DaMiao Studio: passive monitor + unified control/monitor UI

.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:

.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/

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."""

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,
     )
 
 

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,

damiao_motor/gui/webapp/dist/index.html

@@ -0,0 +1,13 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>DaMiao Monitor</title>
+    <script type="module" crossorigin src="./assets/index-CDw8n6KX.js"></script>
+    <link rel="stylesheet" crossorigin href="./assets/index-CrxIlrMA.css">
+  </head>
+  <body>
+    <div id="root"></div>
+  </body>
+</html>

damiao_motor/gui/webapp/index.html

@@ -0,0 +1,12 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>DaMiao Monitor</title>
+  </head>
+  <body>
+    <div id="root"></div>
+    <script type="module" src="/src/main.tsx"></script>
+  </body>
+</html>