del c.motors[old_id] + c.motors[new_id] = m + updated_ids["motor_id"] = new_id + + if rid in (7, 8): + try: + m.store_parameters() + except Exception: + pass + + return {"updated_ids": updated_ids} + + @staticmethod + def register_table() -> List[Dict[str, Any]]: + return [ + { + "rid": r.rid, + "variable": r.variable, + "description": r.description, + "access": r.access, + "range_str": r.range_str, + "data_type": r.data_type, + } + for r in REGISTER_TABLE.values() + ] diff --git a/damiao_motor/monitor/decode.py b/damiao_motor/monitor/decode.py new file mode 100644 index 0000000..d1f4333 --- /dev/null +++ b/damiao_motor/monitor/decode.py @@ -0,0 +1,322 @@ +"""Passive decode of DaMiao CAN frames — both commands and feedback. + +This module reverses the frame encoders in :mod:`damiao_motor.core.motor` so that a +listen-only observer can reconstruct what *another* controller is commanding on the +bus, alongside the motors' feedback. It never transmits anything. + +Frame layouts (little detail recap, see core/motor.py for the encoders): + +* MIT command arb = motor_id 16b pos | 12b vel | 12b kp | 12b kd | 12b torque +* POS_VEL command arb = 0x100 + motor_id (target_pos, vel_limit) +* VEL command arb = 0x200 + motor_id (target_vel) + 4 pad +* FORCE_POS command arb = 0x300 + motor_id (pos, vel*100, ratio*10000) +* special command arb = motor_id FF*7 + {FC enable, FD disable, FE zero, FB clear} +* feedback arb = motor_id + offset D0=(status<<4)|can_id, packed pos/vel/torque, D6/D7 temps +* register reply D1<=0x0F, D2==0x33, D3=rid + +Command and feedback share the low arbitration-id space, so they are disambiguated by +the feedback-id ``offset`` (e.g. the I2RT ``p16`` scheme uses ``motor_id + 16``) together +with the structural check ``data[0] & 0x0F == arb - offset``. +""" + +from __future__ import annotations + +import struct +from dataclasses import dataclass, field +from typing import Dict, Optional + +from damiao_motor.core.motor import ( + KD_MAX, + KD_MIN, + KP_MAX, + KP_MIN, + MOTOR_TYPE_PRESETS, + _STATE_NAME_MAP, + _decode_status_name, + is_register_reply, + uint_to_float, +) + +# Arbitration-id bases for the non-MIT control modes. +POS_VEL_BASE = 0x100 +VEL_BASE = 0x200 +FORCE_POS_BASE = 0x300 +REGISTER_ARB = 0x7FF + +# Default feedback-id offset: the I2RT "p16" receive mode (feedback arb = motor_id + 16), +# which is also the common DaMiao default. Configurable per listener. +DEFAULT_FEEDBACK_OFFSET = 16 + +# Valid DM status nibbles (used as a structural gate when classifying feedback frames). +KNOWN_STATUS = frozenset(_STATE_NAME_MAP.keys()) + +# Special single-byte command suffixes (data = FF*7 + suffix). +_SPECIAL_SUFFIX = { + 0xFC: "enable", + 0xFD: "disable", + 0xFE: "set_zero", + 0xFB: "clear_error", +} + +# Extended motor-type presets. We reuse the core presets (keyed "4310", "4340", ...) and +# add the "DM"-prefixed names plus the reduced-range variants used by third-party stacks +# (e.g. DM4310V / DM_FLOW_WHEEL use +/-pi rad position), so we can decode their traffic +# correctly without touching the core table. +_EXTRA_LIMIT_PARAM = { + # name: (pmax, vmax, tmax) -> symmetric +/- ranges + "DM4310": (12.5, 30, 10), + "DM4310V": (3.1415926, 30, 10), + "DM_FLOW_WHEEL": (3.1415926, 30, 10), + "DMH6215": (3.1415926, 30, 10), + "DMH6215MIT": (12.5, 45, 10), + "DM4340": (12.5, 10, 28), + "DM6248": (12.5, 20, 120), + "DM8009": (12.5, 45, 54), + "DM3507": (12.5, 50, 5), +} + + +def _preset_from_param(pmax: float, vmax: float, tmax: float) -> Dict[str, float]: + return { + "p_min": -pmax, + "p_max": pmax, + "v_min": -vmax, + "v_max": vmax, + "t_min": -tmax, + "t_max": tmax, + } + + +# Merged lookup: core presets first, then the extended/DM-prefixed names. +MONITOR_MOTOR_PRESETS: Dict[str, Dict[str, float]] = { + **MOTOR_TYPE_PRESETS, + **{name: _preset_from_param(*p) for name, p in _EXTRA_LIMIT_PARAM.items()}, +} + +DEFAULT_MOTOR_TYPE = "DM4310" + + +def resolve_limits(motor_type: str) -> Dict[str, float]: + """Resolve P/V/T limits for a motor type, tolerant of the ``DM`` name prefix. + + Falls back to :data:`DEFAULT_MOTOR_TYPE` for unknown names so a single unexpected + motor never breaks passive decoding of the rest of the bus. + """ + if motor_type in MONITOR_MOTOR_PRESETS: + return MONITOR_MOTOR_PRESETS[motor_type] + # tolerate "DM4310" <-> "4310" + alt = motor_type[2:] if motor_type.startswith("DM") else f"DM{motor_type}" + if alt in MONITOR_MOTOR_PRESETS: + return MONITOR_MOTOR_PRESETS[alt] + return MONITOR_MOTOR_PRESETS[DEFAULT_MOTOR_TYPE] + + +# Frame kinds. +KIND_COMMAND = "command" +KIND_FEEDBACK = "feedback" +KIND_SPECIAL = "special" +KIND_REGISTER = "register" +KIND_UNKNOWN = "unknown" + + +@dataclass +class DecodedFrame: + """A single passively-decoded CAN frame.""" + + t: float + arbitration_id: int + kind: str + motor_id: int + raw: bytes + mode: Optional[str] = None # MIT / POS_VEL / VEL / FORCE_POS for commands + fields: Dict[str, float] = field(default_factory=dict) + note: str = "" + + +def _u16_be(data: bytes, i: int) -> int: + return (data[i] << 8) | data[i + 1] + + +def _decode_mit(data: bytes, lim: Dict[str, float]) -> Dict[str, float]: + pos_u = (data[0] << 8) | data[1] + vel_u = (data[2] << 4) | (data[3] >> 4) + kp_u = ((data[3] & 0xF) << 8) | data[4] + kd_u = (data[5] << 4) | (data[6] >> 4) + torq_u = ((data[6] & 0xF) << 8) | data[7] + return { + "pos": uint_to_float(pos_u, lim["p_min"], lim["p_max"], 16), + "vel": uint_to_float(vel_u, lim["v_min"], lim["v_max"], 12), + "kp": uint_to_float(kp_u, KP_MIN, KP_MAX, 12), + "kd": uint_to_float(kd_u, KD_MIN, KD_MAX, 12), + "torque": uint_to_float(torq_u, lim["t_min"], lim["t_max"], 12), + } + + +def _decode_feedback(data: bytes, lim: Dict[str, float]) -> Dict[str, float]: + status = data[0] >> 4 + pos_int = (data[1] << 8) | data[2] + vel_int = (data[3] << 4) | (data[4] >> 4) + torq_int = ((data[4] & 0xF) << 8) | data[5] + return { + "status_code": float(status), + "pos": uint_to_float(pos_int, lim["p_min"], lim["p_max"], 16), + "vel": uint_to_float(vel_int, lim["v_min"], lim["v_max"], 12), + "torque": uint_to_float(torq_int, lim["t_min"], lim["t_max"], 12), + "t_mos": float(data[6]), + "t_rotor": float(data[7]), + } + + +def _looks_like_feedback(arb: int, data: bytes, offset: int) -> Optional[int]: + """Return the motor id if the frame looks like a feedback frame, else None. + + Feedback arbitration id = motor_id + offset, with the motor's CAN id in the low + nibble of ``data[0]``. We deliberately do NOT require the status nibble to be a known + code: real motors report states outside the documented set (observed: status 3 on + linearbot joints 4-7), and the arb-range + can-id-nibble match is already unambiguous + for the standard schemes (feedback ids offset+1..offset+15 don't overlap MIT command + ids 1..15 for offset >= 16). + """ + mid = arb - offset + if 1 <= mid <= 15 and (data[0] & 0x0F) == mid: + return mid + return None + + +def decode_frame( + arbitration_id: int, + data: bytes, + t: float, + motor_types: Optional[Dict[int, str]] = None, + default_motor_type: str = DEFAULT_MOTOR_TYPE, + feedback_offset: int = DEFAULT_FEEDBACK_OFFSET, +) -> Optional[DecodedFrame]: + """Classify and decode one observed CAN frame. + + Args: + arbitration_id: 11-bit CAN id. + data: frame payload (must be 8 bytes to decode motor frames). + t: observation timestamp (seconds). + motor_types: optional per-motor-id motor type used to scale pos/vel/torque. + default_motor_type: fallback motor type when an id is not in ``motor_types``. + feedback_offset: feedback arb = motor_id + offset (16 for the I2RT p16 scheme). + + Returns: + A :class:`DecodedFrame`, or ``None`` if the frame can't be interpreted. + """ + motor_types = motor_types or {} + if len(data) != 8: + return None + + def lim_for(mid: int) -> Dict[str, float]: + return resolve_limits(motor_types.get(mid, default_motor_type)) + + # 1) Register reply (motor -> bus). Structural test, arb-independent. + if is_register_reply(data): + motor_id = data[0] | (data[1] << 8) + return DecodedFrame( + t=t, + arbitration_id=arbitration_id, + kind=KIND_REGISTER, + motor_id=motor_id, + raw=bytes(data), + fields={"rid": float(data[3])}, + note="register reply", + ) + + # 2) Special commands (FF*7 + suffix). + if data[:7] == b"\xff\xff\xff\xff\xff\xff\xff" and data[7] in _SPECIAL_SUFFIX: + return DecodedFrame( + t=t, + arbitration_id=arbitration_id, + kind=KIND_SPECIAL, + motor_id=arbitration_id, + raw=bytes(data), + note=_SPECIAL_SUFFIX[data[7]], + ) + + # 3) Non-MIT command modes by arbitration-id window. + if POS_VEL_BASE <= arbitration_id < POS_VEL_BASE + 0x100: + mid = arbitration_id - POS_VEL_BASE + pos, vel_limit = struct.unpack(" bus), via offset + structural check. + mid = _looks_like_feedback(arbitration_id, data, feedback_offset) + if mid is not None: + lim = lim_for(mid) + fb = _decode_feedback(data, lim) + status_name = _decode_status_name(int(fb["status_code"])) + return DecodedFrame( + t, + arbitration_id, + KIND_FEEDBACK, + mid, + bytes(data), + fields=fb, + note=status_name, + ) + + # 5) Otherwise treat a low-id frame as an MIT command. + if 1 <= arbitration_id < POS_VEL_BASE: + lim = lim_for(arbitration_id) + return DecodedFrame( + t, + arbitration_id, + KIND_COMMAND, + arbitration_id, + bytes(data), + mode="MIT", + fields=_decode_mit(data, lim), + ) + + # 6) Register command space / anything else. + if arbitration_id == REGISTER_ARB: + return DecodedFrame( + t, + arbitration_id, + KIND_REGISTER, + data[0] | (data[1] << 8), + bytes(data), + note="register cmd", + ) + + return DecodedFrame(t, arbitration_id, KIND_UNKNOWN, arbitration_id, bytes(data)) diff --git a/damiao_motor/monitor/demo.py b/damiao_motor/monitor/demo.py new file mode 100644 index 0000000..a95e2b0 --- /dev/null +++ b/damiao_motor/monitor/demo.py @@ -0,0 +1,115 @@ +"""Synthetic traffic source for the passive monitor. + +Generates plausible command + feedback :class:`DecodedFrame` streams for a few motors +without any CAN hardware, so the dashboard can be developed, demoed, and screenshotted +anywhere. Feedback tracks the command with a small lag and noise, as a real motor would. +""" + +from __future__ import annotations + +import math +import threading +import time +from typing import Callable, List + +from damiao_motor.monitor.decode import ( + KIND_COMMAND, + KIND_FEEDBACK, + DecodedFrame, +) + +FrameCallback = Callable[[DecodedFrame], None] + + +class DemoSource: + def __init__( + self, + on_frame: FrameCallback, + bus_name: str = "demo", + motor_ids: List[int] = (1, 2, 3), + rate_hz: float = 100.0, + ) -> None: + self.on_frame = on_frame + self.bus_name = bus_name + self.motor_ids = list(motor_ids) + self.rate_hz = rate_hz + self._running = False + self._thread = None + # crude per-motor first-order lag state for feedback + self._fb_pos = {m: 0.0 for m in self.motor_ids} + + def start(self) -> None: + if self._running: + return + self._running = True + self._thread = threading.Thread( + target=self._loop, name="demo-source", daemon=True + ) + self._thread.start() + + def stop(self) -> None: + self._running = False + if self._thread is not None: + self._thread.join(timeout=0.5) + self._thread = None + + def _loop(self) -> None: + period = 1.0 / self.rate_hz + t0 = time.time() + while self._running: + now = time.time() + t = now - t0 + for i, mid in enumerate(self.motor_ids): + phase = i * 0.7 + freq = 0.25 + 0.15 * i + cmd_pos = 1.5 * math.sin(2 * math.pi * freq * t + phase) + cmd_vel = ( + 1.5 * 2 * math.pi * freq * math.cos(2 * math.pi * freq * t + phase) + ) + kp, kd = 60.0, 1.5 + # feedback lags the command and carries noise + load torque + lag = 0.15 + self._fb_pos[mid] += (cmd_pos - self._fb_pos[mid]) * lag + jitter = 0.01 * math.sin(37 * t + mid) + fb_pos = self._fb_pos[mid] + jitter + fb_vel = cmd_vel * 0.92 + 0.05 * math.sin(53 * t + mid) + fb_torq = kp * (cmd_pos - fb_pos) + 0.2 * math.sin(11 * t + mid) + t_mos = 32 + 3 * math.sin(0.1 * t + mid) + t_rotor = 35 + 4 * math.sin(0.08 * t + mid) + + self.on_frame( + DecodedFrame( + t=now, + arbitration_id=mid, + kind=KIND_COMMAND, + motor_id=mid, + raw=b"\x00" * 8, + mode="MIT", + fields={ + "pos": cmd_pos, + "vel": cmd_vel, + "torque": 0.0, + "kp": kp, + "kd": kd, + }, + ) + ) + self.on_frame( + DecodedFrame( + t=now, + arbitration_id=mid + 16, + kind=KIND_FEEDBACK, + motor_id=mid, + raw=b"\x00" * 8, + note="ENABLED", + fields={ + "pos": fb_pos, + "vel": fb_vel, + "torque": fb_torq, + "t_mos": t_mos, + "t_rotor": t_rotor, + "status_code": 1.0, + }, + ) + ) + time.sleep(period) diff --git a/damiao_motor/monitor/listener.py b/damiao_motor/monitor/listener.py new file mode 100644 index 0000000..0e59eb9 --- /dev/null +++ b/damiao_motor/monitor/listener.py @@ -0,0 +1,147 @@ +"""Listen-only CAN reader for passive monitoring. + +:class:`PassiveCanListener` opens its **own** ``can.Bus`` and decodes every frame it +sees, without ever transmitting. It is intended to run alongside another controller that +is actively driving the motors: + +* On ``socketcan`` every opened socket receives its own copy of the bus RX, so a second + listener does not steal frames from the running controller. +* ``receive_own_messages=False`` is requested, and ``CAN_RAW_LISTEN_ONLY`` is set on the + raw socket on a best-effort basis (python-can does not expose it) as defense-in-depth. + +The hard guarantee that we never perturb the bus is *structural*: this module imports +nothing that sends and never calls ``bus.send``. +""" + +from __future__ import annotations + +import threading +import time +from typing import Callable, Dict, Optional + +import can + +from damiao_motor.monitor.decode import ( + DEFAULT_FEEDBACK_OFFSET, + DEFAULT_MOTOR_TYPE, + DecodedFrame, + decode_frame, +) + +FrameCallback = Callable[[DecodedFrame], None] + + +def _try_set_listen_only(bus: "can.BusABC") -> bool: + """Best-effort: put the underlying socketcan raw socket into listen-only mode. + + Returns True if the option was applied. Never raises; on any failure the listener + still never transmits (it simply may ACK frames at the hardware level). + """ + sock = getattr(bus, "socket", None) + if sock is None: + return False + try: + import socket as _socket + + # CAN_RAW_LISTEN_ONLY is not always present in the socket module; fall back to + # the known constant value (6) used by the Linux SocketCAN raw protocol. + opt = getattr(_socket, "CAN_RAW_LISTEN_ONLY", 6) + level = getattr(_socket, "SOL_CAN_RAW", 101) + sock.setsockopt(level, opt, 1) + return True + except Exception: + return False + + +class PassiveCanListener: + def __init__( + self, + channel: str, + bustype: str = "socketcan", + bitrate: Optional[int] = None, + feedback_offset: int = DEFAULT_FEEDBACK_OFFSET, + motor_types: Optional[Dict[int, str]] = None, + default_motor_type: str = DEFAULT_MOTOR_TYPE, + on_frame: Optional[FrameCallback] = None, + ) -> None: + self.channel = channel + self.bustype = bustype + self.bitrate = bitrate + self.feedback_offset = feedback_offset + self.motor_types = dict(motor_types or {}) + self.default_motor_type = default_motor_type + self.on_frame = on_frame + + self.bus: Optional[can.BusABC] = None + self.listen_only_applied = False + self._thread: Optional[threading.Thread] = None + self._running = False + # diagnostics + self.frames_seen = 0 + self.decode_errors = 0 + + # ------------------------------------------------------------------- bus + def open(self) -> None: + bus_kwargs: Dict[str, object] = { + "channel": self.channel, + "interface": self.bustype, + "receive_own_messages": False, + } + if self.bitrate is not None: + bus_kwargs["bitrate"] = self.bitrate + self.bus = can.interface.Bus(**bus_kwargs) + self.listen_only_applied = _try_set_listen_only(self.bus) + + def start(self) -> None: + if self._running: + return + if self.bus is None: + self.open() + self._running = True + self._thread = threading.Thread( + target=self._loop, name=f"passive-listener-{self.channel}", daemon=True + ) + self._thread.start() + + def stop(self) -> None: + self._running = False + if self._thread is not None: + self._thread.join(timeout=0.5) + self._thread = None + if self.bus is not None: + try: + self.bus.shutdown() + except Exception: + pass + self.bus = None + + def set_motor_type(self, motor_id: int, motor_type: str) -> None: + self.motor_types[motor_id] = motor_type + + # ------------------------------------------------------------------ loop + def _loop(self) -> None: + assert self.bus is not None + while self._running: + try: + msg = self.bus.recv(timeout=0.1) + except Exception: + # bus closed / transient error; brief backoff then re-check _running + time.sleep(0.01) + continue + if msg is None: + continue + self.frames_seen += 1 + try: + frame = decode_frame( + msg.arbitration_id, + bytes(msg.data), + t=msg.timestamp or time.time(), + motor_types=self.motor_types, + default_motor_type=self.default_motor_type, + feedback_offset=self.feedback_offset, + ) + except Exception: + self.decode_errors += 1 + continue + if frame is not None and self.on_frame is not None: + self.on_frame(frame) diff --git a/damiao_motor/monitor/server.py b/damiao_motor/monitor/server.py new file mode 100644 index 0000000..2af774b --- /dev/null +++ b/damiao_motor/monitor/server.py @@ -0,0 +1,527 @@ +"""Unified Flask server for the DaMiao Studio UI (Control + Monitor). + +One app, one shared signal store, two modes: + +* **monitor** — passive listen-only: a :class:`PassiveCanListener` decodes another + controller's commands + the motors' feedback into the store. Never transmits. +* **control** — active: a :class:`ControlService` (DaMiaoController) connects/scans and + drives motors; every command + feedback is pushed into the same store, so the realtime + plots/table/cards show what we're driving. + +Visualization endpoints (signals / snapshot / WS stream) read the shared store and work in +both modes. Control endpoints are gated to control mode. +""" + +from __future__ import annotations + +import json +import logging +import os +import sys +import time +from collections import deque +from typing import Any, Deque, Dict, List, Optional, Tuple + +from flask import Flask, jsonify, request, send_from_directory +from flask_sock import Sock + +from damiao_motor.monitor.control import ControlService +from damiao_motor.monitor.decode import DEFAULT_FEEDBACK_OFFSET, DEFAULT_MOTOR_TYPE +from damiao_motor.monitor.listener import PassiveCanListener +from damiao_motor.monitor.service import _frame_to_log +from damiao_motor.monitor.store import SignalStore + +_WEBAPP_DIST = os.path.normpath( + os.path.join(os.path.dirname(__file__), "..", "gui", "webapp", "dist") +) +_MAX_POINTS_PER_TICK = 240 + +_DEV_PLACEHOLDER = """ +DaMiao Studio +

DaMiao Studio

The dashboard bundle has not been built yet.

+
cd damiao_motor/gui/webapp && npm install && npm run build
+

The REST API is live at /api/status.

""" + + +class Studio: + """Holds the shared store + the active mode's data source.""" + + def __init__( + self, + mode: str = "monitor", + feedback_offset: int = DEFAULT_FEEDBACK_OFFSET, + default_motor_type: str = DEFAULT_MOTOR_TYPE, + raw_log_size: int = 4000, + ) -> None: + self.mode = mode # 'monitor' | 'control' + self.feedback_offset = feedback_offset + self.default_motor_type = default_motor_type + self.store = SignalStore(bus_name="bus") + self._raw: Deque[Dict[str, Any]] = deque(maxlen=raw_log_size) + self._raw_seq = 0 + self.listener: Optional[PassiveCanListener] = None + self._demo_source = None + self.control = ControlService(self.store, raw_push=self._raw_push) + self.channel: Optional[str] = None + self.bustype: str = "socketcan" + self.demo = False + self.error: Optional[str] = None + + # ------------------------------------------------------------- raw log + def _raw_push(self, frame) -> None: + self._raw_seq += 1 + self._raw.append(_frame_to_log(self._raw_seq, frame)) + + def raw_since( + self, since_seq: int, limit: int = 400 + ) -> Tuple[int, List[Dict[str, Any]]]: + if not self._raw: + return since_seq, [] + items = [r for r in self._raw if r["seq"] > since_seq] + if len(items) > limit: + items = items[-limit:] + return (items[-1]["seq"] if items else since_seq), items + + # ------------------------------------------------------------- sources + def _on_passive_frame(self, frame) -> None: + self.store.ingest(frame) + self._raw_push(frame) + + def connect( + self, + channel: str, + bustype: str, + bitrate: Optional[int], + motor_type: Optional[str] = None, + feedback_offset: Optional[int] = None, + ) -> Dict[str, Any]: + self.disconnect() + self.error = None + self.channel, self.bustype = channel, bustype + if feedback_offset is not None: + self.feedback_offset = feedback_offset + if self.mode == "control": + self.control.connect(channel, bustype, bitrate) + found = self.control.scan(motor_type or self.default_motor_type) + return {"motors": found} + else: + self.listener = PassiveCanListener( + channel=channel, + bustype=bustype, + bitrate=bitrate, + feedback_offset=self.feedback_offset, + default_motor_type=motor_type or self.default_motor_type, + on_frame=self._on_passive_frame, + ) + self.listener.start() + return {"motors": []} + + def disconnect(self) -> None: + if self.listener is not None: + self.listener.stop() + self.listener = None + if self._demo_source is not None: + self._demo_source.stop() + self._demo_source = None + self.control.disconnect() + + def start_demo(self) -> None: + from damiao_motor.monitor.demo import DemoSource + + self.demo = True + self.channel = "demo" + self._demo_source = DemoSource(on_frame=self._on_passive_frame, bus_name="bus") + self._demo_source.start() + + def set_mode(self, mode: str) -> None: + if mode not in ("monitor", "control"): + raise ValueError("mode must be 'monitor' or 'control'") + self.disconnect() + self.mode = mode + self.demo = False + + # ------------------------------------------------------------- readouts + def status(self) -> Dict[str, Any]: + connected = ( + (self.mode == "control" and self.control.connected) + or (self.listener is not None) + or (self._demo_source is not None) + ) + return { + "mode": self.mode, + "connected": connected, + "channel": self.channel, + "bustype": self.bustype, + "demo": self.demo, + "listenOnly": bool(self.listener and self.listener.listen_only_applied), + "framesSeen": self.listener.frames_seen if self.listener else self._raw_seq, + "decodeErrors": self.listener.decode_errors if self.listener else 0, + "feedbackOffset": self.feedback_offset, + "defaultMotorType": self.default_motor_type, + "registryVersion": self.store.registry_version, + "error": self.control.error or self.error, + } + + def signals(self) -> Dict[str, Any]: + return { + "signals": self.store.list_signals(), + "pairs": self.store.pairs(), + "motors": self.store.motor_views(), + "version": self.store.registry_version, + } + + def snapshot(self, ids: List[str], n: int) -> Dict[str, List[Tuple[float, float]]]: + return {sid: self.store.series_last_n(sid, n) for sid in ids} + + +def _platform_defaults() -> Dict[str, Any]: + is_mac = sys.platform == "darwin" + return { + "platform": sys.platform, + "default_bustype": "gs_usb" if is_mac else "socketcan", + "default_channel": "0" if is_mac else "can0", + } + + +def create_app(studio: Studio) -> Flask: + app = Flask(__name__) + sock = Sock(app) + + def control_guard(): + if studio.mode != "control": + return jsonify({"success": False, "error": "Not in control mode"}), 409 + if not studio.control.connected: + return jsonify({"success": False, "error": "Not connected"}), 400 + return None + + # ----------------------------------------------------------- common + @app.route("/api/status") + def status(): + return jsonify(studio.status()) + + @app.route("/api/mode", methods=["POST"]) + def set_mode(): + data = request.get_json(force=True, silent=True) or {} + try: + studio.set_mode(str(data.get("mode"))) + except ValueError as e: + return jsonify({"success": False, "error": str(e)}), 400 + return jsonify({"success": True, "mode": studio.mode}) + + @app.route("/api/connect", methods=["POST"]) + def connect(): + data = request.get_json(force=True, silent=True) or {} + channel = data.get("channel", "can0") + bustype = data.get("bustype", "socketcan") + bitrate = data.get("bitrate") + bitrate = int(bitrate) if bitrate not in (None, "") else None + try: + res = studio.connect( + channel, + bustype, + bitrate, + motor_type=data.get("motor_type"), + feedback_offset=data.get("feedback_offset"), + ) + return jsonify({"success": True, **res}) + except Exception as e: + studio.error = str(e) + return jsonify({"success": False, "error": str(e)}), 500 + + @app.route("/api/disconnect", methods=["POST"]) + def disconnect(): + studio.disconnect() + return jsonify({"success": True}) + + @app.route("/api/platform") + def platform(): + return jsonify({"success": True, **_platform_defaults()}) + + @app.route("/api/motor-types") + def motor_types(): + from damiao_motor.monitor.decode import MONITOR_MOTOR_PRESETS + + return jsonify({"types": sorted(MONITOR_MOTOR_PRESETS.keys())}) + + @app.route("/api/register-table") + def register_table(): + return jsonify({"success": True, "registers": ControlService.register_table()}) + + @app.route("/api/can-interfaces") + def can_interfaces(): + bustype = request.args.get("bustype", "socketcan") + interfaces: List[str] = [] + if bustype != "gs_usb": + try: + net = "/sys/class/net" + if os.path.isdir(net): + interfaces = sorted( + n for n in os.listdir(net) if n.startswith("can") + ) + except OSError: + pass + return jsonify({"success": True, "interfaces": interfaces}) + + # ----------------------------------------------------- visualization + @app.route("/api/monitor/signals") + def signals(): + return jsonify(studio.signals()) + + @app.route("/api/monitor/snapshot") + def snapshot(): + ids = [s for s in request.args.get("signals", "").split(",") if s] + n = int(request.args.get("n", 600)) + return jsonify(studio.snapshot(ids, n)) + + @sock.route("/api/monitor/stream") + def stream(ws): + subscribed: Dict[str, float] = {} + rate = 30.0 + period = 1.0 / rate + raw_enabled = False + raw_cursor = 0 + last_version = -1 + + def drain(): + nonlocal rate, period, raw_enabled + while True: + msg = ws.receive(timeout=0) + if msg is None: + break + try: + cmd = json.loads(msg) + except (ValueError, TypeError): + continue + t = cmd.get("type") + if t == "subscribe": + now = time.time() + new = { + sid: subscribed.get(sid, now) for sid in cmd.get("signals", []) + } + subscribed.clear() + subscribed.update(new) + elif t == "rate": + try: + rate = max(1.0, min(120.0, float(cmd.get("value", 30)))) + period = 1.0 / rate + except (ValueError, TypeError): + pass + elif t == "raw": + raw_enabled = bool(cmd.get("enabled", False)) + + try: + while True: + drain() + sig = studio.signals() + if sig["version"] != last_version: + last_version = sig["version"] + ws.send(json.dumps({"type": "meta", **sig})) + ws.send( + json.dumps( + { + "type": "motors", + "motors": sig["motors"], + "status": studio.status(), + } + ) + ) + batch = {} + for sid, cursor in list(subscribed.items()): + pts = studio.store.series_since(sid, cursor) + if not pts: + continue + if len(pts) > _MAX_POINTS_PER_TICK: + stride = len(pts) // _MAX_POINTS_PER_TICK + 1 + pts = pts[::stride] + [pts[-1]] + batch[sid] = pts + subscribed[sid] = pts[-1][0] + if batch: + ws.send(json.dumps({"type": "samples", "data": batch})) + if raw_enabled: + raw_cursor, items = studio.raw_since(raw_cursor, limit=300) + if items: + ws.send(json.dumps({"type": "raw", "frames": items})) + time.sleep(period) + except Exception: + return + + # ---------------------------------------------------------- control + @app.route("/api/control/scan", methods=["POST"]) + def control_scan(): + g = control_guard() + if g: + return g + data = request.get_json(force=True, silent=True) or {} + try: + found = studio.control.scan( + data.get("motor_type") or studio.default_motor_type + ) + return jsonify({"success": True, "motors": found}) + except Exception as e: + return jsonify({"success": False, "error": str(e)}), 500 + + @app.route("/api/control/motors") + def control_motors(): + g = control_guard() + if g: + return g + return jsonify({"success": True, "motors": studio.control.motors()}) + + def _simple_action(motor_id, fn): + g = control_guard() + if g: + return g + try: + fn(motor_id) + return jsonify({"success": True}) + except Exception as e: + return jsonify({"success": False, "error": str(e)}), 500 + + @app.route("/api/control/motors//enable", methods=["POST"]) + def c_enable(mid): + return _simple_action(mid, studio.control.enable) + + @app.route("/api/control/motors//disable", methods=["POST"]) + def c_disable(mid): + return _simple_action(mid, studio.control.disable) + + @app.route("/api/control/motors//set-zero", methods=["POST"]) + def c_zero(mid): + return _simple_action(mid, studio.control.set_zero) + + @app.route("/api/control/motors//clear-error", methods=["POST"]) + def c_clear(mid): + return _simple_action(mid, studio.control.clear_error) + + @app.route("/api/control/motors//store-parameters", methods=["POST"]) + def c_store(mid): + return _simple_action(mid, studio.control.store_parameters) + + @app.route("/api/control/motors//command", methods=["POST"]) + def c_command(mid): + g = control_guard() + if g: + return g + data = request.get_json(force=True, silent=True) or {} + try: + state = studio.control.command(mid, data) + return jsonify({"success": True, "state": state}) + except Exception as e: + return jsonify({"success": False, "error": str(e)}), 500 + + @app.route("/api/control/motors//state") + def c_state(mid): + g = control_guard() + if g: + return g + try: + return jsonify({"success": True, "state": studio.control.get_state(mid)}) + except Exception as e: + return jsonify({"success": False, "error": str(e)}), 500 + + @app.route("/api/control/motors//registers") + def c_get_regs(mid): + g = control_guard() + if g: + return g + try: + return jsonify({"success": True, **studio.control.get_registers(mid)}) + except Exception as e: + return jsonify({"success": False, "error": str(e)}), 500 + + @app.route("/api/control/motors//registers/", methods=["PUT"]) + def c_set_reg(mid, rid): + g = control_guard() + if g: + return g + data = request.get_json(force=True, silent=True) or {} + if "value" not in data: + return jsonify({"success": False, "error": "value required"}), 400 + try: + res = studio.control.set_register(mid, rid, data["value"]) + return jsonify({"success": True, **res}) + except Exception as e: + return jsonify({"success": False, "error": str(e)}), 500 + + @app.route("/api/control/motors//motor-type", methods=["PUT"]) + def c_motor_type(mid): + g = control_guard() + if g: + return g + data = request.get_json(force=True, silent=True) or {} + mt = data.get("motor_type") + if not mt: + return jsonify({"success": False, "error": "motor_type required"}), 400 + try: + studio.control.set_motor_type(mid, mt) + return jsonify({"success": True}) + except Exception as e: + return jsonify({"success": False, "error": str(e)}), 500 + + # --------------------------------------------------------------- SPA + @app.route("/") + def index(): + idx = os.path.join(_WEBAPP_DIST, "index.html") + return ( + send_from_directory(_WEBAPP_DIST, "index.html") + if os.path.exists(idx) + else _DEV_PLACEHOLDER + ) + + @app.route("/") + def spa(path): + if path.startswith("api/"): + return jsonify({"error": "not found"}), 404 + full = os.path.join(_WEBAPP_DIST, path) + if os.path.exists(full) and os.path.isfile(full): + return send_from_directory(_WEBAPP_DIST, path) + idx = os.path.join(_WEBAPP_DIST, "index.html") + return ( + send_from_directory(_WEBAPP_DIST, "index.html") + if os.path.exists(idx) + else _DEV_PLACEHOLDER + ) + + return app + + +def run_server( + host: str = "127.0.0.1", + port: int = 5001, + mode: str = "monitor", + channel: str = "can0", + bustype: str = "socketcan", + bitrate: Optional[int] = None, + feedback_offset: int = 16, + default_motor_type: str = "DM4310", + debug: bool = False, + demo: bool = False, +) -> None: + """Start the unified DaMiao Studio server (blocking).""" + studio = Studio( + mode=mode, + feedback_offset=feedback_offset, + default_motor_type=default_motor_type, + ) + + if demo: + studio.mode = "monitor" + studio.start_demo() + elif mode == "monitor": + try: + studio.connect(channel, bustype, bitrate) + except Exception as e: + studio.error = str(e) + + app = create_app(studio) + + print(f"Starting DaMiao Studio ({'demo' if demo else mode} mode)...") + print(f" open http://{host}:{port}") + if not debug: + logging.getLogger("werkzeug").setLevel(logging.ERROR) + try: + app.run(host=host, port=port, debug=debug, threaded=True) + finally: + studio.disconnect() diff --git a/damiao_motor/monitor/service.py b/damiao_motor/monitor/service.py new file mode 100644 index 0000000..6e3e600 --- /dev/null +++ b/damiao_motor/monitor/service.py @@ -0,0 +1,155 @@ +"""Monitor service: wires a listen-only listener to a signal store + raw-frame log. + +Owns the lifecycle of a :class:`~damiao_motor.monitor.listener.PassiveCanListener` for a +single CAN bus and exposes thread-safe snapshots for the HTTP/WS layer in +:mod:`damiao_motor.monitor.server`. +""" + +from __future__ import annotations + +import threading +from collections import deque +from typing import Deque, Dict, List, Optional, Tuple + +from damiao_motor.monitor.decode import ( + DEFAULT_FEEDBACK_OFFSET, + DEFAULT_MOTOR_TYPE, + MONITOR_MOTOR_PRESETS, + DecodedFrame, +) +from damiao_motor.monitor.listener import PassiveCanListener +from damiao_motor.monitor.store import SignalStore + + +def _frame_to_log(seq: int, f: DecodedFrame) -> Dict[str, object]: + return { + "seq": seq, + "t": round(f.t, 6), + "arb": f.arbitration_id, + "kind": f.kind, + "mode": f.mode, + "motorId": f.motor_id, + "note": f.note, + "fields": {k: round(v, 4) for k, v in f.fields.items()}, + "raw": f.raw.hex(), + } + + +class MonitorService: + def __init__( + self, + channel: str, + bustype: str = "socketcan", + bitrate: Optional[int] = None, + feedback_offset: int = DEFAULT_FEEDBACK_OFFSET, + motor_types: Optional[Dict[int, str]] = None, + default_motor_type: str = DEFAULT_MOTOR_TYPE, + raw_log_size: int = 4000, + buffer_len: int = 6000, + demo: bool = False, + ) -> None: + self.channel = channel + self.bustype = bustype + self.bitrate = bitrate + self.default_motor_type = default_motor_type + self.demo = demo + self.store = SignalStore(bus_name=channel, maxlen=buffer_len) + + self._raw_lock = threading.Lock() + self._raw_log: Deque[Dict[str, object]] = deque(maxlen=raw_log_size) + self._raw_seq = 0 + + self.error: Optional[str] = None + self.started = False + + self.listener = PassiveCanListener( + channel=channel, + bustype=bustype, + bitrate=bitrate, + feedback_offset=feedback_offset, + motor_types=motor_types, + default_motor_type=default_motor_type, + on_frame=self._on_frame, + ) + self._demo_source = None + if demo: + from damiao_motor.monitor.demo import DemoSource + + self.store.bus_name = "demo" + self._demo_source = DemoSource(on_frame=self._on_frame, bus_name="demo") + + # ---------------------------------------------------------------- lifecycle + def start(self) -> None: + try: + if self._demo_source is not None: + self._demo_source.start() + else: + self.listener.start() + self.started = True + self.error = None + except Exception as exc: # surface to the UI rather than crashing the server + self.error = str(exc) + self.started = False + + def stop(self) -> None: + if self._demo_source is not None: + self._demo_source.stop() + else: + self.listener.stop() + self.started = False + + # ------------------------------------------------------------------ ingest + def _on_frame(self, frame: DecodedFrame) -> None: + self.store.ingest(frame) + with self._raw_lock: + self._raw_seq += 1 + self._raw_log.append(_frame_to_log(self._raw_seq, frame)) + + # --------------------------------------------------------------- accessors + def status(self) -> Dict[str, object]: + return { + "channel": self.channel, + "bustype": self.bustype, + "bitrate": self.bitrate, + "started": self.started, + "error": self.error, + "listenOnly": self.listener.listen_only_applied, + "feedbackOffset": self.listener.feedback_offset, + "framesSeen": self.listener.frames_seen, + "decodeErrors": self.listener.decode_errors, + "registryVersion": self.store.registry_version, + "defaultMotorType": self.default_motor_type, + "demo": self.demo, + } + + def signals(self) -> Dict[str, object]: + return { + "signals": self.store.list_signals(), + "pairs": self.store.pairs(), + "motors": self.store.motor_views(), + "version": self.store.registry_version, + } + + def snapshot( + self, signal_ids: List[str], n: int + ) -> Dict[str, List[Tuple[float, float]]]: + return {sid: self.store.series_last_n(sid, n) for sid in signal_ids} + + def raw_since( + self, since_seq: int, limit: int = 500 + ) -> Tuple[int, List[Dict[str, object]]]: + with self._raw_lock: + if not self._raw_log: + return since_seq, [] + items = [r for r in self._raw_log if r["seq"] > since_seq] + if len(items) > limit: + items = items[-limit:] + new_seq = items[-1]["seq"] if items else since_seq + return new_seq, items + + def set_motor_type(self, motor_id: int, motor_type: str) -> None: + self.listener.set_motor_type(motor_id, motor_type) + + @staticmethod + def available_motor_types() -> List[str]: + return sorted(MONITOR_MOTOR_PRESETS.keys()) diff --git a/damiao_motor/monitor/store.py b/damiao_motor/monitor/store.py new file mode 100644 index 0000000..5c4a32c --- /dev/null +++ b/damiao_motor/monitor/store.py @@ -0,0 +1,210 @@ +"""In-memory store for passively-observed signals. + +Ingests :class:`~damiao_motor.monitor.decode.DecodedFrame` objects and maintains: + +* an auto-learned **signal registry** (one entry per motor/source/field seen), +* a fixed-size **ring buffer** of ``(t, value)`` samples per signal, +* **cmd <-> feedback pairing** so the UI can overlay commanded vs. actual. + +Signal id format: ``"{bus}:m{motor_id}:{source}.{field}"`` e.g. ``"can_arm_l:m1:cmd.pos"``. +The ``pairKey`` ``"{bus}:m{motor_id}:{field}"`` links the cmd and feedback variants of the +same physical quantity. + +A single writer (the listener thread) calls :meth:`ingest`; readers (HTTP/WS handlers) +call the snapshot methods. All access is guarded by one lock. +""" + +from __future__ import annotations + +import threading +from collections import deque +from dataclasses import dataclass, field +from typing import Deque, Dict, List, Optional, Tuple + +from damiao_motor.monitor.decode import ( + DecodedFrame, + KIND_COMMAND, + KIND_FEEDBACK, +) + +# Per-source field whitelist -> the numeric channels worth plotting/tabulating. +_COMMAND_FIELDS = ("pos", "vel", "torque", "kp", "kd", "vel_limit", "torque_limit") +_FEEDBACK_FIELDS = ("pos", "vel", "torque", "t_mos", "t_rotor", "status_code") + +_UNITS = { + "pos": "rad", + "vel": "rad/s", + "torque": "Nm", + "kp": "", + "kd": "", + "vel_limit": "rad/s", + "torque_limit": "Nm", + "t_mos": "°C", + "t_rotor": "°C", + "status_code": "", +} + + +@dataclass +class SignalDescriptor: + """Metadata for one observable signal channel.""" + + id: str + bus: str + motor_id: int + source: str # "cmd" | "fb" + field: str + unit: str + pair_key: str + + def to_dict(self) -> Dict[str, object]: + return { + "id": self.id, + "bus": self.bus, + "motorId": self.motor_id, + "source": self.source, + "field": self.field, + "unit": self.unit, + "pairKey": self.pair_key, + } + + +@dataclass +class _Series: + desc: SignalDescriptor + buf: Deque[Tuple[float, float]] + last_value: float = 0.0 + last_t: float = 0.0 + count: int = 0 + + +@dataclass +class MotorView: + """Aggregated latest cmd + feedback for one motor, for the table/cards views.""" + + bus: str + motor_id: int + cmd: Dict[str, float] = field(default_factory=dict) + fb: Dict[str, float] = field(default_factory=dict) + mode: Optional[str] = None + status: str = "" + last_t: float = 0.0 + + +class SignalStore: + def __init__(self, bus_name: str, maxlen: int = 6000) -> None: + self.bus_name = bus_name + self._maxlen = maxlen + self._lock = threading.Lock() + self._series: Dict[str, _Series] = {} + self._motors: Dict[int, MotorView] = {} + # monotonically bumped whenever the registry (set of signals) changes, + # so clients can cheaply detect "new signals appeared". + self.registry_version = 0 + + # ------------------------------------------------------------------ ingest + def ingest(self, frame: DecodedFrame) -> None: + if frame.kind == KIND_COMMAND: + source, fields = "cmd", _COMMAND_FIELDS + elif frame.kind == KIND_FEEDBACK: + source, fields = "fb", _FEEDBACK_FIELDS + else: + return # special/register/unknown frames don't produce plottable signals + + with self._lock: + mv = self._motors.get(frame.motor_id) + if mv is None: + mv = MotorView(bus=self.bus_name, motor_id=frame.motor_id) + self._motors[frame.motor_id] = mv + mv.last_t = frame.t + if frame.kind == KIND_COMMAND: + mv.mode = frame.mode + mv.cmd = dict(frame.fields) + else: + mv.fb = dict(frame.fields) + mv.status = frame.note + + for fname in fields: + if fname not in frame.fields: + continue + value = float(frame.fields[fname]) + sid = f"{self.bus_name}:m{frame.motor_id}:{source}.{fname}" + series = self._series.get(sid) + if series is None: + series = _Series( + desc=SignalDescriptor( + id=sid, + bus=self.bus_name, + motor_id=frame.motor_id, + source=source, + field=fname, + unit=_UNITS.get(fname, ""), + pair_key=f"{self.bus_name}:m{frame.motor_id}:{fname}", + ), + buf=deque(maxlen=self._maxlen), + ) + self._series[sid] = series + self.registry_version += 1 + series.buf.append((frame.t, value)) + series.last_value = value + series.last_t = frame.t + series.count += 1 + + # --------------------------------------------------------------- snapshots + def list_signals(self) -> List[Dict[str, object]]: + with self._lock: + return [s.desc.to_dict() for s in self._series.values()] + + def pairs(self) -> List[Dict[str, object]]: + """Return cmd/feedback pairings that share a pairKey.""" + with self._lock: + by_pair: Dict[str, Dict[str, str]] = {} + for s in self._series.values(): + entry = by_pair.setdefault(s.desc.pair_key, {}) + entry[s.desc.source] = s.desc.id + return [ + {"pairKey": k, "cmd": v.get("cmd"), "fb": v.get("fb")} + for k, v in by_pair.items() + if "cmd" in v and "fb" in v + ] + + def series_since(self, signal_id: str, since_t: float) -> List[Tuple[float, float]]: + with self._lock: + s = self._series.get(signal_id) + if s is None: + return [] + return [pt for pt in s.buf if pt[0] > since_t] + + def series_last_n(self, signal_id: str, n: int) -> List[Tuple[float, float]]: + with self._lock: + s = self._series.get(signal_id) + if s is None: + return [] + if n <= 0 or n >= len(s.buf): + return list(s.buf) + return list(s.buf)[-n:] + + def latest(self, signal_ids: List[str]) -> Dict[str, Optional[float]]: + with self._lock: + return { + sid: (self._series[sid].last_value if sid in self._series else None) + for sid in signal_ids + } + + def motor_views(self) -> List[Dict[str, object]]: + with self._lock: + out = [] + for mid in sorted(self._motors): + mv = self._motors[mid] + out.append( + { + "bus": mv.bus, + "motorId": mv.motor_id, + "mode": mv.mode, + "status": mv.status, + "lastT": mv.last_t, + "cmd": mv.cmd, + "fb": mv.fb, + } + ) + return out diff --git a/pyproject.toml b/pyproject.toml index 7ce9beb..160fb03 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -16,6 +16,7 @@ keywords = ["damiao", "motor", "can", "robotics"] dependencies = [ "python-can>=4.3,<5.0", "flask>=3.0,<4.0", + "flask-sock>=0.7", "gs_usb>=0.3; sys_platform == 'darwin'", "pyusb>=1.2; sys_platform == 'darwin'", ] @@ -24,8 +25,8 @@ dependencies = [ Homepage = "https://github.com/jia-xie/python-damiao-driver" Repository = "https://github.com/jia-xie/python-damiao-driver" -[tool.setuptools] -packages = ["damiao_motor"] +[tool.setuptools.packages.find] +include = ["damiao_motor*"] [tool.setuptools_scm] write_to = "damiao_motor/_version.py" @@ -39,7 +40,14 @@ dev = [ ] [tool.setuptools.package-data] -damiao_motor = ["gui/templates/*.html", "gui/static/css/*.css", "gui/static/js/*.js"] +damiao_motor = [ + "gui/templates/*.html", + "gui/static/css/*.css", + "gui/static/js/*.js", + "gui/webapp/dist/*", + "gui/webapp/dist/**/*", + "gui/webapp/dist/assets/*", +] damiao_motor_docs = ["docs/assets/*.css"] [project.scripts] diff --git a/tests/test_monitor.py b/tests/test_monitor.py new file mode 100644 index 0000000..6cebb8f --- /dev/null +++ b/tests/test_monitor.py @@ -0,0 +1,230 @@ +"""Tests for the passive monitor: decode round-trips and the never-transmit guarantee.""" + +import struct +import time + +import can +import pytest + +from damiao_motor.core.motor import ( + DaMiaoMotor, + float_to_uint, +) +from damiao_motor.monitor.decode import ( + KIND_COMMAND, + KIND_FEEDBACK, + KIND_SPECIAL, + decode_frame, + resolve_limits, +) +from damiao_motor.monitor.listener import PassiveCanListener +from damiao_motor.monitor.store import SignalStore + +MOTOR_ID = 3 +MOTOR_TYPE = "4310" + + +def _motor(): + # bus is unused by the encode_* helpers, so None is fine here. + return DaMiaoMotor( + motor_id=MOTOR_ID, feedback_id=MOTOR_ID + 16, bus=None, motor_type=MOTOR_TYPE + ) + + +def _make_feedback_frame(motor_id, status, pos, vel, torq, t_mos, t_rotor, lim): + pos_u = float_to_uint(pos, lim["p_min"], lim["p_max"], 16) + vel_u = float_to_uint(vel, lim["v_min"], lim["v_max"], 12) + torq_u = float_to_uint(torq, lim["t_min"], lim["t_max"], 12) + return bytes( + [ + (status << 4) | (motor_id & 0x0F), + (pos_u >> 8) & 0xFF, + pos_u & 0xFF, + (vel_u >> 4) & 0xFF, + ((vel_u & 0xF) << 4) | ((torq_u >> 8) & 0xF), + torq_u & 0xFF, + t_mos & 0xFF, + t_rotor & 0xFF, + ] + ) + + +# --------------------------------------------------------------------- decode +def test_mit_command_roundtrip(): + m = _motor() + data = m.encode_cmd_msg(pos=1.25, vel=-2.0, torq=0.5, kp=40.0, kd=1.5) + frame = decode_frame(MOTOR_ID, data, t=0.0, motor_types={MOTOR_ID: MOTOR_TYPE}) + assert frame.kind == KIND_COMMAND and frame.mode == "MIT" + assert frame.motor_id == MOTOR_ID + assert frame.fields["pos"] == pytest.approx(1.25, abs=1e-3) + assert frame.fields["vel"] == pytest.approx(-2.0, abs=2e-2) + assert frame.fields["kp"] == pytest.approx(40.0, abs=0.2) + assert frame.fields["kd"] == pytest.approx(1.5, abs=1e-2) + assert frame.fields["torque"] == pytest.approx(0.5, abs=1e-2) + + +def test_pos_vel_command_roundtrip(): + data = struct.pack(" feedback arb 20, status nibble 3 + data = _make_feedback_frame(4, 3, 1.0, 0.0, 0.0, 30, 30, lim) + frame = decode_frame(4 + 16, data, t=0.0, motor_types={4: MOTOR_TYPE}) + assert frame.kind == KIND_FEEDBACK + assert frame.motor_id == 4 + assert frame.fields["pos"] == pytest.approx(1.0, abs=1e-3) + assert "UNKNOWN" in frame.note # status 3 surfaced as UNKNOWN(3), not dropped + + +def test_special_command(): + frame = decode_frame(MOTOR_ID, bytes([0xFF] * 7 + [0xFC]), t=0.0) + assert frame.kind == KIND_SPECIAL and frame.note == "enable" + + +def test_mit_and_feedback_not_confused(): + """A MIT command to motor 3 (arb 3) and feedback from motor 3 (arb 19) classify distinctly.""" + m = _motor() + cmd = decode_frame( + MOTOR_ID, + m.encode_cmd_msg(0.0, 0.0, 0.0, 10.0, 1.0), + t=0.0, + motor_types={MOTOR_ID: MOTOR_TYPE}, + ) + lim = resolve_limits(MOTOR_TYPE) + fb = decode_frame( + MOTOR_ID + 16, + _make_feedback_frame(MOTOR_ID, 1, 0.0, 0.0, 0.0, 30, 30, lim), + t=0.0, + motor_types={MOTOR_ID: MOTOR_TYPE}, + ) + assert cmd.kind == KIND_COMMAND and cmd.mode == "MIT" + assert fb.kind == KIND_FEEDBACK + + +# ---------------------------------------------------------------------- store +def test_store_ingest_and_pairing(): + store = SignalStore("can_test") + m = _motor() + lim = resolve_limits(MOTOR_TYPE) + cmd = decode_frame( + MOTOR_ID, + m.encode_cmd_msg(1.0, 0.0, 0.0, 10.0, 1.0), + t=1.0, + motor_types={MOTOR_ID: MOTOR_TYPE}, + ) + fb = decode_frame( + MOTOR_ID + 16, + _make_feedback_frame(MOTOR_ID, 1, 0.9, 0.0, 0.0, 30, 30, lim), + t=1.0, + motor_types={MOTOR_ID: MOTOR_TYPE}, + ) + store.ingest(cmd) + store.ingest(fb) + + ids = {s["id"] for s in store.list_signals()} + assert "can_test:m3:cmd.pos" in ids + assert "can_test:m3:fb.pos" in ids + + pairs = store.pairs() + pos_pair = next(p for p in pairs if p["pairKey"] == "can_test:m3:pos") + assert pos_pair["cmd"] == "can_test:m3:cmd.pos" + assert pos_pair["fb"] == "can_test:m3:fb.pos" + + views = store.motor_views() + assert views[0]["motorId"] == MOTOR_ID + assert views[0]["cmd"]["pos"] == pytest.approx(1.0, abs=1e-3) + + +# ------------------------------------------------------------------- listener +class _FakeBus: + """Minimal can.Bus stand-in that records any send attempt (there must be none).""" + + def __init__(self, messages): + self._messages = list(messages) + self.send_called = False + self.socket = None + + def recv(self, timeout=0.0): + if self._messages: + return self._messages.pop(0) + time.sleep(0.005) + return None + + def send(self, *a, **k): # pragma: no cover - must never be hit + self.send_called = True + raise AssertionError("PassiveCanListener must never transmit") + + def shutdown(self): + pass + + +def test_listener_never_transmits_and_decodes(): + lim = resolve_limits(MOTOR_TYPE) + msgs = [ + can.Message( + arbitration_id=MOTOR_ID + 16, + data=_make_feedback_frame(MOTOR_ID, 1, 1.0, 2.0, 0.5, 30, 31, lim), + timestamp=1.0, + is_extended_id=False, + ), + ] + received = [] + listener = PassiveCanListener(channel="vcan_test", on_frame=received.append) + listener.bus = _FakeBus(msgs) # inject; start() won't re-open since bus is set + listener.start() + deadline = time.time() + 1.0 + while not received and time.time() < deadline: + time.sleep(0.01) + listener.stop() + + assert received, "listener should have decoded the injected feedback frame" + assert received[0].kind == KIND_FEEDBACK + assert received[0].motor_id == MOTOR_ID + + +def test_listener_source_has_no_send_call(): + """Belt-and-suspenders: the listener module never references bus.send.""" + import damiao_motor.monitor.listener as lst + + with open(lst.__file__) as f: + src = f.read() + assert ".send(" not in src