diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000000000000000000000000000000000000..eb9b82eb7de30fb0baefb6c7229c5af99aeff234 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,37 @@ +# Python +__pycache__/ +*.py[cod] +*$py.class +*.so +.Python +*.egg-info/ +dist/ +build/ + +# Virtual environments (but not in backend/) +**/.venv/ +**/venv/ +**/ENV/ +**/env/ + +# IDE +.vscode/ +.idea/ +*.swp +*.swo +*~ + +# OS +.DS_Store +Thumbs.db + +# Git +.git/ +.gitignore + +# Tests +tests/ +*.egg-info/ + +# Lock files +uv.lock diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..13566b81b018ad684f3a35fee301741b2734c8f4 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Editor-based HTTP Client requests +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/.idea/copilot.data.migration.agent.xml 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+ build-essential \ + && rm -rf /var/lib/apt/lists/* + +# Copy reachy_mini package source (dependency of rmscript) +COPY reachy_mini/ /app/reachy_mini/ + +# Install reachy_mini package +RUN pip install --no-cache-dir /app/reachy_mini + +# Copy rmscript package source +COPY rmscript/ /app/rmscript/ + +# Install rmscript package with dependencies +RUN pip install --no-cache-dir /app/rmscript[scipy] + +# Copy backend code +COPY backend/ /app/backend/ + +# Install backend dependencies +WORKDIR /app/backend +RUN pip install --no-cache-dir fastapi uvicorn[standard] pydantic + +# Copy frontend code +COPY frontend/ /app/frontend/ + +# Expose port 7860 (required by HuggingFace Spaces) +EXPOSE 7860 + +# Run the FastAPI server +CMD ["uvicorn", "app:app", "--host", "0.0.0.0", "--port", "7860"] diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..1b75ad2728a03cf19942c0f80d9e2bfe847f0641 --- /dev/null +++ b/README.md @@ -0,0 +1,111 @@ +--- +title: RMScript Web Demo +emoji: 🤖 +colorFrom: purple +colorTo: blue +sdk: docker +app_port: 7860 +pinned: false +--- + +# RMScript Web Demo + +Web-based IDE for writing, verifying, and executing rmscript code on Reachy Mini. + +## Architecture + +- **Frontend** (`frontend/`): HTML/CSS/JavaScript editor with live compilation and robot control +- **Backend** (`backend/`): FastAPI server for rmscript compilation and validation +- **Robot**: Reachy Mini robot daemon running on localhost:8000 + +## Quick Start + +### On HuggingFace Spaces + +Just open the Space - the web IDE will load automatically. + +**Requirements:** +- Reachy Mini daemon running on `localhost:8000` on your local machine +- Modern web browser with WebSocket support + +### Local Development + +1. Install rmscript package: +```bash +cd rmscript +uv sync +``` + +2. Start backend server: +```bash +cd backend +uv sync +uv run python app.py +``` + +3. Make sure your Reachy Mini daemon is running on `localhost:8000` + +4. Open `frontend/index.html` in your web browser + +## Features + +- **Code Editor**: Write rmscript with syntax examples +- **Verify Button**: Check script validity without executing +- **Execute Button**: Compile and run script on connected robot +- **Live Compilation**: See IR (Intermediate Representation) of your script +- **Example Scripts**: Load pre-written examples (basic, complex, repeat) +- **Real-time Logging**: Console shows compilation errors, warnings, and execution progress + +## Usage + +1. Write rmscript in the editor (or load an example) +2. Click "Verify" to check syntax and semantics +3. Review any errors/warnings in the console +4. Click "Execute" to run on the robot (robot must be connected) +5. Watch execution progress in the Execution Info panel + +## Current Limitations + +- Sound and picture actions are not yet implemented in execution + +## Deployment to HuggingFace Spaces + +To deploy this demo to HuggingFace Spaces: + +1. **Prepare the repository structure:** + - Copy the `rmscript` and `reachy_mini` directories into the `rmscript_space_demo` directory: + ```bash + cd rmscript_space_demo + cp -r ../rmscript ./rmscript + cp -r ../reachy_mini ./reachy_mini + ``` + - Your structure should be: + ``` + rmscript_space_demo/ + ├── Dockerfile + ├── README.md + ├── .dockerignore + ├── backend/ + ├── frontend/ + ├── rmscript/ ← copied source + └── reachy_mini/ ← copied source (dependency) + ``` + +2. **Create a new Space:** + - Go to https://huggingface.co/new-space + - Select "Docker" as the SDK + - Push this directory to your Space repository + +3. **The Space will:** + - Build the Docker container + - Install rmscript and dependencies + - Serve the web IDE on port 7860 + +**Note:** The Space connects to your local robot daemon on `localhost:8000`. Make sure it's running when using the demo. + +## Development + +To modify the demo: +- Frontend code: `frontend/app.js` +- Backend API: `backend/app.py` +- Styling: `frontend/index.html` (embedded CSS) diff --git a/backend/README.md b/backend/README.md new file mode 100644 index 0000000000000000000000000000000000000000..6b9682573f7dc7cb0c62ee473b277d0327907822 --- /dev/null +++ b/backend/README.md @@ -0,0 +1,44 @@ +# RMScript Web Demo - Backend + +FastAPI backend for compiling and validating rmscript code. + +## Installation + +```bash +# Install dependencies with uv +uv sync +``` + +## Running + +```bash +uv run python app.py +``` + +Or with uvicorn directly: + +```bash +uv run uvicorn app:app --reload --port 8001 +``` + +The API will be available at http://localhost:8001 + +## API Endpoints + +- `GET /` - API information +- `POST /api/verify` - Verify rmscript syntax (returns errors/warnings) +- `POST /api/compile` - Compile rmscript to IR (returns IR actions) + +## Example Usage + +```bash +# Verify a script +curl -X POST http://localhost:8001/api/verify \ + -H "Content-Type: application/json" \ + -d '{"source": "look left\nwait 1s\nlook right"}' + +# Compile a script +curl -X POST http://localhost:8001/api/compile \ + -H "Content-Type: application/json" \ + -d '{"source": "look left\nwait 1s\nlook right"}' +``` diff --git a/backend/app.py b/backend/app.py new file mode 100644 index 0000000000000000000000000000000000000000..0ccb6b67f06f4a312926b9afed7a6723fcb4ecc7 --- /dev/null +++ b/backend/app.py @@ -0,0 +1,252 @@ +"""FastAPI backend for rmscript web demo.""" + +import logging +from pathlib import Path +from typing import Any, Dict, List +from fastapi import FastAPI, HTTPException +from fastapi.middleware.cors import CORSMiddleware +from fastapi.responses import FileResponse +from fastapi.staticfiles import StaticFiles +from pydantic import BaseModel + +from rmscript import compile_script + +# Configure logging +logging.basicConfig(level=logging.INFO) +logger = logging.getLogger(__name__) + +# Create FastAPI app +app = FastAPI( + title="RMScript Web Demo API", + description="Backend API for compiling and validating rmscript code", + version="1.0.0" +) + +# Enable CORS for local development +app.add_middleware( + CORSMiddleware, + allow_origins=["*"], # In production, specify exact origins + allow_credentials=True, + allow_methods=["*"], + allow_headers=["*"], +) + +# Set up paths for serving frontend +BACKEND_DIR = Path(__file__).parent +FRONTEND_DIR = BACKEND_DIR.parent / "frontend" + +# Mount static files (CSS, JS) +if FRONTEND_DIR.exists(): + app.mount("/static", StaticFiles(directory=str(FRONTEND_DIR)), name="static") + + +class ScriptInput(BaseModel): + """Input model for script compilation.""" + + source: str + + +class CompilationError(BaseModel): + """Compilation error model.""" + + line: int + column: int + message: str + severity: str + + +class VerifyResponse(BaseModel): + """Response model for script verification.""" + + success: bool + errors: List[Dict[str, Any]] + warnings: List[Dict[str, Any]] + name: str = "" + description: str = "" + + +class IRActionModel(BaseModel): + """Simplified IR action model for JSON serialization.""" + + type: str # "action", "wait", "picture", "sound" + duration: float = 0.0 + # For movement actions + head_pose: List[List[float]] | None = None # 4x4 matrix as nested list + antennas: List[float] | None = None # [left, right] in radians + body_yaw: float | None = None # radians + # For sound actions + sound_name: str | None = None + blocking: bool = False + loop: bool = False + # Metadata + source_line: int = 0 + + +class CompileResponse(BaseModel): + """Response model for script compilation.""" + + success: bool + errors: List[Dict[str, Any]] + warnings: List[Dict[str, Any]] + name: str = "" + description: str = "" + ir: List[IRActionModel] + + +@app.get("/") +async def root(): + """Serve the frontend application.""" + index_path = FRONTEND_DIR / "index.html" + if index_path.exists(): + return FileResponse(index_path) + return { + "name": "RMScript Web Demo API", + "version": "1.0.0", + "endpoints": { + "/api/verify": "POST - Verify rmscript syntax and semantics", + "/api/compile": "POST - Compile rmscript to IR", + } + } + + +@app.post("/api/verify", response_model=VerifyResponse) +async def verify_script(input: ScriptInput): + """Verify rmscript without generating IR. + + Args: + input: Script source code + + Returns: + Verification result with errors and warnings + + """ + logger.info(f"Verifying script ({len(input.source)} chars)") + + try: + result = compile_script(input.source) + + # Convert errors and warnings to dict format + errors = [ + { + "line": e.line, + "column": e.column, + "message": e.message, + "severity": e.severity + } + for e in result.errors + ] + + warnings = [ + { + "line": w.line, + "column": w.column, + "message": w.message, + "severity": w.severity + } + for w in result.warnings + ] + + return VerifyResponse( + success=result.success, + errors=errors, + warnings=warnings, + name=result.name, + description=result.description + ) + + except Exception as e: + logger.error(f"Verification error: {e}") + raise HTTPException(status_code=500, detail=str(e)) + + +@app.post("/api/compile", response_model=CompileResponse) +async def compile_rmscript(input: ScriptInput): + """Compile rmscript to intermediate representation. + + Args: + input: Script source code + + Returns: + Compilation result with IR + + """ + logger.info(f"Compiling script ({len(input.source)} chars)") + + try: + from rmscript.ir import IRAction, IRWaitAction, IRPictureAction, IRPlaySoundAction + + result = compile_script(input.source) + + # Convert errors and warnings to dict format + errors = [ + { + "line": e.line, + "column": e.column, + "message": e.message, + "severity": e.severity + } + for e in result.errors + ] + + warnings = [ + { + "line": w.line, + "column": w.column, + "message": w.message, + "severity": w.severity + } + for w in result.warnings + ] + + # Convert IR to JSON-serializable format + ir_json = [] + for action in result.ir: + if isinstance(action, IRAction): + ir_json.append(IRActionModel( + type="action", + duration=action.duration, + head_pose=action.head_pose.tolist() if action.head_pose is not None else None, + antennas=action.antennas if action.antennas is not None else None, + body_yaw=action.body_yaw, + source_line=action.source_line + )) + elif isinstance(action, IRWaitAction): + ir_json.append(IRActionModel( + type="wait", + duration=action.duration, + source_line=action.source_line + )) + elif isinstance(action, IRPictureAction): + ir_json.append(IRActionModel( + type="picture", + source_line=action.source_line + )) + elif isinstance(action, IRPlaySoundAction): + ir_json.append(IRActionModel( + type="sound", + duration=action.duration or 0.0, + sound_name=action.sound_name, + blocking=action.blocking, + loop=action.loop, + source_line=action.source_line + )) + + logger.info(f"Compiled {len(ir_json)} IR actions") + + return CompileResponse( + success=result.success, + errors=errors, + warnings=warnings, + name=result.name, + description=result.description, + ir=ir_json + ) + + except Exception as e: + logger.error(f"Compilation error: {e}") + raise HTTPException(status_code=500, detail=str(e)) + + +if __name__ == "__main__": + import uvicorn + uvicorn.run(app, host="0.0.0.0", port=8001, log_level="info") diff --git a/backend/pyproject.toml b/backend/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..b16eab1eb4576455b454da1becacfdee577030f3 --- /dev/null +++ b/backend/pyproject.toml @@ -0,0 +1,14 @@ +[build-system] +requires = ["setuptools"] +build-backend = "setuptools.build_meta" + +[project] +name = "rmscript-web-backend" +version = "1.0.0" +requires-python = ">=3.11" +dependencies = [ + "fastapi>=0.104.0", + "uvicorn[standard]>=0.24.0", + "pydantic>=2.4.0", + "rmscript[reachy,scipy] @ 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'http://localhost:8001' + : ''; // Use relative URLs when served from web server +const ROBOT_WS_URL = 'ws://localhost:8000/api/move/ws/set_target'; + +// Global state +const state = { + robotWs: null, + robotConnected: false, + currentIR: null, + isExecuting: false +}; + +// DOM elements +const elements = { + editor: document.getElementById('editor'), + compileStatus: document.getElementById('compileStatus'), + robotStatus: document.getElementById('robotStatus'), + console: document.getElementById('console'), + irDisplay: document.getElementById('irDisplay'), + executionInfo: document.getElementById('executionInfo'), + executeBtn: document.getElementById('executeBtn') +}; + +// Example scripts +const examples = { + basic: `DESCRIPTION Simple head movement +look left +wait 1s +look right +wait 1s +look center`, + + complex: `DESCRIPTION Wave hello +look left +antenna both up +wait 1s +look right +antenna both down +wait 0.5s +look center`, + + repeat: `DESCRIPTION Repeat demo +REPEAT 3 + look left + wait 0.5s + look right + wait 0.5s +END +look center` +}; + +// Initialize robot WebSocket connection +function connectRobotWebSocket() { + log('Connecting to robot...', 'info'); + + state.robotWs = new WebSocket(ROBOT_WS_URL); + + state.robotWs.onopen = () => { + state.robotConnected = true; + updateRobotStatus(true); + log('Robot connected!', 'success'); + }; + + state.robotWs.onclose = () => { + state.robotConnected = false; + updateRobotStatus(false); + log('Robot disconnected. Reconnecting...', 'warning'); + setTimeout(connectRobotWebSocket, 2000); + }; + + state.robotWs.onerror = (error) => { + log(`Robot connection error: ${error}`, 'error'); + }; + + state.robotWs.onmessage = (event) => { + try { + const message = JSON.parse(event.data); + if (message.status === 'error') { + log(`Robot error: ${message.detail}`, 'error'); + } + } catch (e) { + console.error('Failed to parse robot message:', e); + } + }; +} + +// Update robot connection status UI +function updateRobotStatus(connected) { + if (connected) { + elements.robotStatus.className = 'status connected'; + elements.robotStatus.innerHTML = 'Connected'; + elements.executeBtn.disabled = false; + } else { + elements.robotStatus.className = 'status disconnected'; + elements.robotStatus.innerHTML = 'Disconnected'; + elements.executeBtn.disabled = true; + } +} + +// Update compile status UI +function updateCompileStatus(status, message) { + const dot = status === 'success' ? 'green' : status === 'error' ? 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No IR yet. Verify a script first!
'; + updateCompileStatus('idle', 'Ready'); +} + +// Verify script (syntax and semantics only) +async function verifyScript() { + const source = elements.editor.value.trim(); + + if (!source) { + log('Editor is empty', 'warning'); + return; + } + + clearConsole(); + log('Verifying script...', 'info'); + updateCompileStatus('idle', 'Verifying...'); + + try { + const response = await fetch(`${BACKEND_URL}/api/verify`, { + method: 'POST', + headers: { 'Content-Type': 'application/json' }, + body: JSON.stringify({ source }) + }); + + const result = await response.json(); + + if (result.success) { + log('✓ Verification successful!', 'success'); + if (result.name) log(` Name: ${result.name}`, 'info'); + if (result.description) log(` Description: ${result.description}`, 'info'); + + if (result.warnings.length > 0) { + result.warnings.forEach(w => { + log(` Warning (line ${w.line}): ${w.message}`, 'warning'); + }); + } + + updateCompileStatus('success', 'Valid script'); + } else { + log('✗ Verification failed', 'error'); + result.errors.forEach(e => { + log(` Error (line ${e.line}): ${e.message}`, 'error'); + }); + updateCompileStatus('error', 'Invalid script'); + } + } catch (error) { + log(`Backend error: ${error.message}`, 'error'); + updateCompileStatus('error', 'Backend error'); + } +} + +// Compile script to IR +async function compileScript() { + const source = elements.editor.value.trim(); + + if (!source) { + log('Editor is empty', 'warning'); + return null; + } + + log('Compiling script to IR...', 'info'); + updateCompileStatus('idle', 'Compiling...'); + + try { + const response = await fetch(`${BACKEND_URL}/api/compile`, { + method: 'POST', + headers: { 'Content-Type': 'application/json' }, + body: JSON.stringify({ source }) + }); + + const result = await response.json(); + + if (result.success) { + log(`✓ Compiled ${result.ir.length} actions`, 'success'); + + if (result.warnings.length > 0) { + result.warnings.forEach(w => { + log(` Warning (line ${w.line}): ${w.message}`, 'warning'); + }); + } + + state.currentIR = result.ir; + displayIR(result.ir); + updateCompileStatus('success', `${result.ir.length} actions ready`); + return result.ir; + } else { + log('✗ Compilation failed', 'error'); + result.errors.forEach(e => { + log(` Error (line ${e.line}): ${e.message}`, 'error'); + }); + updateCompileStatus('error', 'Compilation failed'); + return null; + } + } catch (error) { + log(`Backend error: ${error.message}`, 'error'); + updateCompileStatus('error', 'Backend error'); + return null; + } +} + +// Display IR in the UI +function displayIR(ir) { + if (!ir || ir.length === 0) { + elements.irDisplay.innerHTML = '
No actions
'; + return; + } + + const html = ir.map((action, idx) => { + let details = ''; + + if (action.type === 'action') { + details = `Duration: ${action.duration}s`; + if (action.head_pose) details += ', Head movement'; + if (action.antennas) details += `, Antennas: [${action.antennas.map(a => a.toFixed(2)).join(', ')}]`; + if (action.body_yaw !== null) details += `, Body yaw: ${action.body_yaw.toFixed(2)}`; + } else if (action.type === 'wait') { + details = `Wait ${action.duration}s`; + } else if (action.type === 'picture') { + details = 'Take picture'; + } else if (action.type === 'sound') { + details = `Play "${action.sound_name}"`; + if (action.blocking) details += ' (blocking)'; + if (action.loop) details += ' (loop)'; + } + + return ` +
+
${idx + 1}. ${action.type.toUpperCase()}
+
${details}
+
+ `; + }).join(''); + + elements.irDisplay.innerHTML = html; +} + +// Execute compiled script on robot +async function executeScript() { + if (!state.robotConnected) { + log('Robot not connected!', 'error'); + return; + } + + if (state.isExecuting) { + log('Already executing a script', 'warning'); + return; + } + + // Always compile the current editor content before executing + const ir = await compileScript(); + if (!ir) { + log('Cannot execute - compilation failed', 'error'); + return; + } + + // Execute IR actions sequentially + state.isExecuting = true; + elements.executeBtn.disabled = true; + clearExecutionInfo(); + logExecution('Starting execution...', 'info'); + + try { + for (let i = 0; i < ir.length; i++) { + const action = ir[i]; + logExecution(`Action ${i + 1}/${ir.length}: ${action.type}`, 'info'); + + if (action.type === 'action') { + await executeIRAction(action); + } else if (action.type === 'wait') { + await sleep(action.duration * 1000); + } else if (action.type === 'picture') { + logExecution('Picture action skipped (not implemented)', 'warning'); + } else if (action.type === 'sound') { + logExecution('Sound action skipped (not implemented)', 'warning'); + } + } + + logExecution('✓ Execution complete!', 'success'); + } catch (error) { + logExecution(`✗ Execution error: ${error.message}`, 'error'); + } finally { + state.isExecuting = false; + if (state.robotConnected) { + elements.executeBtn.disabled = false; + } + } +} + +// Extract euler angles (roll, pitch, yaw) from 3x3 rotation matrix +// Uses XYZ euler convention to match scipy's R.from_matrix().as_euler("xyz") +function matrixToEulerXYZ(rotMatrix) { + // Extract 3x3 rotation matrix from 4x4 pose matrix if needed + const R = rotMatrix; + + // For XYZ euler order: R = Rz(yaw) * Ry(pitch) * Rx(roll) + // pitch = asin(-R[2][0]) + // roll = atan2(R[2][1], R[2][2]) + // yaw = atan2(R[1][0], R[0][0]) + + let pitch = Math.asin(-R[2][0]); + + // Check for gimbal lock + if (Math.abs(Math.cos(pitch)) > 1e-6) { + // Normal case + const roll = Math.atan2(R[2][1], R[2][2]); + const yaw = Math.atan2(R[1][0], R[0][0]); + return { roll, pitch, yaw }; + } else { + // Gimbal lock case + const roll = Math.atan2(-R[0][1], R[1][1]); + const yaw = 0; + return { roll, pitch, yaw }; + } +} + +// Execute a single IR action (send to robot) +async function executeIRAction(action) { + if (!state.robotWs || state.robotWs.readyState !== WebSocket.OPEN) { + throw new Error('Robot WebSocket not connected'); + } + + const message = {}; + + if (action.head_pose) { + // Extract translation from 4x4 matrix + const x = action.head_pose[0][3]; + const y = action.head_pose[1][3]; + const z = action.head_pose[2][3]; + + // Extract rotation (euler angles) from 3x3 rotation matrix portion + const euler = matrixToEulerXYZ(action.head_pose); + + message.target_head_pose = { + x: x, + y: y, + z: z, + roll: euler.roll, + pitch: euler.pitch, + yaw: euler.yaw + }; + } + + if (action.antennas) { + message.target_antennas = action.antennas; + } + + if (action.body_yaw !== null) { + message.target_body_yaw = action.body_yaw; + } + + // Send to robot + state.robotWs.send(JSON.stringify(message)); + + // Wait for the action duration + await sleep(action.duration * 1000); +} + +// Log execution info +function logExecution(message, type = 'info') { + const line = document.createElement('div'); + line.className = `console-line ${type}`; + line.textContent = `[${new Date().toLocaleTimeString()}] ${message}`; + elements.executionInfo.appendChild(line); + elements.executionInfo.scrollTop = elements.executionInfo.scrollHeight; +} + +// Clear execution info +function clearExecutionInfo() { + elements.executionInfo.innerHTML = ''; +} + +// Sleep helper +function sleep(ms) { + return new Promise(resolve => setTimeout(resolve, ms)); +} + +// Initialize application +function init() { + console.log('Initializing RMScript Web Demo'); + + // Connect to robot + connectRobotWebSocket(); + + // Load default example + loadExample('basic'); + + console.log('RMScript Web Demo ready'); +} + +// Start when DOM is loaded +if (document.readyState === 'loading') { + document.addEventListener('DOMContentLoaded', init); +} else { + init(); +} diff --git a/frontend/index.html b/frontend/index.html new file mode 100644 index 0000000000000000000000000000000000000000..c321f0f4c617a19faeaacea0a02c18dcc4ab610a --- /dev/null +++ b/frontend/index.html @@ -0,0 +1,331 @@ + + + + + + RMScript Web Demo + + + +
+ +
+

🤖 RMScript Editor

+

Write and test your rmscript code

+ +
+ Ready +
+ +
Examples
+
+ + + + +
+ + + +
+ + +
+ +
Console
+
+
Ready. Write some rmscript and click Verify!
+
+
+ + +
+

🔗 Robot Connection

+

Connect to Reachy Mini on localhost:8000

+ +
+ Disconnected +
+ +
Compiled IR
+
+
+ No IR yet. Verify a script first! +
+
+ +
Execution Info
+
+
Ready to execute when robot is connected
+
+
+
+ + + + + diff --git a/reachy_mini/.gitattributes b/reachy_mini/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..bf1727ba32644d4c4d06ac899b729db42b0cdcb2 --- /dev/null +++ b/reachy_mini/.gitattributes @@ -0,0 +1,15 @@ +*.png filter=lfs diff=lfs merge=lfs -text +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.avi filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.tar.gz filter=lfs diff=lfs merge=lfs -text +*.pdf filter=lfs diff=lfs merge=lfs -text +*.obj filter=lfs diff=lfs merge=lfs -text +*.stl filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.svg filter=lfs diff=lfs merge=lfs -text diff --git a/reachy_mini/.github/workflows/lint.yml b/reachy_mini/.github/workflows/lint.yml new file mode 100644 index 0000000000000000000000000000000000000000..980524f6d7afa0d0953c75c88174ce006559d216 --- /dev/null +++ b/reachy_mini/.github/workflows/lint.yml @@ -0,0 +1,27 @@ +name: Linters +on: [ push, pull_request ] +jobs: + ruff: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/ruff-action@v3 + with: + version: "0.12.0" + + mypy: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Set up Python 3.10 + uses: actions/setup-python@v5 + with: + python-version: "3.10" + cache: 'pip' # caching pip dependencies + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install .[dev] + - name : Lint with mypy + run : | + mypy --install-types --non-interactive diff --git a/reachy_mini/.github/workflows/pytest.yml b/reachy_mini/.github/workflows/pytest.yml new file mode 100644 index 0000000000000000000000000000000000000000..1a8c75fdd271a497eb4b8fe5d259fb1aa9982e3b --- /dev/null +++ b/reachy_mini/.github/workflows/pytest.yml @@ -0,0 +1,28 @@ +name: Pytest +on: [pull_request] +jobs: + pytest: + runs-on: ${{ matrix.os }} + strategy: + matrix: + os: [ubuntu-latest, macos-latest] + steps: + - uses: actions/checkout@v4 + with: + lfs: "true" + - uses: actions/setup-python@v5 + with: + python-version: "3.10" + cache: "pip" + - name: Install system dependencies (Ubuntu) + if: matrix.os == 'ubuntu-latest' + run: sudo apt-get update && sudo apt-get install -y libportaudio2 + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install .[dev] + - name: Run tests + run: | + pytest -vv -m 'not audio and not video and not audio_gstreamer and not video_gstreamer and not wireless and not wireless_gstreamer' --tb=short + env: + MUJOCO_GL: disable diff --git a/reachy_mini/.github/workflows/wheels.yml b/reachy_mini/.github/workflows/wheels.yml new file mode 100644 index 0000000000000000000000000000000000000000..dca1e95cab0816e05abd01fc2cbf6c48ae6e8f84 --- /dev/null +++ b/reachy_mini/.github/workflows/wheels.yml @@ -0,0 +1,26 @@ +name: Publish + +on: + release: + types: + - created + +jobs: + publish: + runs-on: ubuntu-latest + permissions: + id-token: write + steps: + - uses: actions/checkout@v5 + with: + lfs: true + - name: Set up Python + uses: actions/setup-python@v6 + with: + python-version: "3.10" + - name: Install build dependencies + run: pip install build + - name: Build distribution + run: python -m build + - name: Publish + uses: pypa/gh-action-pypi-publish@v1.13.0 \ No newline at end of file diff --git a/reachy_mini/.github/workflows/wheels.yml.bak b/reachy_mini/.github/workflows/wheels.yml.bak new file mode 100644 index 0000000000000000000000000000000000000000..256d8da0e8dcfbd26880be47094a606b1e3b5813 --- /dev/null +++ b/reachy_mini/.github/workflows/wheels.yml.bak @@ -0,0 +1,181 @@ +name: Build and Release Wheels + +on: + push: + tags: + - "*" + workflow_dispatch: + +jobs: + linux: + runs-on: ${{ matrix.platform.runner }} + if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }} + strategy: + matrix: + platform: + - runner: ubuntu-22.04 + target: x86_64 + - runner: ubuntu-22.04 + target: x86 + - runner: ubuntu-22.04 + target: aarch64 + - runner: ubuntu-22.04 + target: armv7 + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: | + 3.8 + 3.9 + 3.10 + 3.11 + 3.12 + 3.13 + - name: Build wheels + run: | + pip install build + python -m build --wheel --outdir dist + - name: Upload wheels + uses: actions/upload-artifact@v4 + with: + name: wheels-linux-${{ matrix.platform.target }} + path: dist/*.whl + + musllinux: + runs-on: ${{ matrix.platform.runner }} + if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }} + strategy: + matrix: + platform: + - runner: ubuntu-22.04 + target: x86_64 + - runner: ubuntu-22.04 + target: x86 + - runner: ubuntu-22.04 + target: aarch64 + - runner: ubuntu-22.04 + target: armv7 + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: | + 3.8 + 3.9 + 3.10 + 3.11 + 3.12 + 3.13 + - name: Build wheels + run: | + pip install build + python -m build --wheel --outdir dist + - name: Upload wheels + uses: actions/upload-artifact@v4 + with: + name: wheels-musllinux-${{ matrix.platform.target }} + path: dist/*.whl + + windows: + runs-on: ${{ matrix.platform.runner }} + if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }} + strategy: + matrix: + platform: + - runner: windows-latest + target: x64 + - runner: windows-latest + target: x86 + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: | + 3.8 + 3.9 + 3.10 + 3.11 + 3.12 + 3.13 + architecture: ${{ matrix.platform.target }} + - name: Build wheels + run: | + pip install build + python -m build --wheel --outdir dist + - name: Upload wheels + uses: actions/upload-artifact@v4 + with: + name: wheels-windows-${{ matrix.platform.target }} + path: dist/*.whl + + macos: + runs-on: ${{ matrix.platform.runner }} + if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }} + strategy: + matrix: + platform: + - runner: macos-13 + target: x86_64 + - runner: macos-14 + target: aarch64 + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-python@v5 + with: + python-version: | + 3.8 + 3.9 + 3.10 + 3.11 + 3.12 + 3.13 + - name: Build wheels + run: | + pip install build + python -m build --wheel --outdir dist + - name: Upload wheels + uses: actions/upload-artifact@v4 + with: + name: wheels-macos-${{ matrix.platform.target }} + path: dist/*.whl + + sdist: + runs-on: ubuntu-latest + if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }} + steps: + - uses: actions/checkout@v4 + - name: Build sdist + run: | + pip install build + python -m build --sdist --outdir dist + - name: Upload sdist + uses: actions/upload-artifact@v4 + with: + name: wheels-sdist + path: dist/*.tar.gz + + release: + name: Release + runs-on: ubuntu-latest + if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }} + needs: [linux, musllinux, windows, macos, sdist] + permissions: + id-token: write + contents: write + attestations: write + steps: + - uses: actions/download-artifact@v4 + with: + pattern: wheels-* + merge-multiple: true + path: dist + - name: Generate artifact attestation + uses: actions/attest-build-provenance@v1 + with: + subject-path: 'dist/*' + - name: Publish to PyPI + if: ${{ startsWith(github.ref, 'refs/tags/') }} + uses: pypa/gh-action-pypi-publish@release/v1 + with: + packages-dir: dist/ \ No newline at end of file diff --git a/reachy_mini/.gitignore b/reachy_mini/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..511e897669bb76553c0e63496a2f0e323b8e3045 --- /dev/null +++ b/reachy_mini/.gitignore @@ -0,0 +1,256 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[codz] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py.cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +# Pipfile.lock + +# UV +# Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# uv.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +# poetry.lock +# poetry.toml + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +# pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python. +# https://pdm-project.org/en/latest/usage/project/#working-with-version-control +# pdm.lock +# pdm.toml +.pdm-python +.pdm-build/ + +# pixi +# Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control. +# pixi.lock +# Pixi creates a virtual environment in the .pixi directory, just like venv module creates one +# in the .venv directory. It is recommended not to include this directory in version control. +.pixi + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# Redis +*.rdb +*.aof +*.pid + +# RabbitMQ +mnesia/ +rabbitmq/ +rabbitmq-data/ + +# ActiveMQ +activemq-data/ + +# SageMath parsed files +*.sage.py + +# Environments +.env +.envrc +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +.idea/**/workspace.xml +.idea/**/tasks.xml +.idea/**/usage.statistics.xml +.idea/**/dictionaries +.idea/**/shelf +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml +.idea/**/dbnavigator.xml +.idea/**/contentModel.xml + +# Abstra +# Abstra is an AI-powered process automation framework. +# Ignore directories containing user credentials, local state, and settings. +# Learn more at https://abstra.io/docs +.abstra/ + +# Visual Studio Code +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +!.vscode/*.code-snippets +!*.code-workspace + +# Ruff stuff: +.ruff_cache/ + +# PyPI configuration file +.pypirc + +# Marimo +marimo/_static/ +marimo/_lsp/ +__marimo__/ + +# Streamlit +.streamlit/secrets.toml + +# General for macOS +.DS_Store +__MACOSX/ +.AppleDouble +.LSOverride +Icon[] + +# General for Linux +*~ +.fuse_hidden* +.directory +.Trash-* +.nfs* +nohup.out + +# General for Windows +Thumbs.db +Thumbs.db:encryptable +ehthumbs.db +ehthumbs_vista.db +[Dd]esktop.ini +*.stackdump +$RECYCLE.BIN/ +*.lnk + +# Project specific ignores +src/reachy_mini_dashboard/installed_apps/* +examples/debug/measures/* +.DS_Store \ No newline at end of file diff --git a/reachy_mini/.pre-commit-config.yaml b/reachy_mini/.pre-commit-config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..273d3502025f81c79f18c30971e9aaa6f0e45cee --- /dev/null +++ b/reachy_mini/.pre-commit-config.yaml @@ -0,0 +1,10 @@ +repos: +- repo: https://github.com/astral-sh/ruff-pre-commit + # Ruff version. Make sure it matches the version in .github/workflows/lint.yml. + rev: v0.12.0 + hooks: + # Run the linter. + - id: ruff-check + args: ["--select", "I", "--select", "D", "--ignore", "D203", "--ignore", "D213"] + # Run the formatter. + - id: ruff-format \ No newline at end of file diff --git a/reachy_mini/LICENSE b/reachy_mini/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..2bae156ba764607d491a34535fb0fb5a02022793 --- /dev/null +++ b/reachy_mini/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2025 Pollen Robotics + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/reachy_mini/MANIFEST.in b/reachy_mini/MANIFEST.in new file mode 100644 index 0000000000000000000000000000000000000000..f51342cf3346a74203c815f86556947c51e99f8a --- /dev/null +++ b/reachy_mini/MANIFEST.in @@ -0,0 +1,3 @@ +recursive-include src/reachy_mini/assets * +recursive-include src/reachy_mini/templates * +recursive-include src/reachy_mini/descriptions * diff --git a/reachy_mini/README.md b/reachy_mini/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e2079c0905d627a54a0424e5d0ea1a34ff9c2f79 --- /dev/null +++ b/reachy_mini/README.md @@ -0,0 +1,246 @@ +# Reachy Mini + +> ⚠️ Reachy Mini is still in beta. Expect bugs, some of them we won't fix right away if they are not a priority. + +[Reachy Mini](https://www.pollen-robotics.com/reachy-mini/) is an expressive, open-source robot designed for human-robot interaction, creative coding, and AI experimentation. We made it to be affordable, easy to use, hackable and cute, so that you can focus on building cool AI applications! + +[![Reachy Mini Hello](/docs/assets/reachy_mini_hello.gif)](https://www.pollen-robotics.com/reachy-mini/) + +### Versions Lite & Wireless + +Reachy Mini's hardware comes in two flavors: +- **Reachy Mini lite**: where the robot is directly connected to your computer via USB. And the code that controls the robot (the daemon) runs on your computer. +- **Reachy Mini wireless**: where an Raspberry Pi is embedded in the robot, and the code that controls the robot (the daemon) runs on the Raspberry Pi. You can connect to it via Wi-Fi from your computer (see [Wireless Setup](./docs/wireless-version.md)). + +There is also a simulated version of Reachy Mini in [MuJoCo](https://mujoco.org) that you can use to prototype your applications before deploying them on the real robot. It behaves like the lite version where the daemon runs on your computer. + +## Assembly guide + +📖 Follow our step-by-step [Assembly Guide](https://huggingface.co/spaces/pollen-robotics/Reachy_Mini_Assembly_Guide). + +Most builders finish in about 3 hours, our current speed record is 43 minutes. The guide walks you through every step with clear visuals so you can assemble Reachy Mini confidently from start to finish. Enjoy the build! + +▶️ View the [Assembly Video](https://youtu.be/_r0cHySFbeY?si=6Mw4js8HSUs4cwoJ). + +## Software overview + +This repository provides everything you need to control Reachy Mini, both in simulation and on the real robot. It consists of two main parts: + +- **The 😈 Daemon 😈**: A background service that manages communication with the robot's motors and sensors, or with the simulation environment. It should be running before you can control the robot. It can run either for the simulation (MuJoCo) or for the real robot. +- **🐍 SDK & 🕸️ API** to control the robot's main features (head, antennas, camera, speakers, microphone, etc.) and connect with your AI experimentation. Depending on your preferences and needs, there is a [Python SDK](#using-the-python-sdk) and a [HTTP REST API](#using-the-rest-api). + +Using the [Python SDK](#using-the-python-sdk), making your robot move only require a few lines of code, as illustrated in the example below: + +```python +from reachy_mini import ReachyMini +from reachy_mini.utils import create_head_pose + +with ReachyMini() as reachy_mini: + # Move the head up (10mm on z-axis) and roll it 15 degrees + pose = create_head_pose(z=10, roll=15, degrees=True, mm=True) + reachy_mini.goto_target(head=pose, duration=2.0) + + # Reset to default pose + pose = create_head_pose() + reachy_mini.goto_target(head=pose, duration=2.0) +``` + +and using the [REST API](#using-the-rest-api), reading the current state of the robot: + +```bash +curl 'http://localhost:8000/api/state/full' +``` + +Those two examples above assume that the daemon is already running (either in simulation or on the real robot) locally. + +## Installation of the daemon and Python SDK + +As mentioned above, before being able to use the robot, you need to run the daemon that will handle the communication with the motors. + +We support and test on Linux and macOS. It's also working on Windows, but it is less tested at the moment. Do not hesitate to open an issue if you encounter any problem. + +The daemon is built in Python, so you need to have Python installed on your computer (versions from 3.10 to 3.13 are supported). We recommend using a virtual environment to avoid dependency conflicts with your other Python projects. + +You can install Reachy Mini from the source code or from PyPI. + +First, make sure `git-lfs` is installed on your system: + +- On Linux: `sudo apt install git-lfs` +- On macOS: `brew install git-lfs` +- On Windows: [Follow the instructions here](https://docs.github.com/en/repositories/working-with-files/managing-large-files/installing-git-large-file-storage?platform=windows) + +From PyPI, you can install the package with: + +```bash +pip install reachy-mini +``` + +From the source code, you can install the package with: + +```bash +git clone https://github.com/pollen-robotics/reachy_mini +pip install -e ./reachy_mini +``` + +*Note that uv users can directly run the daemon with:* +```bash +uv run reachy-mini-daemon +``` + +The same package provides both the daemon and the Python SDK. + + +## Run the reachy mini daemon + +Before being able to use the robot, you need to run the daemon that will handle the communication with the motors. This daemon can run either in simulation (MuJoCo) or on the real robot. + +```bash +reachy-mini-daemon +``` + +or run it via the Python module: + +```bash +python -m reachy_mini.daemon.app.main +``` + +Additional argument for both simulation and real robot: + +```bash +--localhost-only: (default behavior). The server will only accept connections from localhost. +``` + +or + +```bash +--no-localhost-only: If set, the server will accept connections from any connection on the local network. +``` + +### In simulation ([MuJoCo](https://mujoco.org)) + +You first have to install the optional dependency `mujoco`. + +```bash +pip install reachy-mini[mujoco] +``` + +Then run the daemon with the `--sim` argument. + +```bash +reachy-mini-daemon --sim +``` + +Additional arguments: + +```bash +--scene : (Default empty). Choose between a basic empty scene, or a scene with a table and some objects. +``` + +Reachy Mini in MuJoCo + + +*Note: On OSX in order to run mujoco, you need to use mjpython (see [here](https://mujoco.readthedocs.io/en/stable/python.html#passive-viewer)). So, you should run the daemon with:* + +```bash + mjpython -m reachy_mini.daemon.app.main --sim + ``` + +### For the lite version (connected via USB) + +It should automatically detect the serial port of the robot. If it does not, you can specify it manually with the `-p` option: + +```bash +reachy-mini-daemon -p +``` + +### Usage + +For more information about the daemon and its options, you can run: + +```bash +reachy-mini-daemon --help +``` + +### Dashboard + +You can access a simple dashboard to monitor the robot's status at [http://localhost:8000/](http://localhost:8000/) when the daemon is running. This lets you turn your robot on and off, run some basic movements, and browse spaces for Reachy Mini! + +![Reachy Mini Dashboard](docs/assets/dashboard.png) + +## Run the demo & awesome apps + +Conversational demo for the Reachy Mini robot combining LLM realtime APIs, vision pipelines, and choreographed motion libraries: [reachy_mini_conversation_demo](https://github.com/pollen-robotics/reachy_mini_conversation_demo). + +You can find more awesome apps and demos for Reachy Mini on [Hugging Face spaces](https://huggingface.co/spaces?q=reachy_mini)! + +## Using the Python SDK + +The API is designed to be simple and intuitive. You can control the robot's features such as the head, antennas, camera, speakers, and microphone. For instance, to move the head of the robot, you can use the `goto_target` method as shown in the example below: + +```python +from reachy_mini import ReachyMini +from reachy_mini.utils import create_head_pose + +with ReachyMini() as reachy_mini: + # Move the head up (10mm on z-axis) and roll it 15 degrees + pose = create_head_pose(z=10, roll=15, degrees=True, mm=True) + reachy_mini.goto_target(head=pose, duration=2.0) + + # Reset to default pose + pose = create_head_pose() + reachy_mini.goto_target(head=pose, duration=2.0) +``` + +For a full description of the SDK, please refer to the [Python SDK documentation](./docs/python-sdk.md). + +## Using the REST API + +The daemon also provides a REST API via [fastapi](https://fastapi.tiangolo.com/) that you can use to control the robot and get its state. The API is accessible via HTTP and WebSocket. + +By default, the API server runs on `http://localhost:8000`. The API is documented using OpenAPI, and you can access the documentation at `http://localhost:8000/docs` when the daemon is running. + +More information about the API can be found in the [HTTP API documentation](./docs/rest-api.md). + +## Open source & contribution + +This project is actively developed and maintained by the [Pollen Robotics team](https://www.pollen-robotics.com) and the [Hugging Face team](https://huggingface.co/). + +We welcome contributions from the community! If you want to report a bug or request a feature, please open an issue on GitHub. If you want to contribute code, please fork the repository and submit a pull request. + +### 3D models + +TODO + +### Contributing + +Development tools are available in the optional dependencies. + +```bash +pip install -e .[dev] +pre-commit install +``` + +Your files will be checked before any commit. Checks may also be manually run with + +```bash +pre-commit run --all-files +``` + +Checks are performed by Ruff. You may want to [configure your IDE to support it](https://docs.astral.sh/ruff/editors/setup/). + +## Troubleshooting + +see [dedicated section](docs/troubleshooting.md) + +## License + +This project is licensed under the Apache 2.0 License - see the [LICENSE](LICENSE) file for details. + +The robot design files are licensed under the [TODO](TODO) license. + +### Simulation model used + +- https://polyhaven.com/a/food_apple_01 +- https://polyhaven.com/a/croissant +- https://polyhaven.com/a/wooden_table_02 +- https://polyhaven.com/a/rubber_duck_toy diff --git a/reachy_mini/conftest.py b/reachy_mini/conftest.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reachy_mini/pyproject.toml b/reachy_mini/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..f243ea1aa781f040f4efe15558f218acec865699 --- /dev/null +++ b/reachy_mini/pyproject.toml @@ -0,0 +1,111 @@ +[build-system] +requires = ["setuptools"] +build-backend = "setuptools.build_meta" + +[project] +name = "reachy_mini" +version = "1.1.1" +authors = [{ name = "Pollen Robotics", email = "contact@pollen-robotics.com" }] +description = "" +readme = "README.md" +requires-python = ">=3.10" +dependencies = [ + "numpy>=2.2.5", + "scipy>=1.15.3, <2.0.0", + "reachy_mini_motor_controller>=1.4.2", + "eclipse-zenoh>=1.4.0", + "opencv-python<=5.0", + "cv2_enumerate_cameras>=1.2.1", + "psutil", + "jinja2", + "uvicorn[standard]", + "fastapi", + "pyserial", + "huggingface-hub==0.34.4", + "sounddevice==0.5.1", + "soundfile==0.13.1", + "reachy-mini-rust-kinematics>=1.0.2", + "asgiref", + "aiohttp", + "log-throttling==0.0.3", + "pyusb>=1.2.1", + "libusb_package>=1.0.26.3", + "pip>=25", +] + + +[project.optional-dependencies] +dev = [ + "pytest", + "pytest-asyncio", + "ruff==0.12.0", + "onshape-to-robot==1.7.6", + "mujoco==3.3.0", + "placo==0.9.14", + "pre-commit", + "mypy==1.18.2", + "rustypot>=1.4.0", + "types-requests", + "rerun-sdk>=0.27.2", + "urdf-parser-py==0.0.4", +] +examples = ["pynput"] +mujoco = ["mujoco==3.3.0"] +nn_kinematics = ["onnxruntime==1.22.1"] +placo_kinematics = ["placo==0.9.14"] +gstreamer = ["PyGObject>=3.42.2,<=3.46.0", "gst-signalling>=1.1.2"] +rerun = ["rerun-sdk>=0.27.2", "urdf-parser-py==0.0.4"] +wireless-version = [ + "semver>=3,<4", + "nmcli>=1.5", + "pollen_BMI088_imu_library", + "gpiozero>=2.0.0", + "lgpio>=0.2.2.0", +] + +[project.scripts] +reachy-mini-daemon = "reachy_mini.daemon.app.main:main" +reachy-mini-apps-helper = "reachy_mini.apps.app:main" + +[tool.setuptools] +package-dir = { "" = "src" } +include-package-data = true + + +[tool.setuptools.packages.find] +where = ["src"] + + +[tool.setuptools.package-data] +reachy_mini = ["**/*"] # Inclut tous les fichiers non .py + +[tool.ruff] +exclude = [ + "src/reachy_mini/__init__.py", + "build/*", + "conftest.py", + "src/reachy_mini_dashboard/*", + "tests/*", +] +lint.extend-select = ["I", "D"] +lint.ignore = [ + "D203", # Incompatible with D211 + "D213", # Incompatible with D212 +] + +[tool.pytest.ini_options] +testpaths = ["tests"] +markers = [ + "audio: mark test as requiring audio hardware", + "audio_gstreamer: mark test as requiring GStreamer for audio", + "video: mark test as requiring video hardware", + "video_gstreamer: mark test as requiring GStreamer for video", + "wireless: mark test as requiring wireless Reachy Mini", + "wireless_gstreamer: mark test as requiring GStreamer for wireless Reachy Mini", +] + +[tool.mypy] +python_version = "3.10" +files = ["src/"] +ignore_missing_imports = true +strict = true diff --git a/reachy_mini/src/reachy_mini/__init__.py b/reachy_mini/src/reachy_mini/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..9dc26157e7280df3751f8fa238af92dff3a06f66 --- /dev/null +++ b/reachy_mini/src/reachy_mini/__init__.py @@ -0,0 +1,4 @@ +"""Reachy Mini SDK.""" + +from reachy_mini.apps.app import ReachyMiniApp # noqa: F401 +from reachy_mini.reachy_mini import ReachyMini # noqa: F401 diff --git a/reachy_mini/src/reachy_mini/apps/__init__.py b/reachy_mini/src/reachy_mini/apps/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..94c3e5fcf6b4b7e5c913b171674d681665867860 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/__init__.py @@ -0,0 +1,25 @@ +"""Metadata about apps.""" + +from dataclasses import dataclass, field +from enum import Enum +from typing import Any, Dict + + +class SourceKind(str, Enum): + """Kinds of app source.""" + + HF_SPACE = "hf_space" + DASHBOARD_SELECTION = "dashboard_selection" + LOCAL = "local" + INSTALLED = "installed" + + +@dataclass +class AppInfo: + """Metadata about an app.""" + + name: str + source_kind: SourceKind + description: str = "" + url: str | None = None + extra: Dict[str, Any] = field(default_factory=dict) diff --git a/reachy_mini/src/reachy_mini/apps/app.py b/reachy_mini/src/reachy_mini/apps/app.py new file mode 100644 index 0000000000000000000000000000000000000000..552871785b776b161bdcff74691ce880c3f9bb5f --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/app.py @@ -0,0 +1,169 @@ +"""Reachy Mini Application Base Class. + +This module provides a base class for creating Reachy Mini applications. +It includes methods for running the application, stopping it gracefully, +and creating a new app project with a specified name and path. + +It uses Jinja2 templates to generate the necessary files for the app project. +""" + +import os +import threading +import traceback +from abc import ABC, abstractmethod +from pathlib import Path +from typing import Any, Dict + +from jinja2 import Environment, FileSystemLoader + +from reachy_mini.reachy_mini import ReachyMini + + +class ReachyMiniApp(ABC): + """Base class for Reachy Mini applications.""" + + custom_app_url: str | None = None + + def __init__(self) -> None: + """Initialize the Reachy Mini app.""" + self.stop_event = threading.Event() + self.error: str = "" + + def wrapped_run(self, *args: Any, **kwargs: Any) -> None: + """Wrap the run method with Reachy Mini context management.""" + try: + with ReachyMini(*args, **kwargs) as reachy_mini: + self.run(reachy_mini, self.stop_event) + except Exception: + self.error = traceback.format_exc() + raise + + @abstractmethod + def run(self, reachy_mini: ReachyMini, stop_event: threading.Event) -> None: + """Run the main logic of the app. + + Args: + reachy_mini (ReachyMini): The Reachy Mini instance to interact with. + stop_event (threading.Event): An event that can be set to stop the app gracefully. + + """ + pass + + def stop(self) -> None: + """Stop the app gracefully.""" + self.stop_event.set() + print("App is stopping...") + + +def make_app_project(app_name: str, path: Path) -> None: + """Create a new Reachy Mini app project with the given name at the specified path. + + Args: + app_name (str): The name of the app to create. + path (Path): The directory where the app project will be created. + + """ + TEMPLATE_DIR = Path(__file__).parent / "templates" + env = Environment(loader=FileSystemLoader(TEMPLATE_DIR)) + + def render_template(filename: str, context: Dict[str, str]) -> str: + template = env.get_template(filename) + return template.render(context) + + base_path = Path(path).resolve() / app_name + if base_path.exists(): + print(f"❌ Folder {base_path} already exists.") + return + + module_name = app_name.replace("-", "_") + class_name = "".join(word.capitalize() for word in module_name.split("_")) + class_name_display = " ".join(word.capitalize() for word in module_name.split("_")) + + base_path.mkdir() + (base_path / module_name).mkdir() + + # Generate files + context = { + "app_name": app_name, + "package_name": app_name, + "module_name": module_name, + "class_name": class_name, + "class_name_display": class_name_display, + } + + (base_path / module_name / "__init__.py").touch() + (base_path / module_name / "main.py").write_text( + render_template("main.py.j2", context) + ) + (base_path / "pyproject.toml").write_text( + render_template("pyproject.toml.j2", context) + ) + (base_path / "README.md").write_text(render_template("README.md.j2", context)) + + (base_path / "index.html").write_text(render_template("index.html.j2", context)) + (base_path / "style.css").write_text(render_template("style.css.j2", context)) + + print(f"✅ Created app in {base_path}/") + + +def publish_app(app_path: str, hf_space_url: Path) -> None: + """Publish the app to the Reachy Mini app store. + + Args: + app_path (str): Local path to the app to publish. + hf_space_url (Path): Url to the space on Hugging Face. + + """ + # Placeholder for publishing logic + assert os.path.exists(app_path), f"App path {app_path} does not exist." + print(f"Publishing app from {app_path} to {hf_space_url}...") + os.system( + f"cd {app_path} && git init && git remote add space {hf_space_url} && git add . && git commit -m 'Initial commit' && git push -f space main:main" + ) + print("✅ App published successfully.") + + +def main() -> None: + """Run the command line interface to create a new Reachy Mini app project.""" + import argparse + + parser = argparse.ArgumentParser( + description="Create a new Reachy Mini app project." + ) + subparsers = parser.add_subparsers( + dest="command", help="Available commands", required=True + ) + + make_parser = subparsers.add_parser("make", help="Make a new app project") + make_parser.add_argument( + "--option", type=str, help="An option for the make command" + ) + make_parser.add_argument("app_name", type=str, help="Name of the app to create.") + make_parser.add_argument( + "path", + type=Path, + default=Path.cwd(), + help="Path where the app project will be created.", + ) + + publish_parser = subparsers.add_parser( + "publish", help="Publish the app to the Reachy Mini app store" + ) + publish_parser.add_argument( + "app_path", type=str, help="Local path to the app to publish." + ) + publish_parser.add_argument( + "hf_space_url", type=Path, help="Url to the space on Hugging Face." + ) + + args = parser.parse_args() + + if args.command == "make": + make_app_project(args.app_name, args.path) + + elif args.command == "publish": + publish_app(args.app_path, args.hf_space_url) + + +if __name__ == "__main__": + main() diff --git a/reachy_mini/src/reachy_mini/apps/manager.py b/reachy_mini/src/reachy_mini/apps/manager.py new file mode 100644 index 0000000000000000000000000000000000000000..070c857d349f65db7f7c1637f9a35016ac1aa3b4 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/manager.py @@ -0,0 +1,185 @@ +"""App management for Reachy Mini.""" + +import asyncio +import logging +from dataclasses import dataclass +from enum import Enum +from importlib.metadata import entry_points +from threading import Thread +from typing import TYPE_CHECKING, Any, Optional + +from pydantic import BaseModel + +from . import AppInfo, SourceKind +from .sources import hf_space, local_common_venv + +if TYPE_CHECKING: + from .app import ReachyMiniApp + + +class AppState(str, Enum): + """Status of a running app.""" + + STARTING = "starting" + RUNNING = "running" + DONE = "done" + STOPPING = "stopping" + ERROR = "error" + + +class AppStatus(BaseModel): + """Status of an app.""" + + info: AppInfo + state: AppState + error: str | None = None + + +@dataclass +class RunningApp: + """Information about a running app.""" + + app: "ReachyMiniApp" + thread: Thread + status: AppStatus + + +class AppManager: + """Manager for Reachy Mini apps.""" + + def __init__(self) -> None: + """Initialize the AppManager.""" + self.current_app = None # type: RunningApp | None + self.logger = logging.getLogger("reachy_mini.apps.manager") + + async def close(self) -> None: + """Clean up the AppManager, stopping any running app.""" + if self.is_app_running(): + await self.stop_current_app() + + # App lifecycle management + # Only one app can be started at a time for now + def is_app_running(self) -> bool: + """Check if an app is currently running.""" + return self.current_app is not None and self.current_app.status.state in ( + AppState.STARTING, + AppState.RUNNING, + AppState.ERROR, + ) + + async def start_app(self, app_name: str, *args: Any, **kwargs: Any) -> AppStatus: + """Start the app, raises RuntimeError if an app is already running.""" + if self.is_app_running(): + raise RuntimeError("An app is already running") + + (ep,) = entry_points(group="reachy_mini_apps", name=app_name) + app = ep.load()() + + def wrapped_run() -> None: + assert self.current_app is not None + + try: + self.current_app.status.state = AppState.RUNNING + self.logger.getChild("runner").info(f"App {app_name} is running") + app.wrapped_run(*args, **kwargs) + self.current_app.status.state = AppState.DONE + self.logger.getChild("runner").info(f"App {app_name} finished") + except Exception as e: + self.logger.getChild("runner").error( + f"An error occurred in the app {app_name}: {e}" + ) + self.logger.getChild("runner").error( + f"Exception details: '{app.error}'", + ) + self.current_app.status.state = AppState.ERROR + self.current_app.status.error = str(app.error) + + self.current_app = RunningApp( + status=AppStatus( + info=AppInfo(name=app_name, source_kind=SourceKind.INSTALLED), + state=AppState.STARTING, + error=None, + ), + app=app, + thread=Thread(target=wrapped_run), + ) + self.logger.getChild("runner").info(f"Starting app {app_name}") + self.current_app.thread.start() + + return self.current_app.status + + async def stop_current_app(self, timeout: float | None = 5.0) -> None: + """Stop the current app.""" + if not self.is_app_running(): + raise RuntimeError("No app is currently running") + + assert self.current_app is not None + + self.current_app.status.state = AppState.STOPPING + self.logger.getChild("runner").info( + f"Stopping app {self.current_app.status.info.name}" + ) + self.current_app.app.stop() + self.current_app.thread.join(timeout) + + if self.current_app.thread.is_alive(): + self.logger.getChild("runner").warning( + "The app did not stop within the timeout" + ) + else: + self.logger.getChild("runner").info("App stopped successfully") + + self.current_app = None + + async def restart_current_app(self) -> AppStatus: + """Restart the current app.""" + if not self.is_app_running(): + raise RuntimeError("No app is currently running") + + assert self.current_app is not None + + app_info = self.current_app.status.info + + await self.stop_current_app() + await self.start_app(app_info.name) + + return self.current_app.status + + async def current_app_status(self) -> Optional[AppStatus]: + """Get the current status of the app.""" + if self.current_app is not None: + return self.current_app.status + return None + + # Apps management interface + async def list_all_available_apps(self) -> list[AppInfo]: + """List available apps (parallel async).""" + results = await asyncio.gather( + *[self.list_available_apps(kind) for kind in SourceKind] + ) + return sum(results, []) + + async def list_available_apps(self, source: SourceKind) -> list[AppInfo]: + """List available apps for given source kind.""" + if source == SourceKind.HF_SPACE: + return await hf_space.list_all_apps() + elif source == SourceKind.DASHBOARD_SELECTION: + return await hf_space.list_available_apps() + elif source == SourceKind.INSTALLED: + return await local_common_venv.list_available_apps() + elif source == SourceKind.LOCAL: + return [] + else: + raise NotImplementedError(f"Unknown source kind: {source}") + + async def install_new_app(self, app: AppInfo, logger: logging.Logger) -> None: + """Install a new app by name.""" + success = await local_common_venv.install_package(app, logger) + if success != 0: + raise RuntimeError(f"Failed to install app '{app.name}'") + + async def remove_app(self, app_name: str, logger: logging.Logger) -> None: + """Remove an installed app by name.""" + success = await local_common_venv.uninstall_package(app_name, logger) + if success != 0: + raise RuntimeError(f"Failed to uninstall app '{app_name}'") diff --git a/reachy_mini/src/reachy_mini/apps/sources/__init__.py b/reachy_mini/src/reachy_mini/apps/sources/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..9c83411aac64dca6fe6597f174ab5e7f22ab5f16 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/sources/__init__.py @@ -0,0 +1,4 @@ +"""Specific app sources. + +For the moment, only huggingface spaces is implemented. +""" diff --git a/reachy_mini/src/reachy_mini/apps/sources/hf_space.py b/reachy_mini/src/reachy_mini/apps/sources/hf_space.py new file mode 100644 index 0000000000000000000000000000000000000000..23dc5d2752168487bacfe0cc5ceb7433c5b6d9e7 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/sources/hf_space.py @@ -0,0 +1,105 @@ +"""Hugging Face Spaces app source.""" + +import asyncio +import json +from typing import Any, Dict + +import aiohttp + +from .. import AppInfo, SourceKind + +# Constants +AUTHORIZED_APP_LIST_URL = "https://huggingface.co/datasets/pollen-robotics/reachy-mini-official-app-store/raw/main/app-list.json" +HF_SPACES_API_URL = "https://huggingface.co/api/spaces" +HF_SPACES_FILTER_URL = "https://huggingface.co/api/spaces?filter=reachy_mini&sort=likes&direction=-1&limit=50&full=true" +REQUEST_TIMEOUT = aiohttp.ClientTimeout(total=30) + + +async def _fetch_space_data( + session: aiohttp.ClientSession, space_id: str +) -> Dict[str, Any] | None: + """Fetch data for a single space from Hugging Face API.""" + url = f"{HF_SPACES_API_URL}/{space_id}" + try: + async with session.get(url, timeout=REQUEST_TIMEOUT) as response: + if response.status == 200: + data: Dict[str, Any] = await response.json() + return data + else: + return None + except (aiohttp.ClientError, asyncio.TimeoutError): + return None + + +async def list_available_apps() -> list[AppInfo]: + """List apps available on Hugging Face Spaces.""" + async with aiohttp.ClientSession(timeout=REQUEST_TIMEOUT) as session: + # Fetch the list of authorized app IDs + try: + async with session.get(AUTHORIZED_APP_LIST_URL) as response: + response.raise_for_status() + text = await response.text() + authorized_ids = json.loads(text) + except (aiohttp.ClientError, json.JSONDecodeError): + return [] + + if not isinstance(authorized_ids, list): + return [] + + # Filter to only string elements + authorized_ids = [ + space_id for space_id in authorized_ids if isinstance(space_id, str) + ] + + # Fetch data for each space in parallel + tasks = [_fetch_space_data(session, space_id) for space_id in authorized_ids] + spaces_data = await asyncio.gather(*tasks) + + # Build AppInfo list from fetched data + apps = [] + for item in spaces_data: + if item is None or "id" not in item: + continue + + apps.append( + AppInfo( + name=item["id"].split("/")[-1], + description=item.get("cardData", {}).get("short_description", ""), + url=f"https://huggingface.co/spaces/{item['id']}", + source_kind=SourceKind.HF_SPACE, + extra=item, + ) + ) + + return apps + + +async def list_all_apps() -> list[AppInfo]: + """List all apps available on Hugging Face Spaces (including unofficial ones).""" + async with aiohttp.ClientSession(timeout=REQUEST_TIMEOUT) as session: + try: + async with session.get(HF_SPACES_FILTER_URL) as response: + response.raise_for_status() + data: list[Dict[str, Any]] = await response.json() + except (aiohttp.ClientError, json.JSONDecodeError, asyncio.TimeoutError): + return [] + + if not isinstance(data, list): + return [] + + apps = [] + for item in data: + if item is None or "id" not in item: + continue + + apps.append( + AppInfo( + name=item["id"].split("/")[-1], + description=item.get("cardData", {}).get("short_description", ""), + url=f"https://huggingface.co/spaces/{item['id']}", + source_kind=SourceKind.HF_SPACE, + extra=item, + ) + ) + + return apps diff --git a/reachy_mini/src/reachy_mini/apps/sources/local_common_venv.py b/reachy_mini/src/reachy_mini/apps/sources/local_common_venv.py new file mode 100644 index 0000000000000000000000000000000000000000..9100adb1efbe7c49c5fecace50cda77be126d217 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/sources/local_common_venv.py @@ -0,0 +1,61 @@ +"""Utilities for local common venv apps source.""" + +import logging +import sys +from importlib.metadata import entry_points + +from .. import AppInfo, SourceKind +from ..utils import running_command + + +async def list_available_apps() -> list[AppInfo]: + """List apps available from entry points.""" + entry_point_apps = list(entry_points(group="reachy_mini_apps")) + + apps = [] + + for ep in entry_point_apps: + custom_app_url = None + try: + app = ep.load() + custom_app_url = app.custom_app_url + except Exception as e: + logging.getLogger("reachy_mini.apps").warning( + f"Could not load app '{ep.name}' from entry point: {e}" + ) + apps.append( + AppInfo( + name=ep.name, + source_kind=SourceKind.INSTALLED, + extra={"custom_app_url": custom_app_url}, + ) + ) + + return apps + + +async def install_package(app: AppInfo, logger: logging.Logger) -> int: + """Install a package given an AppInfo object, streaming logs.""" + if app.source_kind == SourceKind.HF_SPACE: + target = f"git+{app.url}" if app.url is not None else app.name + elif app.source_kind == SourceKind.LOCAL: + target = app.extra.get("path", app.name) + else: + raise ValueError(f"Cannot install app from source kind '{app.source_kind}'") + + return await running_command( + [sys.executable, "-m", "pip", "install", target], + logger=logger, + ) + + +async def uninstall_package(app_name: str, logger: logging.Logger) -> int: + """Uninstall a package given an app name.""" + existing_apps = await list_available_apps() + if app_name not in [app.name for app in existing_apps]: + raise ValueError(f"Cannot uninstall app '{app_name}': it is not installed") + + return await running_command( + [sys.executable, "-m", "pip", "uninstall", "-y", app_name], + logger=logger, + ) diff --git a/reachy_mini/src/reachy_mini/apps/templates/README.md.j2 b/reachy_mini/src/reachy_mini/apps/templates/README.md.j2 new file mode 100644 index 0000000000000000000000000000000000000000..965c2474d5b21abcca0606a3abc401bb2a310a89 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/templates/README.md.j2 @@ -0,0 +1,11 @@ +--- +title: {{ class_name_display }} +emoji: 👋 +colorFrom: red +colorTo: blue +sdk: static +pinned: false +short_description: Write your description here +tags: + - reachy_mini +--- \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/apps/templates/index.html.j2 b/reachy_mini/src/reachy_mini/apps/templates/index.html.j2 new file mode 100644 index 0000000000000000000000000000000000000000..2f0ce85c63c071b48a36f3d7234f3743b3084413 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/templates/index.html.j2 @@ -0,0 +1,235 @@ + + + + + + + {{ class_name_display }} + + + + +
+
+
🤖⚡
+

{{ class_name_display }}

+

Enter your tagline here

+
+
+ +
+
+
+
+
🛠️
+
+
+
+
+ +
+
+

Install This App

+ +
+ + +
+ + + +
+ +
+
+ +
+

+ 🤖 {{ class_name_display }} • + Pollen Robotics • + Browse More + Apps +

+
+ + + + + + \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/apps/templates/main.py.j2 b/reachy_mini/src/reachy_mini/apps/templates/main.py.j2 new file mode 100644 index 0000000000000000000000000000000000000000..2db6dd065981435fbe9d07f23b23ac7edf7f2e8f --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/templates/main.py.j2 @@ -0,0 +1,50 @@ +import threading + +from reachy_mini import ReachyMini, ReachyMiniApp +from reachy_mini.utils import create_head_pose + + +class {{ class_name }}(ReachyMiniApp): + # Optional: URL to a custom configuration page for the app + # eg. "http://localhost:8042/settings" + custom_app_url: str | None = None + + def run(self, reachy_mini: ReachyMini, stop_event: threading.Event): + # Write your code here + # ReachyMini is already initialized and connected + # Check the stop_event to gracefully exit the loop + # Example: + # import time + # import numpy as np + # + # t0 = time.time() + # + # while not stop_event.is_set(): + # t = time.time() - t0 + # + # yaw = 30 * np.sin(2 * np.pi * 0.5 * t) + # head_pose = create_head_pose(yaw=yaw, degrees=True) + # + # reachy_mini.set_target(head=head_pose) + # + # time.sleep(0.01) + + print("This is a placeholder for your app logic.") + + +if __name__ == "__main__": + # You can run the app directly from this script + with ReachyMini() as mini: + app = {{ class_name }}() + + stop = threading.Event() + + try: + print("Running '{{ app_name }}' a ReachyMiniApp...") + print("Press Ctrl+C to stop the app.") + app.run(mini, stop) + print("App has stopped.") + + except KeyboardInterrupt: + print("Stopping the app...") + stop.set() diff --git a/reachy_mini/src/reachy_mini/apps/templates/pyproject.toml.j2 b/reachy_mini/src/reachy_mini/apps/templates/pyproject.toml.j2 new file mode 100644 index 0000000000000000000000000000000000000000..196f71436980b01e5c8f4aad537ea02b87cf4e66 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/templates/pyproject.toml.j2 @@ -0,0 +1,18 @@ +[build-system] +requires = ["setuptools>=61.0"] +build-backend = "setuptools.build_meta" + + +[project] +name = "{{ app_name }}" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.10" +dependencies = [ + "reachy-mini" +] +keywords = ["reachy-mini-app"] + +[project.entry-points."reachy_mini_apps"] +{{ app_name }} = "{{ module_name }}.main:{{ class_name }}" \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/apps/templates/style.css.j2 b/reachy_mini/src/reachy_mini/apps/templates/style.css.j2 new file mode 100644 index 0000000000000000000000000000000000000000..64fab914657a8fb5757e9038c31683d933f773d7 --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/templates/style.css.j2 @@ -0,0 +1,411 @@ +* { + margin: 0; + padding: 0; + box-sizing: border-box; +} + +body { + font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif; + line-height: 1.6; + color: #333; + background: linear-gradient(135deg, #667eea 0%, #764ba2 100%); + min-height: 100vh; +} + +.hero { + background: linear-gradient(135deg, #667eea 0%, #764ba2 100%); + color: white; + padding: 4rem 2rem; + text-align: center; +} + +.hero-content { + max-width: 800px; + margin: 0 auto; +} + +.app-icon { + font-size: 4rem; + margin-bottom: 1rem; + display: inline-block; +} + +.hero h1 { + font-size: 3rem; + font-weight: 700; + margin-bottom: 1rem; + background: linear-gradient(45deg, #fff, #f0f9ff); + background-clip: text; + -webkit-background-clip: text; + -webkit-text-fill-color: transparent; +} + +.tagline { + font-size: 1.25rem; + opacity: 0.9; + max-width: 600px; + margin: 0 auto; +} + +.container { + max-width: 1200px; + margin: 0 auto; + padding: 0 2rem; + position: relative; + z-index: 2; +} + +.main-card { + background: white; + border-radius: 20px; + box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1); + margin-top: -2rem; + overflow: hidden; + margin-bottom: 3rem; +} + +.app-preview { + background: linear-gradient(135deg, #1e3a8a, #3b82f6); + padding: 3rem; + color: white; + text-align: center; + position: relative; +} + +.preview-image { + background: #000; + border-radius: 15px; + padding: 2rem; + max-width: 500px; + margin: 0 auto; + position: relative; + overflow: hidden; +} + +.camera-feed { + font-size: 4rem; + margin-bottom: 1rem; + opacity: 0.7; +} + +.detection-overlay { + position: absolute; + top: 50%; + left: 50%; + transform: translate(-50%, -50%); + width: 100%; +} + +.bbox { + background: rgba(34, 197, 94, 0.9); + color: white; + padding: 0.5rem 1rem; + border-radius: 8px; + font-size: 0.9rem; + font-weight: 600; + margin: 0.5rem; + display: inline-block; + border: 2px solid #22c55e; +} + +.app-details { + padding: 3rem; +} + +.app-details h2 { + font-size: 2rem; + color: #1e293b; + margin-bottom: 2rem; + text-align: center; +} + +.template-info { + display: grid; + grid-template-columns: repeat(auto-fit, minmax(300px, 1fr)); + gap: 2rem; + margin-bottom: 3rem; +} + +.info-box { + background: #f0f9ff; + border: 2px solid #e0f2fe; + border-radius: 12px; + padding: 2rem; +} + +.info-box h3 { + color: #0c4a6e; + margin-bottom: 1rem; + font-size: 1.2rem; +} + +.info-box p { + color: #0369a1; + line-height: 1.6; +} + +.how-to-use { + background: #fefce8; + border: 2px solid #fde047; + border-radius: 12px; + padding: 2rem; + margin-top: 3rem; +} + +.how-to-use h3 { + color: #a16207; + margin-bottom: 1.5rem; + font-size: 1.3rem; + text-align: center; +} + +.steps { + display: flex; + flex-direction: column; + gap: 1.5rem; +} + +.step { + display: flex; + align-items: flex-start; + gap: 1rem; +} + +.step-number { + background: #eab308; + color: white; + width: 2rem; + height: 2rem; + border-radius: 50%; + display: flex; + align-items: center; + justify-content: center; + font-weight: bold; + flex-shrink: 0; +} + +.step h4 { + color: #a16207; + margin-bottom: 0.5rem; + font-size: 1.1rem; +} + +.step p { + color: #ca8a04; +} + +.download-card { + background: white; + border-radius: 20px; + box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1); + padding: 3rem; + text-align: center; +} + +.download-card h2 { + font-size: 2rem; + color: #1e293b; + margin-bottom: 1rem; +} + +.download-card>p { + color: #64748b; + font-size: 1.1rem; + margin-bottom: 2rem; +} + +.dashboard-config { + margin-bottom: 2rem; + text-align: left; + max-width: 400px; + margin-left: auto; + margin-right: auto; +} + +.dashboard-config label { + display: block; + color: #374151; + font-weight: 600; + margin-bottom: 0.5rem; +} + +.dashboard-config input { + width: 100%; + padding: 0.75rem 1rem; + border: 2px solid #e5e7eb; + border-radius: 8px; + font-size: 0.95rem; + transition: border-color 0.2s; +} + +.dashboard-config input:focus { + outline: none; + border-color: #667eea; +} + +.install-btn { + background: linear-gradient(135deg, #667eea, #764ba2); + color: white; + border: none; + padding: 1.25rem 3rem; + border-radius: 16px; + font-size: 1.2rem; + font-weight: 700; + cursor: pointer; + transition: all 0.3s ease; + display: inline-flex; + align-items: center; + gap: 0.75rem; + margin-bottom: 2rem; + box-shadow: 0 8px 25px rgba(102, 126, 234, 0.3); +} + +.install-btn:hover:not(:disabled) { + transform: translateY(-3px); + box-shadow: 0 15px 35px rgba(102, 126, 234, 0.4); +} + +.install-btn:disabled { + opacity: 0.7; + cursor: not-allowed; + transform: none; +} + +.manual-option { + background: #f8fafc; + border-radius: 12px; + padding: 2rem; + margin-top: 2rem; +} + +.manual-option h3 { + color: #1e293b; + margin-bottom: 1rem; + font-size: 1.2rem; +} + +.manual-option>p { + color: #64748b; + margin-bottom: 1rem; +} + +.btn-icon { + font-size: 1.1rem; +} + +.install-status { + padding: 1rem; + border-radius: 8px; + font-size: 0.9rem; + text-align: center; + display: none; + margin-top: 1rem; +} + +.install-status.success { + background: #dcfce7; + color: #166534; + border: 1px solid #bbf7d0; +} + +.install-status.error { + background: #fef2f2; + color: #dc2626; + border: 1px solid #fecaca; +} + +.install-status.loading { + background: #dbeafe; + color: #1d4ed8; + border: 1px solid #bfdbfe; +} + +.install-status.info { + background: #e0f2fe; + color: #0369a1; + border: 1px solid #7dd3fc; +} + +.manual-install { + background: #1f2937; + border-radius: 8px; + padding: 1rem; + margin-bottom: 1rem; + display: flex; + align-items: center; + gap: 1rem; +} + +.manual-install code { + color: #10b981; + font-family: 'SF Mono', 'Monaco', 'Inconsolata', 'Roboto Mono', monospace; + font-size: 0.85rem; + flex: 1; + overflow-x: auto; +} + +.copy-btn { + background: #374151; + color: white; + border: none; + padding: 0.5rem 1rem; + border-radius: 6px; + font-size: 0.8rem; + cursor: pointer; + transition: background-color 0.2s; +} + +.copy-btn:hover { + background: #4b5563; +} + +.manual-steps { + color: #6b7280; + font-size: 0.9rem; + line-height: 1.8; +} + +.footer { + text-align: center; + padding: 2rem; + color: white; + opacity: 0.8; +} + +.footer a { + color: white; + text-decoration: none; + font-weight: 600; +} + +.footer a:hover { + text-decoration: underline; +} + +/* Responsive Design */ +@media (max-width: 768px) { + .hero { + padding: 2rem 1rem; + } + + .hero h1 { + font-size: 2rem; + } + + .container { + padding: 0 1rem; + } + + .app-details, + .download-card { + padding: 2rem; + } + + .features-grid { + grid-template-columns: 1fr; + } + + .download-options { + grid-template-columns: 1fr; + } +} \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/apps/utils.py b/reachy_mini/src/reachy_mini/apps/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..f039ff996ba8924501483617ba931836f7142fdc --- /dev/null +++ b/reachy_mini/src/reachy_mini/apps/utils.py @@ -0,0 +1,30 @@ +"""Utility functions for Reachy Mini apps manager.""" + +import asyncio +import logging + + +async def running_command(command: list[str], logger: logging.Logger) -> int: + """Run a shell command and stream its output to the provided logger.""" + logger.info(f"Running command: {' '.join(command)}") + + proc = await asyncio.create_subprocess_exec( + *command, stdout=asyncio.subprocess.PIPE, stderr=asyncio.subprocess.PIPE + ) + + assert proc.stdout is not None # for mypy + assert proc.stderr is not None # for mypy + + # Stream output line by line + while True: + line = await proc.stdout.readline() + if not line: + break + logger.info(line.decode().rstrip()) + + # Also log any remaining stderr + err = await proc.stderr.read() + if err: + logger.error(err.decode().rstrip()) + + return await proc.wait() diff --git a/reachy_mini/src/reachy_mini/assets/config/hardware_config.yaml b/reachy_mini/src/reachy_mini/assets/config/hardware_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..18feed39927a238ac3828ba38f3fe425d22cadd0 --- /dev/null +++ b/reachy_mini/src/reachy_mini/assets/config/hardware_config.yaml @@ -0,0 +1,155 @@ +version: beta + +serial: + baudrate: 1000000 + +# Limits measured on the robot (in degrees) +# s1 +# lower : -48° : -546 +# upper : +80° : 910 + +# s2 +# lower: +70° : 796 +# upper: -80° : -910 + +# s3 +# lower: -48° : -546 +# upper: +80° : 910 + +# s4 +# lower: +48° : 546 +# upper: -80° : -910 + +# s5 +# lower: -70° : -796 +# upper: +80° : 910 + +# s6 +# lower : +48° : 546 +# upper : -80° : -910 + +# s1: +# lower: 2048 - 546 : 1502 +# upper: 2048 + 910 : 2958 + +# s2: +# lower: 2048 - 910 : 1138 +# upper: 2048 + 796 : 2844 + +# s3: +# lower: 2048 - 546 : 1502 +# upper: 2048 + 910 : 2958 + +# s4: +# lower: 2048 - 910 : 1138 +# upper: 2048 + 546 : 2594 + +# s5: +# lower: 2048 - 796 : 1252 +# upper: 2048 + 910 : 2958 + +# s6: +# lower: 2048 - 910 : 1138 +# upper: 2048 + 546 : 2594 + + +motors: + - body_rotation: + id: 10 + offset: 0 + lower_limit: 0 + upper_limit: 4095 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 0 + - stewart_1: + id: 11 + offset: 1024 + lower_limit: 1502 + upper_limit: 2958 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 0 + - stewart_2: + id: 12 + offset: -1024 + lower_limit: 1138 + upper_limit: 2844 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 0 + - stewart_3: + id: 13 + offset: 1024 + lower_limit: 1502 + upper_limit: 2958 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 0 + - stewart_4: + id: 14 + offset: -1024 + lower_limit: 1138 + upper_limit: 2594 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 0 + - stewart_5: + id: 15 + offset: 1024 + lower_limit: 1252 + upper_limit: 2958 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 0 + - stewart_6: + id: 16 + offset: -1024 + lower_limit: 1138 + upper_limit: 2594 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 0 + - right_antenna: + id: 17 + offset: 0 + lower_limit: 0 + upper_limit: 4095 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 400 + - left_antenna: + id: 18 + offset: 0 + lower_limit: 0 + upper_limit: 4095 + return_delay_time: 0 + shutdown_error: 52 + pid: + - 400 + - 0 + - 400 diff --git a/reachy_mini/src/reachy_mini/assets/firmware/CHANGELOG.md b/reachy_mini/src/reachy_mini/assets/firmware/CHANGELOG.md new file mode 100644 index 0000000000000000000000000000000000000000..db473c4690bf31e683494c8e314080a0efc41f60 --- /dev/null +++ b/reachy_mini/src/reachy_mini/assets/firmware/CHANGELOG.md @@ -0,0 +1,15 @@ +# Changelog of Reachy Mini Audio Firmware + + +## 2.1.3 + +*For Beta units only* + +Fixes the initialization issue on Reachy Mini beta hardware. An additional 2-second delay is added during initialization to prevent the XMOS chip from starting before the other components. + +There is no need to apply this firmware to the Lite and Wireless versions, as the issue is fixed at the hardware level. + +## 2.1.2 + +Improved parameters for acoustic echo cancellation (AEC). +PP_DTSENSITIVE is set to 1 by default. \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.2.bin b/reachy_mini/src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.2.bin new file mode 100644 index 0000000000000000000000000000000000000000..6314af04676bac273aab5a795a36632813afe685 --- /dev/null +++ b/reachy_mini/src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.2.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:661429a93b155cdbfed1e6c214820fd42e3372a08c3930f14fcd4e6db5be6796 +size 933888 diff --git a/reachy_mini/src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.3.bin b/reachy_mini/src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.3.bin new file mode 100644 index 0000000000000000000000000000000000000000..680a99700de092ac1d191848518ea6aa9fe2c846 --- /dev/null +++ b/reachy_mini/src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.3.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e35fa9a43a4e75890fd6299e62e85310d8081087e6a9702aaef0c81bd3af283 +size 933888 diff --git a/reachy_mini/src/reachy_mini/assets/firmware/update.sh b/reachy_mini/src/reachy_mini/assets/firmware/update.sh new file mode 100755 index 0000000000000000000000000000000000000000..e6f0f3243a81e1edb4667e09660a30f13ae51b01 --- /dev/null +++ b/reachy_mini/src/reachy_mini/assets/firmware/update.sh @@ -0,0 +1,9 @@ +#!/bin/bash +# Firmware update script for Reachy Mini +# Usage: ./update.sh +firmware="$1" +if [ -z "$firmware" ]; then + echo "Usage: $0 " + exit 1 +fi +dfu-util -R -e -a 1 -D "$firmware" \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/assets/kinematics_data.json b/reachy_mini/src/reachy_mini/assets/kinematics_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c20b364f6c386f17f8cc2c3901df873583fc1d31 --- /dev/null +++ b/reachy_mini/src/reachy_mini/assets/kinematics_data.json @@ -0,0 +1,253 @@ +{ + "motor_arm_length": 0.04000000000000001, + "rod_length": 0.08499999999999995, + "head_z_offset": 0.177, + "motors": [ + { + "name": "stewart_1", + "branch_frame": "closing_1_2", + "offset": 0, + "solution": 0, + "T_motor_world": [ + [ + 0.8660247915798898, + -0.5000010603626028, + -2.298079077119539e-06, + -0.009999848080267933 + ], + [ + 4.490195936008854e-06, + 3.1810770986818273e-06, + 0.999999999984859, + -0.07663346037245178 + ], + [ + -0.500001060347722, + -0.8660247915770963, + 4.999994360718464e-06, + 0.03666015757925319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + 0.020648178337122566, + 0.021763723638894568, + 1.0345743467476964e-07 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_2", + "branch_frame": "closing_2_2", + "offset": 0, + "solution": 1, + "T_motor_world": [ + [ + -0.8660211183436269, + 0.5000074225224785, + 2.298069723064582e-06, + -0.01000055227585102 + ], + [ + -4.490219645842903e-06, + -3.181063409649239e-06, + -0.999999999984859, + 0.07663346037219607 + ], + [ + -0.5000074225075973, + -0.8660211183408337, + 5.00001124330122e-06, + 0.03666008712637943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + 0.00852381571767217, + 0.028763668526131346, + 1.183437210727778e-07 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_3", + "branch_frame": "closing_3_2", + "offset": 0, + "solution": 0, + "T_motor_world": [ + [ + 6.326794896519466e-06, + 0.9999999999799852, + -7.0550646912150425e-12, + -0.009999884140839245 + ], + [ + -1.0196153102346142e-06, + 1.3505961633338446e-11, + 0.9999999999994795, + -0.07663346037438698 + ], + [ + 0.9999999999794655, + -6.326794896940104e-06, + 1.0196153098685706e-06, + 0.036660683387545835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + -0.029172011376922807, + 0.0069999429399361995, + 4.0290270064691214e-08 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_4", + "branch_frame": "closing_4_2", + "offset": 0, + "solution": 1, + "T_motor_world": [ + [ + -3.673205069955933e-06, + -0.9999999999932537, + -6.767968877969483e-14, + -0.010000000000897517 + ], + [ + 1.0196153102837198e-06, + -3.6775764393585005e-12, + -0.9999999999994795, + 0.0766334603742898 + ], + [ + 0.9999999999927336, + -3.673205070385213e-06, + 1.0196153102903487e-06, + 0.03666065685180194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + -0.029172040355214434, + -0.0069999960097160766, + -3.1608172912367394e-08 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_5", + "branch_frame": "closing_5_2", + "offset": 0, + "solution": 0, + "T_motor_world": [ + [ + -0.8660284647694133, + -0.4999946981757419, + 2.298079429767357e-06, + -0.010000231529504576 + ], + [ + 4.490172883391843e-06, + -3.1811099293773187e-06, + 0.9999999999848591, + -0.07663346037246624 + ], + [ + -0.4999946981608617, + 0.8660284647666201, + 4.999994384073154e-06, + 0.03666016059492482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "branch_position": [ + 0.008523809101930114, + -0.028763713010385224, + -1.4344916837716326e-07 + ], + "limits": [ + -3.141592653589793, + 3.141592653589793 + ] + }, + { + "name": "stewart_6", + "branch_frame": "passive_7_link_y", + "offset": 0, + "solution": 1, + "T_motor_world": [ + [ + 0.8660247915798897, + 0.5000010603626025, + -2.298069644866714e-06, + -0.009999527331574583 + ], + [ + -4.490196220318687e-06, + 3.1810964558725514e-06, + -0.9999999999848591, + 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0000000000000000000000000000000000000000..7b955057ecabc5779fa30e3a826de13a809a2930 --- /dev/null +++ b/reachy_mini/src/reachy_mini/assets/models/iknetwork.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:538be065edaf18f75ae05f4c17fe36b5b098cd5c72d6d4d3cb6152c40de68d27 +size 75213 diff --git a/reachy_mini/src/reachy_mini/daemon/__init__.py b/reachy_mini/src/reachy_mini/daemon/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..945ec88eb820cd78614e4fde4c38f86bcb615ffc --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/__init__.py @@ -0,0 +1 @@ +"""Daemon for Reachy Mini.""" diff --git a/reachy_mini/src/reachy_mini/daemon/app/__init__.py b/reachy_mini/src/reachy_mini/daemon/app/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..7d7c49bda267ff648789e31738bbd5f0895a8108 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/__init__.py @@ -0,0 +1 @@ +"""FastAPI app initialization.""" diff --git a/reachy_mini/src/reachy_mini/daemon/app/bg_job_register.py b/reachy_mini/src/reachy_mini/daemon/app/bg_job_register.py new file mode 100644 index 0000000000000000000000000000000000000000..ec4ae598cb1ec98bcefe1e1446284287cb8920ed --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/bg_job_register.py @@ -0,0 +1,142 @@ +"""Background jobs management for Reachy Mini Daemon.""" + +import asyncio +import logging +import threading +import uuid +from dataclasses import dataclass +from enum import Enum +from typing import Any, Awaitable, Callable + +from fastapi import WebSocket, WebSocketDisconnect +from pydantic import BaseModel + + +class JobStatus(Enum): + """Enum for job status.""" + + PENDING = "pending" + IN_PROGRESS = "in_progress" + DONE = "done" + FAILED = "failed" + + +class JobInfo(BaseModel): + """Pydantic model for install job status.""" + + command: str + status: JobStatus + logs: list[str] + + +@dataclass +class JobHandler: + """Handler for background jobs.""" + + uuid: str + info: JobInfo + new_log_evt: dict[str, asyncio.Event] + + +register: dict[str, JobHandler] = {} + + +def run_command( + command: str, + coro_func: Callable[..., Awaitable[None]], + *args: Any, +) -> str: + """Start a background job, with a custom logger and return its job_id.""" + job_uuid = str(uuid.uuid4()) + + jh = JobHandler( + uuid=job_uuid, + info=JobInfo(command=command, status=JobStatus.PENDING, logs=[]), + new_log_evt={}, + ) + register[job_uuid] = jh + + start_evt = threading.Event() + + async def wrapper() -> None: + jh.info.status = JobStatus.IN_PROGRESS + + class JobLogger(logging.Handler): + def emit(self, record: logging.LogRecord) -> None: + jh.info.logs.append(self.format(record)) + for ws in jh.new_log_evt.values(): + ws.set() + + logger = logging.getLogger(f"logs_job_{job_uuid}") + logger.setLevel(logging.INFO) + logger.handlers.clear() + logger.addHandler(JobLogger()) + + start_evt.set() + + try: + await coro_func(*args, logger=logger) + jh.info.status = JobStatus.DONE + logger.info(f"Job '{command}' completed successfully") + except Exception as e: + jh.info.status = JobStatus.FAILED + logger.error(f"Job '{command}' failed with error: {e}") + + t = threading.Thread(target=lambda: asyncio.run(wrapper())) + t.start() + # background_tasks.add_task(wrapper) + start_evt.wait() + + return job_uuid + + +def get_info(job_id: str) -> JobInfo: + """Get the info of a job by its ID.""" + job = register.get(job_id) + + if not job: + raise ValueError("Job ID not found") + + return job.info + + +async def ws_poll_info(websocket: WebSocket, job_uuid: str) -> None: + """WebSocket endpoint to stream job logs in real time.""" + job = register.get(job_uuid) + if not job: + await websocket.send_json({"error": "Job ID not found"}) + await websocket.close() + return + + assert job is not None + + ws_uuid = str(uuid.uuid4()) + last_log_len = 0 + + try: + job.new_log_evt[ws_uuid] = asyncio.Event() + + while True: + await job.new_log_evt[ws_uuid].wait() + job.new_log_evt[ws_uuid].clear() + + new_logs = job.info.logs[last_log_len:] + + if new_logs: + for log_entry in new_logs: + await websocket.send_text(log_entry) + last_log_len = len(job.info.logs) + + await websocket.send_text( + JobInfo( + command=job.info.command, + status=job.info.status, + logs=new_logs, + ).model_dump_json() + ) + if job.info.status in (JobStatus.DONE, JobStatus.FAILED): + break + except WebSocketDisconnect: + pass + finally: + job.new_log_evt.pop(ws_uuid, None) diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/assets/KO-cartoon-static.svg b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/assets/KO-cartoon-static.svg new file mode 100644 index 0000000000000000000000000000000000000000..98262b9c367727ebbf14d39128164308f607286e --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/assets/KO-cartoon-static.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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height: 0; + color: inherit; + border-top-width: 1px; + } + abbr:where([title]) { + -webkit-text-decoration: underline dotted; + text-decoration: underline dotted; + } + h1, h2, h3, h4, h5, h6 { + font-size: inherit; + font-weight: inherit; + } + a { + color: inherit; + -webkit-text-decoration: inherit; + text-decoration: inherit; + } + b, strong { + font-weight: bolder; + } + code, kbd, samp, pre { + font-family: var(--default-mono-font-family, ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, "Liberation Mono", "Courier New", monospace); + font-feature-settings: var(--default-mono-font-feature-settings, normal); + font-variation-settings: var(--default-mono-font-variation-settings, normal); + font-size: 1em; + } + small { + font-size: 80%; + } + sub, sup { + font-size: 75%; + line-height: 0; + position: relative; + vertical-align: baseline; + } + sub { + bottom: -0.25em; + } + sup { + top: -0.5em; + } + table { + text-indent: 0; + border-color: inherit; + border-collapse: collapse; + } + :-moz-focusring { + outline: auto; + } + progress { + vertical-align: baseline; + } + summary { + display: list-item; + } + ol, ul, menu { + list-style: none; + } + img, svg, video, canvas, audio, iframe, embed, object { + display: block; + vertical-align: middle; + } + img, video { + max-width: 100%; + height: auto; + } + button, input, select, optgroup, textarea, ::file-selector-button { + font: inherit; + font-feature-settings: inherit; + font-variation-settings: inherit; + letter-spacing: inherit; + color: inherit; + border-radius: 0; + background-color: transparent; + opacity: 1; + } + :where(select:is([multiple], [size])) optgroup { + font-weight: bolder; + } + :where(select:is([multiple], [size])) optgroup option { + padding-inline-start: 20px; + } + ::file-selector-button { + margin-inline-end: 4px; + } + ::placeholder { + opacity: 1; + } + @supports (not (-webkit-appearance: -apple-pay-button)) or (contain-intrinsic-size: 1px) { + ::placeholder { + color: currentcolor; + @supports (color: color-mix(in lab, red, red)) { + color: color-mix(in oklab, currentcolor 50%, transparent); + } + } + } + textarea { + resize: vertical; + } + ::-webkit-search-decoration { + -webkit-appearance: none; + } + ::-webkit-date-and-time-value { + min-height: 1lh; + text-align: inherit; + } + ::-webkit-datetime-edit { + display: inline-flex; + } + ::-webkit-datetime-edit-fields-wrapper { + padding: 0; + } + ::-webkit-datetime-edit, ::-webkit-datetime-edit-year-field, ::-webkit-datetime-edit-month-field, ::-webkit-datetime-edit-day-field, ::-webkit-datetime-edit-hour-field, ::-webkit-datetime-edit-minute-field, ::-webkit-datetime-edit-second-field, ::-webkit-datetime-edit-millisecond-field, ::-webkit-datetime-edit-meridiem-field { + padding-block: 0; + } + ::-webkit-calendar-picker-indicator { + line-height: 1; + } + :-moz-ui-invalid { + box-shadow: none; + } + button, input:where([type="button"], [type="reset"], [type="submit"]), ::file-selector-button { + appearance: button; + } + ::-webkit-inner-spin-button, ::-webkit-outer-spin-button { + height: auto; + } + [hidden]:where(:not([hidden="until-found"])) { + display: none !important; + } +} +@layer utilities { + .pointer-events-none { + pointer-events: none; + } + .sr-only { + position: absolute; + width: 1px; + height: 1px; + padding: 0; + margin: -1px; + overflow: hidden; + clip-path: inset(50%); + white-space: nowrap; + border-width: 0; + } + .absolute { + position: absolute; + } + .fixed { + position: fixed; + } + .relative { + position: relative; + } + .static { + position: static; + } + .inset-0 { + inset: calc(var(--spacing) * 0); + } + .start-1\.5 { + inset-inline-start: calc(var(--spacing) * 1.5); + } + .end-2\.5 { + inset-inline-end: calc(var(--spacing) * 2.5); + } + .top-0 { + top: calc(var(--spacing) * 0); + } + .top-0\.5 { + top: calc(var(--spacing) * 0.5); + } + .top-1\/2 { + top: calc(1/2 * 100%); + } + .right-0 { + right: calc(var(--spacing) * 0); + } + .left-0 { + left: calc(var(--spacing) * 0); + } + .left-0\.5 { + left: calc(var(--spacing) * 0.5); + } + .z-50 { + z-index: 50; + } + .row-span-2 { + grid-row: span 2 / span 2; + } + .container { + width: 100%; + @media (width >= 40rem) { + max-width: 40rem; + } + @media (width >= 48rem) { + max-width: 48rem; + } + @media (width >= 64rem) { + max-width: 64rem; + } + @media (width >= 80rem) { + max-width: 80rem; + } + @media (width >= 96rem) { + max-width: 96rem; + } + } + .mx-auto { + margin-inline: auto; + } + .my-1 { + margin-block: calc(var(--spacing) * 1); + } + .my-2 { + margin-block: calc(var(--spacing) * 2); + } + .mt-2 { + margin-top: calc(var(--spacing) * 2); + } + .mt-3 { + margin-top: calc(var(--spacing) * 3); + } + .mt-4 { + margin-top: calc(var(--spacing) * 4); + } + .mr-2 { + margin-right: calc(var(--spacing) * 2); + } + .mb-1 { + margin-bottom: calc(var(--spacing) * 1); + } + .mb-2 { + margin-bottom: calc(var(--spacing) * 2); + } + .mb-4 { + margin-bottom: calc(var(--spacing) * 4); + } + .ml-2 { + margin-left: calc(var(--spacing) * 2); + } + .block { + display: block; + } + .flex { + display: flex; + } + .grid { + display: grid; + } + .hidden { + display: none; + } + .inline { + display: inline; + } + .inline-block { + display: inline-block; + } + .size-7 { + width: calc(var(--spacing) * 7); + height: calc(var(--spacing) * 7); + } + .h-2 { + height: calc(var(--spacing) * 2); + } + .h-4 { + height: calc(var(--spacing) * 4); + } + .h-5 { + height: calc(var(--spacing) * 5); + } + .h-7 { + height: calc(var(--spacing) * 7); + } + .h-8 { + height: calc(var(--spacing) * 8); + } + .h-auto { + height: auto; + } + .h-full { + height: 100%; + } + .max-h-48 { + max-height: calc(var(--spacing) * 48); + } + .max-h-96 { + max-height: calc(var(--spacing) * 96); + } + .max-h-full { + max-height: 100%; + } + .min-h-screen { + min-height: 100vh; + } + .w-4 { + width: calc(var(--spacing) * 4); + } + .w-5 { + width: calc(var(--spacing) * 5); + } + .w-7 { + width: calc(var(--spacing) * 7); + } + .w-12 { + width: calc(var(--spacing) * 12); + } + .w-16 { + width: calc(var(--spacing) * 16); + } + .w-20 { + width: calc(var(--spacing) * 20); + } + .w-28 { + width: calc(var(--spacing) * 28); + } + .w-full { + width: 100%; + } + .max-w-2xl { + max-width: var(--container-2xl); + } + .max-w-md { + max-width: var(--container-md); + } + .min-w-\[50\%\] { + min-width: 50%; + } + .flex-1 { + flex: 1; + } + .flex-grow { + flex-grow: 1; + } + .-translate-x-4 { + --tw-translate-x: calc(var(--spacing) * -4); + translate: var(--tw-translate-x) var(--tw-translate-y); + } + .-translate-x-8 { + --tw-translate-x: calc(var(--spacing) * -8); + translate: var(--tw-translate-x) var(--tw-translate-y); + } + .-translate-y-1 { + --tw-translate-y: calc(var(--spacing) * -1); + translate: var(--tw-translate-x) var(--tw-translate-y); + } + .-translate-y-1\/2 { + --tw-translate-y: calc(calc(1/2 * 100%) * -1); + translate: var(--tw-translate-x) var(--tw-translate-y); + } + .transform { + transform: var(--tw-rotate-x,) var(--tw-rotate-y,) var(--tw-rotate-z,) var(--tw-skew-x,) var(--tw-skew-y,); + } + .cursor-not-allowed { + cursor: not-allowed; + } + .cursor-pointer { + cursor: pointer; + } + .list-inside { + list-style-position: inside; + } + .list-disc { + list-style-type: disc; + } + .appearance-none { + appearance: none; + } + .grid-cols-\[2rem_auto_8rem\] { + grid-template-columns: 2rem auto 8rem; + } + .grid-cols-\[auto_6rem_2rem\] { + grid-template-columns: auto 6rem 2rem; + } + .flex-col { + flex-direction: column; + } + .flex-row { + flex-direction: row; + } + .items-center { + align-items: center; + } + .justify-between { + justify-content: space-between; + } + .justify-center { + justify-content: center; + } + .justify-stretch { + justify-content: stretch; + } + .gap-2 { + gap: calc(var(--spacing) * 2); + } + .gap-4 { + gap: calc(var(--spacing) * 4); + } + .space-y-4 { + :where(& > :not(:last-child)) { + --tw-space-y-reverse: 0; + margin-block-start: calc(calc(var(--spacing) * 4) * var(--tw-space-y-reverse)); + margin-block-end: calc(calc(var(--spacing) * 4) * calc(1 - var(--tw-space-y-reverse))); + } + } + .gap-x-2 { + column-gap: calc(var(--spacing) * 2); + } + .gap-x-6 { + column-gap: calc(var(--spacing) * 6); + } + .overflow-y-auto { + overflow-y: auto; + } + .rounded { + border-radius: 0.25rem; + } + .rounded-full { + border-radius: calc(infinity * 1px); + } + .rounded-lg { + border-radius: var(--radius-lg); + } + .rounded-t { + border-top-left-radius: 0.25rem; + border-top-right-radius: 0.25rem; + } + .rounded-b { + border-bottom-right-radius: 0.25rem; + border-bottom-left-radius: 0.25rem; + } + .border { + border-style: var(--tw-border-style); + border-width: 1px; + } + .border-t { + border-top-style: var(--tw-border-style); + border-top-width: 1px; + } + .border-b { + border-bottom-style: var(--tw-border-style); + border-bottom-width: 1px; + } + .border-l-2 { + border-left-style: var(--tw-border-style); + border-left-width: 2px; + } + .border-gray-200 { + border-color: var(--color-gray-200); + } + .border-gray-300 { + border-color: var(--color-gray-300); + } + .border-red-600 { + border-color: var(--color-red-600); + } + .bg-blue-500 { + background-color: var(--color-blue-500); + } + .bg-blue-600 { + background-color: var(--color-blue-600); + } + .bg-blue-700 { + background-color: var(--color-blue-700); + } + .bg-gray-50 { + background-color: var(--color-gray-50); + } + .bg-gray-100 { + background-color: var(--color-gray-100); + } + .bg-gray-200 { + background-color: var(--color-gray-200); + } + .bg-gray-300 { + background-color: var(--color-gray-300); + } + .bg-gray-400 { + background-color: var(--color-gray-400); + } + .bg-green-400 { + background-color: var(--color-green-400); + } + .bg-green-500 { + background-color: var(--color-green-500); + } + .bg-green-700 { + background-color: var(--color-green-700); + } + .bg-red-500 { + background-color: var(--color-red-500); + } + .bg-red-700 { + background-color: var(--color-red-700); + } + .bg-white { + background-color: var(--color-white); + } + .bg-yellow-500 { + background-color: var(--color-yellow-500); + } + .p-1 { + padding: calc(var(--spacing) * 1); + } + .p-2\.5 { + padding: calc(var(--spacing) * 2.5); + } + .p-4 { + padding: calc(var(--spacing) * 4); + } + .px-2 { + padding-inline: calc(var(--spacing) * 2); + } + .px-4 { + padding-inline: calc(var(--spacing) * 4); + } + .px-5 { + padding-inline: calc(var(--spacing) * 5); + } + .py-1 { + padding-block: calc(var(--spacing) * 1); + } + .py-2 { + padding-block: calc(var(--spacing) * 2); + } + .py-2\.5 { + padding-block: calc(var(--spacing) * 2.5); + } + .py-4 { + padding-block: calc(var(--spacing) * 4); + } + .pt-1 { + padding-top: calc(var(--spacing) * 1); + } + .pt-4 { + padding-top: calc(var(--spacing) * 4); + } + .pr-4 { + padding-right: calc(var(--spacing) * 4); + } + .pb-2 { + padding-bottom: calc(var(--spacing) * 2); + } + .pl-4 { + padding-left: calc(var(--spacing) * 4); + } + .text-center { + text-align: center; + } + .align-middle { + vertical-align: middle; + } + .font-mono { + font-family: var(--font-mono); + } + .text-base { + font-size: var(--text-base); + line-height: var(--tw-leading, var(--text-base--line-height)); + } + .text-lg { + font-size: var(--text-lg); + line-height: var(--tw-leading, var(--text-lg--line-height)); + } + .text-sm { + font-size: var(--text-sm); + line-height: var(--tw-leading, var(--text-sm--line-height)); + } + .text-xl { + font-size: var(--text-xl); + line-height: var(--tw-leading, var(--text-xl--line-height)); + } + .text-xs { + font-size: var(--text-xs); + line-height: var(--tw-leading, var(--text-xs--line-height)); + } + .font-medium { + --tw-font-weight: var(--font-weight-medium); + font-weight: var(--font-weight-medium); + } + .font-semibold { + --tw-font-weight: var(--font-weight-semibold); + font-weight: var(--font-weight-semibold); + } + .text-blue-700 { + color: var(--color-blue-700); + } + .text-gray-400 { + color: var(--color-gray-400); + } + .text-gray-500 { + color: var(--color-gray-500); + } + .text-gray-600 { + color: var(--color-gray-600); + } + .text-gray-700 { + color: var(--color-gray-700); + } + .text-gray-900 { + color: var(--color-gray-900); + } + .text-green-700 { + color: var(--color-green-700); + } + .text-white { + color: var(--color-white); + } + .overline { + text-decoration-line: overline; + } + .opacity-50 { + opacity: 50%; + } + .shadow { + --tw-shadow: 0 1px 3px 0 var(--tw-shadow-color, rgb(0 0 0 / 0.1)), 0 1px 2px -1px var(--tw-shadow-color, rgb(0 0 0 / 0.1)); + box-shadow: var(--tw-inset-shadow), var(--tw-inset-ring-shadow), var(--tw-ring-offset-shadow), var(--tw-ring-shadow), var(--tw-shadow); + } + .shadow-sm { + --tw-shadow: 0 1px 3px 0 var(--tw-shadow-color, rgb(0 0 0 / 0.1)), 0 1px 2px -1px var(--tw-shadow-color, rgb(0 0 0 / 0.1)); + box-shadow: var(--tw-inset-shadow), var(--tw-inset-ring-shadow), var(--tw-ring-offset-shadow), var(--tw-ring-shadow), var(--tw-shadow); + } + .transition-all { + transition-property: all; + transition-timing-function: var(--tw-ease, var(--default-transition-timing-function)); + transition-duration: var(--tw-duration, var(--default-transition-duration)); + } + .transition-colors { + transition-property: color, background-color, border-color, outline-color, text-decoration-color, fill, stroke, --tw-gradient-from, --tw-gradient-via, --tw-gradient-to; + transition-timing-function: var(--tw-ease, var(--default-transition-timing-function)); + transition-duration: var(--tw-duration, var(--default-transition-duration)); + } + .duration-150 { + --tw-duration: 150ms; + transition-duration: 150ms; + } + .duration-200 { + --tw-duration: 200ms; + transition-duration: 200ms; + } + .select-none { + -webkit-user-select: none; + user-select: none; + } + .peer-checked\:bg-blue-800 { + &:is(:where(.peer):checked ~ *) { + background-color: var(--color-blue-800); + } + } + .peer-checked\:bg-green-400 { + &:is(:where(.peer):checked ~ *) { + background-color: var(--color-green-400); + } + } + .peer-checked\:text-gray-400 { + &:is(:where(.peer):checked ~ *) { + color: var(--color-gray-400); + } + } + .peer-checked\:text-gray-900 { + &:is(:where(.peer):checked ~ *) { + color: var(--color-gray-900); + } + } + .peer-checked\:text-white { + &:is(:where(.peer):checked ~ *) { + color: var(--color-white); + } + } + .peer-focus\:ring-4 { + &:is(:where(.peer):focus ~ *) { + --tw-ring-shadow: var(--tw-ring-inset,) 0 0 0 calc(4px + var(--tw-ring-offset-width)) var(--tw-ring-color, currentcolor); + box-shadow: var(--tw-inset-shadow), var(--tw-inset-ring-shadow), var(--tw-ring-offset-shadow), var(--tw-ring-shadow), var(--tw-shadow); + } + } + .peer-focus\:ring-gray-100 { + &:is(:where(.peer):focus ~ *) { + --tw-ring-color: var(--color-gray-100); + } + } + .peer-focus\:outline-none { + &:is(:where(.peer):focus ~ *) { + --tw-outline-style: none; + outline-style: none; + } + } + .after\:absolute { + &::after { + content: var(--tw-content); + position: absolute; + } + } + .after\:start-0\.5 { + &::after { + content: var(--tw-content); + inset-inline-start: calc(var(--spacing) * 0.5); + } + } + .after\:top-0\.5 { + &::after { + content: var(--tw-content); + top: calc(var(--spacing) * 0.5); + } + } + .after\:h-7 { + &::after { + content: var(--tw-content); + height: calc(var(--spacing) * 7); + } + } + .after\:w-7 { + &::after { + content: var(--tw-content); + width: calc(var(--spacing) * 7); + } + } + .after\:rounded-full { + &::after { + content: var(--tw-content); + border-radius: calc(infinity * 1px); + } + } + .after\:border { + &::after { + content: var(--tw-content); + border-style: var(--tw-border-style); + border-width: 1px; + } + } + .after\:border-gray-300 { + &::after { + content: var(--tw-content); + border-color: var(--color-gray-300); + } + } + .after\:bg-white { + &::after { + content: var(--tw-content); + background-color: var(--color-white); + } + } + .after\:transition-all { + &::after { + content: var(--tw-content); + transition-property: all; + transition-timing-function: var(--tw-ease, var(--default-transition-timing-function)); + transition-duration: var(--tw-duration, var(--default-transition-duration)); + } + } + .after\:content-\[\'\'\] { + &::after { + --tw-content: ''; + content: var(--tw-content); + } + } + .peer-checked\:after\:translate-x-\[46px\] { + &:is(:where(.peer):checked ~ *) { + &::after { + content: var(--tw-content); + --tw-translate-x: 46px; + translate: var(--tw-translate-x) var(--tw-translate-y); + } + } + } + .peer-checked\:after\:border-white { + &:is(:where(.peer):checked ~ *) { + &::after { + content: var(--tw-content); + border-color: var(--color-white); + } + } + } + .hover\:bg-blue-600 { + &:hover { + @media (hover: hover) { + background-color: var(--color-blue-600); + } + } + } + .hover\:bg-blue-700 { + &:hover { + @media (hover: hover) { + background-color: var(--color-blue-700); + } + } + } + .hover\:bg-blue-800 { + &:hover { + @media (hover: hover) { + background-color: var(--color-blue-800); + } + } + } + .hover\:bg-gray-200 { + &:hover { + @media (hover: hover) { + background-color: var(--color-gray-200); + } + } + } + .hover\:bg-gray-300 { + &:hover { + @media (hover: hover) { + background-color: var(--color-gray-300); + } + } + } + .hover\:bg-green-500 { + &:hover { + @media (hover: hover) { + background-color: var(--color-green-500); + } + } + } + .hover\:bg-green-800 { + &:hover { + @media (hover: hover) { + background-color: var(--color-green-800); + } + } + } + .hover\:bg-red-600 { + &:hover { + @media (hover: hover) { + background-color: var(--color-red-600); + } + } + } + .hover\:bg-red-800 { + &:hover { + @media (hover: hover) { + background-color: var(--color-red-800); + } + } + } + .hover\:text-gray-900 { + &:hover { + @media (hover: hover) { + color: var(--color-gray-900); + } + } + } + .focus\:border-blue-500 { + &:focus { + border-color: var(--color-blue-500); + } + } + .focus\:ring-4 { + &:focus { + --tw-ring-shadow: var(--tw-ring-inset,) 0 0 0 calc(4px + var(--tw-ring-offset-width)) var(--tw-ring-color, currentcolor); + box-shadow: var(--tw-inset-shadow), var(--tw-inset-ring-shadow), var(--tw-ring-offset-shadow), var(--tw-ring-shadow), var(--tw-shadow); + } + } + .focus\:ring-blue-300 { + &:focus { + --tw-ring-color: var(--color-blue-300); + } + } + .focus\:ring-blue-500 { + &:focus { + --tw-ring-color: var(--color-blue-500); + } + } + .focus\:ring-green-300 { + &:focus { + --tw-ring-color: var(--color-green-300); + } + } + .focus\:ring-red-300 { + &:focus { + --tw-ring-color: var(--color-red-300); + } + } + .focus\:outline-none { + &:focus { + --tw-outline-style: none; + outline-style: none; + } + } + .disabled\:bg-gray-300 { + &:disabled { + background-color: var(--color-gray-300); + } + } + .disabled\:text-gray-500 { + &:disabled { + color: var(--color-gray-500); + } + } + .sm\:w-auto { + @media (width >= 40rem) { + width: auto; + } + } + .sm\:px-8 { + @media (width >= 40rem) { + padding-inline: calc(var(--spacing) * 8); + } + } + .md\:w-2\/3 { + @media (width >= 48rem) { + width: calc(2/3 * 100%); + } + } + .md\:flex-row { + @media (width >= 48rem) { + flex-direction: row; + } + } + .md\:p-5 { + @media (width >= 48rem) { + padding: calc(var(--spacing) * 5); + } + } + .md\:px-8 { + @media (width >= 48rem) { + padding-inline: calc(var(--spacing) * 8); + } + } + .lg\:px-8 { + @media (width >= 64rem) { + padding-inline: calc(var(--spacing) * 8); + } + } + .xl\:px-8 { + @media (width >= 80rem) { + padding-inline: calc(var(--spacing) * 8); + } + } + .rtl\:peer-checked\:after\:-translate-x-full { + &:where(:dir(rtl), [dir="rtl"], [dir="rtl"] *) { + &:is(:where(.peer):checked ~ *) { + &::after { + content: var(--tw-content); + --tw-translate-x: -100%; + translate: var(--tw-translate-x) var(--tw-translate-y); + } + } + } + } + .dark\:border-gray-600 { + @media (prefers-color-scheme: dark) { + border-color: var(--color-gray-600); + } + } + .dark\:bg-blue-600 { + @media (prefers-color-scheme: dark) { + background-color: var(--color-blue-600); + } + } + .dark\:bg-gray-400 { + @media (prefers-color-scheme: dark) { + background-color: var(--color-gray-400); + } + } + .dark\:bg-gray-700 { + @media (prefers-color-scheme: dark) { + background-color: var(--color-gray-700); + } + } + .dark\:bg-green-600 { + @media (prefers-color-scheme: dark) { + background-color: var(--color-green-600); + } + } + .dark\:bg-red-400 { + @media (prefers-color-scheme: dark) { + background-color: var(--color-red-400); + } + } + .dark\:bg-red-600 { + @media (prefers-color-scheme: dark) { + background-color: var(--color-red-600); + } + } + .dark\:text-gray-400 { + @media (prefers-color-scheme: dark) { + color: var(--color-gray-400); + } + } + .dark\:text-white { + @media (prefers-color-scheme: dark) { + color: var(--color-white); + } + } + .dark\:peer-checked\:bg-blue-800 { + @media (prefers-color-scheme: dark) { + &:is(:where(.peer):checked ~ *) { + background-color: var(--color-blue-800); + } + } + } + .dark\:peer-checked\:bg-green-400 { + @media (prefers-color-scheme: dark) { + &:is(:where(.peer):checked ~ *) { + background-color: var(--color-green-400); + } + } + } + .dark\:peer-focus\:ring-gray-100 { + @media (prefers-color-scheme: dark) { + &:is(:where(.peer):focus ~ *) { + --tw-ring-color: var(--color-gray-100); + } + } + } + .dark\:hover\:bg-blue-700 { + @media (prefers-color-scheme: dark) { + &:hover { + @media (hover: hover) { + background-color: var(--color-blue-700); + } + } + } + } + .dark\:hover\:bg-green-700 { + @media (prefers-color-scheme: dark) { + &:hover { + @media (hover: hover) { + background-color: var(--color-green-700); + } + } + } + } + .dark\:hover\:bg-red-700 { + @media (prefers-color-scheme: dark) { + &:hover { + @media (hover: hover) { + background-color: var(--color-red-700); + } + } + } + } + .dark\:focus\:ring-blue-800 { + @media (prefers-color-scheme: dark) { + &:focus { + --tw-ring-color: var(--color-blue-800); + } + } + } + .dark\:focus\:ring-green-800 { + @media (prefers-color-scheme: dark) { + &:focus { + --tw-ring-color: var(--color-green-800); + } + } + } + .dark\:focus\:ring-red-800 { + @media (prefers-color-scheme: dark) { + &:focus { + --tw-ring-color: var(--color-red-800); + } + } + } +} +@font-face { + font-family: 'Asap'; + src: url('/static/fonts/Asap-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: normal; +} +@font-face { + font-family: 'Asap'; + src: url('/static/fonts/Asap-Italic-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: italic; +} +@font-face { + font-family: 'Archivo'; + src: url('/static/fonts/Archivo-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: normal; +} +@font-face { + font-family: 'Archivo'; + src: url('/static/fonts/Archivo-Italic-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: italic; +} +html { + -webkit-font-smoothing: antialiased; + -moz-osx-font-smoothing: grayscale; +} +body { + font-family: 'Archivo', 'Asap', sans-serif; +} +.daemon-status-title { + font-size: 36px; + font-weight: 500; + letter-spacing: 0.3px; +} +.daemon-status-collapse { + font-family: 'Asap', sans-serif; + font-weight: 400; + color: rgba(0, 0, 0, 0.7); +} +.app-section { + border-radius: 8px; + border-width: 1px; + padding: 16px; + gap: 16px; + background: #FFFFFF; +} +.installed-app-title { + font-weight: 600; +} +.app-section-title { + font-weight: 500; + font-size: 24px; + letter-spacing: 0px; +} +.app-list-item { + padding: 4px; +} +.hf-app-icon { + width: 42px; + height: 42px; + border-radius: 10px; + text-align: center; + font-size: 31px; + background-color: rgba(0, 0, 0, 0.1); +} +.hf-app-title { + font-weight: 500; + font-size: 18px; +} +.hf-app-description { + font-family: 'Asap', sans-serif; + font-weight: 400; + font-size: 16px; + line-height: 75%; + color: rgba(0, 0, 0, 0.4); +} +.hf-app-install-button { + font-weight: 500; + font-size: 20px; + font-style: Bold; + text-align: center; + border-radius: 8px; + display: flex; + align-items: center; + justify-content: center; +} +.wifi-status { + font-family: 'Asap', sans-serif; + font-weight: 500; + color: rgba(0, 0, 0, 0.9); +} +.wifi-status-info { + font-family: 'Asap', sans-serif; + font-weight: 400; + color: rgba(0, 0, 0, 0.7); +} +.notification-modal { + position: fixed; + bottom: 24px; + right: 24px; + z-index: 9999; + min-width: 300px; + max-width: 400px; + background: #fff; + box-shadow: 0 4px 16px rgba(0, 0, 0, 0.2); + border-radius: 8px; + display: none; + animation: fadeInUp 0.3s; +} +@keyframes fadeInUp { + from { + opacity: 0; + transform: translateY(40px); + } + to { + opacity: 1; + transform: translateY(0); + } +} +.notification-content { + padding: 20px 28px; + border-radius: 8px; + box-shadow: 0 2px 12px rgba(0, 0, 0, 0.15); + display: flex; + align-items: center; + justify-content: space-between; +} +.notification-content.info { + background: #fff; + border: 1px solid #e0e0e0; +} +.notification-content.error { + background: #ffeaea; + border: 1px solid #ff4d4f; + color: #b71c1c; +} +.close-btn { + background: none; + border: none; + font-size: 1.5em; + cursor: pointer; + color: #888; +} +@property --tw-translate-x { + syntax: "*"; + inherits: false; + initial-value: 0; +} +@property --tw-translate-y { + syntax: "*"; + inherits: false; + initial-value: 0; +} +@property --tw-translate-z { + syntax: "*"; + inherits: false; + initial-value: 0; +} +@property --tw-rotate-x { + syntax: "*"; + inherits: false; +} +@property --tw-rotate-y { + syntax: "*"; + inherits: false; +} +@property --tw-rotate-z { + syntax: "*"; + inherits: false; +} +@property --tw-skew-x { + syntax: "*"; + inherits: false; +} +@property --tw-skew-y { + syntax: "*"; + inherits: false; +} +@property --tw-space-y-reverse { + syntax: "*"; + inherits: false; + initial-value: 0; +} +@property --tw-border-style { + syntax: "*"; + inherits: false; + initial-value: solid; +} +@property --tw-font-weight { + syntax: "*"; + inherits: false; +} +@property --tw-shadow { + syntax: "*"; + inherits: false; + initial-value: 0 0 #0000; +} +@property --tw-shadow-color { + syntax: "*"; + inherits: false; +} +@property --tw-shadow-alpha { + syntax: ""; + inherits: false; + initial-value: 100%; +} +@property --tw-inset-shadow { + syntax: "*"; + inherits: false; + initial-value: 0 0 #0000; +} +@property --tw-inset-shadow-color { + syntax: "*"; + inherits: false; +} +@property --tw-inset-shadow-alpha { + syntax: ""; + inherits: false; + initial-value: 100%; +} +@property --tw-ring-color { + syntax: "*"; + inherits: false; +} +@property --tw-ring-shadow { + syntax: "*"; + inherits: false; + initial-value: 0 0 #0000; +} +@property --tw-inset-ring-color { + syntax: "*"; + inherits: false; +} +@property --tw-inset-ring-shadow { + syntax: "*"; + inherits: false; + initial-value: 0 0 #0000; +} +@property --tw-ring-inset { + syntax: "*"; + inherits: false; +} +@property --tw-ring-offset-width { + syntax: ""; + inherits: false; + initial-value: 0px; +} +@property --tw-ring-offset-color { + syntax: "*"; + inherits: false; + initial-value: #fff; +} +@property --tw-ring-offset-shadow { + syntax: "*"; + inherits: false; + initial-value: 0 0 #0000; +} +@property --tw-duration { + syntax: "*"; + inherits: false; +} +@property --tw-content { + syntax: "*"; + initial-value: ""; + inherits: false; +} +@layer properties { + @supports ((-webkit-hyphens: none) and (not (margin-trim: inline))) or ((-moz-orient: inline) and (not (color:rgb(from red r g b)))) { + *, ::before, ::after, ::backdrop { + --tw-translate-x: 0; + --tw-translate-y: 0; + --tw-translate-z: 0; + --tw-rotate-x: initial; + --tw-rotate-y: initial; + --tw-rotate-z: initial; + --tw-skew-x: initial; + --tw-skew-y: initial; + --tw-space-y-reverse: 0; + --tw-border-style: solid; + --tw-font-weight: initial; + --tw-shadow: 0 0 #0000; + --tw-shadow-color: initial; + --tw-shadow-alpha: 100%; + --tw-inset-shadow: 0 0 #0000; + --tw-inset-shadow-color: initial; + --tw-inset-shadow-alpha: 100%; + --tw-ring-color: initial; + --tw-ring-shadow: 0 0 #0000; + --tw-inset-ring-color: initial; + --tw-inset-ring-shadow: 0 0 #0000; + --tw-ring-inset: initial; + --tw-ring-offset-width: 0px; + --tw-ring-offset-color: #fff; + --tw-ring-offset-shadow: 0 0 #0000; + --tw-duration: initial; + --tw-content: ""; + } + } +} diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/3rdparty/gstwebrtc-api-2.0.0.min.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/3rdparty/gstwebrtc-api-2.0.0.min.js new file mode 100644 index 0000000000000000000000000000000000000000..a8e1dfe53db7cc7d533e524db69fe0ba7a3cccec --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/3rdparty/gstwebrtc-api-2.0.0.min.js @@ -0,0 +1,5 @@ +/*! gstwebrtc-api (https://gitlab.freedesktop.org/gstreamer/gst-plugins-rs/-/tree/main/net/webrtc/gstwebrtc-api), MPL-2.0 License, Copyright (C) 2022 Igalia S.L. , Author: Loïc Le Page */ +/*! Contains embedded adapter from webrtc-adapter (https://github.com/webrtcHacks/adapter), BSD 3-Clause License, Copyright (c) 2014, The WebRTC project authors. All rights reserved. Copyright (c) 2018, The adapter.js project authors. All rights reserved. */ + +(()=>{"use strict";var e={539:e=>{const t={generateIdentifier:function(){return Math.random().toString(36).substring(2,12)}};t.localCName=t.generateIdentifier(),t.splitLines=function(e){return e.trim().split("\n").map((e=>e.trim()))},t.splitSections=function(e){return e.split("\nm=").map(((e,t)=>(t>0?"m="+e:e).trim()+"\r\n"))},t.getDescription=function(e){const n=t.splitSections(e);return n&&n[0]},t.getMediaSections=function(e){const n=t.splitSections(e);return n.shift(),n},t.matchPrefix=function(e,n){return t.splitLines(e).filter((e=>0===e.indexOf(n)))},t.parseCandidate=function(e){let t;t=0===e.indexOf("a=candidate:")?e.substring(12).split(" "):e.substring(10).split(" ");const n={foundation:t[0],component:{1:"rtp",2:"rtcp"}[t[1]]||t[1],protocol:t[2].toLowerCase(),priority:parseInt(t[3],10),ip:t[4],address:t[4],port:parseInt(t[5],10),type:t[7]};for(let e=8;e0?t[0].split("/")[1]:"sendrecv",uri:t[1],attributes:t.slice(2).join(" ")}},t.writeExtmap=function(e){return"a=extmap:"+(e.id||e.preferredId)+(e.direction&&"sendrecv"!==e.direction?"/"+e.direction:"")+" "+e.uri+(e.attributes?" 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n={codecs:[],headerExtensions:[],fecMechanisms:[],rtcp:[]},r=t.splitLines(e)[0].split(" ");n.profile=r[2];for(let i=3;i{n.headerExtensions.push(t.parseExtmap(e))}));const i=t.matchPrefix(e,"a=rtcp-fb:* ").map(t.parseRtcpFb);return n.codecs.forEach((e=>{i.forEach((t=>{e.rtcpFeedback.find((e=>e.type===t.type&&e.parameter===t.parameter))||e.rtcpFeedback.push(t)}))})),n},t.writeRtpDescription=function(e,n){let r="";r+="m="+e+" ",r+=n.codecs.length>0?"9":"0",r+=" "+(n.profile||"UDP/TLS/RTP/SAVPF")+" ",r+=n.codecs.map((e=>void 0!==e.preferredPayloadType?e.preferredPayloadType:e.payloadType)).join(" ")+"\r\n",r+="c=IN IP4 0.0.0.0\r\n",r+="a=rtcp:9 IN IP4 0.0.0.0\r\n",n.codecs.forEach((e=>{r+=t.writeRtpMap(e),r+=t.writeFmtp(e),r+=t.writeRtcpFb(e)}));let i=0;return n.codecs.forEach((e=>{e.maxptime>i&&(i=e.maxptime)})),i>0&&(r+="a=maxptime:"+i+"\r\n"),n.headerExtensions&&n.headerExtensions.forEach((e=>{r+=t.writeExtmap(e)})),r},t.parseRtpEncodingParameters=function(e){const 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e=a.get.apply(this);return""===e.type?e:o(this,e)}}),e.RTCPeerConnection.prototype.removeTrack=function(e){if("closed"===this.signalingState)throw new DOMException("The RTCPeerConnection's signalingState is 'closed'.","InvalidStateError");if(!e._pc)throw new DOMException("Argument 1 of RTCPeerConnection.removeTrack does not implement interface RTCRtpSender.","TypeError");if(!(e._pc===this))throw new DOMException("Sender was not created by this connection.","InvalidAccessError");let t;this._streams=this._streams||{},Object.keys(this._streams).forEach((n=>{this._streams[n].getTracks().find((t=>e.track===t))&&(t=this._streams[n])})),t&&(1===t.getTracks().length?this.removeStream(this._reverseStreams[t.id]):t.removeTrack(e.track),this.dispatchEvent(new Event("negotiationneeded")))}}function R(e,t){!e.RTCPeerConnection&&e.webkitRTCPeerConnection&&(e.RTCPeerConnection=e.webkitRTCPeerConnection),e.RTCPeerConnection&&t.version<53&&["setLocalDescription","setRemoteDescription","addIceCandidate"].forEach((function(t){const n=e.RTCPeerConnection.prototype[t],r={[t](){return arguments[0]=new("addIceCandidate"===t?e.RTCIceCandidate:e.RTCSessionDescription)(arguments[0]),n.apply(this,arguments)}};e.RTCPeerConnection.prototype[t]=r[t]}))}function w(e,t){c(e,"negotiationneeded",(e=>{const n=e.target;if(!(t.version<72||n.getConfiguration&&"plan-b"===n.getConfiguration().sdpSemantics)||"stable"===n.signalingState)return e}))}function A(e,t){const n=e&&e.navigator,r=e&&e.MediaStreamTrack;if(n.getUserMedia=function(e,t,r){p("navigator.getUserMedia","navigator.mediaDevices.getUserMedia"),n.mediaDevices.getUserMedia(e).then(t,r)},!(t.version>55&&"autoGainControl"in n.mediaDevices.getSupportedConstraints())){const e=function(e,t,n){t in e&&!(n in e)&&(e[n]=e[t],delete e[t])},t=n.mediaDevices.getUserMedia.bind(n.mediaDevices);if(n.mediaDevices.getUserMedia=function(n){return"object"==typeof n&&"object"==typeof n.audio&&(n=JSON.parse(JSON.stringify(n)),e(n.audio,"autoGainControl","mozAutoGainControl"),e(n.audio,"noiseSuppression","mozNoiseSuppression")),t(n)},r&&r.prototype.getSettings){const t=r.prototype.getSettings;r.prototype.getSettings=function(){const n=t.apply(this,arguments);return e(n,"mozAutoGainControl","autoGainControl"),e(n,"mozNoiseSuppression","noiseSuppression"),n}}if(r&&r.prototype.applyConstraints){const t=r.prototype.applyConstraints;r.prototype.applyConstraints=function(n){return"audio"===this.kind&&"object"==typeof n&&(n=JSON.parse(JSON.stringify(n)),e(n,"autoGainControl","mozAutoGainControl"),e(n,"noiseSuppression","mozNoiseSuppression")),t.apply(this,[n])}}}}function x(e,t){e.navigator.mediaDevices&&"getDisplayMedia"in e.navigator.mediaDevices||e.navigator.mediaDevices&&(e.navigator.mediaDevices.getDisplayMedia=function(n){if(!n||!n.video){const e=new DOMException("getDisplayMedia without video constraints is undefined");return e.name="NotFoundError",e.code=8,Promise.reject(e)}return!0===n.video?n.video={mediaSource:t}:n.video.mediaSource=t,e.navigator.mediaDevices.getUserMedia(n)})}function I(e){"object"==typeof e&&e.RTCTrackEvent&&"receiver"in e.RTCTrackEvent.prototype&&!("transceiver"in e.RTCTrackEvent.prototype)&&Object.defineProperty(e.RTCTrackEvent.prototype,"transceiver",{get(){return{receiver:this.receiver}}})}function O(e,t){if("object"!=typeof e||!e.RTCPeerConnection&&!e.mozRTCPeerConnection)return;!e.RTCPeerConnection&&e.mozRTCPeerConnection&&(e.RTCPeerConnection=e.mozRTCPeerConnection),t.version<53&&["setLocalDescription","setRemoteDescription","addIceCandidate"].forEach((function(t){const n=e.RTCPeerConnection.prototype[t],r={[t](){return arguments[0]=new("addIceCandidate"===t?e.RTCIceCandidate:e.RTCSessionDescription)(arguments[0]),n.apply(this,arguments)}};e.RTCPeerConnection.prototype[t]=r[t]}));const n={inboundrtp:"inbound-rtp",outboundrtp:"outbound-rtp",candidatepair:"candidate-pair",localcandidate:"local-candidate",remotecandidate:"remote-candidate"},r=e.RTCPeerConnection.prototype.getStats;e.RTCPeerConnection.prototype.getStats=function(){const[e,i,o]=arguments;return r.apply(this,[e||null]).then((e=>{if(t.version<53&&!i)try{e.forEach((e=>{e.type=n[e.type]||e.type}))}catch(t){if("TypeError"!==t.name)throw t;e.forEach(((t,r)=>{e.set(r,Object.assign({},t,{type:n[t.type]||t.type}))}))}return e})).then(i,o)}}function D(e){if("object"!=typeof e||!e.RTCPeerConnection||!e.RTCRtpSender)return;if(e.RTCRtpSender&&"getStats"in e.RTCRtpSender.prototype)return;const t=e.RTCPeerConnection.prototype.getSenders;t&&(e.RTCPeerConnection.prototype.getSenders=function(){const e=t.apply(this,[]);return e.forEach((e=>e._pc=this)),e});const n=e.RTCPeerConnection.prototype.addTrack;n&&(e.RTCPeerConnection.prototype.addTrack=function(){const e=n.apply(this,arguments);return e._pc=this,e}),e.RTCRtpSender.prototype.getStats=function(){return this.track?this._pc.getStats(this.track):Promise.resolve(new Map)}}function M(e){if("object"!=typeof e||!e.RTCPeerConnection||!e.RTCRtpSender)return;if(e.RTCRtpSender&&"getStats"in e.RTCRtpReceiver.prototype)return;const t=e.RTCPeerConnection.prototype.getReceivers;t&&(e.RTCPeerConnection.prototype.getReceivers=function(){const e=t.apply(this,[]);return e.forEach((e=>e._pc=this)),e}),c(e,"track",(e=>(e.receiver._pc=e.srcElement,e))),e.RTCRtpReceiver.prototype.getStats=function(){return this._pc.getStats(this.track)}}function L(e){e.RTCPeerConnection&&!("removeStream"in e.RTCPeerConnection.prototype)&&(e.RTCPeerConnection.prototype.removeStream=function(e){p("removeStream","removeTrack"),this.getSenders().forEach((t=>{t.track&&e.getTracks().includes(t.track)&&this.removeTrack(t)}))})}function H(e){e.DataChannel&&!e.RTCDataChannel&&(e.RTCDataChannel=e.DataChannel)}function G(e){if("object"!=typeof e||!e.RTCPeerConnection)return;const t=e.RTCPeerConnection.prototype.addTransceiver;t&&(e.RTCPeerConnection.prototype.addTransceiver=function(){this.setParametersPromises=[];let e=arguments[1]&&arguments[1].sendEncodings;void 0===e&&(e=[]),e=[...e];const n=e.length>0;n&&e.forEach((e=>{if("rid"in e){if(!/^[a-z0-9]{0,16}$/i.test(e.rid))throw new TypeError("Invalid RID value provided.")}if("scaleResolutionDownBy"in e&&!(parseFloat(e.scaleResolutionDownBy)>=1))throw new RangeError("scale_resolution_down_by must be >= 1.0");if("maxFramerate"in e&&!(parseFloat(e.maxFramerate)>=0))throw new RangeError("max_framerate must be >= 0.0")}));const r=t.apply(this,arguments);if(n){const{sender:t}=r,n=t.getParameters();(!("encodings"in n)||1===n.encodings.length&&0===Object.keys(n.encodings[0]).length)&&(n.encodings=e,t.sendEncodings=e,this.setParametersPromises.push(t.setParameters(n).then((()=>{delete t.sendEncodings})).catch((()=>{delete t.sendEncodings}))))}return r})}function j(e){if("object"!=typeof e||!e.RTCRtpSender)return;const t=e.RTCRtpSender.prototype.getParameters;t&&(e.RTCRtpSender.prototype.getParameters=function(){const e=t.apply(this,arguments);return"encodings"in e||(e.encodings=[].concat(this.sendEncodings||[{}])),e})}function N(e){if("object"!=typeof e||!e.RTCPeerConnection)return;const t=e.RTCPeerConnection.prototype.createOffer;e.RTCPeerConnection.prototype.createOffer=function(){return this.setParametersPromises&&this.setParametersPromises.length?Promise.all(this.setParametersPromises).then((()=>t.apply(this,arguments))).finally((()=>{this.setParametersPromises=[]})):t.apply(this,arguments)}}function U(e){if("object"!=typeof e||!e.RTCPeerConnection)return;const t=e.RTCPeerConnection.prototype.createAnswer;e.RTCPeerConnection.prototype.createAnswer=function(){return this.setParametersPromises&&this.setParametersPromises.length?Promise.all(this.setParametersPromises).then((()=>t.apply(this,arguments))).finally((()=>{this.setParametersPromises=[]})):t.apply(this,arguments)}}function F(e){if("object"==typeof e&&e.RTCPeerConnection){if("getLocalStreams"in e.RTCPeerConnection.prototype||(e.RTCPeerConnection.prototype.getLocalStreams=function(){return this._localStreams||(this._localStreams=[]),this._localStreams}),!("addStream"in e.RTCPeerConnection.prototype)){const t=e.RTCPeerConnection.prototype.addTrack;e.RTCPeerConnection.prototype.addStream=function(e){this._localStreams||(this._localStreams=[]),this._localStreams.includes(e)||this._localStreams.push(e),e.getAudioTracks().forEach((n=>t.call(this,n,e))),e.getVideoTracks().forEach((n=>t.call(this,n,e)))},e.RTCPeerConnection.prototype.addTrack=function(e,...n){return n&&n.forEach((e=>{this._localStreams?this._localStreams.includes(e)||this._localStreams.push(e):this._localStreams=[e]})),t.apply(this,arguments)}}"removeStream"in e.RTCPeerConnection.prototype||(e.RTCPeerConnection.prototype.removeStream=function(e){this._localStreams||(this._localStreams=[]);const t=this._localStreams.indexOf(e);if(-1===t)return;this._localStreams.splice(t,1);const n=e.getTracks();this.getSenders().forEach((e=>{n.includes(e.track)&&this.removeTrack(e)}))})}}function z(e){if("object"==typeof e&&e.RTCPeerConnection&&("getRemoteStreams"in e.RTCPeerConnection.prototype||(e.RTCPeerConnection.prototype.getRemoteStreams=function(){return this._remoteStreams?this._remoteStreams:[]}),!("onaddstream"in e.RTCPeerConnection.prototype))){Object.defineProperty(e.RTCPeerConnection.prototype,"onaddstream",{get(){return this._onaddstream},set(e){this._onaddstream&&(this.removeEventListener("addstream",this._onaddstream),this.removeEventListener("track",this._onaddstreampoly)),this.addEventListener("addstream",this._onaddstream=e),this.addEventListener("track",this._onaddstreampoly=e=>{e.streams.forEach((e=>{if(this._remoteStreams||(this._remoteStreams=[]),this._remoteStreams.includes(e))return;this._remoteStreams.push(e);const t=new Event("addstream");t.stream=e,this.dispatchEvent(t)}))})}});const t=e.RTCPeerConnection.prototype.setRemoteDescription;e.RTCPeerConnection.prototype.setRemoteDescription=function(){const e=this;return this._onaddstreampoly||this.addEventListener("track",this._onaddstreampoly=function(t){t.streams.forEach((t=>{if(e._remoteStreams||(e._remoteStreams=[]),e._remoteStreams.indexOf(t)>=0)return;e._remoteStreams.push(t);const n=new Event("addstream");n.stream=t,e.dispatchEvent(n)}))}),t.apply(e,arguments)}}}function J(e){if("object"!=typeof e||!e.RTCPeerConnection)return;const t=e.RTCPeerConnection.prototype,n=t.createOffer,r=t.createAnswer,i=t.setLocalDescription,o=t.setRemoteDescription,s=t.addIceCandidate;t.createOffer=function(e,t){const r=arguments.length>=2?arguments[2]:arguments[0],i=n.apply(this,[r]);return t?(i.then(e,t),Promise.resolve()):i},t.createAnswer=function(e,t){const n=arguments.length>=2?arguments[2]:arguments[0],i=r.apply(this,[n]);return t?(i.then(e,t),Promise.resolve()):i};let a=function(e,t,n){const r=i.apply(this,[e]);return n?(r.then(t,n),Promise.resolve()):r};t.setLocalDescription=a,a=function(e,t,n){const r=o.apply(this,[e]);return n?(r.then(t,n),Promise.resolve()):r},t.setRemoteDescription=a,a=function(e,t,n){const r=s.apply(this,[e]);return n?(r.then(t,n),Promise.resolve()):r},t.addIceCandidate=a}function K(e){const t=e&&e.navigator;if(t.mediaDevices&&t.mediaDevices.getUserMedia){const e=t.mediaDevices,n=e.getUserMedia.bind(e);t.mediaDevices.getUserMedia=e=>n(q(e))}!t.getUserMedia&&t.mediaDevices&&t.mediaDevices.getUserMedia&&(t.getUserMedia=function(e,n,r){t.mediaDevices.getUserMedia(e).then(n,r)}.bind(t))}function q(e){return e&&void 0!==e.video?Object.assign({},e,{video:m(e.video)}):e}function W(e){if(!e.RTCPeerConnection)return;const t=e.RTCPeerConnection;e.RTCPeerConnection=function(e,n){if(e&&e.iceServers){const t=[];for(let n=0;nt.generateCertificate})}function Y(e){"object"==typeof e&&e.RTCTrackEvent&&"receiver"in e.RTCTrackEvent.prototype&&!("transceiver"in e.RTCTrackEvent.prototype)&&Object.defineProperty(e.RTCTrackEvent.prototype,"transceiver",{get(){return{receiver:this.receiver}}})}function V(e){const t=e.RTCPeerConnection.prototype.createOffer;e.RTCPeerConnection.prototype.createOffer=function(e){if(e){void 0!==e.offerToReceiveAudio&&(e.offerToReceiveAudio=!!e.offerToReceiveAudio);const t=this.getTransceivers().find((e=>"audio"===e.receiver.track.kind));!1===e.offerToReceiveAudio&&t?"sendrecv"===t.direction?t.setDirection?t.setDirection("sendonly"):t.direction="sendonly":"recvonly"===t.direction&&(t.setDirection?t.setDirection("inactive"):t.direction="inactive"):!0!==e.offerToReceiveAudio||t||this.addTransceiver("audio",{direction:"recvonly"}),void 0!==e.offerToReceiveVideo&&(e.offerToReceiveVideo=!!e.offerToReceiveVideo);const n=this.getTransceivers().find((e=>"video"===e.receiver.track.kind));!1===e.offerToReceiveVideo&&n?"sendrecv"===n.direction?n.setDirection?n.setDirection("sendonly"):n.direction="sendonly":"recvonly"===n.direction&&(n.setDirection?n.setDirection("inactive"):n.direction="inactive"):!0!==e.offerToReceiveVideo||n||this.addTransceiver("video",{direction:"recvonly"})}return t.apply(this,arguments)}}function B(e){"object"!=typeof e||e.AudioContext||(e.AudioContext=e.webkitAudioContext)}var Z=n(539),X=n.n(Z);function $(e){if(!e.RTCIceCandidate||e.RTCIceCandidate&&"foundation"in e.RTCIceCandidate.prototype)return;const t=e.RTCIceCandidate;e.RTCIceCandidate=function(e){if("object"==typeof e&&e.candidate&&0===e.candidate.indexOf("a=")&&((e=JSON.parse(JSON.stringify(e))).candidate=e.candidate.substring(2)),e.candidate&&e.candidate.length){const n=new t(e),r=X().parseCandidate(e.candidate);for(const e in r)e in n||Object.defineProperty(n,e,{value:r[e]});return n.toJSON=function(){return{candidate:n.candidate,sdpMid:n.sdpMid,sdpMLineIndex:n.sdpMLineIndex,usernameFragment:n.usernameFragment}},n}return new t(e)},e.RTCIceCandidate.prototype=t.prototype,c(e,"icecandidate",(t=>(t.candidate&&Object.defineProperty(t,"candidate",{value:new e.RTCIceCandidate(t.candidate),writable:"false"}),t)))}function Q(e){!e.RTCIceCandidate||e.RTCIceCandidate&&"relayProtocol"in e.RTCIceCandidate.prototype||c(e,"icecandidate",(e=>{if(e.candidate){const t=X().parseCandidate(e.candidate.candidate);"relay"===t.type&&(e.candidate.relayProtocol={0:"tls",1:"tcp",2:"udp"}[t.priority>>24])}return e}))}function ee(e,t){if(!e.RTCPeerConnection)return;"sctp"in e.RTCPeerConnection.prototype||Object.defineProperty(e.RTCPeerConnection.prototype,"sctp",{get(){return void 0===this._sctp?null:this._sctp}});const n=e.RTCPeerConnection.prototype.setRemoteDescription;e.RTCPeerConnection.prototype.setRemoteDescription=function(){if(this._sctp=null,"chrome"===t.browser&&t.version>=76){const{sdpSemantics:e}=this.getConfiguration();"plan-b"===e&&Object.defineProperty(this,"sctp",{get(){return void 0===this._sctp?null:this._sctp},enumerable:!0,configurable:!0})}if(function(e){if(!e||!e.sdp)return!1;const t=X().splitSections(e.sdp);return t.shift(),t.some((e=>{const t=X().parseMLine(e);return t&&"application"===t.kind&&-1!==t.protocol.indexOf("SCTP")}))}(arguments[0])){const e=function(e){const t=e.sdp.match(/mozilla...THIS_IS_SDPARTA-(\d+)/);if(null===t||t.length<2)return-1;const n=parseInt(t[1],10);return n!=n?-1:n}(arguments[0]),n=function(e){let n=65536;return"firefox"===t.browser&&(n=t.version<57?-1===e?16384:2147483637:t.version<60?57===t.version?65535:65536:2147483637),n}(e),r=function(e,n){let r=65536;"firefox"===t.browser&&57===t.version&&(r=65535);const i=X().matchPrefix(e.sdp,"a=max-message-size:");return i.length>0?r=parseInt(i[0].substring(19),10):"firefox"===t.browser&&-1!==n&&(r=2147483637),r}(arguments[0],e);let i;i=0===n&&0===r?Number.POSITIVE_INFINITY:0===n||0===r?Math.max(n,r):Math.min(n,r);const o={};Object.defineProperty(o,"maxMessageSize",{get:()=>i}),this._sctp=o}return n.apply(this,arguments)}}function te(e){if(!e.RTCPeerConnection||!("createDataChannel"in e.RTCPeerConnection.prototype))return;function t(e,t){const n=e.send;e.send=function(){const r=arguments[0],i=r.length||r.size||r.byteLength;if("open"===e.readyState&&t.sctp&&i>t.sctp.maxMessageSize)throw new TypeError("Message too large (can send a maximum of "+t.sctp.maxMessageSize+" bytes)");return n.apply(e,arguments)}}const n=e.RTCPeerConnection.prototype.createDataChannel;e.RTCPeerConnection.prototype.createDataChannel=function(){const e=n.apply(this,arguments);return t(e,this),e},c(e,"datachannel",(e=>(t(e.channel,e.target),e)))}function ne(e){if(!e.RTCPeerConnection||"connectionState"in e.RTCPeerConnection.prototype)return;const t=e.RTCPeerConnection.prototype;Object.defineProperty(t,"connectionState",{get(){return{completed:"connected",checking:"connecting"}[this.iceConnectionState]||this.iceConnectionState},enumerable:!0,configurable:!0}),Object.defineProperty(t,"onconnectionstatechange",{get(){return this._onconnectionstatechange||null},set(e){this._onconnectionstatechange&&(this.removeEventListener("connectionstatechange",this._onconnectionstatechange),delete this._onconnectionstatechange),e&&this.addEventListener("connectionstatechange",this._onconnectionstatechange=e)},enumerable:!0,configurable:!0}),["setLocalDescription","setRemoteDescription"].forEach((e=>{const n=t[e];t[e]=function(){return this._connectionstatechangepoly||(this._connectionstatechangepoly=e=>{const t=e.target;if(t._lastConnectionState!==t.connectionState){t._lastConnectionState=t.connectionState;const n=new Event("connectionstatechange",e);t.dispatchEvent(n)}return e},this.addEventListener("iceconnectionstatechange",this._connectionstatechangepoly)),n.apply(this,arguments)}}))}function re(e,t){if(!e.RTCPeerConnection)return;if("chrome"===t.browser&&t.version>=71)return;if("safari"===t.browser&&t.version>=605)return;const n=e.RTCPeerConnection.prototype.setRemoteDescription;e.RTCPeerConnection.prototype.setRemoteDescription=function(t){if(t&&t.sdp&&-1!==t.sdp.indexOf("\na=extmap-allow-mixed")){const n=t.sdp.split("\n").filter((e=>"a=extmap-allow-mixed"!==e.trim())).join("\n");e.RTCSessionDescription&&t instanceof e.RTCSessionDescription?arguments[0]=new e.RTCSessionDescription({type:t.type,sdp:n}):t.sdp=n}return n.apply(this,arguments)}}function ie(e,t){if(!e.RTCPeerConnection||!e.RTCPeerConnection.prototype)return;const n=e.RTCPeerConnection.prototype.addIceCandidate;n&&0!==n.length&&(e.RTCPeerConnection.prototype.addIceCandidate=function(){return arguments[0]?("chrome"===t.browser&&t.version<78||"firefox"===t.browser&&t.version<68||"safari"===t.browser)&&arguments[0]&&""===arguments[0].candidate?Promise.resolve():n.apply(this,arguments):(arguments[1]&&arguments[1].apply(null),Promise.resolve())})}function oe(e,t){if(!e.RTCPeerConnection||!e.RTCPeerConnection.prototype)return;const n=e.RTCPeerConnection.prototype.setLocalDescription;n&&0!==n.length&&(e.RTCPeerConnection.prototype.setLocalDescription=function(){let e=arguments[0]||{};if("object"!=typeof e||e.type&&e.sdp)return n.apply(this,arguments);if(e={type:e.type,sdp:e.sdp},!e.type)switch(this.signalingState){case"stable":case"have-local-offer":case"have-remote-pranswer":e.type="offer";break;default:e.type="answer"}if(e.sdp||"offer"!==e.type&&"answer"!==e.type)return n.apply(this,[e]);return("offer"===e.type?this.createOffer:this.createAnswer).apply(this).then((e=>n.apply(this,[e])))})}!function({window:n}={},o={shimChrome:!0,shimFirefox:!0,shimSafari:!0}){const s=h,c=function(e){const t={browser:null,version:null};if(void 0===e||!e.navigator)return t.browser="Not a browser.",t;const{navigator:n}=e;if(n.mozGetUserMedia)t.browser="firefox",t.version=a(n.userAgent,/Firefox\/(\d+)\./,1);else if(n.webkitGetUserMedia||!1===e.isSecureContext&&e.webkitRTCPeerConnection)t.browser="chrome",t.version=a(n.userAgent,/Chrom(e|ium)\/(\d+)\./,2);else{if(!e.RTCPeerConnection||!n.userAgent.match(/AppleWebKit\/(\d+)\./))return t.browser="Not a supported browser.",t;t.browser="safari",t.version=a(n.userAgent,/AppleWebKit\/(\d+)\./,1),t.supportsUnifiedPlan=e.RTCRtpTransceiver&&"currentDirection"in e.RTCRtpTransceiver.prototype}return t}(n),p={browserDetails:c,commonShim:i,extractVersion:a,disableLog:d,disableWarnings:l,sdp:Z};switch(c.browser){case"chrome":if(!e||!R||!o.shimChrome)return s("Chrome shim is not included in this adapter release."),p;if(null===c.version)return s("Chrome shim can not determine version, not shimming."),p;s("adapter.js shimming chrome."),p.browserShim=e,ie(n,c),oe(n),C(n,c),v(n),R(n,c),b(n),P(n,c),S(n),k(n),T(n),w(n,c),$(n),Q(n),ne(n),ee(n,c),te(n),re(n,c);break;case"firefox":if(!t||!O||!o.shimFirefox)return s("Firefox shim is not included in this adapter release."),p;s("adapter.js shimming firefox."),p.browserShim=t,ie(n,c),oe(n),A(n,c),O(n,c),I(n),L(n),D(n),M(n),H(n),G(n),j(n),N(n),U(n),$(n),ne(n),ee(n,c),te(n);break;case"safari":if(!r||!o.shimSafari)return s("Safari shim is not included in this adapter release."),p;s("adapter.js shimming safari."),p.browserShim=r,ie(n,c),oe(n),W(n),V(n),J(n),F(n),z(n),Y(n),K(n),B(n),$(n),Q(n),ee(n,c),te(n),re(n,c);break;default:s("Unsupported browser!")}}({window:"undefined"==typeof window?void 0:window});const se=Object.freeze({meta:null,signalingServerUrl:"ws://127.0.0.1:8443",reconnectionTimeout:2500,webrtcConfig:{iceServers:[{urls:["stun:stun.l.google.com:19302","stun:stun1.l.google.com:19302"]}]}}),ae={idle:0,connecting:1,streaming:2,closed:3};Object.freeze(ae);const ce=ae;class de extends EventTarget{constructor(e,t){super(),this._peerId=e,this._sessionId="",this._comChannel=t,this._state=ce.idle,this._rtcPeerConnection=null}get peerId(){return this._peerId}get sessionId(){return this._sessionId}get state(){return this._state}get rtcPeerConnection(){return this._rtcPeerConnection}close(){this._state!==ce.closed&&(this._state!==ce.idle&&this._comChannel&&this._sessionId&&this._comChannel.send({type:"endSession",sessionId:this._sessionId}),this._state=ce.closed,this.dispatchEvent(new Event("stateChanged")),this._comChannel=null,this._rtcPeerConnection&&(this._rtcPeerConnection.close(),this._rtcPeerConnection=null,this.dispatchEvent(new Event("rtcPeerConnectionChanged"))),this.dispatchEvent(new Event("closed")))}}const le=de,he=Object.freeze({32:"space",33:"exclam",34:"quotedbl",35:"numbersign",36:"dollar",37:"percent",38:"ampersand",39:"apostrophe",40:"parenleft",41:"parenright",42:"asterisk",43:"plus",44:"comma",45:"minus",46:"period",47:"slash",48:"0",49:"1",50:"2",51:"3",52:"4",53:"5",54:"6",55:"7",56:"8",57:"9",58:"colon",59:"semicolon",60:"less",61:"equal",62:"greater",63:"question",64:"at",65:"A",66:"B",67:"C",68:"D",69:"E",70:"F",71:"G",72:"H",73:"I",74:"J",75:"K",76:"L",77:"M",78:"N",79:"O",80:"P",81:"Q",82:"R",83:"S",84:"T",85:"U",86:"V",87:"W",88:"X",89:"Y",90:"Z",91:"bracketleft",92:"backslash",93:"bracketright",94:"asciicircum",95:"underscore",96:"grave",97:"a",98:"b",99:"c",100:"d",101:"e",102:"f",103:"g",104:"h",105:"i",106:"j",107:"k",108:"l",109:"m",110:"n",111:"o",112:"p",113:"q",114:"r",115:"s",116:"t",117:"u",118:"v",119:"w",120:"x",121:"y",122:"z",123:"braceleft",124:"bar",125:"braceright",126:"asciitilde",160:"nobreakspace",161:"exclamdown",162:"cent",163:"sterling",164:"currency",165:"yen",166:"brokenbar",167:"section",168:"diaeresis",169:"copyright",170:"ordfeminine",171:"guillemotleft",172:"notsign",173:"hyphen",174:"registered",175:"macron",176:"degree",177:"plusminus",178:"twosuperior",179:"threesuperior",180:"acute",181:"mu",182:"paragraph",183:"periodcentered",184:"cedilla",185:"onesuperior",186:"masculine",187:"guillemotright",188:"onequarter",189:"onehalf",190:"threequarters",191:"questiondown",192:"Agrave",193:"Aacute",194:"Acircumflex",195:"Atilde",196:"Adiaeresis",197:"Aring",198:"AE",199:"Ccedilla",200:"Egrave",201:"Eacute",202:"Ecircumflex",203:"Ediaeresis",204:"Igrave",205:"Iacute",206:"Icircumflex",207:"Idiaeresis",208:"ETH",209:"Ntilde",210:"Ograve",211:"Oacute",212:"Ocircumflex",213:"Otilde",214:"Odiaeresis",215:"multiply",216:"Ooblique",217:"Ugrave",218:"Uacute",219:"Ucircumflex",220:"Udiaeresis",221:"Yacute",222:"THORN",223:"ssharp",224:"agrave",225:"aacute",226:"acircumflex",227:"atilde",228:"adiaeresis",229:"aring",230:"ae",231:"ccedilla",232:"egrave",233:"eacute",234:"ecircumflex",235:"ediaeresis",236:"igrave",237:"iacute",238:"icircumflex",239:"idiaeresis",240:"eth",241:"ntilde",242:"ograve",243:"oacute",244:"ocircumflex",245:"otilde",246:"odiaeresis",247:"division",248:"oslash",249:"ugrave",250:"uacute",251:"ucircumflex",252:"udiaeresis",253:"yacute",254:"thorn",255:"ydiaeresis",260:"Aogonek",728:"breve",321:"Lstroke",317:"Lcaron",346:"Sacute",352:"Scaron",350:"Scedilla",356:"Tcaron",377:"Zacute",381:"Zcaron",379:"Zabovedot",261:"aogonek",731:"ogonek",322:"lstroke",318:"lcaron",347:"sacute",711:"caron",353:"scaron",351:"scedilla",357:"tcaron",378:"zacute",733:"doubleacute",382:"zcaron",380:"zabovedot",340:"Racute",258:"Abreve",313:"Lacute",262:"Cacute",268:"Ccaron",280:"Eogonek",282:"Ecaron",270:"Dcaron",272:"Dstroke",323:"Nacute",327:"Ncaron",336:"Odoubleacute",344:"Rcaron",366:"Uring",368:"Udoubleacute",354:"Tcedilla",341:"racute",259:"abreve",314:"lacute",263:"cacute",269:"ccaron",281:"eogonek",283:"ecaron",271:"dcaron",273:"dstroke",324:"nacute",328:"ncaron",337:"odoubleacute",345:"rcaron",367:"uring",369:"udoubleacute",355:"tcedilla",729:"abovedot",294:"Hstroke",292:"Hcircumflex",304:"Iabovedot",286:"Gbreve",308:"Jcircumflex",295:"hstroke",293:"hcircumflex",305:"idotless",287:"gbreve",309:"jcircumflex",266:"Cabovedot",264:"Ccircumflex",288:"Gabovedot",284:"Gcircumflex",364:"Ubreve",348:"Scircumflex",267:"cabovedot",265:"ccircumflex",289:"gabovedot",285:"gcircumflex",365:"ubreve",349:"scircumflex",312:"kra",342:"Rcedilla",296:"Itilde",315:"Lcedilla",274:"Emacron",290:"Gcedilla",358:"Tslash",343:"rcedilla",297:"itilde",316:"lcedilla",275:"emacron",291:"gcedilla",359:"tslash",330:"ENG",331:"eng",256:"Amacron",302:"Iogonek",278:"Eabovedot",298:"Imacron",325:"Ncedilla",332:"Omacron",310:"Kcedilla",370:"Uogonek",360:"Utilde",362:"Umacron",257:"amacron",303:"iogonek",279:"eabovedot",299:"imacron",326:"ncedilla",333:"omacron",311:"kcedilla",371:"uogonek",361:"utilde",363:"umacron",8254:"overline",12290:"kana_fullstop",12300:"kana_openingbracket",12301:"kana_closingbracket",12289:"kana_comma",12539:"kana_conjunctive",12530:"kana_WO",12449:"kana_a",12451:"kana_i",12453:"kana_u",12455:"kana_e",12457:"kana_o",12515:"kana_ya",12517:"kana_yu",12519:"kana_yo",12483:"kana_tsu",12540:"prolongedsound",12450:"kana_A",12452:"kana_I",12454:"kana_U",12456:"kana_E",12458:"kana_O",12459:"kana_KA",12461:"kana_KI",12463:"kana_KU",12465:"kana_KE",12467:"kana_KO",12469:"kana_SA",12471:"kana_SHI",12473:"kana_SU",12475:"kana_SE",12477:"kana_SO",12479:"kana_TA",12481:"kana_CHI",12484:"kana_TSU",12486:"kana_TE",12488:"kana_TO",12490:"kana_NA",12491:"kana_NI",12492:"kana_NU",12493:"kana_NE",12494:"kana_NO",12495:"kana_HA",12498:"kana_HI",12501:"kana_FU",12504:"kana_HE",12507:"kana_HO",12510:"kana_MA",12511:"kana_MI",12512:"kana_MU",12513:"kana_ME",12514:"kana_MO",12516:"kana_YA",12518:"kana_YU",12520:"kana_YO",12521:"kana_RA",12522:"kana_RI",12523:"kana_RU",12524:"kana_RE",12525:"kana_RO",12527:"kana_WA",12531:"kana_N",12443:"voicedsound",12444:"semivoicedsound",1548:"Arabic_comma",1563:"Arabic_semicolon",1567:"Arabic_question_mark",1569:"Arabic_hamza",1570:"Arabic_maddaonalef",1571:"Arabic_hamzaonalef",1572:"Arabic_hamzaonwaw",1573:"Arabic_hamzaunderalef",1574:"Arabic_hamzaonyeh",1575:"Arabic_alef",1576:"Arabic_beh",1577:"Arabic_tehmarbuta",1578:"Arabic_teh",1579:"Arabic_theh",1580:"Arabic_jeem",1581:"Arabic_hah",1582:"Arabic_khah",1583:"Arabic_dal",1584:"Arabic_thal",1585:"Arabic_ra",1586:"Arabic_zain",1587:"Arabic_seen",1588:"Arabic_sheen",1589:"Arabic_sad",1590:"Arabic_dad",1591:"Arabic_tah",1592:"Arabic_zah",1593:"Arabic_ain",1594:"Arabic_ghain",1600:"Arabic_tatweel",1601:"Arabic_feh",1602:"Arabic_qaf",1603:"Arabic_kaf",1604:"Arabic_lam",1605:"Arabic_meem",1606:"Arabic_noon",1607:"Arabic_ha",1608:"Arabic_waw",1609:"Arabic_alefmaksura",1610:"Arabic_yeh",1611:"Arabic_fathatan",1612:"Arabic_dammatan",1613:"Arabic_kasratan",1614:"Arabic_fatha",1615:"Arabic_damma",1616:"Arabic_kasra",1617:"Arabic_shadda",1618:"Arabic_sukun",1106:"Serbian_dje",1107:"Macedonia_gje",1105:"Cyrillic_io",1108:"Ukrainian_ie",1109:"Macedonia_dse",1110:"Ukrainian_i",1111:"Ukrainian_yi",1112:"Cyrillic_je",1113:"Cyrillic_lje",1114:"Cyrillic_nje",1115:"Serbian_tshe",1116:"Macedonia_kje",1118:"Byelorussian_shortu",1119:"Cyrillic_dzhe",8470:"numerosign",1026:"Serbian_DJE",1027:"Macedonia_GJE",1025:"Cyrillic_IO",1028:"Ukrainian_IE",1029:"Macedonia_DSE",1030:"Ukrainian_I",1031:"Ukrainian_YI",1032:"Cyrillic_JE",1033:"Cyrillic_LJE",1034:"Cyrillic_NJE",1035:"Serbian_TSHE",1036:"Macedonia_KJE",1038:"Byelorussian_SHORTU",1039:"Cyrillic_DZHE",1102:"Cyrillic_yu",1072:"Cyrillic_a",1073:"Cyrillic_be",1094:"Cyrillic_tse",1076:"Cyrillic_de",1077:"Cyrillic_ie",1092:"Cyrillic_ef",1075:"Cyrillic_ghe",1093:"Cyrillic_ha",1080:"Cyrillic_i",1081:"Cyrillic_shorti",1082:"Cyrillic_ka",1083:"Cyrillic_el",1084:"Cyrillic_em",1085:"Cyrillic_en",1086:"Cyrillic_o",1087:"Cyrillic_pe",1103:"Cyrillic_ya",1088:"Cyrillic_er",1089:"Cyrillic_es",1090:"Cyrillic_te",1091:"Cyrillic_u",1078:"Cyrillic_zhe",1074:"Cyrillic_ve",1100:"Cyrillic_softsign",1099:"Cyrillic_yeru",1079:"Cyrillic_ze",1096:"Cyrillic_sha",1101:"Cyrillic_e",1097:"Cyrillic_shcha",1095:"Cyrillic_che",1098:"Cyrillic_hardsign",1070:"Cyrillic_YU",1040:"Cyrillic_A",1041:"Cyrillic_BE",1062:"Cyrillic_TSE",1044:"Cyrillic_DE",1045:"Cyrillic_IE",1060:"Cyrillic_EF",1043:"Cyrillic_GHE",1061:"Cyrillic_HA",1048:"Cyrillic_I",1049:"Cyrillic_SHORTI",1050:"Cyrillic_KA",1051:"Cyrillic_EL",1052:"Cyrillic_EM",1053:"Cyrillic_EN",1054:"Cyrillic_O",1055:"Cyrillic_PE",1071:"Cyrillic_YA",1056:"Cyrillic_ER",1057:"Cyrillic_ES",1058:"Cyrillic_TE",1059:"Cyrillic_U",1046:"Cyrillic_ZHE",1042:"Cyrillic_VE",1068:"Cyrillic_SOFTSIGN",1067:"Cyrillic_YERU",1047:"Cyrillic_ZE",1064:"Cyrillic_SHA",1069:"Cyrillic_E",1065:"Cyrillic_SHCHA",1063:"Cyrillic_CHE",1066:"Cyrillic_HARDSIGN",902:"Greek_ALPHAaccent",904:"Greek_EPSILONaccent",905:"Greek_ETAaccent",906:"Greek_IOTAaccent",938:"Greek_IOTAdiaeresis",908:"Greek_OMICRONaccent",910:"Greek_UPSILONaccent",939:"Greek_UPSILONdieresis",911:"Greek_OMEGAaccent",901:"Greek_accentdieresis",8213:"Greek_horizbar",940:"Greek_alphaaccent",941:"Greek_epsilonaccent",942:"Greek_etaaccent",943:"Greek_iotaaccent",970:"Greek_iotadieresis",912:"Greek_iotaaccentdieresis",972:"Greek_omicronaccent",973:"Greek_upsilonaccent",971:"Greek_upsilondieresis",944:"Greek_upsilonaccentdieresis",974:"Greek_omegaaccent",913:"Greek_ALPHA",914:"Greek_BETA",915:"Greek_GAMMA",916:"Greek_DELTA",917:"Greek_EPSILON",918:"Greek_ZETA",919:"Greek_ETA",920:"Greek_THETA",921:"Greek_IOTA",922:"Greek_KAPPA",923:"Greek_LAMBDA",924:"Greek_MU",925:"Greek_NU",926:"Greek_XI",927:"Greek_OMICRON",928:"Greek_PI",929:"Greek_RHO",931:"Greek_SIGMA",932:"Greek_TAU",933:"Greek_UPSILON",934:"Greek_PHI",935:"Greek_CHI",936:"Greek_PSI",937:"Greek_OMEGA",945:"Greek_alpha",946:"Greek_beta",947:"Greek_gamma",948:"Greek_delta",949:"Greek_epsilon",950:"Greek_zeta",951:"Greek_eta",952:"Greek_theta",953:"Greek_iota",954:"Greek_kappa",955:"Greek_lambda",956:"Greek_mu",957:"Greek_nu",958:"Greek_xi",959:"Greek_omicron",960:"Greek_pi",961:"Greek_rho",963:"Greek_sigma",962:"Greek_finalsmallsigma",964:"Greek_tau",965:"Greek_upsilon",966:"Greek_phi",967:"Greek_chi",968:"Greek_psi",969:"Greek_omega",9143:"leftradical",8992:"topintegral",8993:"botintegral",9121:"topleftsqbracket",9123:"botleftsqbracket",9124:"toprightsqbracket",9126:"botrightsqbracket",9115:"topleftparens",9117:"botleftparens",9118:"toprightparens",9120:"botrightparens",9128:"leftmiddlecurlybrace",9132:"rightmiddlecurlybrace",8804:"lessthanequal",8800:"notequal",8805:"greaterthanequal",8747:"integral",8756:"therefore",8733:"variation",8734:"infinity",8711:"nabla",8764:"approximate",8771:"similarequal",8660:"ifonlyif",8658:"implies",8801:"identical",8730:"radical",8834:"includedin",8835:"includes",8745:"intersection",8746:"union",8743:"logicaland",8744:"logicalor",8706:"partialderivative",402:"function",8592:"leftarrow",8593:"uparrow",8594:"rightarrow",8595:"downarrow",9670:"soliddiamond",9618:"checkerboard",9225:"ht",9228:"ff",9229:"cr",9226:"lf",9252:"nl",9227:"vt",9496:"lowrightcorner",9488:"uprightcorner",9484:"upleftcorner",9492:"lowleftcorner",9532:"crossinglines",9146:"horizlinescan1",9147:"horizlinescan3",9472:"horizlinescan5",9148:"horizlinescan7",9149:"horizlinescan9",9500:"leftt",9508:"rightt",9524:"bott",9516:"topt",9474:"vertbar",8195:"emspace",8194:"enspace",8196:"em3space",8197:"em4space",8199:"digitspace",8200:"punctspace",8201:"thinspace",8202:"hairspace",8212:"emdash",8211:"endash",9251:"signifblank",8230:"ellipsis",8229:"doubbaselinedot",8531:"onethird",8532:"twothirds",8533:"onefifth",8534:"twofifths",8535:"threefifths",8536:"fourfifths",8537:"onesixth",8538:"fivesixths",8453:"careof",8210:"figdash",10216:"leftanglebracket",10217:"rightanglebracket",8539:"oneeighth",8540:"threeeighths",8541:"fiveeighths",8542:"seveneighths",8482:"trademark",9747:"signaturemark",9665:"leftopentriangle",9655:"rightopentriangle",9647:"emopenrectangle",8216:"leftsinglequotemark",8217:"rightsinglequotemark",8220:"leftdoublequotemark",8221:"rightdoublequotemark",8478:"prescription",8242:"minutes",8243:"seconds",10013:"latincross",9644:"filledrectbullet",9664:"filledlefttribullet",9654:"filledrighttribullet",9679:"emfilledcircle",9646:"emfilledrect",9702:"enopencircbullet",9643:"enopensquarebullet",9645:"openrectbullet",9651:"opentribulletup",9661:"opentribulletdown",9734:"openstar",8226:"enfilledcircbullet",9642:"enfilledsqbullet",9650:"filledtribulletup",9660:"filledtribulletdown",9756:"leftpointer",9758:"rightpointer",9827:"club",9830:"diamond",9829:"heart",10016:"maltesecross",8224:"dagger",8225:"doubledagger",10003:"checkmark",10007:"ballotcross",9839:"musicalsharp",9837:"musicalflat",9794:"malesymbol",9792:"femalesymbol",9742:"telephone",8981:"telephonerecorder",8471:"phonographcopyright",8248:"caret",8218:"singlelowquotemark",8222:"doublelowquotemark",8869:"downtack",8970:"downstile",8728:"jot",9109:"quad",8868:"uptack",9675:"circle",8968:"upstile",8866:"lefttack",8867:"righttack",8215:"hebrew_doublelowline",1488:"hebrew_aleph",1489:"hebrew_beth",1490:"hebrew_gimmel",1491:"hebrew_daleth",1492:"hebrew_he",1493:"hebrew_waw",1494:"hebrew_zayin",1495:"hebrew_het",1496:"hebrew_teth",1497:"hebrew_yod",1498:"hebrew_finalkaph",1499:"hebrew_kaph",1500:"hebrew_lamed",1501:"hebrew_finalmem",1502:"hebrew_mem",1503:"hebrew_finalnun",1504:"hebrew_nun",1505:"hebrew_samekh",1506:"hebrew_ayin",1507:"hebrew_finalpe",1508:"hebrew_pe",1509:"hebrew_finalzadi",1510:"hebrew_zadi",1511:"hebrew_qoph",1512:"hebrew_resh",1513:"hebrew_shin",1514:"hebrew_taw",3585:"Thai_kokai",3586:"Thai_khokhai",3587:"Thai_khokhuat",3588:"Thai_khokhwai",3589:"Thai_khokhon",3590:"Thai_khorakhang",3591:"Thai_ngongu",3592:"Thai_chochan",3593:"Thai_choching",3594:"Thai_chochang",3595:"Thai_soso",3596:"Thai_chochoe",3597:"Thai_yoying",3598:"Thai_dochada",3599:"Thai_topatak",3600:"Thai_thothan",3601:"Thai_thonangmontho",3602:"Thai_thophuthao",3603:"Thai_nonen",3604:"Thai_dodek",3605:"Thai_totao",3606:"Thai_thothung",3607:"Thai_thothahan",3608:"Thai_thothong",3609:"Thai_nonu",3610:"Thai_bobaimai",3611:"Thai_popla",3612:"Thai_phophung",3613:"Thai_fofa",3614:"Thai_phophan",3615:"Thai_fofan",3616:"Thai_phosamphao",3617:"Thai_moma",3618:"Thai_yoyak",3619:"Thai_rorua",3620:"Thai_ru",3621:"Thai_loling",3622:"Thai_lu",3623:"Thai_wowaen",3624:"Thai_sosala",3625:"Thai_sorusi",3626:"Thai_sosua",3627:"Thai_hohip",3628:"Thai_lochula",3629:"Thai_oang",3630:"Thai_honokhuk",3631:"Thai_paiyannoi",3632:"Thai_saraa",3633:"Thai_maihanakat",3634:"Thai_saraaa",3635:"Thai_saraam",3636:"Thai_sarai",3637:"Thai_saraii",3638:"Thai_saraue",3639:"Thai_sarauee",3640:"Thai_sarau",3641:"Thai_sarauu",3642:"Thai_phinthu",3647:"Thai_baht",3648:"Thai_sarae",3649:"Thai_saraae",3650:"Thai_sarao",3651:"Thai_saraaimaimuan",3652:"Thai_saraaimaimalai",3653:"Thai_lakkhangyao",3654:"Thai_maiyamok",3655:"Thai_maitaikhu",3656:"Thai_maiek",3657:"Thai_maitho",3658:"Thai_maitri",3659:"Thai_maichattawa",3660:"Thai_thanthakhat",3661:"Thai_nikhahit",3664:"Thai_leksun",3665:"Thai_leknung",3666:"Thai_leksong",3667:"Thai_leksam",3668:"Thai_leksi",3669:"Thai_lekha",3670:"Thai_lekhok",3671:"Thai_lekchet",3672:"Thai_lekpaet",3673:"Thai_lekkao",12593:"Hangul_Kiyeog",12594:"Hangul_SsangKiyeog",12595:"Hangul_KiyeogSios",12596:"Hangul_Nieun",12597:"Hangul_NieunJieuj",12598:"Hangul_NieunHieuh",12599:"Hangul_Dikeud",12600:"Hangul_SsangDikeud",12601:"Hangul_Rieul",12602:"Hangul_RieulKiyeog",12603:"Hangul_RieulMieum",12604:"Hangul_RieulPieub",12605:"Hangul_RieulSios",12606:"Hangul_RieulTieut",12607:"Hangul_RieulPhieuf",12608:"Hangul_RieulHieuh",12609:"Hangul_Mieum",12610:"Hangul_Pieub",12611:"Hangul_SsangPieub",12612:"Hangul_PieubSios",12613:"Hangul_Sios",12614:"Hangul_SsangSios",12615:"Hangul_Ieung",12616:"Hangul_Jieuj",12617:"Hangul_SsangJieuj",12618:"Hangul_Cieuc",12619:"Hangul_Khieuq",12620:"Hangul_Tieut",12621:"Hangul_Phieuf",12622:"Hangul_Hieuh",12623:"Hangul_A",12624:"Hangul_AE",12625:"Hangul_YA",12626:"Hangul_YAE",12627:"Hangul_EO",12628:"Hangul_E",12629:"Hangul_YEO",12630:"Hangul_YE",12631:"Hangul_O",12632:"Hangul_WA",12633:"Hangul_WAE",12634:"Hangul_OE",12635:"Hangul_YO",12636:"Hangul_U",12637:"Hangul_WEO",12638:"Hangul_WE",12639:"Hangul_WI",12640:"Hangul_YU",12641:"Hangul_EU",12642:"Hangul_YI",12643:"Hangul_I",4520:"Hangul_J_Kiyeog",4521:"Hangul_J_SsangKiyeog",4522:"Hangul_J_KiyeogSios",4523:"Hangul_J_Nieun",4524:"Hangul_J_NieunJieuj",4525:"Hangul_J_NieunHieuh",4526:"Hangul_J_Dikeud",4527:"Hangul_J_Rieul",4528:"Hangul_J_RieulKiyeog",4529:"Hangul_J_RieulMieum",4530:"Hangul_J_RieulPieub",4531:"Hangul_J_RieulSios",4532:"Hangul_J_RieulTieut",4533:"Hangul_J_RieulPhieuf",4534:"Hangul_J_RieulHieuh",4535:"Hangul_J_Mieum",4536:"Hangul_J_Pieub",4537:"Hangul_J_PieubSios",4538:"Hangul_J_Sios",4539:"Hangul_J_SsangSios",4540:"Hangul_J_Ieung",4541:"Hangul_J_Jieuj",4542:"Hangul_J_Cieuc",4543:"Hangul_J_Khieuq",4544:"Hangul_J_Tieut",4545:"Hangul_J_Phieuf",4546:"Hangul_J_Hieuh",12653:"Hangul_RieulYeorinHieuh",12657:"Hangul_SunkyeongeumMieum",12664:"Hangul_SunkyeongeumPieub",12671:"Hangul_PanSios",12673:"Hangul_KkogjiDalrinIeung",12676:"Hangul_SunkyeongeumPhieuf",12678:"Hangul_YeorinHieuh",12685:"Hangul_AraeA",12686:"Hangul_AraeAE",4587:"Hangul_J_PanSios",4592:"Hangul_J_KkogjiDalrinIeung",4601:"Hangul_J_YeorinHieuh",338:"OE",339:"oe",376:"Ydiaeresis",8352:"EcuSign",8353:"ColonSign",8354:"CruzeiroSign",8355:"FFrancSign",8356:"LiraSign",8357:"MillSign",8358:"NairaSign",8359:"PesetaSign",8360:"RupeeSign",8361:"WonSign",8362:"NewSheqelSign",8363:"DongSign",8364:"EuroSign",768:"dead_grave",769:"dead_acute",770:"dead_circumflex",771:"dead_tilde",772:"dead_macron",774:"dead_breve",775:"dead_abovedot",776:"dead_diaeresis",778:"dead_abovering",779:"dead_doubleacute",780:"dead_caron",807:"dead_cedilla",808:"dead_ogonek",837:"dead_iota",12441:"dead_voiced_sound",12442:"dead_semivoiced_sound",8:"BackSpace",9:"Tab",10:"Linefeed",11:"Clear",13:"Return",19:"Pause",20:"Scroll_Lock",21:"Sys_Req",27:"Escape",1169:"Ukrainian_ghe_with_upturn",1168:"Ukrainian_GHE_WITH_UPTURN",1415:"Armenian_ligature_ew",1417:"Armenian_verjaket",1373:"Armenian_but",1418:"Armenian_yentamna",1372:"Armenian_amanak",1371:"Armenian_shesht",1374:"Armenian_paruyk",1329:"Armenian_AYB",1377:"Armenian_ayb",1330:"Armenian_BEN",1378:"Armenian_ben",1331:"Armenian_GIM",1379:"Armenian_gim",1332:"Armenian_DA",1380:"Armenian_da",1333:"Armenian_YECH",1381:"Armenian_yech",1334:"Armenian_ZA",1382:"Armenian_za",1335:"Armenian_E",1383:"Armenian_e",1336:"Armenian_AT",1384:"Armenian_at",1337:"Armenian_TO",1385:"Armenian_to",1338:"Armenian_ZHE",1386:"Armenian_zhe",1339:"Armenian_INI",1387:"Armenian_ini",1340:"Armenian_LYUN",1388:"Armenian_lyun",1341:"Armenian_KHE",1389:"Armenian_khe",1342:"Armenian_TSA",1390:"Armenian_tsa",1343:"Armenian_KEN",1391:"Armenian_ken",1344:"Armenian_HO",1392:"Armenian_ho",1345:"Armenian_DZA",1393:"Armenian_dza",1346:"Armenian_GHAT",1394:"Armenian_ghat",1347:"Armenian_TCHE",1395:"Armenian_tche",1348:"Armenian_MEN",1396:"Armenian_men",1349:"Armenian_HI",1397:"Armenian_hi",1350:"Armenian_NU",1398:"Armenian_nu",1351:"Armenian_SHA",1399:"Armenian_sha",1352:"Armenian_VO",1400:"Armenian_vo",1353:"Armenian_CHA",1401:"Armenian_cha",1354:"Armenian_PE",1402:"Armenian_pe",1355:"Armenian_JE",1403:"Armenian_je",1356:"Armenian_RA",1404:"Armenian_ra",1357:"Armenian_SE",1405:"Armenian_se",1358:"Armenian_VEV",1406:"Armenian_vev",1359:"Armenian_TYUN",1407:"Armenian_tyun",1360:"Armenian_RE",1408:"Armenian_re",1361:"Armenian_TSO",1409:"Armenian_tso",1362:"Armenian_VYUN",1410:"Armenian_vyun",1363:"Armenian_PYUR",1411:"Armenian_pyur",1364:"Armenian_KE",1412:"Armenian_ke",1365:"Armenian_O",1413:"Armenian_o",1366:"Armenian_FE",1414:"Armenian_fe",1370:"Armenian_apostrophe",4304:"Georgian_an",4305:"Georgian_ban",4306:"Georgian_gan",4307:"Georgian_don",4308:"Georgian_en",4309:"Georgian_vin",4310:"Georgian_zen",4311:"Georgian_tan",4312:"Georgian_in",4313:"Georgian_kan",4314:"Georgian_las",4315:"Georgian_man",4316:"Georgian_nar",4317:"Georgian_on",4318:"Georgian_par",4319:"Georgian_zhar",4320:"Georgian_rae",4321:"Georgian_san",4322:"Georgian_tar",4323:"Georgian_un",4324:"Georgian_phar",4325:"Georgian_khar",4326:"Georgian_ghan",4327:"Georgian_qar",4328:"Georgian_shin",4329:"Georgian_chin",4330:"Georgian_can",4331:"Georgian_jil",4332:"Georgian_cil",4333:"Georgian_char",4334:"Georgian_xan",4335:"Georgian_jhan",4336:"Georgian_hae",4337:"Georgian_he",4338:"Georgian_hie",4339:"Georgian_we",4340:"Georgian_har",4341:"Georgian_hoe",4342:"Georgian_fi",7682:"Babovedot",7683:"babovedot",7690:"Dabovedot",7808:"Wgrave",7810:"Wacute",7691:"dabovedot",7922:"Ygrave",7710:"Fabovedot",7711:"fabovedot",7744:"Mabovedot",7745:"mabovedot",7766:"Pabovedot",7809:"wgrave",7767:"pabovedot",7811:"wacute",7776:"Sabovedot",7923:"ygrave",7812:"Wdiaeresis",7813:"wdiaeresis",7777:"sabovedot",372:"Wcircumflex",7786:"Tabovedot",374:"Ycircumflex",373:"wcircumflex",7787:"tabovedot",375:"ycircumflex",1776:"Farsi_0",1777:"Farsi_1",1778:"Farsi_2",1779:"Farsi_3",1780:"Farsi_4",1781:"Farsi_5",1782:"Farsi_6",1783:"Farsi_7",1784:"Farsi_8",1785:"Farsi_9",1642:"Arabic_percent",1648:"Arabic_superscript_alef",1657:"Arabic_tteh",1662:"Arabic_peh",1670:"Arabic_tcheh",1672:"Arabic_ddal",1681:"Arabic_rreh",1748:"Arabic_fullstop",1632:"Arabic_0",1633:"Arabic_1",1634:"Arabic_2",1635:"Arabic_3",1636:"Arabic_4",1637:"Arabic_5",1638:"Arabic_6",1639:"Arabic_7",1640:"Arabic_8",1641:"Arabic_9",1619:"Arabic_madda_above",1620:"Arabic_hamza_above",1621:"Arabic_hamza_below",1688:"Arabic_jeh",1700:"Arabic_veh",1705:"Arabic_keheh",1711:"Arabic_gaf",1722:"Arabic_noon_ghunna",1726:"Arabic_heh_doachashmee",1740:"Farsi_yeh",1746:"Arabic_yeh_baree",1729:"Arabic_heh_goal",1170:"Cyrillic_GHE_bar",1174:"Cyrillic_ZHE_descender",1178:"Cyrillic_KA_descender",1180:"Cyrillic_KA_vertstroke",1186:"Cyrillic_EN_descender",1198:"Cyrillic_U_straight",1200:"Cyrillic_U_straight_bar",1202:"Cyrillic_HA_descender",1206:"Cyrillic_CHE_descender",1208:"Cyrillic_CHE_vertstroke",1210:"Cyrillic_SHHA",1240:"Cyrillic_SCHWA",1250:"Cyrillic_I_macron",1256:"Cyrillic_O_bar",1262:"Cyrillic_U_macron",1171:"Cyrillic_ghe_bar",1175:"Cyrillic_zhe_descender",1179:"Cyrillic_ka_descender",1181:"Cyrillic_ka_vertstroke",1187:"Cyrillic_en_descender",1199:"Cyrillic_u_straight",1201:"Cyrillic_u_straight_bar",1203:"Cyrillic_ha_descender",1207:"Cyrillic_che_descender",1209:"Cyrillic_che_vertstroke",1211:"Cyrillic_shha",1241:"Cyrillic_schwa",1251:"Cyrillic_i_macron",1257:"Cyrillic_o_bar",1263:"Cyrillic_u_macron",7818:"Xabovedot",300:"Ibreve",437:"Zstroke",486:"Gcaron",415:"Obarred",7819:"xabovedot",301:"ibreve",438:"zstroke",487:"gcaron",466:"ocaron",629:"obarred",399:"SCHWA",601:"schwa",7734:"Lbelowdot",7735:"lbelowdot",7840:"Abelowdot",7841:"abelowdot",7842:"Ahook",7843:"ahook",7844:"Acircumflexacute",7845:"acircumflexacute",7846:"Acircumflexgrave",7847:"acircumflexgrave",7848:"Acircumflexhook",7849:"acircumflexhook",7850:"Acircumflextilde",7851:"acircumflextilde",7852:"Acircumflexbelowdot",7853:"acircumflexbelowdot",7854:"Abreveacute",7855:"abreveacute",7856:"Abrevegrave",7857:"abrevegrave",7858:"Abrevehook",7859:"abrevehook",7860:"Abrevetilde",7861:"abrevetilde",7862:"Abrevebelowdot",7863:"abrevebelowdot",7864:"Ebelowdot",7865:"ebelowdot",7866:"Ehook",7867:"ehook",7868:"Etilde",7869:"etilde",7870:"Ecircumflexacute",7871:"ecircumflexacute",7872:"Ecircumflexgrave",7873:"ecircumflexgrave",7874:"Ecircumflexhook",7875:"ecircumflexhook",7876:"Ecircumflextilde",7877:"ecircumflextilde",7878:"Ecircumflexbelowdot",7879:"ecircumflexbelowdot",7880:"Ihook",7881:"ihook",7882:"Ibelowdot",7883:"ibelowdot",7884:"Obelowdot",7885:"obelowdot",7886:"Ohook",7887:"ohook",7888:"Ocircumflexacute",7889:"ocircumflexacute",7890:"Ocircumflexgrave",7891:"ocircumflexgrave",7892:"Ocircumflexhook",7893:"ocircumflexhook",7894:"Ocircumflextilde",7895:"ocircumflextilde",7896:"Ocircumflexbelowdot",7897:"ocircumflexbelowdot",7898:"Ohornacute",7899:"ohornacute",7900:"Ohorngrave",7901:"ohorngrave",7902:"Ohornhook",7903:"ohornhook",7904:"Ohorntilde",7905:"ohorntilde",7906:"Ohornbelowdot",7907:"ohornbelowdot",7908:"Ubelowdot",7909:"ubelowdot",7910:"Uhook",7911:"uhook",7912:"Uhornacute",7913:"uhornacute",7914:"Uhorngrave",7915:"uhorngrave",7916:"Uhornhook",7917:"uhornhook",7918:"Uhorntilde",7919:"uhorntilde",7920:"Uhornbelowdot",7921:"uhornbelowdot",7924:"Ybelowdot",7925:"ybelowdot",7926:"Yhook",7927:"yhook",7928:"Ytilde",7929:"ytilde",416:"Ohorn",417:"ohorn",431:"Uhorn",432:"uhorn",803:"dead_belowdot",777:"dead_hook",795:"dead_horn"}),pe=Object.freeze({AltLeft:"Alt_L",AltRight:"Alt_R",ArrowDown:"Down",ArrowLeft:"Left",ArrowRight:"Right",ArrowUp:"Up",Backspace:"BackSpace",CapsLock:"Caps_Lock",ControlLeft:"Control_L",ControlRight:"Control_R",Enter:"Return",HyperLeft:"Hyper_L",HyperRight:"Hyper_R",NumLock:"Num_Lock",NumpadEnter:"Return",MetaLeft:"Meta_L",MetaRight:"Meta_R",PageDown:"Page_Down",PageUp:"Page_Up",ScrollLock:"Scroll_Lock",ShiftLeft:"Shift_L",ShiftRight:"Shift_R",SuperLeft:"Super_L",SuperRight:"Super_R"}),ue=new Set(["Clear","Copy","Cut","Delete","End","F1","F2","F3","F4","F5","F6","F7","F8","F9","F10","F11","F12","Home","Insert","Paste","Redo","Tab","Undo"]);function me(e,t){var n="Unidentified";if(1===e.length){const t=e.charCodeAt(0);t in he&&(n=he[t])}else t in pe?n=pe[t]:ue.has(t)&&(n=t);return n}const _e=Object.freeze(["wheel","contextmenu","mousemove","mousedown","mouseup","touchstart","touchend","touchmove","touchcancel","keyup","keydown"]),fe=Object.freeze({mousemove:"MouseMove",mousedown:"MouseButtonPress",mouseup:"MouseButtonRelease"}),ge=Object.freeze({touchstart:"TouchDown",touchend:"TouchUp",touchmove:"TouchMotion",touchcancel:"TouchUp"}),Ce=Object.freeze({keydown:"KeyPress",keyup:"KeyRelease"});function ye(e){const t=[];return e.altKey&&t.push("mod1-mask"),e.ctrlKey&&t.push("control-mask"),e.metaKey&&t.push("meta-mask"),e.shiftKey&&t.push("shift-mask"),t.join("+")}class ve extends EventTarget{constructor(e,t){super(),this._rtcDataChannel=e,this._consumerSession=t,this._videoElement=null,this._videoElementComputedStyle=null,this._videoElementKeyboard=null,this._lastTouchEventTimestamp=0,this._requestCounter=0,e.addEventListener("close",(()=>{this._rtcDataChannel===e&&this.close()})),e.addEventListener("error",(t=>{if(this._rtcDataChannel===e){const e=t.error;this.dispatchEvent(new ErrorEvent("error",{message:e&&e.message||"Remote controller error",error:e||new Error("unknown error on the remote controller data channel")}))}})),e.addEventListener("message",(e=>{try{const t=JSON.parse(e.data);"ControlResponseMessage"===t.type?this.dispatchEvent(new CustomEvent("controlResponse",{detail:t})):"InfoMessage"===t.type&&this.dispatchEvent(new CustomEvent("info",{detail:t}))}catch(e){this.dispatchEvent(new ErrorEvent("error",{message:"cannot parse control message from signaling server",error:e}))}}))}get rtcDataChannel(){return this._rtcDataChannel}get consumerSession(){return this._consumerSession}get videoElement(){return this._videoElement}attachVideoElement(e){if(e instanceof HTMLVideoElement&&e!==this._videoElement){this._videoElement&&this.attachVideoElement(null),this._videoElement=e,this._videoElementComputedStyle=window.getComputedStyle(e);for(const t of _e)e.addEventListener(t,this);e.setAttribute("tabindex","0")}else if(null===e&&this._videoElement){const e=this._videoElement;e.removeAttribute("tabindex"),this._videoElement=null,this._videoElementComputedStyle=null,this._lastTouchEventTimestamp=0;for(const t of _e)e.removeEventListener(t,this)}}sendControlRequest(e){try{if(!e||"object"!=typeof e&&"string"!=typeof e)throw new Error("invalid request");if(!this._rtcDataChannel)throw new Error("remote controller data channel is closed");let t={id:this._requestCounter++,request:e};return this._rtcDataChannel.send(JSON.stringify(t)),t.id}catch(e){return this.dispatchEvent(new ErrorEvent("error",{message:`cannot send control message over session ${this._consumerSession.sessionId} remote controller`,error:e})),-1}}close(){this.attachVideoElement(null);const e=this._rtcDataChannel;this._rtcDataChannel=null,e&&(e.close(),this.dispatchEvent(new Event("closed")))}_sendGstNavigationEvent(e){let t={type:"navigationEvent",event:e};this.sendControlRequest(t)}_computeVideoMousePosition(e){const t={x:0,y:0};if(!this._videoElement||this._videoElement.videoWidth<=0||this._videoElement.videoHeight<=0)return t;const n=parseFloat(this._videoElementComputedStyle.paddingLeft),r=parseFloat(this._videoElementComputedStyle.paddingRight),i=parseFloat(this._videoElementComputedStyle.paddingTop),o=parseFloat(this._videoElementComputedStyle.paddingBottom);if("offsetX"in e&&"offsetY"in e)t.x=e.offsetX-n,t.y=e.offsetY-i;else{const r=this._videoElement.getBoundingClientRect(),o={left:parseFloat(this._videoElementComputedStyle.borderLeftWidth),top:parseFloat(this._videoElementComputedStyle.borderTopWidth)};t.x=e.clientX-r.left-o.left-n,t.y=e.clientY-r.top-o.top-i}const s={x:this._videoElement.clientWidth-(n+r),y:this._videoElement.clientHeight-(i+o)},a=Math.min(s.x/this._videoElement.videoWidth,s.y/this._videoElement.videoHeight);s.x=Math.max(.5*(s.x-this._videoElement.videoWidth*a),0),s.y=Math.max(.5*(s.y-this._videoElement.videoHeight*a),0);const c=0!==a?1/a:0;return t.x=(t.x-s.x)*c,t.y=(t.y-s.y)*c,t.x=Math.min(Math.max(t.x,0),this._videoElement.videoWidth),t.y=Math.min(Math.max(t.y,0),this._videoElement.videoHeight),t}handleEvent(e){if(this._videoElement)switch(e.type){case"wheel":e.preventDefault();{const t=this._computeVideoMousePosition(e);this._sendGstNavigationEvent({event:"MouseScroll",x:t.x,y:t.y,delta_x:-e.deltaX,delta_y:-e.deltaY,modifier_state:ye(e)})}break;case"contextmenu":e.preventDefault();break;case"mousemove":case"mousedown":case"mouseup":e.preventDefault();{const t=this._computeVideoMousePosition(e),n={event:fe[e.type],x:t.x,y:t.y,modifier_state:ye(e)};"mousemove"!==e.type&&(n.button=e.button+1,"mousedown"===e.type&&0===e.button&&this._videoElement.focus()),this._sendGstNavigationEvent(n)}break;case"touchstart":case"touchend":case"touchmove":case"touchcancel":for(const t of e.changedTouches){const n=this._computeVideoMousePosition(t),r={event:ge[e.type],identifier:t.identifier,x:n.x,y:n.y,modifier_state:ye(e)};!("force"in t)||"touchstart"!==e.type&&"touchmove"!==e.type||(r.pressure=t.force),this._sendGstNavigationEvent(r)}e.timeStamp>this._lastTouchEventTimestamp&&(this._lastTouchEventTimestamp=e.timeStamp,this._sendGstNavigationEvent({event:"TouchFrame",modifier_state:ye(e)}));break;case"keyup":case"keydown":e.preventDefault();{const t={event:Ce[e.type],key:me(e.key,e.code),modifier_state:ye(e)};this._sendGstNavigationEvent(t)}}}}const be=ve;const Se=class extends le{constructor(e,t,n){super(e,t),this._streams=[],this._remoteController=null,this._pendingCandidates=[],this._mungeStereoHack=!1,this._offerOptions=n,this.addEventListener("closed",(()=>{this._streams=[],this._pendingCandidates=[],this._remoteController&&this._remoteController.close()}))}set mungeStereoHack(e){"boolean"==typeof e&&(this._mungeStereoHack=e)}get streams(){return this._streams}get remoteController(){return this._remoteController}connect(){if(!this._comChannel||this._state===ce.closed)return!1;if(this._state!==ce.idle)return!0;if(this._offerOptions)this.ensurePeerConnection(),this._rtcPeerConnection.createDataChannel("control"),this._rtcPeerConnection.createOffer(this._offerOptions).then((e=>{if(this._rtcPeerConnection&&e)return this._rtcPeerConnection.setLocalDescription(e);throw new Error("cannot send local offer to WebRTC peer")})).then((()=>{if(this._rtcPeerConnection&&this._comChannel){const e={type:"startSession",peerId:this._peerId,offer:this._rtcPeerConnection.localDescription.toJSON().sdp};if(!this._comChannel.send(e))throw new Error("cannot send startSession message to signaling server");this._state=ce.connecting,this.dispatchEvent(new Event("stateChanged"))}})).catch((e=>{this._state!==ce.closed&&(this.dispatchEvent(new ErrorEvent("error",{message:"an unrecoverable error occurred during SDP handshake",error:e})),this.close())}));else{const e={type:"startSession",peerId:this._peerId};if(!this._comChannel.send(e))return this.dispatchEvent(new ErrorEvent("error",{message:"cannot connect consumer session",error:new Error("cannot send startSession message to signaling server")})),this.close(),!1;this._state=ce.connecting,this.dispatchEvent(new Event("stateChanged"))}return!0}onSessionStarted(e,t){if(this._peerId===e&&this._state===ce.connecting&&!this._sessionId){console.log("Session started",this._sessionId),this._sessionId=t;for(const e of this._pendingCandidates)console.log("Sending delayed ICE with session id",this._sessionId),this._comChannel.send({type:"peer",sessionId:this._sessionId,ice:e.toJSON()});this._pendingCandidates=[]}}ensurePeerConnection(){if(!this._rtcPeerConnection){const e=new RTCPeerConnection(this._comChannel.webrtcConfig);this._rtcPeerConnection=e,e.ontrack=t=>{if(this._rtcPeerConnection===e&&t.streams&&t.streams.length>0){this._state===ce.connecting&&(this._state=ce.streaming,this.dispatchEvent(new Event("stateChanged")));let e=!1;for(const n of t.streams)this._streams.includes(n)||(this._streams.push(n),e=!0);e&&this.dispatchEvent(new Event("streamsChanged"))}},e.ondatachannel=e=>{const t=e.channel;if(t&&"control"===t.label){if(this._remoteController){const e=this._remoteController;this._remoteController=null,e.close()}const e=new be(t,this);this._remoteController=e,this.dispatchEvent(new Event("remoteControllerChanged")),e.addEventListener("closed",(()=>{this._remoteController===e&&(this._remoteController=null,this.dispatchEvent(new Event("remoteControllerChanged")))}))}},e.onicecandidate=t=>{this._rtcPeerConnection===e&&t.candidate&&this._comChannel&&(this._sessionId?(console.log("Sending ICE with session id",this._sessionId),this._comChannel.send({type:"peer",sessionId:this._sessionId,ice:t.candidate.toJSON()})):this._pendingCandidates.push(t.candidate))},this.dispatchEvent(new Event("rtcPeerConnectionChanged"))}}mungeStereo(e,t){const n=/a=fmtp:.* sprop-stereo/g;let r=new Set;for(const t of e.matchAll(n)){const e=t[0].match(/a=fmtp:(\d+) .*/);e&&r.add(e[1])}for(const e of r){const n=new RegExp("a=fmtp:"+e+".*stereo");t.match(n)||(t=t.replaceAll("a=fmtp:"+e,"a=fmtp:"+e+" stereo=1;"))}return t}onSessionPeerMessage(e){if(this._state!==ce.closed&&this._comChannel&&this._sessionId)if(this.ensurePeerConnection(),e.sdp)this._offerOptions?this._rtcPeerConnection.setRemoteDescription(e.sdp).then((()=>{console.log("done")})).catch((e=>{this._state!==ce.closed&&(this.dispatchEvent(new ErrorEvent("error",{message:"an unrecoverable error occurred during SDP handshake",error:e})),this.close())})):this._rtcPeerConnection.setRemoteDescription(e.sdp).then((()=>this._rtcPeerConnection?this._rtcPeerConnection.createAnswer():null)).then((t=>this._rtcPeerConnection&&t?(this._mungeStereoHack&&(t.sdp=this.mungeStereo(e.sdp.sdp,t.sdp)),this._rtcPeerConnection.setLocalDescription(t)):null)).then((()=>{if(this._rtcPeerConnection&&this._comChannel){console.log("Sending SDP with session id",this._sessionId);const e={type:"peer",sessionId:this._sessionId,sdp:this._rtcPeerConnection.localDescription.toJSON()};if(!this._comChannel.send(e))throw new Error("cannot send local SDP configuration to WebRTC peer")}})).catch((e=>{this._state!==ce.closed&&(this.dispatchEvent(new ErrorEvent("error",{message:"an unrecoverable error occurred during SDP handshake",error:e})),this.close())}));else{if(!e.ice)throw new Error(`invalid empty peer message received from consumer session ${this._sessionId}`);{const t=new RTCIceCandidate(e.ice);this._rtcPeerConnection.addIceCandidate(t).catch((e=>{this._state!==ce.closed&&(this.dispatchEvent(new ErrorEvent("error",{message:"an unrecoverable error occurred during ICE handshake",error:e})),this.close())}))}}}};class ke extends le{constructor(e,t,n,r){super(e,n),this._sessionId=t,this._state=ce.streaming;const i=new RTCPeerConnection(this._comChannel.webrtcConfig);this._rtcPeerConnection=i;for(const e of r.getTracks())i.addTrack(e,r);i.onicecandidate=e=>{this._rtcPeerConnection===i&&e.candidate&&this._comChannel&&this._comChannel.send({type:"peer",sessionId:this._sessionId,ice:e.candidate.toJSON()})},this.dispatchEvent(new Event("rtcPeerConnectionChanged")),i.setLocalDescription().then((()=>{if(this._rtcPeerConnection===i&&this._comChannel){const e={type:"peer",sessionId:this._sessionId,sdp:this._rtcPeerConnection.localDescription.toJSON()};if(!this._comChannel.send(e))throw new Error("cannot send local SDP configuration to WebRTC peer")}})).catch((e=>{this._state!==ce.closed&&(this.dispatchEvent(new ErrorEvent("error",{message:"an unrecoverable error occurred during SDP handshake",error:e})),this.close())}))}onSessionPeerMessage(e){if(this._state!==ce.closed&&this._rtcPeerConnection)if(e.sdp)this._rtcPeerConnection.setRemoteDescription(e.sdp).catch((e=>{this._state!==ce.closed&&(this.dispatchEvent(new ErrorEvent("error",{message:"an unrecoverable error occurred during SDP handshake",error:e})),this.close())}));else{if(!e.ice)throw new Error(`invalid empty peer message received from producer's client session ${this._peerId}`);{const t=new RTCIceCandidate(e.ice);this._rtcPeerConnection.addIceCandidate(t).catch((e=>{this._state!==ce.closed&&(this.dispatchEvent(new ErrorEvent("error",{message:"an unrecoverable error occurred during ICE handshake",error:e})),this.close())}))}}}}class Te extends EventTarget{constructor(e,t){super(),this._comChannel=e,this._stream=t,this._state=ce.idle,this._clientSessions={}}get stream(){return this._stream}get state(){return this._state}start(){if(!this._comChannel||this._state===ce.closed)return!1;if(this._state!==ce.idle)return!0;const e={type:"setPeerStatus",roles:["listener","producer"],meta:this._comChannel.meta};return this._comChannel.send(e)?(this._state=ce.connecting,this.dispatchEvent(new Event("stateChanged")),!0):(this.dispatchEvent(new ErrorEvent("error",{message:"cannot start producer session",error:new Error("cannot register producer to signaling server")})),this.close(),!1)}close(){if(this._state!==ce.closed){for(const e of this._stream.getTracks())e.stop();this._state!==ce.idle&&this._comChannel&&this._comChannel.send({type:"setPeerStatus",roles:["listener"],meta:this._comChannel.meta}),this._state=ce.closed,this.dispatchEvent(new Event("stateChanged")),this._comChannel=null,this._stream=null;for(const e of Object.values(this._clientSessions))e.close();this._clientSessions={},this.dispatchEvent(new Event("closed"))}}onProducerRegistered(){this._state===ce.connecting&&(this._state=ce.streaming,this.dispatchEvent(new Event("stateChanged")))}onStartSessionMessage(e){if(this._comChannel&&this._stream&&!(e.sessionId in this._clientSessions)){const t=new ke(e.peerId,e.sessionId,this._comChannel,this._stream);this._clientSessions[e.sessionId]=t,t.addEventListener("closed",(e=>{const n=e.target.sessionId;n in this._clientSessions&&this._clientSessions[n]===t&&(delete this._clientSessions[n],this.dispatchEvent(new CustomEvent("clientConsumerRemoved",{detail:t})))})),t.addEventListener("error",(e=>{this.dispatchEvent(new ErrorEvent("error",{message:`error from client consumer ${e.target.peerId}: ${e.message}`,error:e.error}))})),this.dispatchEvent(new CustomEvent("clientConsumerAdded",{detail:t}))}}onEndSessionMessage(e){e.sessionId in this._clientSessions&&this._clientSessions[e.sessionId].close()}onSessionPeerMessage(e){e.sessionId in this._clientSessions&&this._clientSessions[e.sessionId].onSessionPeerMessage(e)}}const Ee=Te,Pe=Object.freeze({welcome:"welcome",peerStatusChanged:"peerStatusChanged",list:"list",sessionStarted:"sessionStarted",peer:"peer",startSession:"startSession",endSession:"endSession",error:"error"});function Re(e,t){if(!e||"object"!=typeof e)return null;const n={id:"",meta:{}};if(e.id&&"string"==typeof e.id)n.id=e.id;else{if(!e.peerId||"string"!=typeof e.peerId)return null;n.id=e.peerId}return n.id===t?null:(e.meta&&"object"==typeof e.meta&&(n.meta=e.meta),Object.freeze(n.meta),Object.freeze(n))}class we extends EventTarget{constructor(e,t,n){super(),this._meta=t,this._webrtcConfig=n,this._ws=new WebSocket(e),this._ready=!1,this._channelId="",this._producerSession=null,this._consumerSessions={},this._ws.onerror=e=>{this.dispatchEvent(new ErrorEvent("error",{message:e.message||"WebSocket error",error:e.error||new Error(this._ready?"transportation error":"cannot connect to signaling server")})),this.close()},this._ws.onclose=()=>{this._ready=!1,this._channelId="",this._ws=null,this.closeAllConsumerSessions(),this._producerSession&&(this._producerSession.close(),this._producerSession=null),this.dispatchEvent(new Event("closed"))},this._ws.onmessage=e=>{try{const n=JSON.parse(e.data);if(n&&"object"==typeof n)switch(n.type){case Pe.welcome:this._channelId=n.peerId;try{this._ws.send(JSON.stringify({type:"setPeerStatus",roles:["listener"],meta:t}))}catch(e){this.dispatchEvent(new ErrorEvent("error",{message:"cannot initialize connection to signaling server",error:e})),this.close()}break;case Pe.peerStatusChanged:if(n.peerId===this._channelId)!this._ready&&n.roles.includes("listener")&&(this._ready=!0,this.dispatchEvent(new Event("ready")),this.send({type:"list"})),this._producerSession&&n.roles.includes("producer")&&this._producerSession.onProducerRegistered();else{const e=Re(n,this._channelId);e&&(n.roles.includes("producer")?this.dispatchEvent(new CustomEvent("producerAdded",{detail:e})):this.dispatchEvent(new CustomEvent("producerRemoved",{detail:e})))}break;case Pe.list:for(const e of n.producers){const t=Re(e,this._channelId);t&&this.dispatchEvent(new CustomEvent("producerAdded",{detail:t}))}break;case Pe.sessionStarted:{const e=this.getConsumerSession(n.peerId);e&&(delete this._consumerSessions[n.peerId],e.onSessionStarted(n.peerId,n.sessionId),e.sessionId&&!(e.sessionId in this._consumerSessions)?this._consumerSessions[e.sessionId]=e:e.close())}break;case Pe.peer:{const e=this.getConsumerSession(n.sessionId);e?e.onSessionPeerMessage(n):this._producerSession&&this._producerSession.onSessionPeerMessage(n)}break;case Pe.startSession:this._producerSession&&this._producerSession.onStartSessionMessage(n);break;case Pe.endSession:{const e=this.getConsumerSession(n.sessionId);e?e.close():this._producerSession&&this._producerSession.onEndSessionMessage(n)}break;case Pe.error:this.dispatchEvent(new ErrorEvent("error",{message:"error received from signaling server",error:new Error(n.details)}));break;default:throw new Error(`unknown message type: "${n.type}"`)}}catch(e){this.dispatchEvent(new ErrorEvent("error",{message:"cannot parse incoming message from signaling server",error:e}))}}}get meta(){return this._meta}get webrtcConfig(){return this._webrtcConfig}get ready(){return this._ready}get channelId(){return this._channelId}get producerSession(){return this._producerSession}createProducerSession(e){if(!(this._ready&&e instanceof MediaStream))return null;if(this._producerSession)return this._producerSession.stream===e?this._producerSession:null;const t=new Ee(this,e);return this._producerSession=t,t.addEventListener("closed",(()=>{this._producerSession===t&&(this._producerSession=null)})),t}createConsumerSession(e,t){if(!this._ready||!e||"string"!=typeof e)return null;if(t&&"object"!=typeof t&&(t=void 0),e in this._consumerSessions)return this._consumerSessions[e];for(const t of Object.values(this._consumerSessions))if(t.peerId===e)return t;const n=new Se(e,this,t);return this._consumerSessions[e]=n,n.addEventListener("closed",(e=>{let t=e.target.sessionId;t||(t=e.target.peerId),t in this._consumerSessions&&this._consumerSessions[t]===n&&delete this._consumerSessions[t]})),n}getConsumerSession(e){return e in this._consumerSessions?this._consumerSessions[e]:null}closeAllConsumerSessions(){for(const e of Object.values(this._consumerSessions))e.close();this._consumerSessions={}}send(e){if(this._ready&&e&&"object"==typeof e)try{return this._ws.send(JSON.stringify(e)),!0}catch(e){this.dispatchEvent(new ErrorEvent("error",{message:"cannot send message to signaling server",error:e}))}return!1}close(){this._ws&&(this._ready=!1,this._channelId="",this._ws.close(),this.closeAllConsumerSessions(),this._producerSession&&(this._producerSession.close(),this._producerSession=null))}}const Ae=we;class xe{constructor(e){this._channel=null,this._producers={},this._connectionListeners=[],this._producersListeners=[];const t=Object.assign({},se);e&&"object"==typeof e&&Object.assign(t,e),"object"!=typeof t.meta&&(t.meta=null),this._config=t,this.connectChannel()}registerConnectionListener(e){return!(!e||"object"!=typeof e||"function"!=typeof e.connected||"function"!=typeof e.disconnected)&&(this._connectionListeners.includes(e)||this._connectionListeners.push(e),!0)}unregisterConnectionListener(e){const t=this._connectionListeners.indexOf(e);return t>=0&&(this._connectionListeners.splice(t,1),!0)}unregisterAllConnectionListeners(){this._connectionListeners=[]}createProducerSession(e){return this._channel?this._channel.createProducerSession(e):null}getAvailableProducers(){return Object.values(this._producers)}registerProducersListener(e){return!(!e||"object"!=typeof e||"function"!=typeof e.producerAdded||"function"!=typeof e.producerRemoved)&&(this._producersListeners.includes(e)||this._producersListeners.push(e),!0)}unregisterProducersListener(e){const t=this._producersListeners.indexOf(e);return t>=0&&(this._producersListeners.splice(t,1),!0)}unregisterAllProducersListeners(){this._producersListeners=[]}createConsumerSession(e){return this._channel?this._channel.createConsumerSession(e):null}createConsumerSessionWithOfferOptions(e,t){return this._channel?this._channel.createConsumerSession(e,t):null}connectChannel(){if(this._channel){const e=this._channel;this._channel=null,e.close();for(const e in this._producers)this.triggerProducerRemoved(e);this._producers={},this.triggerDisconnected()}this._channel=new Ae(this._config.signalingServerUrl,this._config.meta,this._config.webrtcConfig),this._channel.addEventListener("error",(e=>{e.target===this._channel&&console.error(e.message,e.error)})),this._channel.addEventListener("closed",(e=>{if(e.target===this._channel){this._channel=null;for(const e in this._producers)this.triggerProducerRemoved(e);this._producers={},this.triggerDisconnected(),this._config.reconnectionTimeout>0&&window.setTimeout((()=>{this.connectChannel()}),this._config.reconnectionTimeout)}})),this._channel.addEventListener("ready",(e=>{e.target===this._channel&&this.triggerConnected(this._channel.channelId)})),this._channel.addEventListener("producerAdded",(e=>{e.target===this._channel&&this.triggerProducerAdded(e.detail)})),this._channel.addEventListener("producerRemoved",(e=>{e.target===this._channel&&this.triggerProducerRemoved(e.detail.id)}))}triggerConnected(e){for(const t of this._connectionListeners)try{t.connected(e)}catch(e){console.error("a listener callback should not throw any exception",e)}}triggerDisconnected(){for(const e of this._connectionListeners)try{e.disconnected()}catch(e){console.error("a listener callback should not throw any exception",e)}}triggerProducerAdded(e){if(!(e.id in this._producers)){this._producers[e.id]=e;for(const t of this._producersListeners)try{t.producerAdded(e)}catch(e){console.error("a listener callback should not throw any exception",e)}}}triggerProducerRemoved(e){if(e in this._producers){const t=this._producers[e];delete this._producers[e];for(const e of this._producersListeners)try{e.producerRemoved(t)}catch(e){console.error("a listener callback should not throw any exception",e)}}}}xe.SessionState=ce;const Ie=xe;window.GstWebRTCAPI||(window.GstWebRTCAPI=Ie)})()})(); +//# sourceMappingURL=gstwebrtc-api-2.0.0.min.js.map \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/apps.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/apps.js new file mode 100644 index 0000000000000000000000000000000000000000..cd60df2852df2fca161c2c7a047e130df7810059 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/apps.js @@ -0,0 +1,319 @@ +const installedApps = { + refreshAppList: async () => { + const appsData = await installedApps.fetchInstalledApps(); + await installedApps.displayInstalledApps(appsData); + }, + + currentlyRunningApp: null, + busy: false, + toggles: {}, + + startApp: async (appName) => { + if (installedApps.busy) { + console.log(`Another app is currently being started or stopped.`); + return; + } + installedApps.setBusy(true); + + console.log(`Current running app: ${installedApps.currentlyRunningApp}`); + + if (installedApps.currentlyRunningApp) { + console.log(`Stopping currently running app: ${installedApps.currentlyRunningApp}...`); + await installedApps.stopApp(installedApps.currentlyRunningApp, true); + } + + console.log(`Starting app: ${appName}...`); + const endpoint = `/api/apps/start-app/${appName}`; + const resp = await fetch(endpoint, { method: 'POST' }); + if (!resp.ok) { + console.error(`Failed to staret app ${appName}: ${resp.statusText}`); + installedApps.toggles[appName].setChecked(false); + installedApps.setBusy(false); + return; + } else { + console.log(`App ${appName} started successfully.`); + } + + installedApps.currentlyRunningApp = appName; + installedApps.setBusy(false); + }, + + stopApp: async (appName, force = false) => { + if (installedApps.busy && !force) { + console.log(`Another app is currently being started or stopped.`); + return; + } + installedApps.setBusy(true); + + console.log(`Stopping app: ${appName}...`); + + if (force) { + console.log(`Force stopping app: ${appName}...`); + installedApps.toggles[appName].setChecked(false); + } + + const endpoint = `/api/apps/stop-current-app`; + const resp = await fetch(endpoint, { method: 'POST' }); + if (!resp.ok) { + console.error(`Failed to stop app ${appName}: ${resp.statusText}`); + installedApps.setBusy(false); + return; + } else { + console.log(`App ${appName} stopped successfully.`); + installedApps.toggles[appName].setChecked(false); + } + + if (installedApps.currentlyRunningApp === appName) { + installedApps.currentlyRunningApp = null; + } + installedApps.setBusy(false); + }, + + setBusy: (isBusy) => { + installedApps.busy = isBusy; + for (const toggle of Object.values(installedApps.toggles)) { + if (isBusy) { + toggle.disable(); + } else { + toggle.enable(); + } + } + }, + + fetchInstalledApps: async () => { + const resp = await fetch('/api/apps/list-available/installed'); + const appsData = await resp.json(); + return appsData; + }, + + displayInstalledApps: async (appsData) => { + const appsListElement = document.getElementById('installed-apps'); + appsListElement.innerHTML = ''; + + if (!appsData || appsData.length === 0) { + appsListElement.innerHTML = '
  • No installed apps found.
    • '; + return; + } + + const runningApp = await installedApps.getRunningApp(); + + installedApps.toggles = {}; + appsData.forEach(app => { + const li = document.createElement('li'); + li.className = 'app-list-item'; + const isRunning = (app.name === runningApp); + li.appendChild(installedApps.createAppElement(app, isRunning)); + appsListElement.appendChild(li); + }); + }, + + createAppElement: (app, isRunning) => { + const container = document.createElement('div'); + container.className = 'grid grid-cols-[auto_6rem_2rem] justify-stretch gap-x-2'; + + const title = document.createElement('div'); + const titleSpan = document.createElement('span'); + titleSpan.className = 'installed-app-title top-1/2 '; + titleSpan.innerHTML = app.name; + title.appendChild(titleSpan); + if (app.extra && app.extra.custom_app_url) { + const settingsLink = document.createElement('a'); + settingsLink.className = 'installed-app-settings ml-2 text-gray-500 cursor-pointer'; + settingsLink.innerHTML = '⚙️'; + settingsLink.href = app.extra.custom_app_url; + settingsLink.target = '_blank'; + settingsLink.rel = 'noopener noreferrer'; + title.appendChild(settingsLink); + } + container.appendChild(title); + const slider = document.createElement('div'); + const toggle = new ToggleSlider({ + checked: isRunning, + onChange: (checked) => { + if (installedApps.busy) { + toggle.setChecked(!checked); + return; + } + if (checked) { + installedApps.startApp(app.name); + } else { + installedApps.stopApp(app.name); + } + } + }); + installedApps.toggles[app.name] = toggle; + slider.appendChild(toggle.element); + container.appendChild(slider); + + const remove = document.createElement('button'); + remove.innerHTML = '🗑️'; + remove.className = '-translate-y-1 text-xl'; + container.appendChild(remove); + remove.onclick = async () => { + console.log(`Removing ${app.name}...`); + const resp = await fetch(`/api/apps/remove/${app.name}`, { method: 'POST' }); + const data = await resp.json(); + const jobId = data.job_id; + + installedApps.appUninstallLogHandler(app.name, jobId); + }; + + return container; + }, + + getRunningApp: async () => { + const resp = await fetch('/api/apps/current-app-status'); + const data = await resp.json(); + if (!data) { + return null; + } + installedApps.currentlyRunningApp = data.info.name; + return data.info.name; + }, + + appUninstallLogHandler: async (appName, jobId) => { + const installModal = document.getElementById('install-modal'); + const modalTitle = installModal.querySelector('#modal-title'); + modalTitle.textContent = `Uninstalling ${appName}...`; + installModal.classList.remove('hidden'); + + const logsDiv = document.getElementById('install-logs'); + logsDiv.textContent = ''; + + const closeButton = document.getElementById('modal-close-button'); + closeButton.onclick = () => { + installModal.classList.add('hidden'); + }; + closeButton.classList = "hidden"; + closeButton.textContent = ''; + + const ws = new WebSocket(`ws://${location.host}/api/apps/ws/apps-manager/${jobId}`); + ws.onmessage = (event) => { + try { + if (event.data.startsWith('{') && event.data.endsWith('}')) { + + const data = JSON.parse(event.data); + + if (data.status === "failed") { + closeButton.classList = "text-white bg-red-700 hover:bg-red-800 focus:ring-4 focus:outline-none focus:ring-red-300 font-medium rounded-lg text-sm px-5 py-2.5 text-center dark:bg-red-600 dark:hover:bg-red-700 dark:focus:ring-red-800"; + closeButton.textContent = 'Close'; + console.error(`Uninstallation of ${appName} failed.`); + } else if (data.status === "done") { + closeButton.classList = "text-white bg-green-700 hover:bg-green-800 focus:ring-4 focus:outline-none focus:ring-green-300 font-medium rounded-lg text-sm px-5 py-2.5 text-center dark:bg-green-600 dark:hover:bg-green-700 dark:focus:ring-green-800"; + closeButton.textContent = 'Uninstall done'; + console.log(`Uninstallation of ${appName} completed.`); + + } + } else { + logsDiv.innerHTML += event.data + '\n'; + logsDiv.scrollTop = logsDiv.scrollHeight; + } + } catch { + logsDiv.innerHTML += event.data + '\n'; + logsDiv.scrollTop = logsDiv.scrollHeight; + } + }; + ws.onclose = async () => { + hfAppsStore.refreshAppList(); + installedApps.refreshAppList(); + }; + }, +}; + +class ToggleSlider { + constructor({ checked = false, onChange = null } = {}) { + this.label = document.createElement('label'); + this.label.className = 'relative inline-block w-28 h-8 cursor-pointer'; + + this.input = document.createElement('input'); + this.input.type = 'checkbox'; + this.input.className = 'sr-only peer'; + this.input.checked = checked; + this.label.appendChild(this.input); + + // Off label + this.offLabel = document.createElement('span'); + this.offLabel.textContent = 'Off'; + this.offLabel.className = 'absolute left-0 top-1/2 -translate-x-8 -translate-y-1/2 text-base select-none transition-colors duration-200 text-gray-900 peer-checked:text-gray-400'; + this.label.appendChild(this.offLabel); + + this.track = document.createElement('div'); + this.track.className = 'absolute top-0 left-0 w-16 h-8 bg-gray-200 rounded-full transition-colors duration-200 peer-checked:bg-blue-800 dark:bg-gray-400 dark:peer-checked:bg-blue-800'; + this.label.appendChild(this.track); + + this.thumb = document.createElement('div'); + this.thumb.className = 'absolute top-0.5 left-0.5 w-7 h-7 bg-white border border-gray-300 rounded-full transition-all duration-200'; + this.track.appendChild(this.thumb); + + // On label + this.onLabel = document.createElement('span'); + this.onLabel.textContent = 'On'; + this.onLabel.className = 'absolute right-0 top-1/2 -translate-y-1/2 -translate-x-4 text-base select-none transition-colors duration-200 text-gray-400 peer-checked:text-gray-900'; + this.label.appendChild(this.onLabel); + + + this.input.addEventListener('change', () => { + if (this.input.checked) { + this.thumb.style.transform = 'translateX(31px)'; + this.onLabel.classList.remove('text-gray-400'); + this.onLabel.classList.add('text-gray-900'); + this.offLabel.classList.remove('text-gray-900'); + this.offLabel.classList.add('text-gray-400'); + } else { + this.thumb.style.transform = 'translateX(0)'; + this.onLabel.classList.remove('text-gray-900'); + this.onLabel.classList.add('text-gray-400'); + this.offLabel.classList.remove('text-gray-400'); + this.offLabel.classList.add('text-gray-900'); + } + if (onChange) onChange(this.input.checked); + }); + + // Set initial thumb and label color + if (checked) { + this.thumb.style.transform = 'translateX(31px)'; + this.onLabel.classList.remove('text-gray-400'); + this.onLabel.classList.add('text-gray-900'); + } else { + this.onLabel.classList.remove('text-gray-900'); + this.onLabel.classList.add('text-gray-400'); + } + + this.element = this.label; + } + + setChecked(val) { + this.input.checked = val; + if (this.input.checked) { + this.thumb.style.transform = 'translateX(48px)'; + this.onLabel.classList.remove('text-gray-400'); + this.onLabel.classList.add('text-gray-900'); + this.offLabel.classList.remove('text-gray-900'); + this.offLabel.classList.add('text-gray-400'); + } else { + this.thumb.style.transform = 'translateX(0)'; + this.onLabel.classList.remove('text-gray-900'); + this.onLabel.classList.add('text-gray-400'); + this.offLabel.classList.remove('text-gray-400'); + this.offLabel.classList.add('text-gray-900'); + } + } + + getChecked() { + return this.input.checked; + } + + disable() { + this.input.disabled = true; + this.label.classList.add('opacity-50', 'pointer-events-none'); + } + + enable() { + this.input.disabled = false; + this.label.classList.remove('opacity-50', 'pointer-events-none'); + } +}; + +window.addEventListener('load', async () => { + await installedApps.refreshAppList(); +}); \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/appstore.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/appstore.js new file mode 100644 index 0000000000000000000000000000000000000000..e570fd73f7f8bb6962fcae989983eadf0225bad3 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/appstore.js @@ -0,0 +1,157 @@ + +const hfAppsStore = { + refreshAppList: async () => { + const appsData = await hfAppsStore.fetchAvailableApps(); + await hfAppsStore.displayAvailableApps(appsData); + }, + fetchAvailableApps: async () => { + const resAvailable = await fetch('/api/apps/list-available/dashboard_selection'); + const appsData = await resAvailable.json(); + return appsData; + }, + + isInstalling: false, + + installApp: async (app) => { + if (hfAppsStore.isInstalling) { + console.warn('An installation is already in progress.'); + return; + } + hfAppsStore.isInstalling = true; + + const appName = app.extra.cardData.title || app.name; + console.log(`Installing ${app.name}...`); + + const resp = await fetch('/api/apps/install', { + method: 'POST', + headers: { 'Content-Type': 'application/json' }, + body: JSON.stringify(app) + }); + const data = await resp.json(); + const jobId = data.job_id; + + hfAppsStore.appInstallLogHandler(appName, jobId); + }, + + displayAvailableApps: async (appsData) => { + const appsListElement = document.getElementById('hf-available-apps'); + appsListElement.innerHTML = ''; + + if (!appsData || appsData.length === 0) { + appsListElement.innerHTML = '
  • No available apps found.
    • '; + return; + } + + const hfApps = appsData.filter(app => app.source_kind === 'hf_space'); + const installedApps = await fetch('/api/apps/list-available/installed').then(res => res.json()); + + hfApps.forEach(app => { + const li = document.createElement('li'); + li.className = 'app-list-item'; + const isInstalled = installedApps.some(installedApp => installedApp.name === app.name); + li.appendChild(hfAppsStore.createAppElement(app, isInstalled)); + appsListElement.appendChild(li); + }); + }, + + createAppElement: (app, isInstalled) => { + const container = document.createElement('div'); + container.className = 'grid grid-cols-[2rem_auto_8rem] justify-stretch gap-x-6'; + + const iconDiv = document.createElement('div'); + iconDiv.className = 'hf-app-icon row-span-2 my-1'; + iconDiv.textContent = app.extra.cardData.emoji || '📦'; + container.appendChild(iconDiv); + + const nameDiv = document.createElement('div'); + nameDiv.className = 'flex flex-col'; + + const titleDiv = document.createElement('a'); + titleDiv.href = app.url; + titleDiv.target = '_blank'; + titleDiv.rel = 'noopener noreferrer'; + titleDiv.className = 'hf-app-title'; + titleDiv.textContent = app.extra.cardData.title || app.name; + nameDiv.appendChild(titleDiv); + const descriptionDiv = document.createElement('span'); + descriptionDiv.className = 'hf-app-description'; + descriptionDiv.textContent = app.description || 'No description available.'; + nameDiv.appendChild(descriptionDiv); + container.appendChild(nameDiv); + + const installButtonDiv = document.createElement('button'); + installButtonDiv.className = 'row-span-2 my-2 hf-app-install-button'; + + if (isInstalled) { + installButtonDiv.classList.add('bg-gray-400', 'cursor-not-allowed'); + installButtonDiv.textContent = 'Installed'; + installButtonDiv.disabled = true; + } else { + installButtonDiv.classList.add('border', 'border-red-600'); + installButtonDiv.textContent = 'Install'; + installButtonDiv.onclick = async () => { + hfAppsStore.installApp(app); + }; + } + + container.appendChild(installButtonDiv); + + return container; + }, + + appInstallLogHandler: async (appName, jobId) => { + const installModal = document.getElementById('install-modal'); + const modalTitle = installModal.querySelector('#modal-title'); + modalTitle.textContent = `Installing ${appName}...`; + installModal.classList.remove('hidden'); + + const logsDiv = document.getElementById('install-logs'); + logsDiv.textContent = ''; + + const closeButton = document.getElementById('modal-close-button'); + closeButton.onclick = () => { + installModal.classList.add('hidden'); + }; + closeButton.classList = "hidden"; + closeButton.textContent = ''; + + const ws = new WebSocket(`ws://${location.host}/api/apps/ws/apps-manager/${jobId}`); + ws.onmessage = (event) => { + try { + if (event.data.startsWith('{') && event.data.endsWith('}')) { + const data = JSON.parse(event.data); + + if (data.status === "failed") { + closeButton.classList = "text-white bg-red-700 hover:bg-red-800 focus:ring-4 focus:outline-none focus:ring-red-300 font-medium rounded-lg text-sm px-5 py-2.5 text-center dark:bg-red-600 dark:hover:bg-red-700 dark:focus:ring-red-800"; + closeButton.textContent = 'Close'; + console.error(`Installation of ${appName} failed.`); + } else if (data.status === "done") { + closeButton.classList = "text-white bg-green-700 hover:bg-green-800 focus:ring-4 focus:outline-none focus:ring-green-300 font-medium rounded-lg text-sm px-5 py-2.5 text-center dark:bg-green-600 dark:hover:bg-green-700 dark:focus:ring-green-800"; + closeButton.textContent = 'Install done'; + console.log(`Installation of ${appName} completed.`); + + } + } + else { + logsDiv.innerHTML += event.data + '\n'; + logsDiv.scrollTop = logsDiv.scrollHeight; + } + + + } catch { + logsDiv.innerHTML += event.data + '\n'; + logsDiv.scrollTop = logsDiv.scrollHeight; + } + }; + ws.onclose = async () => { + hfAppsStore.isInstalling = false; + hfAppsStore.refreshAppList(); + installedApps.refreshAppList(); + }; + }, +}; + + +window.addEventListener('load', async () => { + await hfAppsStore.refreshAppList(); +}); \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/daemon.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/daemon.js new file mode 100644 index 0000000000000000000000000000000000000000..4bcb67c725d9dfb99e17d34d15a73b281c1baebc --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/daemon.js @@ -0,0 +1,169 @@ + + + +const daemon = { + currentStatus: { + state: null, + }, + + start: async (wakeUp) => { + await fetch(`/api/daemon/start?wake_up=${wakeUp}`, { + method: 'POST', + }) + .then((response) => { + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + return response.json(); + }) + .then(async (data) => { + await daemon.checkStatusUpdate(); + }) + .catch((error) => { + console.error('Error starting daemon:', error); + }); + }, + + stop: async (gotoSleep) => { + await fetch(`/api/daemon/stop?goto_sleep=${gotoSleep}`, { + method: 'POST', + }) + .then((response) => { + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + return response.json(); + }) + .then(async (data) => { + await daemon.checkStatusUpdate(); + }) + .catch((error) => { + console.error('Error stopping daemon:', error); + }); + }, + + getStatus: async () => { + await fetch('/api/daemon/status') + .then((response) => response.json()) + .then(async (data) => { + let currentState = daemon.currentStatus.state; + let newState = data.state || null; + + daemon.currentStatus = data; + + if (currentState === null || currentState !== newState) { + await daemon.updateUI(); + } + + }) + .catch((error) => { + console.error('Error fetching daemon status:', error); + }); + }, + + checkStatusUpdate: async (initialState) => { + await daemon.getStatus(); + + if (!initialState) { + initialState = daemon.currentStatus.state; + } + + let currentState = daemon.currentStatus.state; + + if (currentState !== "error" && (currentState === initialState || currentState === "starting" || currentState === "stopping")) { + setTimeout(() => { + daemon.checkStatusUpdate(initialState); + }, 500); + } + }, + + toggleSwitch: async () => { + const toggleDaemonSwitch = document.getElementById('daemon-toggle'); + + if (toggleDaemonSwitch.checked) { + console.log('Toggle switched ON. Starting daemon...'); + await daemon.start(true); + } else { + console.log('Toggle switched OFF. Stopping daemon...'); + await daemon.stop(true); + } + + await daemon.updateToggle(); + }, + + updateUI: async () => { + const daemonStatusAnim = document.getElementById('daemon-status-anim'); + const toggleDaemonSwitch = document.getElementById('daemon-toggle'); + const backendStatusIcon = document.getElementById('backend-status-icon'); + const backendStatusText = document.getElementById('backend-status-text'); + + let daemonState = daemon.currentStatus.state; + + toggleDaemonSwitch.disabled = false; + backendStatusIcon.classList.remove('bg-green-500', 'bg-yellow-500', 'bg-red-500'); + + if (daemonState === 'starting') { + // daemonStatusAnim.setAttribute('data', '/static/assets/reachy-mini-wake-up-animation.svg'); + daemonStatusAnim.setAttribute('data', '/static/assets/awake-cartoon.svg'); + toggleDaemonSwitch.disabled = true; + toggleDaemonSwitch.checked = true; + backendStatusIcon.classList.add('bg-yellow-500'); + backendStatusText.textContent = 'Waking up...'; + } + else if (daemonState === 'running') { + // daemonStatusAnim.setAttribute('data', '/static/assets/reachy-mini-awake.svg'); + daemonStatusAnim.setAttribute('data', '/static/assets/awake-cartoon-static.svg'); + toggleDaemonSwitch.checked = true; + backendStatusIcon.classList.add('bg-green-500'); + backendStatusText.textContent = 'Up and ready'; + } + else if (daemonState === 'stopping') { + // daemonStatusAnim.setAttribute('data', '/static/assets/reachy-mini-go-to-sleep-animation.svg'); + daemonStatusAnim.setAttribute('data', '/static/assets/go-to-sleep-cartoon.svg'); + toggleDaemonSwitch.disabled = true; + toggleDaemonSwitch.checked = false; + backendStatusIcon.classList.add('bg-yellow-500'); + backendStatusText.textContent = 'Going to sleep...'; + } + else if (daemonState === 'stopped' || daemonState === 'not_initialized') { + // daemonStatusAnim.setAttribute('data', '/static/assets/reachy-mini-sleeping.svg'); + daemonStatusAnim.setAttribute('data', '/static/assets/reachy-mini-sleeping-static.svg'); + toggleDaemonSwitch.checked = false; + backendStatusIcon.classList.add('bg-yellow-500'); + backendStatusText.textContent = 'Stopped'; + } + else if (daemonState === 'error') { + daemonStatusAnim.setAttribute('data', '/static/assets/no-wifi-cartoon.svg'); + toggleDaemonSwitch.checked = false; + backendStatusIcon.classList.add('bg-red-500'); + backendStatusText.textContent = 'Error occurred'; + + notificationCenter.showError(daemon.currentStatus.error); + } + + await daemon.updateToggle(); + }, + + updateToggle: async () => { + const toggle = document.getElementById('daemon-toggle'); + const toggleSlider = document.getElementById('daemon-toggle-slider'); + const toggleOnLabel = document.getElementById('daemon-toggle-on'); + const toggleOffLabel = document.getElementById('daemon-toggle-off'); + + toggleSlider.classList.remove('hidden'); + + if (toggle.checked) { + toggleOnLabel.classList.remove('hidden'); + toggleOffLabel.classList.add('hidden'); + } else { + toggleOnLabel.classList.add('hidden'); + toggleOffLabel.classList.remove('hidden'); + } + }, +}; + + +window.addEventListener('load', async () => { + document.getElementById('daemon-toggle').onchange = daemon.toggleSwitch; + await daemon.getStatus(); +}); \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/health_check.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/health_check.js new file mode 100644 index 0000000000000000000000000000000000000000..e0514b2765eddf49ee35c3e990a89a5a34717891 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/health_check.js @@ -0,0 +1,9 @@ +window.addEventListener("load", () => { + const healthCheckInterval = setInterval(async () => { + const response = await fetch("/health-check", { method: "POST" }); + if (!response.ok) { + console.error("Health check failed"); + clearInterval(healthCheckInterval); + } + }, 2500); +}); diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/move_player.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/move_player.js new file mode 100644 index 0000000000000000000000000000000000000000..322a94e7e199936d9ce696362bb54a5fa44cad2f --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/move_player.js @@ -0,0 +1,132 @@ +const updateMoveItems = async (dataset) => { + fetch(`/api/move/recorded-move-datasets/list/${dataset}`) + .then(response => response.json()) + .then(data => { + // Update the UI with the list of recorded moves + const moveSelectToggle = document.getElementById('move-select-toggle'); + moveSelectToggle.innerHTML = ''; + + data.forEach(moveName => { + const option = document.createElement('option'); + option.value = moveName; + option.textContent = moveName; + moveSelectToggle.appendChild(option); + }); + + }) + .catch(error => { + console.error(`Error fetching recorded moves for dataset '${dataset}':`, error); + }); +}; + +const movePlayer = { + playing: false, + currentMove: null, + + playRecordedMove: async (dataset, move) => { + console.log(`Requesting play move '${move}' from dataset '${dataset}'`); + + // movePlayer.playing = true; + // movePlayer.updateUI(); + + await fetch(`/api/move/play/recorded-move-dataset/${dataset}/${move}`, { + method: 'POST' + }).then(response => { + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + return response.json(); + } + ).then(data => { + movePlayer.currentMove = data.uuid; + }).catch(error => { + console.error(`Error playing move '${move}' from dataset '${dataset}':`, error); + // movePlayer.playing = false; + // movePlayer.currentMove = null; + // movePlayer.updateUI(); + }); + }, + + stopMove: async () => { + console.log(`Requesting stop of current move`); + + await fetch(`/api/move/stop`, { + method: 'POST', + body: JSON.stringify({ uuid: movePlayer.currentMove }), + headers: { + 'Content-Type': 'application/json' + } + }); + }, + + updateUI: () => { + const movePlayBtn = document.getElementById('move-play-btn'); + const moveStopBtn = document.getElementById('move-stop-btn'); + + if (movePlayer.playing) { + movePlayBtn.disabled = true; + moveStopBtn.disabled = false; + } else { + movePlayBtn.disabled = false; + moveStopBtn.disabled = true; + } + }, + + checkMoveStatus: async () => { + let ws = new WebSocket(`ws://${window.location.host}/api/move/ws/updates`); + + ws.onmessage = (event) => { + const data = JSON.parse(event.data); + if (data.type === 'move_started') { + movePlayer.playing = true; + movePlayer.currentMove = data.move_id; + } + else if (data.type === 'move_completed') { + movePlayer.playing = false; + movePlayer.currentMove = null; + } + else if (data.type === 'move_failed' || data.type === 'move_cancelled') { + movePlayer.playing = false; + movePlayer.currentMove = null; + } + + movePlayer.updateUI(); + }; + + ws.onclose = () => { + console.log('Move status WebSocket closed, reconnecting in 1 second...'); + setTimeout(() => { + movePlayer.checkMoveStatus(); + }, 1000); + }; + } +}; + +window.addEventListener('DOMContentLoaded', (event) => { + const moveDatasetToggle = document.getElementById('move-dataset-toggle'); + + moveDatasetToggle.addEventListener('change', (_) => { + const selectedDataset = moveDatasetToggle.value; + updateMoveItems(selectedDataset); + }); + + const movePlayBtn = document.getElementById('move-play-btn'); + movePlayBtn.addEventListener('click', async () => { + const selectedDataset = moveDatasetToggle.value; + const moveSelectToggle = document.getElementById('move-select-toggle'); + const selectedMove = moveSelectToggle.value; + + await movePlayer.playRecordedMove(selectedDataset, selectedMove); + }); + + const moveStopBtn = document.getElementById('move-stop-btn'); + moveStopBtn.addEventListener('click', async () => { + await movePlayer.stopMove(); + }); + + // Initialize move items on page load + updateMoveItems(moveDatasetToggle.value); + + movePlayer.checkMoveStatus(); + movePlayer.updateUI(); +}); \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/notification.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/notification.js new file mode 100644 index 0000000000000000000000000000000000000000..69e119956273544332422e0ad25e397bcb44ead3 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/notification.js @@ -0,0 +1,41 @@ +const notificationCenter = { + + showInfo: (message, duration = 5000, autoclose = true) => { + notificationCenter.showNotification(message, false, duration, autoclose); + }, + showError: (message, duration = 5000, autoclose = false) => { + message = notificationCenter.errorTranslation(message); + notificationCenter.showNotification(message, true, duration, autoclose); + }, + + showNotification: (message, error, duration = 5000, autoclose = true) => { + document.getElementById('notification-message').textContent = message; + document.getElementById('notification-modal').style.display = 'block'; + + if (error) { + document.getElementById('notification-content').classList.add('error'); + document.getElementById('notification-content').classList.remove('info'); + } else { + document.getElementById('notification-content').classList.remove('error'); + document.getElementById('notification-content').classList.add('info'); + } + + if (autoclose) { + setTimeout(notificationCenter.closeNotification, duration); + } + }, + + closeNotification: () => { + document.getElementById('notification-modal').style.display = 'none'; + }, + + errorTranslation: (errorMessage) => { + if (errorMessage.includes('No Reachy Mini serial port found.')) { + return 'Reachy Mini not detected on USB. Please check that the USB cable is properly connected.'; + } + + console.log('No translation found for error message:', errorMessage); + return errorMessage; + }, + +}; \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/update.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/update.js new file mode 100644 index 0000000000000000000000000000000000000000..a1e6812812dcb99af3c2e74ffc80f9244efdf2fc --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/update.js @@ -0,0 +1,132 @@ +const updateManager = { + busy: false, + preRelease: false, + + checkForUpdate: async () => { + await updateManager.updateUI(); // Clear previous state + + await fetch('/update/available?pre_release=' + updateManager.preRelease) + .then(async response => { + if (!response.ok) { + return false; + } + const data = await response.json(); + await updateManager.updateUI(data); + }).catch(error => { + console.error('Error checking for updates:', error); + }); + }, + + startUpdate: async () => { + if (updateManager.busy) { + console.warn('An update is already in progress.'); + return; + } + updateManager.busy = true; + + fetch('/update/start?pre_release=' + updateManager.preRelease, { method: 'POST' }) + .then(response => { + if (response.ok) { + return response.json(); + } else { + return response.json().then(data => { + throw new Error(data.detail || 'Error starting update'); + }); + } + }) + .then(data => { + const jobId = data.job_id; + updateManager.connectLogsWebSocket(jobId); + }) + .catch(error => { + console.error('Error triggering update:', error); + updateManager.busy = false; + }); + }, + + connectLogsWebSocket: (jobId) => { + const updateModal = document.getElementById('update-modal'); + const updateModalTitle = document.getElementById('update-modal-title'); + const logsDiv = document.getElementById('update-logs'); + const closeButton = document.getElementById('update-modal-close-button'); + + updateModalTitle.textContent = 'Updating...'; + + closeButton.onclick = () => { + updateModal.classList.add('hidden'); + }; + + updateModal.classList.remove('hidden'); + + const ws = new WebSocket(`ws://${location.host}/update/ws/logs?job_id=${jobId}`); + + ws.onmessage = (event) => { + // console.log('Update log:', event); + logsDiv.innerHTML += event.data + '
    '; + logsDiv.scrollTop = logsDiv.scrollHeight; + }; + ws.onclose = async () => { + console.log('Update logs WebSocket closed'); + closeButton.classList.remove('hidden'); + closeButton.textContent = 'Close'; + updateModalTitle.textContent = 'Update Completed ✅'; + + updateManager.busy = false; + await updateManager.checkForUpdate(); + }; + }, + + updateUI: async (update) => { + // updateManager.updateMainPage(isUpdateAvailable); + updateManager.updateUpdatePage(update); + }, + + // updateMainPage: async (update) => { + // const daemonUpdateBtn = document.getElementById('daemon-update-btn'); + // if (!daemonUpdateBtn) return; + + // if (isUpdateAvailable) { + // daemonUpdateBtn.innerHTML = 'Update 1'; + // } else { + // daemonUpdateBtn.innerHTML = 'Update'; + // } + // }, + updateUpdatePage: async (data) => { + const statusElem = document.getElementById('update-status'); + if (!statusElem) return; + + const currentVersionElem = document.getElementById('current-version'); + const availableVersionElem = document.getElementById('available-version'); + const availableVersionContainer = document.getElementById('available-version-container'); + const startUpdateBtn = document.getElementById('start-update-btn'); + + if (!data || !data.update || !data.update.reachy_mini) { + statusElem.innerHTML = 'Checking for updates...'; + if (currentVersionElem) currentVersionElem.textContent = ''; + if (availableVersionElem) availableVersionElem.textContent = ''; + return; + } + + const updateInfo = data.update.reachy_mini; + const isUpdateAvailable = updateInfo.is_available; + const currentVersion = updateInfo.current_version || '-'; + const availableVersion = updateInfo.available_version || '-'; + + if (currentVersionElem) currentVersionElem.textContent = `Current version: ${currentVersion}`; + if (availableVersionElem) availableVersionElem.textContent = `Available version: ${availableVersion}`; + + if (isUpdateAvailable) { + statusElem.innerHTML = 'An update is available!'; + if (availableVersionContainer) availableVersionContainer.classList.remove('hidden'); + startUpdateBtn.classList.remove('hidden'); + } else { + statusElem.innerHTML = 'Your system is up to date.'; + if (availableVersionContainer) availableVersionContainer.classList.add('hidden'); + startUpdateBtn.classList.add('hidden'); + } + } +}; + +window.addEventListener('load', async () => { + await updateManager.checkForUpdate(); +}); \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/volume_control.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/volume_control.js new file mode 100644 index 0000000000000000000000000000000000000000..0b6fdbd05a9bfff354480385d304210794235488 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/volume_control.js @@ -0,0 +1,252 @@ +const volumeControl = { + currentVolume: 50, + device: 'unknown', + platform: 'unknown', + isUpdating: false, + + init: async () => { + const slider = document.getElementById('volume-slider'); + const valueLabel = document.getElementById('volume-value'); + const deviceInfo = document.getElementById('volume-device-info'); + + if (!slider || !valueLabel || !deviceInfo) { + console.warn('Volume control elements not found in DOM'); + return; + } + + try { + await volumeControl.loadCurrentVolume(); + } catch (error) { + console.error('Error loading current volume:', error); + deviceInfo.textContent = 'Error loading volume'; + } + + slider.addEventListener('input', (e) => { + const v = Number(e.target.value); + valueLabel.textContent = String(v); + }); + + slider.addEventListener('change', async (e) => { + const newVolume = Number(e.target.value); + if (!Number.isFinite(newVolume)) return; + await volumeControl.setVolume(newVolume); + }); + }, + + loadCurrentVolume: async () => { + try { + const response = await fetch('/api/volume/current'); + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + const data = await response.json(); + + const volume = Number(data.volume); + if (!Number.isFinite(volume)) { + throw new Error('Invalid volume in response'); + } + + volumeControl.currentVolume = volume; + volumeControl.device = data.device ?? 'unknown'; + volumeControl.platform = data.platform ?? 'unknown'; + + const slider = document.getElementById('volume-slider'); + const valueLabel = document.getElementById('volume-value'); + const deviceInfo = document.getElementById('volume-device-info'); + + if (slider) slider.value = String(volume); + if (valueLabel) valueLabel.textContent = String(volume); + if (deviceInfo) { + deviceInfo.textContent = `${volumeControl.platform} - ${volumeControl.device}`; + } + + console.log('Loaded volume:', data); + } catch (error) { + console.error('Error loading current volume:', error); + throw error; + } + }, + + setVolume: async (volume) => { + if (!Number.isFinite(volume)) { + console.warn('Ignoring invalid volume:', volume); + return; + } + + const safeVolume = Math.max(0, Math.min(100, volume)); + if (volumeControl.isUpdating) { + console.log('Volume update already in progress, skipping...'); + return; + } + + volumeControl.isUpdating = true; + const slider = document.getElementById('volume-slider'); + + if (slider) slider.disabled = true; + + try { + const response = await fetch('/api/volume/set', { + method: 'POST', + headers: { 'Content-Type': 'application/json' }, + body: JSON.stringify({ volume: safeVolume }), + }); + + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + + const data = await response.json(); + const serverVolume = Number(data.volume); + + if (Number.isFinite(serverVolume)) { + volumeControl.currentVolume = serverVolume; + const s = document.getElementById('volume-slider'); + const valueLabel = document.getElementById('volume-value'); + if (s) s.value = String(serverVolume); + if (valueLabel) valueLabel.textContent = String(serverVolume); + } + + console.log('Volume set to:', serverVolume); + } catch (error) { + console.error('Error setting volume:', error); + try { + await volumeControl.loadCurrentVolume(); + } catch (loadError) { + console.error('Also failed to reload volume:', loadError); + } + } finally { + volumeControl.isUpdating = false; + const s = document.getElementById('volume-slider'); + if (s) s.disabled = false; + } + }, +}; + +const microphoneControl = { + currentVolume: 50, + device: 'unknown', + platform: 'unknown', + isUpdating: false, + + init: async () => { + const slider = document.getElementById('microphone-slider'); + const valueLabel = document.getElementById('microphone-value'); + const deviceInfo = document.getElementById('microphone-device-info'); + + if (!slider || !valueLabel || !deviceInfo) { + console.warn('Microphone control elements not found in DOM'); + return; + } + + try { + await microphoneControl.loadCurrentVolume(); + } catch (error) { + console.error('Error loading current microphone volume:', error); + deviceInfo.textContent = 'Error loading microphone'; + } + + slider.addEventListener('input', (e) => { + const v = Number(e.target.value); + valueLabel.textContent = String(v); + }); + + slider.addEventListener('change', async (e) => { + const newVolume = Number(e.target.value); + if (!Number.isFinite(newVolume)) return; + await microphoneControl.setVolume(newVolume); + }); + }, + + loadCurrentVolume: async () => { + try { + const response = await fetch('/api/volume/microphone/current'); + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + const data = await response.json(); + + const volume = Number(data.volume); + if (!Number.isFinite(volume)) { + throw new Error('Invalid microphone volume in response'); + } + + microphoneControl.currentVolume = volume; + microphoneControl.device = data.device ?? 'unknown'; + microphoneControl.platform = data.platform ?? 'unknown'; + + const slider = document.getElementById('microphone-slider'); + const valueLabel = document.getElementById('microphone-value'); + const deviceInfo = document.getElementById('microphone-device-info'); + + if (slider) slider.value = String(volume); + if (valueLabel) valueLabel.textContent = String(volume); + if (deviceInfo) { + deviceInfo.textContent = `${microphoneControl.platform} - ${microphoneControl.device}`; + } + + console.log('Loaded microphone volume:', data); + } catch (error) { + console.error('Error loading current microphone volume:', error); + throw error; + } + }, + + setVolume: async (volume) => { + if (!Number.isFinite(volume)) { + console.warn('Ignoring invalid microphone volume:', volume); + return; + } + + const safeVolume = Math.max(0, Math.min(100, volume)); + if (microphoneControl.isUpdating) { + console.log('Microphone volume update already in progress, skipping...'); + return; + } + + microphoneControl.isUpdating = true; + const slider = document.getElementById('microphone-slider'); + + if (slider) slider.disabled = true; + + try { + const response = await fetch('/api/volume/microphone/set', { + method: 'POST', + headers: { 'Content-Type': 'application/json' }, + body: JSON.stringify({ volume: safeVolume }), + }); + + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + + const data = await response.json(); + const serverVolume = Number(data.volume); + + if (Number.isFinite(serverVolume)) { + microphoneControl.currentVolume = serverVolume; + const s = document.getElementById('microphone-slider'); + const valueLabel = document.getElementById('microphone-value'); + if (s) s.value = String(serverVolume); + if (valueLabel) valueLabel.textContent = String(serverVolume); + } + + console.log('Microphone volume set to:', serverVolume); + } catch (error) { + console.error('Error setting microphone volume:', error); + try { + await microphoneControl.loadCurrentVolume(); + } catch (loadError) { + console.error('Also failed to reload microphone volume:', loadError); + } + } finally { + microphoneControl.isUpdating = false; + const s = document.getElementById('microphone-slider'); + if (s) s.disabled = false; + } + }, +}; + +window.addEventListener('DOMContentLoaded', () => { + volumeControl.init(); + microphoneControl.init(); +}); diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/wifi.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/wifi.js new file mode 100644 index 0000000000000000000000000000000000000000..3a620a408228bb0ef19790612912e7a97eb0e87c --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/static/js/wifi.js @@ -0,0 +1,176 @@ + +const getStatus = async () => { + return await fetch('/wifi/status') + .then(response => response.json()) + .catch(error => { + console.error('Error fetching WiFi status:', error); + return { mode: 'error' }; + }); +}; + +const refreshStatus = async () => { + const status = await getStatus(); + handleStatus(status); + + await fetch('/wifi/error') + .then(response => response.json()) + .then(data => { + if (data.error !== null) { + console.log('Error data:', data); + alert(`Error while trying to connect: ${data.error}.\n Switching back to hotspot mode.`); + fetch('/wifi/reset_error', { method: 'POST' }); + } + }) + .catch(error => { + console.error('Error fetching WiFi error:', error); + }); +}; + +const scanAndListWifiNetworks = async () => { + await fetch('/wifi/scan_and_list', { method: 'POST' }) + .then(response => response.json()) + .then(data => { + const ssidSelect = document.getElementById('ssid'); + data.forEach(ssid => { + const option = document.createElement('option'); + option.value = ssid; + option.textContent = ssid; + ssidSelect.appendChild(option); + }); + }) + .catch(() => { + const ssidSelect = document.getElementById('ssid'); + const option = document.createElement('option'); + option.value = ""; + option.textContent = "Unable to load networks"; + ssidSelect.appendChild(option); + }); +}; + +const connectToWifi = (_) => { + const ssid = document.getElementById('ssid').value; + const password = document.getElementById('password').value; + + if (!ssid) { + alert('Please enter an SSID.'); + return; + } + + fetch(`/wifi/connect?ssid=${encodeURIComponent(ssid)}&password=${encodeURIComponent(password)}`, { + method: 'POST', + headers: { + 'Content-Type': 'application/json', + }, + }) + .then(response => { + if (!response.ok) { + return response.json().then(errData => { + throw new Error(errData.detail || 'Failed to connect to WiFi'); + }); + } + + // Clear the form fields + document.getElementById('ssid').value = ''; + document.getElementById('password').value = ''; + + return response.json(); + }) + .then(data => { + handleStatus({ mode: 'busy' }); + }) + .catch(error => { + console.error('Error connecting to WiFi:', error); + alert(`Error connecting to WiFi: ${error.message}`); + }); + return false; // Prevent form submission +}; + +let currentMode = null; + +const handleStatus = (status) => { + const statusDiv = document.getElementById('wifi-status'); + + const knownNetworksDiv = document.getElementById('known-networks'); + const knownNetworksList = document.getElementById('known-networks-list'); + knownNetworksDiv.classList.remove('hidden'); + + const mode = status.mode; + + knownNetworksList.innerHTML = ''; + if (status.known_networks !== undefined && Array.isArray(status.known_networks)) { + status.known_networks.forEach((network) => { + const li = document.createElement('li'); + li.classList = 'flex flex-row items-center mb-1 gap-4 justify-left'; + + const nameSpan = document.createElement('span'); + nameSpan.innerText = network; + li.appendChild(nameSpan); + + // const removeBtn = document.createElement('span'); + // removeBtn.innerText = ' (remove ❌)'; + // removeBtn.style.cursor = 'pointer'; + // removeBtn.title = 'Remove network'; + // removeBtn.onclick = async () => { + // if (confirm(`Remove network '${network}'?`)) { + // removeNetwork(network); + // } + // }; + // li.appendChild(removeBtn); + + knownNetworksList.appendChild(li); + }); + } + + if (mode == 'hotspot') { + statusDiv.innerText = 'Hotspot mode active. 🔌'; + + } else if (mode == 'wlan') { + if (currentMode !== null && currentMode !== 'wlan') { + alert(`Successfully connected to WiFi network: ${status.connected_network} ✅`); + } + + statusDiv.innerText = `Connected to WiFi (SSID: ${status.connected_network}). 📶`; + + } else if (mode == 'disconnected') { + statusDiv.innerText = 'WiFi disconnected. ❌'; + } else if (mode == 'busy') { + statusDiv.innerText = 'Changing your WiFi configuration... Please wait ⏳'; + } else if (mode == 'error') { + statusDiv.innerText = 'Error connecting to WiFi. ⚠️'; + } else { + console.warn(`Unknown status: ${status}`); + } + + currentMode = mode; +}; + +const removeNetwork = async (ssid) => { + const status = await getStatus(); + + // TODO: + // if ssid !== status.connected_network: + // remove connection + // else: + // refresh nmcli? go back to hotspot if needed? +}; + +const cleanAndRefresh = async () => { + const statusDiv = document.getElementById('wifi-status'); + statusDiv.innerText = 'Checking WiFi configuration...'; + + const knownNetworksDiv = document.getElementById('known-networks'); + knownNetworksDiv.classList.add('hidden'); + + const addWifi = document.getElementById('add-wifi'); + addWifi.classList.add('hidden'); + + await scanAndListWifiNetworks(); + await refreshStatus(); + + addWifi.classList.remove('hidden'); +}; + +window.addEventListener('load', async () => { + await cleanAndRefresh(); + setInterval(refreshStatus, 1000); +}); \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/.gitignore b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..b512c09d476623ff4bf8d0d63c29b784925dbdf8 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/.gitignore @@ -0,0 +1 @@ +node_modules \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/README.md b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3d7fed0f0946ebfdb2d5771b50867eaa7b0729ce --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/README.md @@ -0,0 +1,15 @@ +# Generate static Tailwind CSS + +## Requirements + +(From this folder) + +```bash +pnpm install -D tailwindcss @tailwindcss/cli +``` + +## Generate CSS + +```bash +npx @tailwindcss/cli -i ./styles/app.css -o ../static/css/app.css +``` \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/package-lock.json b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/package-lock.json new file mode 100644 index 0000000000000000000000000000000000000000..a3f0c7643d855903a6fc9bc92e44f5e6dc185eda --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/package-lock.json @@ -0,0 +1,1127 @@ +{ + "name": "tailwindcss", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "devDependencies": { + "@tailwindcss/cli": "^4.1.16", + "tailwindcss": "^4.1.16" + } + }, + "node_modules/@jridgewell/gen-mapping": { + "version": "0.3.13", + "resolved": "https://registry.npmjs.org/@jridgewell/gen-mapping/-/gen-mapping-0.3.13.tgz", + "integrity": "sha512-2kkt/7niJ6MgEPxF0bYdQ6etZaA+fQvDcLKckhy1yIQOzaoKjBBjSj63/aLVjYE3qhRt5dvM+uUyfCg6UKCBbA==", + "dev": true, + "license": "MIT", + 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optional: true + + '@parcel/watcher-linux-x64-musl@2.5.1': + optional: true + + '@parcel/watcher-win32-arm64@2.5.1': + optional: true + + '@parcel/watcher-win32-ia32@2.5.1': + optional: true + + '@parcel/watcher-win32-x64@2.5.1': + optional: true + + '@parcel/watcher@2.5.1': + dependencies: + detect-libc: 1.0.3 + is-glob: 4.0.3 + micromatch: 4.0.8 + node-addon-api: 7.1.1 + optionalDependencies: + '@parcel/watcher-android-arm64': 2.5.1 + '@parcel/watcher-darwin-arm64': 2.5.1 + '@parcel/watcher-darwin-x64': 2.5.1 + '@parcel/watcher-freebsd-x64': 2.5.1 + '@parcel/watcher-linux-arm-glibc': 2.5.1 + '@parcel/watcher-linux-arm-musl': 2.5.1 + '@parcel/watcher-linux-arm64-glibc': 2.5.1 + '@parcel/watcher-linux-arm64-musl': 2.5.1 + '@parcel/watcher-linux-x64-glibc': 2.5.1 + '@parcel/watcher-linux-x64-musl': 2.5.1 + '@parcel/watcher-win32-arm64': 2.5.1 + '@parcel/watcher-win32-ia32': 2.5.1 + '@parcel/watcher-win32-x64': 2.5.1 + + '@tailwindcss/cli@4.1.16': + dependencies: + '@parcel/watcher': 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optional: true + + '@tailwindcss/oxide-win32-arm64-msvc@4.1.16': + optional: true + + '@tailwindcss/oxide-win32-x64-msvc@4.1.16': + optional: true + + '@tailwindcss/oxide@4.1.16': + optionalDependencies: + '@tailwindcss/oxide-android-arm64': 4.1.16 + '@tailwindcss/oxide-darwin-arm64': 4.1.16 + '@tailwindcss/oxide-darwin-x64': 4.1.16 + '@tailwindcss/oxide-freebsd-x64': 4.1.16 + '@tailwindcss/oxide-linux-arm-gnueabihf': 4.1.16 + '@tailwindcss/oxide-linux-arm64-gnu': 4.1.16 + '@tailwindcss/oxide-linux-arm64-musl': 4.1.16 + '@tailwindcss/oxide-linux-x64-gnu': 4.1.16 + '@tailwindcss/oxide-linux-x64-musl': 4.1.16 + '@tailwindcss/oxide-wasm32-wasi': 4.1.16 + '@tailwindcss/oxide-win32-arm64-msvc': 4.1.16 + '@tailwindcss/oxide-win32-x64-msvc': 4.1.16 + + braces@3.0.3: + dependencies: + fill-range: 7.1.1 + + detect-libc@1.0.3: {} + + detect-libc@2.1.2: {} + + enhanced-resolve@5.18.3: + dependencies: + graceful-fs: 4.2.11 + tapable: 2.3.0 + + fill-range@7.1.1: + dependencies: + to-regex-range: 5.0.1 + + graceful-fs@4.2.11: {} + + is-extglob@2.1.1: {} + + is-glob@4.0.3: + dependencies: + is-extglob: 2.1.1 + + is-number@7.0.0: {} + + jiti@2.6.1: {} + + lightningcss-android-arm64@1.30.2: + optional: true + + lightningcss-darwin-arm64@1.30.2: + optional: true + + lightningcss-darwin-x64@1.30.2: + optional: true + + lightningcss-freebsd-x64@1.30.2: + optional: true + + lightningcss-linux-arm-gnueabihf@1.30.2: + optional: true + + lightningcss-linux-arm64-gnu@1.30.2: + optional: true + + lightningcss-linux-arm64-musl@1.30.2: + optional: true + + lightningcss-linux-x64-gnu@1.30.2: + optional: true + + lightningcss-linux-x64-musl@1.30.2: + optional: true + + lightningcss-win32-arm64-msvc@1.30.2: + optional: true + + lightningcss-win32-x64-msvc@1.30.2: + optional: true + + lightningcss@1.30.2: + dependencies: + detect-libc: 2.1.2 + optionalDependencies: + lightningcss-android-arm64: 1.30.2 + lightningcss-darwin-arm64: 1.30.2 + lightningcss-darwin-x64: 1.30.2 + lightningcss-freebsd-x64: 1.30.2 + lightningcss-linux-arm-gnueabihf: 1.30.2 + lightningcss-linux-arm64-gnu: 1.30.2 + lightningcss-linux-arm64-musl: 1.30.2 + lightningcss-linux-x64-gnu: 1.30.2 + lightningcss-linux-x64-musl: 1.30.2 + lightningcss-win32-arm64-msvc: 1.30.2 + lightningcss-win32-x64-msvc: 1.30.2 + + magic-string@0.30.21: + dependencies: + '@jridgewell/sourcemap-codec': 1.5.5 + + micromatch@4.0.8: + dependencies: + braces: 3.0.3 + picomatch: 2.3.1 + + mri@1.2.0: {} + + node-addon-api@7.1.1: {} + + picocolors@1.1.1: {} + + picomatch@2.3.1: {} + + source-map-js@1.2.1: {} + + tailwindcss@4.1.16: {} + + tapable@2.3.0: {} + + to-regex-range@5.0.1: + dependencies: + is-number: 7.0.0 diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/postcss.config.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/postcss.config.js new file mode 100644 index 0000000000000000000000000000000000000000..33ad091d26d8a9dc95ebdf616e217d985ec215b8 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/postcss.config.js @@ -0,0 +1,6 @@ +module.exports = { + plugins: { + tailwindcss: {}, + autoprefixer: {}, + }, +} diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/styles/app.css b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/styles/app.css new file mode 100644 index 0000000000000000000000000000000000000000..8c28fb1018a0aceb3fbb555024e0eeef4da96c42 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/styles/app.css @@ -0,0 +1,185 @@ +@import "tailwindcss"; + +@source "../../templates/**/*.html"; +@source "../../static/js/**/*.js"; + +@font-face { + font-family: 'Asap'; + src: url('/static/fonts/Asap-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: normal; +} + +@font-face { + font-family: 'Asap'; + src: url('/static/fonts/Asap-Italic-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: italic; +} + +@font-face { + font-family: 'Archivo'; + src: url('/static/fonts/Archivo-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: normal; +} + +@font-face { + font-family: 'Archivo'; + src: url('/static/fonts/Archivo-Italic-VariableFont_wdth,wght.ttf') format('truetype'); + font-weight: 100 900; + font-style: italic; +} + + + +html { + -webkit-font-smoothing: antialiased; + -moz-osx-font-smoothing: grayscale; +} + +body { + font-family: 'Archivo', 'Asap', sans-serif; +} + +.daemon-status-title { + font-size: 36px; + font-weight: 500; + letter-spacing: 0.3px; +} + +.daemon-status-collapse { + font-family: 'Asap', sans-serif; + font-weight: 400; + color: rgba(0, 0, 0, 0.7); +} + +/* APPs styles */ + +.app-section { + border-radius: 8px; + border-width: 1px; + padding: 16px; + gap: 16px; + background: #FFFFFF; +} + +.installed-app-title { + font-weight: 600; +} + +/* Hugging Face App Store Styles */ + +.app-section-title { + font-weight: 500; + font-size: 24px; + letter-spacing: 0px; +} + +.app-list-item { + padding: 4px; +} + +.hf-app-icon { + width: 42px; + height: 42px; + border-radius: 10px; + text-align: center; + font-size: 31px; + background-color: rgba(0, 0, 0, 0.1); + +} + +.hf-app-title { + font-weight: 500; + font-size: 18px; +} + +.hf-app-description { + font-family: 'Asap', sans-serif; + font-weight: 400; + font-size: 16px; + line-height: 75%; + color: rgba(0, 0, 0, 0.4); +} + +.hf-app-install-button { + font-weight: 500; + font-size: 20px; + font-style: Bold; + text-align: center; + border-radius: 8px; + display: flex; + align-items: center; + justify-content: center; +} + +.wifi-status { + font-family: 'Asap', sans-serif; + font-weight: 500; + color: rgba(0, 0, 0, 0.9); + +} + +.wifi-status-info { + font-family: 'Asap', sans-serif; + font-weight: 400; + color: rgba(0, 0, 0, 0.7); +} + + +.notification-modal { + position: fixed; + bottom: 24px; + right: 24px; + z-index: 9999; + min-width: 300px; + max-width: 400px; + background: #fff; + box-shadow: 0 4px 16px rgba(0, 0, 0, 0.2); + border-radius: 8px; + display: none; + animation: fadeInUp 0.3s; +} + +@keyframes fadeInUp { + from { + opacity: 0; + transform: translateY(40px); + } + + to { + opacity: 1; + transform: translateY(0); + } +} + +.notification-content { + padding: 20px 28px; + border-radius: 8px; + box-shadow: 0 2px 12px rgba(0, 0, 0, 0.15); + display: flex; + align-items: center; + justify-content: space-between; +} + +/* Notification variants */ +.notification-content.info { + background: #fff; + border: 1px solid #e0e0e0; +} + +.notification-content.error { + background: #ffeaea; + border: 1px solid #ff4d4f; + color: #b71c1c; +} + + +.close-btn { + background: none; + border: none; + font-size: 1.5em; + cursor: pointer; + color: #888; +} \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/tailwind.config.js b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/tailwind.config.js new file mode 100644 index 0000000000000000000000000000000000000000..e5d481b84c2f2a5158ad670500d8279864a51178 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/tailwindcss/tailwind.config.js @@ -0,0 +1,11 @@ +module.exports = { + purge: [], + darkMode: false, // or 'media' or 'class' + theme: { + extend: {}, + }, + variants: { + extend: {}, + }, + plugins: [], +} diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/base.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/base.html new file mode 100644 index 0000000000000000000000000000000000000000..06f7fb80f8800acfcbaa51204f8eb45ba2bbc5e1 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/base.html @@ -0,0 +1,21 @@ + + + + + + + {% block title %}Reachy Mini dashboard{% endblock %} + + + {% block extra_js %}{% endblock %} + + + + + +
    + {% block content %}{% endblock %} +
    + + + \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/index.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/index.html new file mode 100644 index 0000000000000000000000000000000000000000..36e31060c328409894d0f408477c9b19d81fa7fc --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/index.html @@ -0,0 +1,20 @@ +{% extends "base.html" %} + +{% block content %} + +
    + {% include "sections/daemon.html" %} + {% include "sections/apps.html" %} + {% include "sections/appstore.html" %} + {% include "sections/notification.html" %} +
    +{% endblock %} + +{% block extra_js %} + + + + + + +{% endblock %} \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/apps.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/apps.html new file mode 100644 index 0000000000000000000000000000000000000000..d1b4601ea1a537888fcd6e757fc4adf4ab64d82e --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/apps.html @@ -0,0 +1,8 @@ +
    +
    +
    Applications
    +
    +
      +
      +
      +
      \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/appstore.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/appstore.html new file mode 100644 index 0000000000000000000000000000000000000000..2bc25425c2a4a4ea688268f541785d5fadc04cc0 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/appstore.html @@ -0,0 +1,29 @@ +
      + + + + +
      Install from 🤗 Hugging Face
      +
      +
        Loading app from 🤗...
      +
      +
      \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/daemon.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/daemon.html new file mode 100644 index 0000000000000000000000000000000000000000..262358448aa6058f864a9ae45cbe5acf584a678c --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/daemon.html @@ -0,0 +1,45 @@ +
      + +
      + +
      +
      +
      +
      Reachy Mini
      + + + + +
      + +
      +
      + + +
      +
      + +
      + {% include 'sections/move_player.html' %} +
      + {% if args.wireless_version %} +
      + + Settings + +
      + {% endif %} +
      \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/move_player.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/move_player.html new file mode 100644 index 0000000000000000000000000000000000000000..941e6843048a9dea282df7bc403d9af23e80b000 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/move_player.html @@ -0,0 +1,121 @@ +
      +
      +
      Move player
      +
      + + +
      +
      +
      + + +
      +
      + +
      +
      +
      Volume control
      +
      Loading...
      +
      + +
      +
      + + + + + + + + + + + + + + + + 50 +
      + + +
      + + Advanced settings + +
      + +
      +
      +
      Microphone
      +
      Loading...
      +
      +
      + + + + + + + + + + + + + + + + + + 50 +
      +
      +
      +
      +
      +
      diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/notification.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/notification.html new file mode 100644 index 0000000000000000000000000000000000000000..97dd7b9ea461752ad181516368b3d1f31d172fd3 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/notification.html @@ -0,0 +1,19 @@ + +
      +
      + + + +
      +
      + + \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/update.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/update.html new file mode 100644 index 0000000000000000000000000000000000000000..e42595a4442f989dcfb6a356b978e89f7bb12768 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/update.html @@ -0,0 +1,54 @@ +
      +
      Reachy Mini Update
      + +
      + + +
      + +
      +
      +
      +
      +
      +
      +
      +
      + +
      + +
      +
      +
      + + + + \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/wifi.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/wifi.html new file mode 100644 index 0000000000000000000000000000000000000000..9d55b418e326c134008b8ec93060902d813e0d54 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/sections/wifi.html @@ -0,0 +1,46 @@ +
      +
      +
      Setup your WiFi
      + +
      + +
      +
      Checking WiFi configuration...
      + +
      + +
      \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/settings.html b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/settings.html new file mode 100644 index 0000000000000000000000000000000000000000..42c83981a3396116e934dc7670cfcec55b7ffcbe --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dashboard/templates/settings.html @@ -0,0 +1,14 @@ +{% extends "base.html" %} + +{% block content %} + +
      + {% include "sections/update.html" %} + {% include "sections/wifi.html" %} +
      +{% endblock %} + +{% block extra_js %} + + +{% endblock %} \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/dependencies.py b/reachy_mini/src/reachy_mini/daemon/app/dependencies.py new file mode 100644 index 0000000000000000000000000000000000000000..8299f7765ee0c17be1da4c12c6e110db853e933b --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/dependencies.py @@ -0,0 +1,41 @@ +"""FastAPI common request dependencies.""" + +from fastapi import HTTPException, Request, WebSocket + +from ...apps.manager import AppManager +from ..backend.abstract import Backend +from ..daemon import Daemon + + +def get_daemon(request: Request) -> Daemon: + """Get the daemon as request dependency.""" + assert isinstance(request.app.state.daemon, Daemon) + return request.app.state.daemon + + +def get_backend(request: Request) -> Backend: + """Get the backend as request dependency.""" + backend = request.app.state.daemon.backend + + if backend is None or not backend.ready.is_set(): + raise HTTPException(status_code=503, detail="Backend not running") + + assert isinstance(backend, Backend) + return backend + + +def get_app_manager(request: Request) -> "AppManager": + """Get the app manager as request dependency.""" + assert isinstance(request.app.state.app_manager, AppManager) + return request.app.state.app_manager + + +def ws_get_backend(websocket: WebSocket) -> Backend: + """Get the backend as websocket dependency.""" + backend = websocket.app.state.daemon.backend + + if backend is None or not backend.ready.is_set(): + raise HTTPException(status_code=503, detail="Backend not running") + + assert isinstance(backend, Backend) + return backend diff --git a/reachy_mini/src/reachy_mini/daemon/app/main.py b/reachy_mini/src/reachy_mini/daemon/app/main.py new file mode 100644 index 0000000000000000000000000000000000000000..a4cfe0be091293832b6f9470f89841559a7b24ce --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/main.py @@ -0,0 +1,347 @@ +"""Daemon entry point for the Reachy Mini robot. + +This script serves as the command-line interface (CLI) entry point for the Reachy Mini daemon. +It initializes the daemon with specified parameters such as simulation mode, serial port, +scene to load, and logging level. The daemon runs indefinitely, handling requests and +managing the robot's state. + +""" + +import argparse +import asyncio +import logging +from contextlib import asynccontextmanager +from dataclasses import dataclass +from pathlib import Path +from typing import AsyncGenerator + +import uvicorn +from fastapi import APIRouter, FastAPI, Request +from fastapi.middleware.cors import CORSMiddleware +from fastapi.responses import HTMLResponse +from fastapi.staticfiles import StaticFiles +from fastapi.templating import Jinja2Templates + +from reachy_mini.apps.manager import AppManager +from reachy_mini.daemon.app.routers import ( + apps, + daemon, + kinematics, + motors, + move, + state, + volume, +) +from reachy_mini.daemon.daemon import Daemon + + +@dataclass +class Args: + """Arguments for configuring the Reachy Mini daemon.""" + + log_level: str = "INFO" + + wireless_version: bool = False + + serialport: str = "auto" + hardware_config_filepath: str | None = None + + sim: bool = False + scene: str = "empty" + headless: bool = False + + kinematics_engine: str = "AnalyticalKinematics" + check_collision: bool = False + + autostart: bool = True + timeout_health_check: float | None = None + + wake_up_on_start: bool = True + goto_sleep_on_stop: bool = True + + fastapi_host: str = "0.0.0.0" + fastapi_port: int = 8000 + + localhost_only: bool | None = None + + +def create_app(args: Args, health_check_event: asyncio.Event | None = None) -> FastAPI: + """Create and configure the FastAPI application.""" + localhost_only = ( + args.localhost_only + if args.localhost_only is not None + else (False if args.wireless_version else True) + ) + + @asynccontextmanager + async def lifespan(app: FastAPI) -> AsyncGenerator[None, None]: + """Lifespan context manager for the FastAPI application.""" + args = app.state.args # type: Args + + if args.autostart: + await app.state.daemon.start( + serialport=args.serialport, + sim=args.sim, + scene=args.scene, + headless=args.headless, + kinematics_engine=args.kinematics_engine, + check_collision=args.check_collision, + wake_up_on_start=args.wake_up_on_start, + localhost_only=localhost_only, + hardware_config_filepath=args.hardware_config_filepath, + ) + yield + await app.state.app_manager.close() + await app.state.daemon.stop( + goto_sleep_on_stop=args.goto_sleep_on_stop, + ) + + app = FastAPI( + lifespan=lifespan, + ) + + app.state.args = args + app.state.daemon = Daemon(wireless_version=args.wireless_version) + app.state.app_manager = AppManager() + + router = APIRouter(prefix="/api") + router.include_router(apps.router) + router.include_router(daemon.router) + router.include_router(kinematics.router) + router.include_router(motors.router) + router.include_router(move.router) + router.include_router(state.router) + router.include_router(volume.router) + + if args.wireless_version: + from .routers import update, wifi_config + + app.include_router(update.router) + app.include_router(wifi_config.router) + + app.include_router(router) + + if health_check_event is not None: + + @app.post("/health-check") + async def health_check() -> dict[str, str]: + """Health check endpoint to reset the health check timer.""" + health_check_event.set() + return {"status": "ok"} + + app.add_middleware( + CORSMiddleware, + allow_origins=["*"], # or restrict to your HF domain + allow_methods=["*"], + allow_headers=["*"], + ) + + STATIC_DIR = Path(__file__).parent / "dashboard" / "static" + TEMPLATES_DIR = Path(__file__).parent / "dashboard" / "templates" + + app.mount("/static", StaticFiles(directory=STATIC_DIR), name="static") + templates = Jinja2Templates(directory=str(TEMPLATES_DIR)) + + @app.get("/") + async def dashboard(request: Request) -> HTMLResponse: + """Render the dashboard.""" + return templates.TemplateResponse( + "index.html", {"request": request, "args": args} + ) + + if args.wireless_version: + + @app.get("/settings") + async def settings(request: Request) -> HTMLResponse: + """Render the settings page.""" + return templates.TemplateResponse("settings.html", {"request": request}) + + return app + + +def run_app(args: Args) -> None: + """Run the FastAPI app with Uvicorn.""" + logging.basicConfig(level=logging.INFO) + + health_check_event = asyncio.Event() + app = create_app(args, health_check_event) + + config = uvicorn.Config(app, host=args.fastapi_host, port=args.fastapi_port) + server = uvicorn.Server(config) + + async def health_check_timeout(timeout_seconds: float) -> None: + while True: + try: + await asyncio.wait_for( + health_check_event.wait(), + timeout=timeout_seconds, + ) + health_check_event.clear() + except asyncio.TimeoutError: + logging.warning("Health check timeout reached, stopping app.") + server.should_exit = True + break + + loop = asyncio.get_event_loop() + if args.timeout_health_check is not None: + loop.create_task(health_check_timeout(args.timeout_health_check)) + + try: + loop.run_until_complete(server.serve()) + except KeyboardInterrupt: + logging.info("Received Ctrl-C, shutting down gracefully.") + finally: + # Optional: additional cleanup here + pass + + +def main() -> None: + """Run the FastAPI app with Uvicorn.""" + default_args = Args() + + parser = argparse.ArgumentParser(description="Run the Reachy Mini daemon.") + parser.add_argument( + "--wireless-version", + action="store_true", + default=default_args.wireless_version, + help="Use the wireless version of Reachy Mini (default: False).", + ) + + # Real robot mode + parser.add_argument( + "-p", + "--serialport", + type=str, + default=default_args.serialport, + help="Serial port for real motors (default: will try to automatically find the port).", + ) + default_hw_config_path = str( + ( + Path(__file__).parent.parent.parent + / "assets" + / "config" + / "hardware_config.yaml" + ).resolve() + ) + parser.add_argument( + "--hardware-config-filepath", + type=str, + default=default_hw_config_path, + help=f"Path to the hardware configuration YAML file (default: {default_hw_config_path}).", + ) + # Simulation mode + parser.add_argument( + "--sim", + action="store_true", + default=default_args.sim, + help="Run in simulation mode using Mujoco.", + ) + parser.add_argument( + "--scene", + type=str, + default=default_args.scene, + help="Name of the scene to load (default: empty)", + ) + parser.add_argument( + "--headless", + action="store_true", + default=default_args.headless, + help="Run the daemon in headless mode (default: False).", + ) + # Daemon options + parser.add_argument( + "--autostart", + action="store_true", + default=default_args.autostart, + help="Automatically start the daemon on launch (default: True).", + ) + parser.add_argument( + "--no-autostart", + action="store_false", + dest="autostart", + help="Do not automatically start the daemon on launch (default: False).", + ) + parser.add_argument( + "--timeout-health-check", + type=float, + default=None, + help="Set the health check timeout in seconds (default: None).", + ) + parser.add_argument( + "--wake-up-on-start", + action="store_true", + default=default_args.wake_up_on_start, + help="Wake up the robot on daemon start (default: True).", + ) + parser.add_argument( + "--no-wake-up-on-start", + action="store_false", + dest="wake_up_on_start", + help="Do not wake up the robot on daemon start (default: False).", + ) + parser.add_argument( + "--goto-sleep-on-stop", + action="store_true", + default=default_args.goto_sleep_on_stop, + help="Put the robot to sleep on daemon stop (default: True).", + ) + parser.add_argument( + "--no-goto-sleep-on-stop", + action="store_false", + dest="goto_sleep_on_stop", + help="Do not put the robot to sleep on daemon stop (default: False).", + ) + # Zenoh server options + parser.add_argument( + "--localhost-only", + action="store_true", + default=default_args.localhost_only, + help="Restrict the server to localhost only (default: True).", + ) + parser.add_argument( + "--no-localhost-only", + action="store_false", + dest="localhost_only", + help="Allow the server to listen on all interfaces (default: False).", + ) + # Kinematics options + parser.add_argument( + "--check-collision", + action="store_true", + default=default_args.check_collision, + help="Enable collision checking (default: False).", + ) + + parser.add_argument( + "--kinematics-engine", + type=str, + default=default_args.kinematics_engine, + choices=["Placo", "NN", "AnalyticalKinematics"], + help="Set the kinematics engine (default: AnalyticalKinematics).", + ) + # FastAPI server options + parser.add_argument( + "--fastapi-host", + type=str, + default=default_args.fastapi_host, + ) + parser.add_argument( + "--fastapi-port", + type=int, + default=default_args.fastapi_port, + ) + # Logging options + parser.add_argument( + "--log-level", + type=str, + default=default_args.log_level, + choices=["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"], + help="Set the logging level (default: INFO).", + ) + + args = parser.parse_args() + run_app(Args(**vars(args))) + + +if __name__ == "__main__": + main() diff --git a/reachy_mini/src/reachy_mini/daemon/app/models.py b/reachy_mini/src/reachy_mini/daemon/app/models.py new file mode 100644 index 0000000000000000000000000000000000000000..19a5310afc6431dc76db6e399701f62bc17826d8 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/models.py @@ -0,0 +1,149 @@ +"""Common pydantic models definitions.""" + +from datetime import datetime + +import numpy as np +from numpy.typing import NDArray +from pydantic import BaseModel +from scipy.spatial.transform import Rotation as R + +from reachy_mini.daemon.backend.abstract import MotorControlMode + + +class Matrix4x4Pose(BaseModel): + """Represent a 3D pose by its 4x4 transformation matrix (translation is expressed in meters).""" + + m: tuple[ + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + ] + + @classmethod + def from_pose_array(cls, arr: NDArray[np.float64]) -> "Matrix4x4Pose": + """Create a Matrix4x4 pose representation from a 4x4 pose array.""" + assert arr.shape == (4, 4), "Array must be of shape (4, 4)" + m: tuple[ + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + float, + ] = tuple(arr.flatten().tolist()) # type: ignore [assignment] + return cls(m=m) + + def to_pose_array(self) -> NDArray[np.float64]: + """Convert the Matrix4x4Pose to a 4x4 numpy array.""" + return np.array(self.m).reshape((4, 4)) + + +class XYZRPYPose(BaseModel): + """Represent a 3D pose using position (x, y, z) in meters and orientation (roll, pitch, yaw) angles in radians.""" + + x: float = 0.0 + y: float = 0.0 + z: float = 0.0 + roll: float = 0.0 + pitch: float = 0.0 + yaw: float = 0.0 + + @classmethod + def from_pose_array(cls, arr: NDArray[np.float64]) -> "XYZRPYPose": + """Create an XYZRPYPose representation from a 4x4 pose array.""" + assert arr.shape == (4, 4), "Array must be of shape (4, 4)" + + x, y, z = arr[0, 3], arr[1, 3], arr[2, 3] + roll, pitch, yaw = R.from_matrix(arr[:3, :3]).as_euler("xyz") + + return cls( + x=x, + y=y, + z=z, + roll=roll, + pitch=pitch, + yaw=yaw, + ) + + def to_pose_array(self) -> NDArray[np.float64]: + """Convert the XYZRPYPose to a 4x4 numpy array.""" + rotation = R.from_euler("xyz", [self.roll, self.pitch, self.yaw]) + pose_matrix = np.eye(4) + pose_matrix[:3, 3] = [self.x, self.y, self.z] + pose_matrix[:3, :3] = rotation.as_matrix() + return pose_matrix + + +AnyPose = XYZRPYPose | Matrix4x4Pose + + +def as_any_pose(pose: NDArray[np.float64], use_matrix: bool) -> AnyPose: + """Convert a numpy array to an AnyPose representation.""" + return ( + Matrix4x4Pose.from_pose_array(pose) + if use_matrix + else XYZRPYPose.from_pose_array(pose) + ) + + +class FullBodyTarget(BaseModel): + """Represent the full body including the head pose and the joints for antennas.""" + + target_head_pose: AnyPose | None = None + target_antennas: tuple[float, float] | None = None + target_body_yaw: float | None = None + timestamp: datetime | None = None + + model_config = { + "json_schema_extra": { + "examples": [ + { + "target_head_pose": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + }, + "target_antennas": [0.0, 0.0], + "target_body_yaw": 0.0, + } + ] + } + } + + +class FullState(BaseModel): + """Represent the full state of the robot including all joint positions and poses.""" + + control_mode: MotorControlMode | None = None + head_pose: AnyPose | None = None + head_joints: list[float] | None = None + body_yaw: float | None = None + antennas_position: list[float] | None = None + timestamp: datetime | None = None + passive_joints: list[float] | None = None diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/apps.py b/reachy_mini/src/reachy_mini/daemon/app/routers/apps.py new file mode 100644 index 0000000000000000000000000000000000000000..163b58f5473b15ce93f608f823813f55d8baba07 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/apps.py @@ -0,0 +1,114 @@ +"""Apps router for apps management.""" + +from fastapi import ( + APIRouter, + Depends, + HTTPException, + WebSocket, +) + +from reachy_mini.apps import AppInfo, SourceKind +from reachy_mini.apps.manager import AppManager, AppStatus +from reachy_mini.daemon.app import bg_job_register +from reachy_mini.daemon.app.dependencies import get_app_manager + +router = APIRouter(prefix="/apps") + + +@router.get("/list-available/{source_kind}") +async def list_available_apps( + source_kind: SourceKind, + app_manager: "AppManager" = Depends(get_app_manager), +) -> list[AppInfo]: + """List available apps (including not installed).""" + return await app_manager.list_available_apps(source_kind) + + +@router.get("/list-available") +async def list_all_available_apps( + app_manager: "AppManager" = Depends(get_app_manager), +) -> list[AppInfo]: + """List all available apps (including not installed).""" + return await app_manager.list_all_available_apps() + + +@router.post("/install") +async def install_app( + app_info: AppInfo, + app_manager: "AppManager" = Depends(get_app_manager), +) -> dict[str, str]: + """Install a new app by its info (background, returns job_id).""" + job_id = bg_job_register.run_command( + "install", app_manager.install_new_app, app_info + ) + return {"job_id": job_id} + + +@router.post("/remove/{app_name}") +async def remove_app( + app_name: str, + app_manager: "AppManager" = Depends(get_app_manager), +) -> dict[str, str]: + """Remove an installed app by its name (background, returns job_id).""" + job_id = bg_job_register.run_command("remove", app_manager.remove_app, app_name) + return {"job_id": job_id} + + +@router.get("/job-status/{job_id}") +async def job_status(job_id: str) -> bg_job_register.JobInfo: + """Get status/logs for a job.""" + try: + return bg_job_register.get_info(job_id) + except Exception as e: + raise HTTPException(status_code=404, detail=str(e)) + + +# WebSocket route for live job status/logs +@router.websocket("/ws/apps-manager/{job_id}") +async def ws_apps_manager(websocket: WebSocket, job_id: str) -> None: + """WebSocket route to stream live job status/logs for a job, sending updates as soon as new logs are available.""" + await websocket.accept() + await bg_job_register.ws_poll_info(websocket, job_id) + await websocket.close() + + +@router.post("/start-app/{app_name}") +async def start_app( + app_name: str, + app_manager: "AppManager" = Depends(get_app_manager), +) -> AppStatus: + """Start an app by its name.""" + try: + return await app_manager.start_app(app_name) + except RuntimeError as e: + raise HTTPException(status_code=400, detail=str(e)) + + +@router.post("/restart-current-app") +async def restart_app( + app_manager: "AppManager" = Depends(get_app_manager), +) -> AppStatus: + """Restart the currently running app.""" + try: + return await app_manager.restart_current_app() + except RuntimeError as e: + raise HTTPException(status_code=400, detail=str(e)) + + +@router.post("/stop-current-app") +async def stop_app( + app_manager: "AppManager" = Depends(get_app_manager), +) -> None: + """Stop the currently running app.""" + try: + return await app_manager.stop_current_app() + except RuntimeError as e: + raise HTTPException(status_code=400, detail=str(e)) + + +@router.get("/current-app-status") +async def current_app_status( + app_manager: "AppManager" = Depends(get_app_manager), +) -> AppStatus | None: + """Get the status of the currently running app, if any.""" + return await app_manager.current_app_status() diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/daemon.py b/reachy_mini/src/reachy_mini/daemon/app/routers/daemon.py new file mode 100644 index 0000000000000000000000000000000000000000..3de3be57a431b7029edcb5b2e98b5e38e3c8fc6d --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/daemon.py @@ -0,0 +1,82 @@ +"""Daemon-related API routes.""" + +import logging +import threading + +from fastapi import APIRouter, Depends, HTTPException, Request + +from reachy_mini.daemon.app import bg_job_register + +from ...daemon import Daemon, DaemonStatus +from ..dependencies import get_daemon + +router = APIRouter( + prefix="/daemon", +) +busy_lock = threading.Lock() + + +@router.post("/start") +async def start_daemon( + request: Request, + wake_up: bool, + daemon: Daemon = Depends(get_daemon), +) -> dict[str, str]: + """Start the daemon.""" + if busy_lock.locked(): + raise HTTPException(status_code=409, detail="Daemon is busy.") + + async def start(logger: logging.Logger) -> None: + with busy_lock: + await daemon.start( + sim=request.app.state.args.sim, + serialport=request.app.state.args.serialport, + scene=request.app.state.args.scene, + localhost_only=request.app.state.args.localhost_only, + wake_up_on_start=wake_up, + check_collision=request.app.state.args.check_collision, + kinematics_engine=request.app.state.args.kinematics_engine, + headless=request.app.state.args.headless, + hardware_config_filepath=request.app.state.args.hardware_config_filepath, + ) + + job_id = bg_job_register.run_command("daemon-start", start) + return {"job_id": job_id} + + +@router.post("/stop") +async def stop_daemon( + goto_sleep: bool, daemon: Daemon = Depends(get_daemon) +) -> dict[str, str]: + """Stop the daemon, optionally putting the robot to sleep.""" + if busy_lock.locked(): + raise HTTPException(status_code=409, detail="Daemon is busy.") + + async def stop(logger: logging.Logger) -> None: + with busy_lock: + await daemon.stop(goto_sleep_on_stop=goto_sleep) + + job_id = bg_job_register.run_command("daemon-stop", stop) + return {"job_id": job_id} + + +@router.post("/restart") +async def restart_daemon( + request: Request, daemon: Daemon = Depends(get_daemon) +) -> dict[str, str]: + """Restart the daemon.""" + if busy_lock.locked(): + raise HTTPException(status_code=409, detail="Daemon is busy.") + + async def restart(logger: logging.Logger) -> None: + with busy_lock: + await daemon.restart() + + job_id = bg_job_register.run_command("daemon-restart", restart) + return {"job_id": job_id} + + +@router.get("/status") +async def get_daemon_status(daemon: Daemon = Depends(get_daemon)) -> DaemonStatus: + """Get the current status of the daemon.""" + return daemon.status() diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/kinematics.py b/reachy_mini/src/reachy_mini/daemon/app/routers/kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..71834eb17ed6e895309d13e267097a33e45ba7c3 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/kinematics.py @@ -0,0 +1,57 @@ +"""Kinematics router for handling kinematics-related requests. + +This module defines the API endpoints for interacting with the kinematics +subsystem of the robot. It provides endpoints for retrieving URDF representation, +and other kinematics-related information. +""" + +from pathlib import Path +from typing import Any + +from fastapi import APIRouter, Depends, HTTPException, Response + +from ....daemon.backend.abstract import Backend +from ..dependencies import get_backend + +router = APIRouter( + prefix="/kinematics", +) + +STL_ASSETS_DIR = ( + Path(__file__).parent.parent.parent.parent + / "descriptions" + / "reachy_mini" + / "urdf" + / "assets" +) + + +@router.get("/info") +async def get_kinematics_info( + backend: Backend = Depends(get_backend), +) -> dict[str, Any]: + """Get the current information of the kinematics.""" + return { + "info": { + "engine": backend.kinematics_engine, + "collision check": backend.check_collision, + } + } + + +@router.get("/urdf") +async def get_urdf(backend: Backend = Depends(get_backend)) -> dict[str, str]: + """Get the URDF representation of the robot.""" + return {"urdf": backend.get_urdf()} + + +@router.get("/stl/{filename}") +async def get_stl_file(filename: Path) -> Response: + """Get the path to an STL asset file.""" + file_path = STL_ASSETS_DIR / filename + try: + with open(file_path, "rb") as file: + content = file.read() + return Response(content, media_type="model/stl") + except FileNotFoundError: + raise HTTPException(status_code=404, detail=f"STL file not found {file_path}") diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/motors.py b/reachy_mini/src/reachy_mini/daemon/app/routers/motors.py new file mode 100644 index 0000000000000000000000000000000000000000..0b8b65a115281735f993f7f0f3a2780fb2d39da6 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/motors.py @@ -0,0 +1,41 @@ +"""Motors router. + +Provides endpoints to get and set the motor control mode. +""" + +from fastapi import APIRouter, Depends +from pydantic import BaseModel + +from ....daemon.backend.abstract import Backend, MotorControlMode +from ..dependencies import get_backend + +router = APIRouter( + prefix="/motors", +) + + +class MotorStatus(BaseModel): + """Represents the status of the motors. + + Exposes + - mode: The current motor control mode (enabled, disabled, gravity_compensation). + """ + + mode: MotorControlMode + + +@router.get("/status") +async def get_motor_status(backend: Backend = Depends(get_backend)) -> MotorStatus: + """Get the current status of the motors.""" + return MotorStatus(mode=backend.get_motor_control_mode()) + + +@router.post("/set_mode/{mode}") +async def set_motor_mode( + mode: MotorControlMode, + backend: Backend = Depends(get_backend), +) -> dict[str, str]: + """Set the motor control mode.""" + backend.set_motor_control_mode(mode) + + return {"status": f"motors changed to {mode} mode"} diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/move.py b/reachy_mini/src/reachy_mini/daemon/app/routers/move.py new file mode 100644 index 0000000000000000000000000000000000000000..cebea5fc1534363bd6f8ba2696dffbe531d18501 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/move.py @@ -0,0 +1,261 @@ +"""Movement-related API routes. + +This exposes: +- goto +- play (wake_up, goto_sleep) +- stop running moves +- set_target and streaming set_target +""" + +import asyncio +import json +from enum import Enum +from typing import Any, Coroutine +from uuid import UUID, uuid4 + +import numpy as np +from fastapi import APIRouter, Depends, HTTPException, WebSocket, WebSocketDisconnect +from huggingface_hub.errors import RepositoryNotFoundError +from pydantic import BaseModel + +from reachy_mini.motion.recorded_move import RecordedMoves + +from ....daemon.backend.abstract import Backend +from ..dependencies import get_backend, ws_get_backend +from ..models import AnyPose, FullBodyTarget + +move_tasks: dict[UUID, asyncio.Task[None]] = {} +move_listeners: list[WebSocket] = [] + + +router = APIRouter(prefix="/move") + + +class InterpolationMode(str, Enum): + """Interpolation modes for movement.""" + + # TODO: This should be the same as for the backend + + LINEAR = "linear" + MINJERK = "minjerk" + EASE = "ease" + CARTOON = "cartoon" + + +class GotoModelRequest(BaseModel): + """Request model for the goto endpoint.""" + + head_pose: AnyPose | None = None + antennas: tuple[float, float] | None = None + body_yaw: float | None = None + duration: float + interpolation: InterpolationMode = InterpolationMode.MINJERK + + model_config = { + "json_schema_extra": { + "examples": [ + { + "head_pose": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + }, + "antennas": [0.0, 0.0], + "body_yaw": 0.0, + "duration": 2.0, + "interpolation": "minjerk", + }, + { + "antennas": [0.0, 0.0], + "duration": 1.0, + "interpolation": "linear", + }, + ], + } + } + + +class MoveUUID(BaseModel): + """Model representing a unique identifier for a move task.""" + + uuid: UUID + + +def create_move_task(coro: Coroutine[Any, Any, None]) -> MoveUUID: + """Create a new move task using async task coroutine.""" + uuid = uuid4() + + async def notify_listeners(message: str, details: str = "") -> None: + for ws in move_listeners: + try: + await ws.send_json( + { + "type": message, + "uuid": str(uuid), + "details": details, + } + ) + except (RuntimeError, WebSocketDisconnect): + move_listeners.remove(ws) + + async def wrap_coro() -> None: + try: + await notify_listeners("move_started") + await coro + await notify_listeners("move_completed") + except Exception as e: + await notify_listeners("move_failed", details=str(e)) + except asyncio.CancelledError: + await notify_listeners("move_cancelled") + finally: + move_tasks.pop(uuid, None) + + task = asyncio.create_task(wrap_coro()) + move_tasks[uuid] = task + + return MoveUUID(uuid=uuid) + + +async def stop_move_task(uuid: UUID) -> dict[str, str]: + """Stop a running move task by cancelling it.""" + if uuid not in move_tasks: + raise KeyError(f"Running move with UUID {uuid} not found") + + task = move_tasks.pop(uuid, None) + assert task is not None + + if task: + if task.cancel(): + try: + await task + except asyncio.CancelledError: + pass + + return { + "message": f"Stopped move with UUID: {uuid}", + } + + +@router.get("/running") +async def get_running_moves() -> list[MoveUUID]: + """Get a list of currently running move tasks.""" + return [MoveUUID(uuid=uuid) for uuid in move_tasks.keys()] + + +@router.post("/goto") +async def goto( + goto_req: GotoModelRequest, backend: Backend = Depends(get_backend) +) -> MoveUUID: + """Request a movement to a specific target.""" + return create_move_task( + backend.goto_target( + head=goto_req.head_pose.to_pose_array() if goto_req.head_pose else None, + antennas=np.array(goto_req.antennas) if goto_req.antennas else None, + body_yaw=goto_req.body_yaw, + duration=goto_req.duration, + ) + ) + + +@router.post("/play/wake_up") +async def play_wake_up(backend: Backend = Depends(get_backend)) -> MoveUUID: + """Request the robot to wake up.""" + return create_move_task(backend.wake_up()) + + +@router.post("/play/goto_sleep") +async def play_goto_sleep(backend: Backend = Depends(get_backend)) -> MoveUUID: + """Request the robot to go to sleep.""" + return create_move_task(backend.goto_sleep()) + + +@router.get("/recorded-move-datasets/list/{dataset_name:path}") +async def list_recorded_move_dataset( + dataset_name: str, +) -> list[str]: + """List available recorded moves in a dataset.""" + try: + moves = RecordedMoves(dataset_name) + except RepositoryNotFoundError as e: + raise HTTPException(status_code=404, detail=str(e)) + + return moves.list_moves() + + +@router.post("/play/recorded-move-dataset/{dataset_name:path}/{move_name}") +async def play_recorded_move_dataset( + dataset_name: str, + move_name: str, + backend: Backend = Depends(get_backend), +) -> MoveUUID: + """Request the robot to play a predefined recorded move from a dataset.""" + try: + recorded_moves = RecordedMoves(dataset_name) + except RepositoryNotFoundError as e: + raise HTTPException(status_code=404, detail=str(e)) + try: + move = recorded_moves.get(move_name) + except ValueError as e: + raise HTTPException(status_code=404, detail=str(e)) + return create_move_task(backend.play_move(move)) + + +@router.post("/stop") +async def stop_move(uuid: MoveUUID) -> dict[str, str]: + """Stop a running move task.""" + return await stop_move_task(uuid.uuid) + + +@router.websocket("/ws/updates") +async def ws_move_updates( + websocket: WebSocket, +) -> None: + """WebSocket route to stream move updates.""" + await websocket.accept() + try: + move_listeners.append(websocket) + while True: + _ = await websocket.receive_text() + except WebSocketDisconnect: + move_listeners.remove(websocket) + + +# --- FullBodyTarget streaming and single set_target --- +@router.post("/set_target") +async def set_target( + target: FullBodyTarget, + backend: Backend = Depends(get_backend), +) -> dict[str, str]: + """POST route to set a single FullBodyTarget.""" + backend.set_target( + head=target.target_head_pose.to_pose_array() + if target.target_head_pose + else None, + antennas=np.array(target.target_antennas) if target.target_antennas else None, + body_yaw=target.target_body_yaw, + ) + return {"status": "ok"} + + +@router.websocket("/ws/set_target") +async def ws_set_target( + websocket: WebSocket, backend: Backend = Depends(ws_get_backend) +) -> None: + """WebSocket route to stream FullBodyTarget set_target calls.""" + await websocket.accept() + try: + while True: + data = await websocket.receive_text() + try: + target = FullBodyTarget.model_validate_json(data) + await set_target(target, backend) + + except Exception as e: + await websocket.send_text( + json.dumps({"status": "error", "detail": str(e)}) + ) + except WebSocketDisconnect: + pass diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/state.py b/reachy_mini/src/reachy_mini/daemon/app/routers/state.py new file mode 100644 index 0000000000000000000000000000000000000000..1ba1aea21a545babf68cf870c6f9d9f2324bc822 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/state.py @@ -0,0 +1,146 @@ +"""State-related API routes. + +This exposes: +- basic get routes to retrieve most common fields +- full state and streaming state updates +""" + +import asyncio +from datetime import datetime, timezone +from typing import Any + +from fastapi import APIRouter, Depends, WebSocket, WebSocketDisconnect + +from ....daemon.backend.abstract import Backend +from ..dependencies import get_backend, ws_get_backend +from ..models import AnyPose, FullState, as_any_pose + +router = APIRouter(prefix="/state") + + +@router.get("/present_head_pose") +async def get_head_pose( + use_pose_matrix: bool = False, + backend: Backend = Depends(get_backend), +) -> AnyPose: + """Get the present head pose. + + Arguments: + use_pose_matrix (bool): Whether to use the pose matrix representation (4x4 flattened) or the translation + Euler angles representation (x, y, z, roll, pitch, yaw). + backend (Backend): The backend instance. + + Returns: + AnyPose: The present head pose. + + """ + return as_any_pose(backend.get_present_head_pose(), use_pose_matrix) + + +@router.get("/present_body_yaw") +async def get_body_yaw( + backend: Backend = Depends(get_backend), +) -> float: + """Get the present body yaw (in radians).""" + return backend.get_present_body_yaw() + + +@router.get("/present_antenna_joint_positions") +async def get_antenna_joint_positions( + backend: Backend = Depends(get_backend), +) -> tuple[float, float]: + """Get the present antenna joint positions (in radians) - (left, right).""" + pos = backend.get_present_antenna_joint_positions() + assert len(pos) == 2 + return (pos[0], pos[1]) + + +@router.get("/full") +async def get_full_state( + with_control_mode: bool = True, + with_head_pose: bool = True, + with_target_head_pose: bool = False, + with_head_joints: bool = False, + with_target_head_joints: bool = False, + with_body_yaw: bool = True, + with_target_body_yaw: bool = False, + with_antenna_positions: bool = True, + with_target_antenna_positions: bool = False, + with_passive_joints: bool = False, + use_pose_matrix: bool = False, + backend: Backend = Depends(get_backend), +) -> FullState: + """Get the full robot state, with optional fields.""" + result: dict[str, Any] = {} + + if with_control_mode: + result["control_mode"] = backend.get_motor_control_mode().value + + if with_head_pose: + pose = backend.get_present_head_pose() + result["head_pose"] = as_any_pose(pose, use_pose_matrix) + if with_target_head_pose: + target_pose = backend.target_head_pose + assert target_pose is not None + result["target_head_pose"] = as_any_pose(target_pose, use_pose_matrix) + if with_head_joints: + result["head_joints"] = backend.get_present_head_joint_positions() + if with_target_head_joints: + result["target_head_joints"] = backend.target_head_joint_positions + if with_body_yaw: + result["body_yaw"] = backend.get_present_body_yaw() + if with_target_body_yaw: + result["target_body_yaw"] = backend.target_body_yaw + if with_antenna_positions: + result["antennas_position"] = backend.get_present_antenna_joint_positions() + if with_target_antenna_positions: + result["target_antennas_position"] = backend.target_antenna_joint_positions + if with_passive_joints: + joints = backend.get_present_passive_joint_positions() + if joints is not None: + result["passive_joints"] = list(joints.values()) + else: + result["passive_joints"] = None + + result["timestamp"] = datetime.now(timezone.utc) + return FullState.model_validate(result) + + +@router.websocket("/ws/full") +async def ws_full_state( + websocket: WebSocket, + frequency: float = 10.0, + with_head_pose: bool = True, + with_target_head_pose: bool = False, + with_head_joints: bool = False, + with_target_head_joints: bool = False, + with_body_yaw: bool = True, + with_target_body_yaw: bool = False, + with_antenna_positions: bool = True, + with_target_antenna_positions: bool = False, + with_passive_joints: bool = False, + use_pose_matrix: bool = False, + backend: Backend = Depends(ws_get_backend), +) -> None: + """WebSocket endpoint to stream the full state of the robot.""" + await websocket.accept() + period = 1.0 / frequency + + try: + while True: + full_state = await get_full_state( + with_head_pose=with_head_pose, + with_target_head_pose=with_target_head_pose, + with_head_joints=with_head_joints, + with_target_head_joints=with_target_head_joints, + with_body_yaw=with_body_yaw, + with_target_body_yaw=with_target_body_yaw, + with_antenna_positions=with_antenna_positions, + with_target_antenna_positions=with_target_antenna_positions, + with_passive_joints=with_passive_joints, + use_pose_matrix=use_pose_matrix, + backend=backend, + ) + await websocket.send_text(full_state.model_dump_json()) + await asyncio.sleep(period) + except WebSocketDisconnect: + pass diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/update.py b/reachy_mini/src/reachy_mini/daemon/app/routers/update.py new file mode 100644 index 0000000000000000000000000000000000000000..cd2e4bf8f43dd0e8b49e2b8f398634bc92a1a880 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/update.py @@ -0,0 +1,86 @@ +"""Update router for Reachy Mini Daemon API. + +This module provides endpoints to check for updates, start updates, and monitor update status. +""" + +import logging +import threading + +import requests +from fastapi import APIRouter, HTTPException, WebSocket + +from reachy_mini.daemon.app import bg_job_register +from reachy_mini.daemon.app.bg_job_register import JobInfo +from reachy_mini.utils.wireless_version.update import update_reachy_mini +from reachy_mini.utils.wireless_version.update_available import ( + get_local_version, + get_pypi_version, + is_update_available, +) + +router = APIRouter(prefix="/update") +busy_lock = threading.Lock() + + +@router.get("/available") +def available(pre_release: bool = False) -> dict[str, dict[str, dict[str, bool | str]]]: + """Check if an update is available for Reachy Mini Wireless.""" + if busy_lock.locked(): + raise HTTPException(status_code=400, detail="Update is in progress") + + current_version = str(get_local_version("reachy_mini")) + + try: + is_available = is_update_available("reachy_mini", pre_release) + available = str(get_pypi_version("reachy_mini", pre_release)) + except (ConnectionError, requests.exceptions.ConnectionError): + is_available = False + available = "unknown" + + return { + "update": { + "reachy_mini": { + "is_available": is_available, + "current_version": current_version, + "available_version": available, + } + } + } + + +@router.post("/start") +def start_update(pre_release: bool = False) -> dict[str, str]: + """Start the update process for Reachy Mini Wireless version.""" + if busy_lock.locked(): + raise HTTPException(status_code=400, detail="Update already in progress") + + if not is_update_available("reachy_mini", pre_release): + raise HTTPException(status_code=400, detail="No update available") + + async def update_wrapper(logger: logging.Logger) -> None: + with busy_lock: + await update_reachy_mini(pre_release, logger) + + job_uuid = bg_job_register.run_command( + "update_reachy_mini", + update_wrapper, + ) + + return {"job_id": job_uuid} + + +@router.get("/info") +def get_update_info(job_id: str) -> JobInfo: + """Get the info of an update job.""" + try: + return bg_job_register.get_info(job_id) + except ValueError as e: + raise HTTPException(status_code=404, detail=str(e)) + + +@router.websocket("/ws/logs") +async def websocket_logs(websocket: WebSocket, job_id: str) -> None: + """WebSocket endpoint to stream update logs in real time.""" + await websocket.accept() + await bg_job_register.ws_poll_info(websocket, job_id) + await websocket.close() diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/volume.py b/reachy_mini/src/reachy_mini/daemon/app/routers/volume.py new file mode 100644 index 0000000000000000000000000000000000000000..f5099018a39fa13e8a521922d259138786627fc2 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/volume.py @@ -0,0 +1,416 @@ +"""Volume control API routes. + +This exposes: +- get current volume +- set volume +- same for microphone +- play test sound (optional) +""" + +import logging +import platform +import subprocess +from typing import Optional + +from fastapi import APIRouter, Depends, HTTPException +from pydantic import BaseModel, Field + +from reachy_mini.daemon.app.dependencies import get_backend +from reachy_mini.daemon.backend.abstract import Backend + +router = APIRouter(prefix="/volume") +logger = logging.getLogger(__name__) + +# Constants +AUDIO_COMMAND_TIMEOUT = 2 # Timeout in seconds for audio commands + +# Device-specific card names for amixer +DEVICE_CARD_NAMES = { + "reachy_mini_audio": "Audio", # Reachy Mini Audio device + "respeaker": "Array", # Legacy ReSpeaker device + "default": "Audio", # Default to Reachy Mini Audio +} + + +class VolumeRequest(BaseModel): + """Request model for setting volume.""" + + volume: int = Field(..., ge=0, le=100, description="Volume level (0-100)") + + +class VolumeResponse(BaseModel): + """Response model for volume operations.""" + + volume: int + device: str + platform: str + + +class TestSoundResponse(BaseModel): + """Response model for test sound operations.""" + + status: str + message: str + + +def get_current_platform() -> str: + """Get the current platform.""" + system = platform.system() + if system == "Darwin": + return "macOS" + elif system == "Linux": + return "Linux" + else: + return system + + +def detect_audio_device() -> str: + """Detect the current audio output device.""" + system = platform.system() + + if system == "Linux": + # Try to detect if Reachy Mini Audio or legacy Respeaker is available + try: + result = subprocess.run( + ["aplay", "-l"], + capture_output=True, + text=True, + timeout=AUDIO_COMMAND_TIMEOUT, + ) + output_lower = result.stdout.lower() + if "reachy mini audio" in output_lower: + return "reachy_mini_audio" + elif "respeaker" in output_lower: + return "respeaker" + except (subprocess.TimeoutExpired, FileNotFoundError): + pass + return "default" + elif system == "Darwin": + return "system" + else: + return "unknown" + + +def get_linux_card_name() -> str: + """Get the appropriate card name for Linux amixer commands based on detected device.""" + device = detect_audio_device() + return DEVICE_CARD_NAMES.get(device, DEVICE_CARD_NAMES["default"]) + + +# macOS Volume Control + + +def get_volume_macos() -> Optional[int]: + """Get current system volume on macOS.""" + try: + result = subprocess.run( + ["osascript", "-e", "output volume of (get volume settings)"], + capture_output=True, + text=True, + timeout=AUDIO_COMMAND_TIMEOUT, + ) + if result.returncode == 0: + return int(result.stdout.strip()) + except (subprocess.TimeoutExpired, FileNotFoundError, ValueError) as e: + logger.error(f"Failed to get macOS volume: {e}") + return None + + +def set_volume_macos(volume: int) -> bool: + """Set system volume on macOS using osascript.""" + try: + subprocess.run( + ["osascript", "-e", f"set volume output volume {volume}"], + capture_output=True, + timeout=AUDIO_COMMAND_TIMEOUT, + check=True, + ) + return True + except ( + subprocess.TimeoutExpired, + FileNotFoundError, + subprocess.CalledProcessError, + ) as e: + logger.error(f"Failed to set macOS volume: {e}") + return False + + +# Linux Volume Control + + +def get_volume_linux() -> Optional[int]: + """Get current volume on Linux using amixer.""" + card_name = get_linux_card_name() + try: + result = subprocess.run( + ["amixer", "-c", card_name, "sget", "PCM"], + capture_output=True, + text=True, + timeout=AUDIO_COMMAND_TIMEOUT, + ) + if result.returncode == 0: + # Parse output to extract volume percentage + for line in result.stdout.splitlines(): + if "Left:" in line and "[" in line: + # Extract percentage between brackets + parts = line.split("[") + for part in parts: + if "%" in part: + volume_str = part.split("%")[0] + return int(volume_str) + except (subprocess.TimeoutExpired, FileNotFoundError, ValueError) as e: + logger.error(f"Failed to get Linux volume: {e}") + return None + + +def set_volume_linux(volume: int) -> bool: + """Set current volume on Linux using amixer.""" + card_name = get_linux_card_name() + try: + subprocess.run( + ["amixer", "-c", card_name, "sset", "PCM", f"{volume}%"], + capture_output=True, + text=True, + timeout=AUDIO_COMMAND_TIMEOUT, + check=True, + ) + return True + except ( + subprocess.TimeoutExpired, + FileNotFoundError, + subprocess.CalledProcessError, + ValueError, + ) as e: + logger.error(f"Failed to set Linux volume: {e}") + return False + + +# API Endpoints - Speaker Volume + + +@router.get("/current") +async def get_volume() -> VolumeResponse: + """Get the current volume level.""" + system = get_current_platform() + device = detect_audio_device() + + volume = None + if system == "macOS": + volume = get_volume_macos() + elif system == "Linux": + volume = get_volume_linux() + + if volume is None: + raise HTTPException(status_code=500, detail="Failed to get volume") + + return VolumeResponse(volume=volume, device=device, platform=system) + + +@router.post("/set") +async def set_volume( + volume_req: VolumeRequest, + backend: Backend = Depends(get_backend), +) -> VolumeResponse: + """Set the volume level and play a test sound.""" + system = get_current_platform() + device = detect_audio_device() + + success = False + if system == "macOS": + success = set_volume_macos(volume_req.volume) + elif system == "Linux": + success = set_volume_linux(volume_req.volume) + else: + raise HTTPException( + status_code=501, + detail=f"Volume control not supported on {system}", + ) + + if not success: + raise HTTPException(status_code=500, detail="Failed to set volume") + + # Play test sound + test_sound = "impatient1.wav" + if backend.audio: + try: + backend.audio.play_sound(test_sound, autoclean=True) + except Exception as e: + msg = str(e).lower() + if "device unavailable" in msg or "-9985" in msg: + logger.warning( + "Test sound not played: audio device busy (likely GStreamer): %s", + e, + ) + else: + logger.warning("Failed to play test sound: %s", e) + else: + logger.warning("No audio backend available, skipping test sound.") + + return VolumeResponse(volume=volume_req.volume, device=device, platform=system) + + +@router.post("/test-sound") +async def play_test_sound(backend: Backend = Depends(get_backend)) -> TestSoundResponse: + """Play a test sound.""" + test_sound = "impatient1.wav" + + if not backend.audio: + raise HTTPException(status_code=503, detail="Audio device not available") + + try: + backend.audio.play_sound(test_sound, autoclean=True) + return TestSoundResponse(status="ok", message="Test sound played") + except Exception as e: + msg = str(e).lower() + + # Special-case ALSA / PortAudio device-busy situation + if "device unavailable" in msg or "-9985" in msg: + logger.warning( + "Test sound request while audio device is busy (likely GStreamer): %s", + e, + ) + # Still 200, but tell the caller it was skipped + return TestSoundResponse( + status="busy", + message="Audio device is currently in use, test sound was skipped.", + ) + + # Any other error is treated as a real failure + logger.error("Failed to play test sound: %s", e, exc_info=True) + raise HTTPException( + status_code=500, + detail="Failed to play test sound (see logs for details)", + ) + + +# macOS Microphone Control + + +def get_microphone_volume_macos() -> Optional[int]: + """Get current microphone input volume on macOS.""" + try: + result = subprocess.run( + ["osascript", "-e", "input volume of (get volume settings)"], + capture_output=True, + text=True, + timeout=AUDIO_COMMAND_TIMEOUT, + ) + if result.returncode == 0: + return int(result.stdout.strip()) + except (subprocess.TimeoutExpired, FileNotFoundError, ValueError) as e: + logger.error(f"Failed to get macOS microphone volume: {e}") + return None + + +def set_microphone_volume_macos(volume: int) -> bool: + """Set microphone input volume on macOS using osascript.""" + try: + subprocess.run( + ["osascript", "-e", f"set volume input volume {volume}"], + capture_output=True, + timeout=AUDIO_COMMAND_TIMEOUT, + check=True, + ) + return True + except ( + subprocess.TimeoutExpired, + FileNotFoundError, + subprocess.CalledProcessError, + ) as e: + logger.error(f"Failed to set macOS microphone volume: {e}") + return False + + +# Linux Microphone Control + + +def get_microphone_volume_linux() -> Optional[int]: + """Get current microphone input volume on Linux using amixer.""" + card_name = get_linux_card_name() + try: + result = subprocess.run( + ["amixer", "-c", card_name, "sget", "Headset"], + capture_output=True, + text=True, + timeout=AUDIO_COMMAND_TIMEOUT, + ) + if result.returncode == 0: + # Parse output to extract volume percentage + for line in result.stdout.splitlines(): + if "Left:" in line and "[" in line: + parts = line.split("[") + for part in parts: + if "%" in part: + volume_str = part.split("%")[0] + return int(volume_str) + except (subprocess.TimeoutExpired, FileNotFoundError, ValueError) as e: + logger.error(f"Failed to get Linux microphone volume: {e}") + return None + + +def set_microphone_volume_linux(volume: int) -> bool: + """Set microphone input volume on Linux using amixer.""" + card_name = get_linux_card_name() + try: + subprocess.run( + ["amixer", "-c", card_name, "sset", "Headset", f"{volume}%"], + capture_output=True, + text=True, + timeout=AUDIO_COMMAND_TIMEOUT, + check=True, + ) + return True + except ( + subprocess.TimeoutExpired, + FileNotFoundError, + subprocess.CalledProcessError, + ValueError, + ) as e: + logger.error(f"Failed to set Linux microphone volume: {e}") + return False + + +# API Endpoints - Microphone Volume + + +@router.get("/microphone/current") +async def get_microphone_volume() -> VolumeResponse: + """Get the current microphone input volume level.""" + system = get_current_platform() + device = detect_audio_device() + + volume = None + if system == "macOS": + volume = get_microphone_volume_macos() + elif system == "Linux": + volume = get_microphone_volume_linux() + + if volume is None: + raise HTTPException(status_code=500, detail="Failed to get microphone volume") + + return VolumeResponse(volume=volume, device=device, platform=system) + + +@router.post("/microphone/set") +async def set_microphone_volume( + volume_req: VolumeRequest, +) -> VolumeResponse: + """Set the microphone input volume level.""" + system = get_current_platform() + device = detect_audio_device() + + success = False + if system == "macOS": + success = set_microphone_volume_macos(volume_req.volume) + elif system == "Linux": + success = set_microphone_volume_linux(volume_req.volume) + else: + raise HTTPException( + status_code=501, + detail=f"Microphone volume control not supported on {system}", + ) + + if not success: + raise HTTPException(status_code=500, detail="Failed to set microphone volume") + + return VolumeResponse(volume=volume_req.volume, device=device, platform=system) diff --git a/reachy_mini/src/reachy_mini/daemon/app/routers/wifi_config.py b/reachy_mini/src/reachy_mini/daemon/app/routers/wifi_config.py new file mode 100644 index 0000000000000000000000000000000000000000..0285ecd3465c22a00ca86840f0180cf4768b89ff --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/routers/wifi_config.py @@ -0,0 +1,219 @@ +"""WiFi Configuration Routers.""" + +import logging +from enum import Enum +from threading import Lock, Thread + +import nmcli +from fastapi import APIRouter, HTTPException +from pydantic import BaseModel + +HOTSPOT_SSID = "reachy-mini-ap" +HOTSPOT_PASSWORD = "reachy-mini" + + +router = APIRouter( + prefix="/wifi", +) + +busy_lock = Lock() +error: Exception | None = None +logger = logging.getLogger(__name__) + + +class WifiMode(Enum): + """WiFi possible modes.""" + + HOTSPOT = "hotspot" + WLAN = "wlan" + DISCONNECTED = "disconnected" + BUSY = "busy" + + +class WifiStatus(BaseModel): + """WiFi status model.""" + + mode: WifiMode + known_networks: list[str] + connected_network: str | None + + +def get_current_wifi_mode() -> WifiMode: + """Get the current WiFi mode.""" + if busy_lock.locked(): + return WifiMode.BUSY + + conn = get_wifi_connections() + if check_if_connection_active("Hotspot"): + return WifiMode.HOTSPOT + elif any(c.device != "--" for c in conn): + return WifiMode.WLAN + else: + return WifiMode.DISCONNECTED + + +@router.get("/status") +def get_wifi_status() -> WifiStatus: + """Get the current WiFi status.""" + mode = get_current_wifi_mode() + + connections = get_wifi_connections() + known_networks = [c.name for c in connections if c.name != "Hotspot"] + + connected_network = next((c.name for c in connections if c.device != "--"), None) + + return WifiStatus( + mode=mode, + known_networks=known_networks, + connected_network=connected_network, + ) + + +@router.get("/error") +def get_last_wifi_error() -> dict[str, str | None]: + """Get the last WiFi error.""" + global error + if error is None: + return {"error": None} + return {"error": str(error)} + + +@router.post("/reset_error") +def reset_last_wifi_error() -> dict[str, str]: + """Reset the last WiFi error.""" + global error + error = None + return {"status": "ok"} + + +@router.post("/setup_hotspot") +def setup_hotspot( + ssid: str = HOTSPOT_SSID, + password: str = HOTSPOT_PASSWORD, +) -> None: + """Set up a WiFi hotspot. It will create a new hotspot using nmcli if one does not already exist.""" + if busy_lock.locked(): + raise HTTPException(status_code=409, detail="Another operation is in progress.") + + def hotspot() -> None: + with busy_lock: + setup_wifi_connection( + name="Hotspot", ssid=ssid, password=password, is_hotspot=True + ) + + Thread(target=hotspot).start() + # TODO: wait for it to be really started + + +@router.post("/connect") +def connect_to_wifi_network( + ssid: str, + password: str, +) -> None: + """Connect to a WiFi network. It will create a new connection using nmcli if the specified SSID is not already configured.""" + logger.warning(f"Request to connect to WiFi network '{ssid}' received.") + + if busy_lock.locked(): + raise HTTPException(status_code=409, detail="Another operation is in progress.") + + def connect() -> None: + global error + with busy_lock: + try: + error = None + setup_wifi_connection(name=ssid, ssid=ssid, password=password) + except Exception as e: + error = e + logger.error(f"Failed to connect to WiFi network '{ssid}': {e}") + logger.info("Reverting to hotspot...") + remove_connection(name=ssid) + setup_wifi_connection( + name="Hotspot", + ssid=HOTSPOT_SSID, + password=HOTSPOT_PASSWORD, + is_hotspot=True, + ) + + Thread(target=connect).start() + # TODO: wait for it to be really connected + + +@router.post("/scan_and_list") +def scan_wifi() -> list[str]: + """Scan for available WiFi networks ordered by signal power.""" + wifi = scan_available_wifi() + + seen = set() + ssids = [x.ssid for x in wifi if x.ssid not in seen and not seen.add(x.ssid)] # type: ignore + + return ssids + + +# NMCLI WRAPPERS +def scan_available_wifi() -> list[nmcli.data.device.DeviceWifi]: + """Scan for available WiFi networks.""" + nmcli.device.wifi_rescan() + devices: list[nmcli.data.device.DeviceWifi] = nmcli.device.wifi() + return devices + + +def get_wifi_connections() -> list[nmcli.data.connection.Connection]: + """Get the list of WiFi connection.""" + return [conn for conn in nmcli.connection() if conn.conn_type == "wifi"] + + +def check_if_connection_exists(name: str) -> bool: + """Check if a WiFi connection with the given SSID already exists.""" + return any(c.name == name for c in get_wifi_connections()) + + +def check_if_connection_active(name: str) -> bool: + """Check if a WiFi connection with the given SSID is currently active.""" + return any(c.name == name and c.device != "--" for c in get_wifi_connections()) + + +def setup_wifi_connection( + name: str, ssid: str, password: str, is_hotspot: bool = False +) -> None: + """Set up a WiFi connection using nmcli.""" + logger.info(f"Setting up WiFi connection (ssid='{ssid}')...") + + if not check_if_connection_exists(name): + logger.info("WiFi configuration does not exist. Creating...") + if is_hotspot: + nmcli.device.wifi_hotspot(ssid=ssid, password=password) + else: + nmcli.device.wifi_connect(ssid=ssid, password=password) + return + + logger.info("WiFi configuration already exists.") + if not check_if_connection_active(name): + logger.info("WiFi is not active. Activating...") + nmcli.connection.up(name) + return + + logger.info(f"Connection {name} is already active.") + + +def remove_connection(name: str) -> None: + """Remove a WiFi connection using nmcli.""" + if check_if_connection_exists(name): + logger.info(f"Removing WiFi connection '{name}'...") + nmcli.connection.delete(name) + + +# Setup WiFi connection on startup + +# This make sure the wlan0 is up and running +scan_available_wifi() + +# On startup, if no WiFi connection is active, set up the default hotspot +if get_current_wifi_mode() == WifiMode.DISCONNECTED: + logger.info("No WiFi connection active. Setting up hotspot...") + + setup_wifi_connection( + name="Hotspot", + ssid=HOTSPOT_SSID, + password=HOTSPOT_PASSWORD, + is_hotspot=True, + ) diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/__init__.py b/reachy_mini/src/reachy_mini/daemon/app/services/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..c7775ec9a514eec1cf24d26c0f68f3bea568da78 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/__init__.py @@ -0,0 +1 @@ +"""Services package.""" diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/bluetooth_service.py b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/bluetooth_service.py new file mode 100644 index 0000000000000000000000000000000000000000..15dc4399e353b7eff49c5dac9e95283fa0a12ac3 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/bluetooth_service.py @@ -0,0 +1,454 @@ +#!/usr/bin/env python3 +"""Bluetooth service for Reachy Mini using direct DBus API. + +Includes a fixed NoInputNoOutput agent for automatic Just Works pairing. +""" +# mypy: ignore-errors + +import logging +import os +import subprocess +from typing import Callable + +import dbus +import dbus.mainloop.glib +import dbus.service +from gi.repository import GLib + +logging.basicConfig(level=logging.INFO) +logger = logging.getLogger(__name__) + +# Service and Characteristic UUIDs +SERVICE_UUID = "12345678-1234-5678-1234-56789abcdef0" +COMMAND_CHAR_UUID = "12345678-1234-5678-1234-56789abcdef1" +RESPONSE_CHAR_UUID = "12345678-1234-5678-1234-56789abcdef2" + +BLUEZ_SERVICE_NAME = "org.bluez" +GATT_MANAGER_IFACE = "org.bluez.GattManager1" +DBUS_OM_IFACE = "org.freedesktop.DBus.ObjectManager" +DBUS_PROP_IFACE = "org.freedesktop.DBus.Properties" +GATT_SERVICE_IFACE = "org.bluez.GattService1" +GATT_CHRC_IFACE = "org.bluez.GattCharacteristic1" +LE_ADVERTISING_MANAGER_IFACE = "org.bluez.LEAdvertisingManager1" +LE_ADVERTISEMENT_IFACE = "org.bluez.LEAdvertisement1" +AGENT_PATH = "/org/bluez/agent" + + +# ======================= +# BLE Agent for Just Works +# ======================= +class NoInputAgent(dbus.service.Object): + """BLE Agent for Just Works pairing.""" + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="") + def Release(self, *args): + """Handle release of the agent.""" + logger.info("Agent released") + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="s") + def RequestPinCode(self, *args): + """Automatically provide an empty pin code for Just Works pairing.""" + logger.info(f"RequestPinCode called with args: {args}, returning empty") + return "" + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="u") + def RequestPasskey(self, *args): + """Automatically provide a passkey of 0 for Just Works pairing.""" + logger.info(f"RequestPasskey called with args: {args}, returning 0") + return dbus.UInt32(0) + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="") + def RequestConfirmation(self, *args): + """Automatically confirm the pairing request.""" + logger.info( + f"RequestConfirmation called with args: {args}, accepting automatically" + ) + return + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="") + def DisplayPinCode(self, *args): + """Handle displaying the pin code (not used in Just Works).""" + logger.info(f"DisplayPinCode called with args: {args}") + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="") + def DisplayPasskey(self, *args): + """Handle displaying the passkey (not used in Just Works).""" + logger.info(f"DisplayPasskey called with args: {args}") + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="") + def AuthorizeService(self, *args): + """Handle service authorization requests.""" + logger.info(f"AuthorizeService called with args: {args}") + + @dbus.service.method("org.bluez.Agent1", in_signature="", out_signature="") + def Cancel(self, *args): + """Handle cancellation of the agent request.""" + logger.info("Agent request canceled") + + +# ======================= +# BLE Advertisement +# ======================= +class Advertisement(dbus.service.Object): + """BLE Advertisement.""" + + PATH_BASE = "/org/bluez/advertisement" + + def __init__(self, bus, index, advertising_type, local_name): + """Initialize the Advertisement.""" + self.path = self.PATH_BASE + str(index) + self.bus = bus + self.ad_type = advertising_type + self.local_name = local_name + self.service_uuids = None + self.include_tx_power = False + dbus.service.Object.__init__(self, bus, self.path) + + def get_properties(self): + """Return the properties of the advertisement.""" + props = {"Type": self.ad_type} + if self.local_name: + props["LocalName"] = dbus.String(self.local_name) + if self.service_uuids: + props["ServiceUUIDs"] = dbus.Array(self.service_uuids, signature="s") + props["Appearance"] = dbus.UInt16(0x0000) + props["Duration"] = dbus.UInt16(0) + props["Timeout"] = dbus.UInt16(0) + return {LE_ADVERTISEMENT_IFACE: props} + + def get_path(self): + """Return the object path.""" + return dbus.ObjectPath(self.path) + + @dbus.service.method(DBUS_PROP_IFACE, in_signature="s", out_signature="a{sv}") + def GetAll(self, interface): + """Return all properties of the advertisement.""" + if interface != LE_ADVERTISEMENT_IFACE: + raise dbus.exceptions.DBusException( + "org.freedesktop.DBus.Error.InvalidArgs", + "Unknown interface " + interface, + ) + return self.get_properties()[LE_ADVERTISEMENT_IFACE] + + @dbus.service.method(LE_ADVERTISEMENT_IFACE, in_signature="", out_signature="") + def Release(self): + """Handle release of the advertisement.""" + logger.info("Advertisement released") + + +# ======================= +# BLE Characteristics & Service +# ======================= +class Characteristic(dbus.service.Object): + """GATT Characteristic.""" + + def __init__(self, bus, index, uuid, flags, service): + """Initialize the Characteristic.""" + self.path = service.path + "/char" + str(index) + self.bus = bus + self.uuid = uuid + self.service = service + self.flags = flags + self.value = [] + dbus.service.Object.__init__(self, bus, self.path) + + def get_properties(self): + """Return the properties of the characteristic.""" + return { + GATT_CHRC_IFACE: { + "Service": self.service.get_path(), + "UUID": self.uuid, + "Flags": self.flags, + } + } + + def get_path(self): + """Return the object path.""" + return dbus.ObjectPath(self.path) + + @dbus.service.method(DBUS_PROP_IFACE, in_signature="s", out_signature="a{sv}") + def GetAll(self, interface): + """Return all properties of the characteristic.""" + if interface != GATT_CHRC_IFACE: + raise dbus.exceptions.DBusException( + "org.freedesktop.DBus.Error.InvalidArgs", "Unknown interface" + ) + return self.get_properties()[GATT_CHRC_IFACE] + + @dbus.service.method(GATT_CHRC_IFACE, in_signature="a{sv}", out_signature="ay") + def ReadValue(self, options): + """Handle read from the characteristic.""" + return dbus.Array(self.value, signature="y") + + @dbus.service.method(GATT_CHRC_IFACE, in_signature="aya{sv}") + def WriteValue(self, value, options): + """Handle write to the characteristic.""" + self.value = value + + +class CommandCharacteristic(Characteristic): + """Command Characteristic.""" + + def __init__(self, bus, index, service, command_handler: Callable[[bytes], str]): + """Initialize the Command Characteristic.""" + super().__init__(bus, index, COMMAND_CHAR_UUID, ["write"], service) + self.command_handler = command_handler + + def WriteValue(self, value, options): + """Handle write to the Command Characteristic.""" + command_bytes = bytes(value) + response = self.command_handler(command_bytes) + self.service.response_char.value = [ + dbus.Byte(b) for b in response.encode("utf-8") + ] + logger.info(f"Command received: {response}") + + +class ResponseCharacteristic(Characteristic): + """Response Characteristic.""" "" + + def __init__(self, bus, index, service): + """Initialize the Response Characteristic.""" + super().__init__(bus, index, RESPONSE_CHAR_UUID, ["read", "notify"], service) + + +class Service(dbus.service.Object): + """GATT Service.""" + + PATH_BASE = "/org/bluez/service" + + def __init__( + self, bus, index, uuid, primary, command_handler: Callable[[bytes], str] + ): + """Initialize the GATT Service.""" + self.path = self.PATH_BASE + str(index) + self.bus = bus + self.uuid = uuid + self.primary = primary + self.characteristics = [] + dbus.service.Object.__init__(self, bus, self.path) + # Response characteristic first + self.response_char = ResponseCharacteristic(bus, 1, self) + self.add_characteristic(self.response_char) + # Command characteristic + self.add_characteristic(CommandCharacteristic(bus, 0, self, command_handler)) + + def get_properties(self): + """Return the properties of the service.""" + return { + GATT_SERVICE_IFACE: { + "UUID": self.uuid, + "Primary": self.primary, + "Characteristics": [ch.get_path() for ch in self.characteristics], + } + } + + def get_path(self): + """Return the object path.""" + return dbus.ObjectPath(self.path) + + def add_characteristic(self, ch): + """Add a characteristic to the service.""" + self.characteristics.append(ch) + + @dbus.service.method(DBUS_PROP_IFACE, in_signature="s", out_signature="a{sv}") + def GetAll(self, interface): + """Return all properties of the service.""" + if interface != GATT_SERVICE_IFACE: + raise dbus.exceptions.DBusException( + "org.freedesktop.DBus.Error.InvalidArgs", "Unknown interface" + ) + return self.get_properties()[GATT_SERVICE_IFACE] + + +class Application(dbus.service.Object): + """GATT Application.""" + + def __init__(self, bus, command_handler: Callable[[bytes], str]): + """Initialize the GATT Application.""" + self.path = "/" + self.services = [] + dbus.service.Object.__init__(self, bus, self.path) + self.services.append(Service(bus, 0, SERVICE_UUID, True, command_handler)) + + def get_path(self): + """Return the object path.""" + return dbus.ObjectPath(self.path) + + @dbus.service.method(DBUS_OM_IFACE, out_signature="a{oa{sa{sv}}}") + def GetManagedObjects(self): + """Return a dictionary of all managed objects.""" + resp = {} + for service in self.services: + resp[service.get_path()] = service.get_properties() + for ch in service.characteristics: + resp[ch.get_path()] = ch.get_properties() + return resp + + +# ======================= +# Bluetooth Command Server +# ======================= +class BluetoothCommandService: + """Bluetooth Command Service.""" + + def __init__(self, device_name="ReachyMini", pin_code="00000"): + """Initialize the Bluetooth Command Service.""" + self.device_name = device_name + self.pin_code = pin_code + self.connected = False + self.bus = None + self.app = None + self.adv = None + self.mainloop = None + + def _handle_command(self, value: bytes) -> str: + command_str = value.decode("utf-8").strip() + logger.info(f"Received command: {command_str}") + # Custom command handling + if command_str.upper() == "PING": + return "PONG" + elif command_str.upper() == "STATUS": + # exec a "sudo ls" command and print the result + try: + result = subprocess.run(["sudo", "ls"], capture_output=True, text=True) + logger.info(f"Command output: {result.stdout}") + except Exception as e: + logger.error(f"Error executing command: {e}") + return "OK: System running" + elif command_str.startswith("PIN_"): + pin = command_str[4:].strip() + if pin == self.pin_code: + self.connected = True + return "OK: Connected" + else: + return "ERROR: Incorrect PIN" + + # else if command starts with "CMD_xxxxx" check if commands directory contains the said named script command xxxx.sh and run its, show output or/and send to read + elif command_str.startswith("CMD_"): + if not self.connected: + return "ERROR: Not connected. Please authenticate first." + try: + script_name = command_str[4:].strip() + ".sh" + script_path = os.path.join("commands", script_name) + if os.path.isfile(script_path): + try: + result = subprocess.run( + ["sudo", script_path], capture_output=True, text=True + ) + logger.info(f"Command output: {result.stdout}") + except Exception as e: + logger.error(f"Error executing command: {e}") + else: + return f"ERROR: Command '{script_name}' not found" + except Exception as e: + logger.error(f"Error processing command: {e}") + return "ERROR: Command execution failed" + finally: + self.connected = False # reset connection after command + else: + return f"ECHO: {command_str}" + + def start(self): + """Start the Bluetooth Command Service.""" + dbus.mainloop.glib.DBusGMainLoop(set_as_default=True) + self.bus = dbus.SystemBus() + + # BLE Agent registration + agent_manager = dbus.Interface( + self.bus.get_object("org.bluez", "/org/bluez"), "org.bluez.AgentManager1" + ) + # agent = NoInputAgent(self.bus, AGENT_PATH) + agent_manager.RegisterAgent(AGENT_PATH, "NoInputNoOutput") + agent_manager.RequestDefaultAgent(AGENT_PATH) + logger.info("BLE Agent registered for Just Works pairing") + + # Find adapter + adapter = self._find_adapter() + if not adapter: + raise Exception("Bluetooth adapter not found") + + adapter_props = dbus.Interface(adapter, DBUS_PROP_IFACE) + adapter_props.Set("org.bluez.Adapter1", "Powered", dbus.Boolean(True)) + adapter_props.Set("org.bluez.Adapter1", "Discoverable", dbus.Boolean(True)) + adapter_props.Set("org.bluez.Adapter1", "DiscoverableTimeout", dbus.UInt32(0)) + adapter_props.Set("org.bluez.Adapter1", "Pairable", dbus.Boolean(True)) + + # Register GATT application + service_manager = dbus.Interface(adapter, GATT_MANAGER_IFACE) + self.app = Application(self.bus, self._handle_command) + service_manager.RegisterApplication( + self.app.get_path(), + {}, + reply_handler=lambda: logger.info("GATT app registered"), + error_handler=lambda e: logger.error(f"Failed to register GATT app: {e}"), + ) + + # Register advertisement + ad_manager = dbus.Interface(adapter, LE_ADVERTISING_MANAGER_IFACE) + self.adv = Advertisement(self.bus, 0, "peripheral", self.device_name) + self.adv.service_uuids = [SERVICE_UUID] + ad_manager.RegisterAdvertisement( + self.adv.get_path(), + {}, + reply_handler=lambda: logger.info("Advertisement registered"), + error_handler=lambda e: logger.error( + f"Failed to register advertisement: {e}" + ), + ) + + logger.info(f"✓ Bluetooth service started as '{self.device_name}'") + + def _find_adapter(self): + remote_om = dbus.Interface( + self.bus.get_object(BLUEZ_SERVICE_NAME, "/"), DBUS_OM_IFACE + ) + objects = remote_om.GetManagedObjects() + for path, props in objects.items(): + if GATT_MANAGER_IFACE in props and LE_ADVERTISING_MANAGER_IFACE in props: + return self.bus.get_object(BLUEZ_SERVICE_NAME, path) + return None + + def run(self): + """Run the Bluetooth Command Service.""" + self.start() + self.mainloop = GLib.MainLoop() + try: + logger.info("Running. Press Ctrl+C to exit...") + self.mainloop.run() + except KeyboardInterrupt: + logger.info("Shutting down...") + self.mainloop.quit() + + +def get_pin() -> str: + """Extract the last 5 digits of the serial number from dfu-util -l output.""" + default_pin = "46879" + try: + result = subprocess.run(["dfu-util", "-l"], capture_output=True, text=True) + lines = result.stdout.splitlines() + for line in lines: + if "serial=" in line: + # Extract serial number + serial_part = line.split("serial=")[-1].strip().strip('"') + if len(serial_part) >= 5: + return serial_part[-5:] + return default_pin # fallback if not found + except Exception as e: + logger.error(f"Error getting pin from serial: {e}") + return default_pin + + +# ======================= +# Main +# ======================= +def main(): + """Run the Bluetooth Command Service.""" + pin = get_pin() + + bt_service = BluetoothCommandService(device_name="ReachyMini", pin_code=pin) + bt_service.run() + + +if __name__ == "__main__": + main() diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/HOTSPOT.sh b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/HOTSPOT.sh new file mode 100755 index 0000000000000000000000000000000000000000..7d64481da27f96028ee3e2dbbeca1dfcd3b13cc0 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/HOTSPOT.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env bash + +nmcli device disconnect wlan0 +sleep 5 +rfkill unblock wifi +systemctl restart reachy-mini-daemon.service + diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/RESTART_DAEMON.sh b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/RESTART_DAEMON.sh new file mode 100755 index 0000000000000000000000000000000000000000..3cf28b38a4c0336e2a8825697277d331d6f86424 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/RESTART_DAEMON.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash + + systemctl restart reachy-mini-daemon.service + diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/SOFTWARE_RESET.sh b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/SOFTWARE_RESET.sh new file mode 100755 index 0000000000000000000000000000000000000000..d1ae109a34171fe99dc31cb57a668651f802b41d --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/commands/SOFTWARE_RESET.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env bash + +rm -rf /venvs/ +cp -r /restore/venvs/ / +chown -R pollen:pollen /venvs +systemctl restart reachy-mini-daemon.service + diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/install_service_bluetooth.sh b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/install_service_bluetooth.sh new file mode 100755 index 0000000000000000000000000000000000000000..fcd3ae24f495dab909787ebe6e7de9273b6e3034 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/bluetooth/install_service_bluetooth.sh @@ -0,0 +1,39 @@ +#!/bin/bash + +# Get the directory where this script is located +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" + +SERVICE_NAME="reachy-mini-bluetooth" +SERVICE_FILE="/etc/systemd/system/${SERVICE_NAME}.service" +LAUNCHER_PATH="$SCRIPT_DIR/bluetooth_service.py" +COMMANDS_DIR="$SCRIPT_DIR/commands" +SERVICE_PATH=/bluetooth/bluetooth_service.py + +sudo cp "$LAUNCHER_PATH" "$SERVICE_PATH" +sudo cp -r "$COMMANDS_DIR" /bluetooth/commands +# Ensure Python script is executable +sudo chmod +x "$SERVICE_PATH" + +# Create the systemd service file +cat < /dev/null +[Unit] +Description=Reachy Mini Bluetooth GATT Service +After=network.target bluetooth.target +Requires=bluetooth.target + +[Service] +Type=simple +ExecStart=/bin/bash -c 'sudo /usr/sbin/rfkill unblock bluetooth && sleep 2 && /usr/bin/python3 /bluetooth/bluetooth_service.py' +Restart=on-failure +User=$(whoami) +WorkingDirectory=$(dirname "$SERVICE_PATH") + +[Install] +WantedBy=multi-user.target +EOF + +# Reload systemd, enable and start the service +sudo systemctl daemon-reload +sudo systemctl enable --now "$SERVICE_NAME" + +echo "Service '$SERVICE_NAME' installed and started." diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/__init__.py b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..b912651bde9762e02f4e3d332d9881f1fd9bd7b0 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/__init__.py @@ -0,0 +1 @@ +"""GPIO shutdown service package.""" diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/install_service.sh b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/install_service.sh new file mode 100644 index 0000000000000000000000000000000000000000..4d8e10fa9b2fe7d13ac0bee48a3bca255e1c94f2 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/install_service.sh @@ -0,0 +1,33 @@ +#!/bin/bash + +# Get the directory where this script is located +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" + +SERVICE_NAME="gpio-shutdown-daemon" +SERVICE_FILE="/etc/systemd/system/${SERVICE_NAME}.service" +LAUNCHER_PATH="$SCRIPT_DIR/launcher.sh" + +# Create the service file +cat < /dev/null +[Unit] +Description=Reachy Mini GPIO Shutdown Daemon +After=multi-user.target + +[Service] +Type=simple +ExecStart=$LAUNCHER_PATH +Restart=on-failure +User=$(whoami) +WorkingDirectory=$(dirname "$LAUNCHER_PATH") + +[Install] +WantedBy=multi-user.target +EOF + +chmod +x $LAUNCHER_PATH + +# Reload systemd, enable and start the service +sudo systemctl daemon-reload +sudo systemctl enable --now $SERVICE_NAME + +echo "Service '$SERVICE_NAME' installed and started." \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/launcher.sh b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/launcher.sh new file mode 100755 index 0000000000000000000000000000000000000000..7d62c5124b6b470e5cf4a9c1bc992a78a65cb443 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/launcher.sh @@ -0,0 +1,3 @@ +#!/bin/bash +source /venvs/mini_daemon/bin/activate +python -m reachy_mini.daemon.app.services.gpio_shutdown.shutdown_monitor diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/shutdown_monitor.py b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/shutdown_monitor.py new file mode 100644 index 0000000000000000000000000000000000000000..8c9788a4fb8266531e6128b382f311ba4d801356 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/gpio_shutdown/shutdown_monitor.py @@ -0,0 +1,20 @@ +"""Monitor GPIO24 for shutdown signal.""" + +from signal import pause +from subprocess import call + +from gpiozero import Button + +shutdown_button = Button(23, pull_up=False) + + +def released() -> None: + """Handle shutdown button released.""" + print("Shutdown button released, shutting down...") + call(["sudo", "shutdown", "-h", "now"]) + + +shutdown_button.when_released = released + +print("Monitoring GPIO23 for shutdown signal...") +pause() diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/wireless/install_service.sh b/reachy_mini/src/reachy_mini/daemon/app/services/wireless/install_service.sh new file mode 100755 index 0000000000000000000000000000000000000000..9e9e9b1cebd043f3ac471fb0b6b2d4b96c748776 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/wireless/install_service.sh @@ -0,0 +1,33 @@ +#!/bin/bash + +# Get the directory where this script is located +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" + +SERVICE_NAME="reachy-mini-daemon" +SERVICE_FILE="/etc/systemd/system/${SERVICE_NAME}.service" +LAUNCHER_PATH="$SCRIPT_DIR/launcher.sh" + +# Create the service file +cat < /dev/null +[Unit] +Description=Reachy Mini AP Launcher Service +After=network.target + +[Service] +Type=simple +ExecStart=$LAUNCHER_PATH +Restart=on-failure +User=$(whoami) +WorkingDirectory=$(dirname "$LAUNCHER_PATH") + +[Install] +WantedBy=multi-user.target +EOF + +chmod +x $LAUNCHER_PATH + +# Reload systemd, enable and start the service +sudo systemctl daemon-reload +sudo systemctl enable --now $SERVICE_NAME + +echo "Service '$SERVICE_NAME' installed and started." \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/daemon/app/services/wireless/launcher.sh b/reachy_mini/src/reachy_mini/daemon/app/services/wireless/launcher.sh new file mode 100755 index 0000000000000000000000000000000000000000..bf971ba7291f76a4a3eb4ed46d8bf3fe869d1a82 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/app/services/wireless/launcher.sh @@ -0,0 +1,4 @@ +#!/bin/bash +source /venvs/mini_daemon/bin/activate +export GST_PLUGIN_PATH=$GST_PLUGIN_PATH:/opt/gst-plugins-rs/lib/aarch64-linux-gnu/ +python -m reachy_mini.daemon.app.main --wireless-version --no-autostart diff --git a/reachy_mini/src/reachy_mini/daemon/backend/__init__.py b/reachy_mini/src/reachy_mini/daemon/backend/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..38eef82b1e234c864824970b6f12ef30892496e9 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/__init__.py @@ -0,0 +1 @@ +"""Backend module for Reachy Mini Daemon.""" diff --git a/reachy_mini/src/reachy_mini/daemon/backend/abstract.py b/reachy_mini/src/reachy_mini/daemon/backend/abstract.py new file mode 100644 index 0000000000000000000000000000000000000000..68eb3e16d0982a8e21805e2e5ec16f9468252876 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/abstract.py @@ -0,0 +1,755 @@ +"""Base class for robot backends, simulated or real. + +This module defines the `Backend` class, which serves as a base for implementing +different types of robot backends, whether they are simulated (like Mujoco) or real +(connected via serial port). The class provides methods for managing joint positions, +torque control, and other backend-specific functionalities. +It is designed to be extended by subclasses that implement the specific behavior for +each type of backend. +""" + +import asyncio +import json +import logging +import threading +import time +import typing +from abc import abstractmethod +from enum import Enum +from pathlib import Path +from typing import Annotated, Any, Dict, Optional + +import numpy as np +import zenoh +from numpy.typing import NDArray +from scipy.spatial.transform import Rotation as R + +if typing.TYPE_CHECKING: + from reachy_mini.daemon.backend.mujoco.backend import MujocoBackendStatus + from reachy_mini.daemon.backend.robot.backend import RobotBackendStatus + from reachy_mini.kinematics import AnyKinematics +from reachy_mini.media.audio_sounddevice import SoundDeviceAudio +from reachy_mini.motion.goto import GotoMove +from reachy_mini.motion.move import Move +from reachy_mini.utils.constants import MODELS_ROOT_PATH, URDF_ROOT_PATH +from reachy_mini.utils.interpolation import ( + InterpolationTechnique, + distance_between_poses, + time_trajectory, +) + + +class MotorControlMode(str, Enum): + """Enum for motor control modes.""" + + Enabled = "enabled" # Torque ON and controlled in position + Disabled = "disabled" # Torque OFF + GravityCompensation = "gravity_compensation" # Torque ON and controlled in current to compensate for gravity + + +class Backend: + """Base class for robot backends, simulated or real.""" + + def __init__( + self, + log_level: str = "INFO", + check_collision: bool = False, + kinematics_engine: str = "AnalyticalKinematics", + ) -> None: + """Initialize the backend.""" + self.logger = logging.getLogger(__name__) + self.logger.setLevel(log_level) + + self.should_stop = threading.Event() + self.ready = threading.Event() + + self.check_collision = ( + check_collision # Flag to enable/disable collision checking + ) + self.kinematics_engine = kinematics_engine + + self.logger.info(f"Using {self.kinematics_engine} kinematics engine") + + if self.check_collision: + assert self.kinematics_engine == "Placo", ( + "Collision checking is only available with Placo Kinematics" + ) + + self.gravity_compensation_mode = False # Flag for gravity compensation mode + + if self.gravity_compensation_mode: + assert self.kinematics_engine == "Placo", ( + "Gravity compensation is only available with Placo kinematics" + ) + + if self.kinematics_engine == "Placo": + from reachy_mini.kinematics import PlacoKinematics + + self.head_kinematics: AnyKinematics = PlacoKinematics( + URDF_ROOT_PATH, check_collision=self.check_collision + ) + elif self.kinematics_engine == "NN": + from reachy_mini.kinematics import NNKinematics + + self.head_kinematics = NNKinematics(MODELS_ROOT_PATH) + elif self.kinematics_engine == "AnalyticalKinematics": + from reachy_mini.kinematics import AnalyticalKinematics + + self.head_kinematics = AnalyticalKinematics() + else: + raise ValueError( + f"Unknown kinematics engine: {self.kinematics_engine}. Use 'Placo', 'NN' or 'AnalyticalKinematics'." + ) + + self.current_head_pose: Annotated[NDArray[np.float64], (4, 4)] | None = ( + None # 4x4 pose matrix + ) + self.target_head_pose: Annotated[NDArray[np.float64], (4, 4)] | None = ( + None # 4x4 pose matrix + ) + self.target_body_yaw: float | None = ( + None # Last body yaw used in IK computations + ) + + self.target_head_joint_positions: ( + Annotated[NDArray[np.float64], (7,)] | None + ) = None # [yaw, 0, 1, 2, 3, 4, 5] + self.current_head_joint_positions: ( + Annotated[NDArray[np.float64], (7,)] | None + ) = None # [yaw, 0, 1, 2, 3, 4, 5] + self.target_antenna_joint_positions: ( + Annotated[NDArray[np.float64], (2,)] | None + ) = None # [0, 1] + self.current_antenna_joint_positions: ( + Annotated[NDArray[np.float64], (2,)] | None + ) = None # [0, 1] + + self.joint_positions_publisher: zenoh.Publisher | None = None + self.pose_publisher: zenoh.Publisher | None = None + self.recording_publisher: zenoh.Publisher | None = None + self.error: str | None = None # To store any error that occurs during execution + self.is_recording = False # Flag to indicate if recording is active + self.recorded_data: list[dict[str, Any]] = [] # List to store recorded data + + # variables to store the last computed head joint positions and pose + self._last_target_body_yaw: float | None = ( + None # Last body yaw used in IK computations + ) + self._last_target_head_pose: Annotated[NDArray[np.float64], (4, 4)] | None = ( + None # Last head pose used in IK computations + ) + self.target_head_joint_current: Annotated[NDArray[np.float64], (7,)] | None = ( + None # Placeholder for head joint torque + ) + self.ik_required = False # Flag to indicate if IK computation is required + + self.is_shutting_down = False + + # Tolerance for kinematics computations + # For Forward kinematics (around 0.25deg) + # - FK is calculated at each timestep and is susceptible to noise + self._fk_kin_tolerance = 1e-3 # rads + # For Inverse kinematics (around 0.5mm and 0.1 degrees) + # - IK is calculated only when the head pose is set by the user + self._ik_kin_tolerance = { + "rad": 2e-3, # rads + "m": 0.5e-3, # m + } + + # Recording lock to guard buffer swaps and appends + self._rec_lock = threading.Lock() + + self.audio = SoundDeviceAudio(log_level=log_level) + + # Life cycle methods + def wrapped_run(self) -> None: + """Run the backend in a try-except block to store errors.""" + try: + self.run() + except Exception as e: + self.error = str(e) + self.close() + raise e + + def run(self) -> None: + """Run the backend. + + This method is a placeholder and should be overridden by subclasses. + """ + raise NotImplementedError("The method run should be overridden by subclasses.") + + def close(self) -> None: + """Close the backend. + + This method is a placeholder and should be overridden by subclasses. + """ + raise NotImplementedError( + "The method close should be overridden by subclasses." + ) + + def get_status(self) -> "RobotBackendStatus | MujocoBackendStatus": + """Return backend statistics. + + This method is a placeholder and should be overridden by subclasses. + """ + raise NotImplementedError( + "The method get_status should be overridden by subclasses." + ) + + # Present/Target joint positions + def set_joint_positions_publisher(self, publisher: zenoh.Publisher) -> None: + """Set the publisher for joint positions. + + Args: + publisher: A publisher object that will be used to publish joint positions. + + """ + self.joint_positions_publisher = publisher + + def set_pose_publisher(self, publisher: zenoh.Publisher) -> None: + """Set the publisher for head pose. + + Args: + publisher: A publisher object that will be used to publish head pose. + + """ + self.pose_publisher = publisher + + def update_target_head_joints_from_ik( + self, + pose: Annotated[NDArray[np.float64], (4, 4)] | None = None, + body_yaw: float | None = None, + ) -> None: + """Update the target head joint positions from inverse kinematics. + + Args: + pose (np.ndarray): 4x4 pose matrix representing the head pose. + body_yaw (float): The yaw angle of the body, used to adjust the head pose. + + """ + if pose is None: + pose = ( + self.target_head_pose + if self.target_head_pose is not None + else np.eye(4) + ) + + if body_yaw is None: + body_yaw = self.target_body_yaw if self.target_body_yaw is not None else 0.0 + + # Compute the inverse kinematics to get the head joint positions + joints = self.head_kinematics.ik(pose, body_yaw=body_yaw) + if joints is None or np.any(np.isnan(joints)): + raise ValueError("WARNING: Collision detected or head pose not achievable!") + + # update the target head pose and body yaw + self._last_target_head_pose = pose + self._last_target_body_yaw = body_yaw + + self.target_head_joint_positions = joints + + def set_target_head_pose( + self, + pose: Annotated[NDArray[np.float64], (4, 4)], + ) -> None: + """Set the target head pose for the robot. + + Args: + pose (np.ndarray): 4x4 pose matrix representing the head pose. + + """ + self.target_head_pose = pose + self.ik_required = True + + def set_target_body_yaw(self, body_yaw: float) -> None: + """Set the target body yaw for the robot. + + Only used when doing a set_target() with a standalone body_yaw (no head pose). + + Args: + body_yaw (float): The yaw angle of the body + + """ + self.target_body_yaw = body_yaw + self.ik_required = True # Do we need that here? + + def set_target_head_joint_positions( + self, positions: Annotated[NDArray[np.float64], (7,)] | None + ) -> None: + """Set the head joint positions. + + Args: + positions (List[float]): A list of joint positions for the head. + + """ + self.target_head_joint_positions = positions + self.ik_required = False + + def set_target( + self, + head: Annotated[NDArray[np.float64], (4, 4)] | None = None, # 4x4 pose matrix + antennas: Annotated[NDArray[np.float64], (2,)] + | None = None, # [right_angle, left_angle] (in rads) + body_yaw: float | None = None, # Body yaw angle in radians + ) -> None: + """Set the target head pose and/or antenna positions and/or body_yaw.""" + if head is not None: + self.set_target_head_pose(head) + + if body_yaw is not None: + self.set_target_body_yaw(body_yaw) + + if antennas is not None: + self.set_target_antenna_joint_positions(antennas) + + def set_target_antenna_joint_positions( + self, + positions: Annotated[NDArray[np.float64], (2,)], + ) -> None: + """Set the antenna joint positions. + + Args: + positions (List[float]): A list of joint positions for the antenna. + + """ + self.target_antenna_joint_positions = positions + + def set_target_head_joint_current( + self, + current: Annotated[NDArray[np.float64], (7,)], + ) -> None: + """Set the head joint current. + + Args: + current (Annotated[NDArray[np.float64], (7,)]): A list of current values for the head motors. + + """ + self.target_head_joint_current = current + self.ik_required = False + + async def play_move( + self, + move: Move, + play_frequency: float = 100.0, + initial_goto_duration: float = 0.0, + ) -> None: + """Asynchronously play a Move. + + Args: + move (Move): The Move object to be played. + play_frequency (float): The frequency at which to evaluate the move (in Hz). + initial_goto_duration (float): Duration for an initial goto to the move's starting position. If 0.0, no initial goto is performed. + + """ + if initial_goto_duration > 0.0: + start_head_pose, start_antennas_positions, start_body_yaw = move.evaluate( + 0.0 + ) + await self.goto_target( + head=start_head_pose, + antennas=start_antennas_positions, + duration=initial_goto_duration, + body_yaw=start_body_yaw, + ) + sleep_period = 1.0 / play_frequency + + t0 = time.time() + while time.time() - t0 < move.duration: + t = time.time() - t0 + + head, antennas, body_yaw = move.evaluate(t) + if head is not None: + self.set_target_head_pose(head) + if body_yaw is not None: + self.set_target_body_yaw(body_yaw) + if antennas is not None: + self.set_target_antenna_joint_positions(antennas) + + elapsed = time.time() - t0 - t + if elapsed < sleep_period: + await asyncio.sleep(sleep_period - elapsed) + else: + await asyncio.sleep(0.001) + + async def goto_target( + self, + head: Annotated[NDArray[np.float64], (4, 4)] | None = None, # 4x4 pose matrix + antennas: Annotated[NDArray[np.float64], (2,)] + | None = None, # [right_angle, left_angle] (in rads) + duration: float = 0.5, # Duration in seconds for the movement, default is 0.5 seconds. + method: InterpolationTechnique = InterpolationTechnique.MIN_JERK, # can be "linear", "minjerk", "ease" or "cartoon", default is "minjerk" + body_yaw: float | None = 0.0, # Body yaw angle in radians + ) -> None: + """Asynchronously go to a target head pose and/or antennas position using task space interpolation, in "duration" seconds. + + Args: + head (np.ndarray | None): 4x4 pose matrix representing the target head pose. + antennas (np.ndarray | list[float] | None): 1D array with two elements representing the angles of the antennas in radians. + duration (float): Duration of the movement in seconds. + method (str): Interpolation method to use ("linear", "minjerk", "ease", "cartoon"). Default is "minjerk". + body_yaw (float | None): Body yaw angle in radians. + + Raises: + ValueError: If neither head nor antennas are provided, or if duration is not positive. + + """ + return await self.play_move( + move=GotoMove( + start_head_pose=self.get_present_head_pose(), + target_head_pose=head, + start_body_yaw=self.get_present_body_yaw(), + target_body_yaw=body_yaw, + start_antennas=np.array(self.get_present_antenna_joint_positions()), + target_antennas=np.array(antennas) if antennas is not None else None, + duration=duration, + method=method, + ) + ) + + async def goto_joint_positions( + self, + head_joint_positions: list[float] + | None = None, # [yaw, stewart_platform x 6] length 7 + antennas_joint_positions: list[float] + | None = None, # [right_angle, left_angle] length 2 + duration: float = 0.5, # Duration in seconds for the movement + method: InterpolationTechnique = InterpolationTechnique.MIN_JERK, # can be "linear", "minjerk", "ease" or "cartoon", default is "minjerk" + ) -> None: + """Asynchronously go to a target head joint positions and/or antennas joint positions using joint space interpolation, in "duration" seconds. + + Go to a target head joint positions and/or antennas joint positions using joint space interpolation, in "duration" seconds. + + Args: + head_joint_positions (Optional[List[float]]): List of head joint positions in radians (length 7). + antennas_joint_positions (Optional[List[float]]): List of antennas joint positions in radians (length 2). + duration (float): Duration of the movement in seconds. Default is 0.5 seconds. + method (str): Interpolation method to use ("linear", "minjerk", "ease", "cartoon"). Default is "minjerk". + + Raises: + ValueError: If neither head_joint_positions nor antennas_joint_positions are provided, or if duration is not positive. + + """ + if duration <= 0.0: + raise ValueError( + "Duration must be positive and non-zero. Use set_target() for immediate position setting." + ) + + start_head = np.array(self.get_present_head_joint_positions()) + start_antennas = np.array(self.get_present_antenna_joint_positions()) + + target_head = ( + np.array(head_joint_positions) + if head_joint_positions is not None + else start_head + ) + target_antennas = ( + np.array(antennas_joint_positions) + if antennas_joint_positions is not None + else start_antennas + ) + + t0 = time.time() + while time.time() - t0 < duration: + t = time.time() - t0 + + interp_time = time_trajectory(t / duration, method=method) + + head_joint = start_head + (target_head - start_head) * interp_time + antennas_joint = ( + start_antennas + (target_antennas - start_antennas) * interp_time + ) + + self.set_target_head_joint_positions(head_joint) + self.set_target_antenna_joint_positions(antennas_joint) + await asyncio.sleep(0.01) + + def set_recording_publisher(self, publisher: zenoh.Publisher) -> None: + """Set the publisher for recording data. + + Args: + publisher: A publisher object that will be used to publish recorded data. + + """ + self.recording_publisher = publisher + + def append_record(self, record: dict[str, Any]) -> None: + """Append a record to the recorded data. + + Args: + record (dict): A dictionary containing the record data to be appended. + + """ + if not self.is_recording: + return + # Double-check under lock to avoid race with stop_recording + with self._rec_lock: + if self.is_recording: + self.recorded_data.append(record) + + def start_recording(self) -> None: + """Start recording data.""" + with self._rec_lock: + self.recorded_data = [] + self.is_recording = True + + def stop_recording(self) -> None: + """Stop recording data and publish the recorded data.""" + # Swap buffer under lock so writers cannot touch the published list + with self._rec_lock: + self.is_recording = False + recorded_data, self.recorded_data = self.recorded_data, [] + # Publish outside the lock + if self.recording_publisher is not None: + self.recording_publisher.put(json.dumps(recorded_data)) + else: + self.logger.warning( + "stop_recording called but recording_publisher is not set; dropping data." + ) + + def get_present_head_joint_positions(self) -> Annotated[NDArray[np.float64], (7,)]: + """Return the present head joint positions. + + This method is a placeholder and should be overridden by subclasses. + """ + raise NotImplementedError( + "The method get_present_head_joint_positions should be overridden by subclasses." + ) + + def get_present_body_yaw(self) -> float: + """Return the present body yaw.""" + yaw: float = self.get_present_head_joint_positions()[0] + return yaw + + def get_present_head_pose(self) -> Annotated[NDArray[np.float64], (4, 4)]: + """Return the present head pose as a 4x4 matrix.""" + assert self.current_head_pose is not None, ( + "The current head pose is not set. Please call the update_head_kinematics_model method first." + ) + return self.current_head_pose + + def get_current_head_pose(self) -> Annotated[NDArray[np.float64], (4, 4)]: + """Return the present head pose as a 4x4 matrix.""" + return self.get_present_head_pose() + + def get_present_antenna_joint_positions( + self, + ) -> Annotated[NDArray[np.float64], (2,)]: + """Return the present antenna joint positions. + + This method is a placeholder and should be overridden by subclasses. + """ + raise NotImplementedError( + "The method get_present_antenna_joint_positions should be overridden by subclasses." + ) + + # Kinematics methods + def update_head_kinematics_model( + self, + head_joint_positions: Annotated[NDArray[np.float64], (7,)] | None = None, + antennas_joint_positions: Annotated[NDArray[np.float64], (2,)] | None = None, + ) -> None: + """Update the placo kinematics of the robot. + + Args: + head_joint_positions (List[float] | None): The joint positions of the head. + antennas_joint_positions (List[float] | None): The joint positions of the antennas. + + Returns: + None: This method does not return anything. + + This method updates the head kinematics model with the given joint positions. + - If the joint positions are not provided, it will use the current joint positions. + - If the head joint positions have not changed, it will return without recomputing the forward kinematics. + - If the head joint positions have changed, it will compute the forward kinematics to get the current head pose. + - If the forward kinematics fails, it will raise an assertion error. + - If the antennas joint positions are provided, it will update the current antenna joint positions. + + Note: + This method will update the `current_head_pose` and `current_head_joint_positions` + attributes of the backend instance with the computed values. And the `current_antenna_joint_positions` if provided. + + """ + if head_joint_positions is None: + head_joint_positions = self.get_present_head_joint_positions() + + # Compute the forward kinematics to get the current head pose + self.current_head_pose = self.head_kinematics.fk(head_joint_positions) + + # Check if the FK was successful + assert self.current_head_pose is not None, ( + "FK failed to compute the current head pose." + ) + + # Store the last head joint positions + self.current_head_joint_positions = head_joint_positions + + if antennas_joint_positions is not None: + self.current_antenna_joint_positions = antennas_joint_positions + + def set_automatic_body_yaw(self, body_yaw: bool) -> None: + """Set the automatic body yaw. + + Args: + body_yaw (bool): The yaw angle of the body. + + """ + self.head_kinematics.set_automatic_body_yaw(automatic_body_yaw=body_yaw) + + def get_urdf(self) -> str: + """Get the URDF representation of the robot.""" + urdf_path = Path(URDF_ROOT_PATH) / "robot.urdf" + + with open(urdf_path, "r") as f: + return f.read() + + # Multimedia methods + def play_sound(self, sound_file: str) -> None: + """Play a sound file from the assets directory. + + If the file is not found in the assets directory, try to load the path itself. + + Args: + sound_file (str): The name of the sound file to play (e.g., "wake_up.wav"). + + """ + self.audio.play_sound(sound_file, autoclean=True) + + # Basic move definitions + INIT_HEAD_POSE = np.eye(4) + + SLEEP_HEAD_JOINT_POSITIONS = [ + 0, + -0.9848156658225817, + 1.2624661884298831, + -0.24390294527381684, + 0.20555342557667577, + -1.2363885150358267, + 1.0032234352772091, + ] + + SLEEP_ANTENNAS_JOINT_POSITIONS = np.array((-3.05, 3.05)) + SLEEP_HEAD_POSE = np.array( + [ + [0.911, 0.004, 0.413, -0.021], + [-0.004, 1.0, -0.001, 0.001], + [-0.413, -0.001, 0.911, -0.044], + [0.0, 0.0, 0.0, 1.0], + ] + ) + + async def wake_up(self) -> None: + """Wake up the robot - go to the initial head position and play the wake up emote and sound.""" + await asyncio.sleep(0.1) + + _, _, magic_distance = distance_between_poses( + self.get_current_head_pose(), self.INIT_HEAD_POSE + ) + + await self.goto_target( + self.INIT_HEAD_POSE, + antennas=np.array((0.0, 0.0)), + duration=magic_distance * 20 / 1000, # ms_per_magic_mm = 10 + ) + await asyncio.sleep(0.1) + + # Toudoum + self.play_sound("wake_up.wav") + + # Roll 20° to the left + pose = self.INIT_HEAD_POSE.copy() + pose[:3, :3] = R.from_euler("xyz", [20, 0, 0], degrees=True).as_matrix() + await self.goto_target(pose, duration=0.2) + + # Go back to the initial position + await self.goto_target(self.INIT_HEAD_POSE, duration=0.2) + + async def goto_sleep(self) -> None: + """Put the robot to sleep by moving the head and antennas to a predefined sleep position. + + - If we are already very close to the sleep position, we do nothing. + - If we are far from the sleep position: + - If we are far from the initial position, we move there first. + - If we are close to the initial position, we move directly to the sleep position. + """ + # Magic units + _, _, dist_to_sleep_pose = distance_between_poses( + self.get_current_head_pose(), self.SLEEP_HEAD_POSE + ) + _, _, dist_to_init_pose = distance_between_poses( + self.get_current_head_pose(), self.INIT_HEAD_POSE + ) + sleep_time = 2.0 + + # Thresholds found empirically. + if dist_to_sleep_pose > 10: + if dist_to_init_pose > 30: + # Move to the initial position + await self.goto_target( + self.INIT_HEAD_POSE, antennas=np.array((0.0, 0.0)), duration=1 + ) + await asyncio.sleep(0.2) + + self.play_sound("go_sleep.wav") + + # Move to the sleep position + await self.goto_target( + self.SLEEP_HEAD_POSE, + antennas=self.SLEEP_ANTENNAS_JOINT_POSITIONS, + duration=2, + ) + else: + # The sound doesn't play fully if we don't wait enough + self.play_sound("go_sleep.wav") + sleep_time += 3 + + self._last_head_pose = self.SLEEP_HEAD_POSE + await asyncio.sleep(sleep_time) + + # Motor control modes + @abstractmethod + def get_motor_control_mode(self) -> MotorControlMode: + """Get the motor control mode.""" + pass + + @abstractmethod + def set_motor_control_mode(self, mode: MotorControlMode) -> None: + """Set the motor control mode.""" + pass + + @abstractmethod + def set_motor_torque_ids(self, ids: list[str], on: bool) -> None: + """Set the motor torque for specific motor names.""" + pass + + def get_present_passive_joint_positions(self) -> Optional[Dict[str, float]]: + """Get the present passive joint positions. + + Requires the Placo kinematics engine. + """ + # This is would be better, and fix mypy issues, but Placo is dynamically imported + # if not isinstance(self.head_kinematics, PlacoKinematics): + if self.kinematics_engine != "Placo": + return None + return { + "passive_1_x": self.head_kinematics.get_joint("passive_1_x"), # type: ignore [union-attr] + "passive_1_y": self.head_kinematics.get_joint("passive_1_y"), # type: ignore [union-attr] + "passive_1_z": self.head_kinematics.get_joint("passive_1_z"), # type: ignore [union-attr] + "passive_2_x": self.head_kinematics.get_joint("passive_2_x"), # type: ignore [union-attr] + "passive_2_y": self.head_kinematics.get_joint("passive_2_y"), # type: ignore [union-attr] + "passive_2_z": self.head_kinematics.get_joint("passive_2_z"), # type: ignore [union-attr] + "passive_3_x": self.head_kinematics.get_joint("passive_3_x"), # type: ignore [union-attr] + "passive_3_y": self.head_kinematics.get_joint("passive_3_y"), # type: ignore [union-attr] + "passive_3_z": self.head_kinematics.get_joint("passive_3_z"), # type: ignore [union-attr] + "passive_4_x": self.head_kinematics.get_joint("passive_4_x"), # type: ignore [union-attr] + "passive_4_y": self.head_kinematics.get_joint("passive_4_y"), # type: ignore [union-attr] + "passive_4_z": self.head_kinematics.get_joint("passive_4_z"), # type: ignore [union-attr] + "passive_5_x": self.head_kinematics.get_joint("passive_5_x"), # type: ignore [union-attr] + "passive_5_y": self.head_kinematics.get_joint("passive_5_y"), # type: ignore [union-attr] + "passive_5_z": self.head_kinematics.get_joint("passive_5_z"), # type: ignore [union-attr] + "passive_6_x": self.head_kinematics.get_joint("passive_6_x"), # type: ignore [union-attr] + "passive_6_y": self.head_kinematics.get_joint("passive_6_y"), # type: ignore [union-attr] + "passive_6_z": self.head_kinematics.get_joint("passive_6_z"), # type: ignore [union-attr] + "passive_7_x": self.head_kinematics.get_joint("passive_7_x"), # type: ignore [union-attr] + "passive_7_y": self.head_kinematics.get_joint("passive_7_y"), # type: ignore [union-attr] + "passive_7_z": self.head_kinematics.get_joint("passive_7_z"), # type: ignore [union-attr] + } diff --git a/reachy_mini/src/reachy_mini/daemon/backend/mujoco/__init__.py b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..78ed8a96513559c50a3be08c238f0eeb401ad9cc --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/__init__.py @@ -0,0 +1,36 @@ +"""MuJoCo Backend for Reachy Mini Daemon.""" + +from dataclasses import dataclass + +try: + import mujoco # noqa: F401 + + from reachy_mini.daemon.backend.mujoco.backend import ( + MujocoBackend, + MujocoBackendStatus, + ) + +except ImportError: + + class MujocoMockupBackend: + """Mockup class to avoid import errors when MuJoCo is not installed.""" + + def __init__(self, *args, **kwargs) -> None: # type: ignore[no-untyped-def] + """Raise ImportError when trying to instantiate the class.""" + raise ImportError( + "MuJoCo is not installed. MuJoCo backend is not available." + " To use MuJoCo backend, please install the 'mujoco' extra dependencies" + " with 'pip install reachy_mini[mujoco]'." + ) + + MujocoBackend = MujocoMockupBackend # type: ignore[assignment, misc] + + @dataclass + class MujocoMockupBackendStatus: + """Mockup class to avoid import errors when MuJoCo is not installed.""" + + pass + + MujocoBackendStatus = MujocoMockupBackendStatus # type: ignore[assignment, misc] + +__all__ = ["MujocoBackend", "MujocoBackendStatus"] diff --git a/reachy_mini/src/reachy_mini/daemon/backend/mujoco/backend.py b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/backend.py new file mode 100644 index 0000000000000000000000000000000000000000..5df66a6be070da4f04e8b1db2a32c8ba2bf2b23b --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/backend.py @@ -0,0 +1,333 @@ +"""Mujoco Backend for Reachy Mini. + +This module provides the MujocoBackend class for simulating the Reachy Mini robot using the MuJoCo physics engine. + +It includes methods for running the simulation, getting joint positions, and controlling the robot's joints. + +""" + +import json +import time +from dataclasses import dataclass +from importlib.resources import files +from threading import Thread +from typing import Annotated + +import log_throttling +import mujoco +import mujoco.viewer +import numpy as np +import numpy.typing as npt + +import reachy_mini + +from ..abstract import Backend, MotorControlMode +from .utils import ( + get_actuator_names, + get_joint_addr_from_name, + get_joint_id_from_name, +) +from .video_udp import UDPJPEGFrameSender + + +class MujocoBackend(Backend): + """Simulated Reachy Mini using MuJoCo.""" + + def __init__( + self, + scene: str = "empty", + check_collision: bool = False, + kinematics_engine: str = "AnalyticalKinematics", + headless: bool = False, + ) -> None: + """Initialize the MujocoBackend with a specified scene. + + Args: + scene (str): The name of the scene to load. Default is "empty". + check_collision (bool): If True, enable collision checking. Default is False. + kinematics_engine (str): Kinematics engine to use. Defaults to "AnalyticalKinematics". + headless (bool): If True, run Mujoco in headless mode (no GUI). Default is False. + + """ + super().__init__( + check_collision=check_collision, kinematics_engine=kinematics_engine + ) + + self.headless = headless + + from reachy_mini.reachy_mini import ( + SLEEP_ANTENNAS_JOINT_POSITIONS, + SLEEP_HEAD_JOINT_POSITIONS, + ) + + # Real robot convention for the order of the antennas joints is [right, left], but in mujoco it's [left, right] + self._SLEEP_ANTENNAS_JOINT_POSITIONS = [ + SLEEP_ANTENNAS_JOINT_POSITIONS[1], + SLEEP_ANTENNAS_JOINT_POSITIONS[0], + ] + self._SLEEP_HEAD_JOINT_POSITIONS = SLEEP_HEAD_JOINT_POSITIONS + + mjcf_root_path = str( + files(reachy_mini).joinpath("descriptions/reachy_mini/mjcf/") + ) + self.model = mujoco.MjModel.from_xml_path( + f"{mjcf_root_path}/scenes/{scene}.xml" + ) + self.data = mujoco.MjData(self.model) + self.model.opt.timestep = 0.002 # s, simulation timestep, 500hz + self.decimation = 10 # -> 50hz control loop + self.rendering_timestep = 0.04 # s, rendering loop # 25Hz + + self.camera_id = mujoco.mj_name2id( + self.model, + mujoco.mjtObj.mjOBJ_CAMERA, + "eye_camera", + ) + + self.head_site_id = mujoco.mj_name2id( + self.model, + mujoco.mjtObj.mjOBJ_SITE, + "head", + ) + + self.current_head_pose = np.eye(4) + + self.joint_names = get_actuator_names(self.model) + + self.joint_ids = [ + get_joint_id_from_name(self.model, n) for n in self.joint_names + ] + self.joint_qpos_addr = [ + get_joint_addr_from_name(self.model, n) for n in self.joint_names + ] + + self.col_inds = [] + for i, type in enumerate(self.model.geom_contype): + if type != 0: + self.col_inds.append(i) + self.model.geom_contype[i] = 0 + self.model.geom_conaffinity[i] = 0 + + def rendering_loop(self) -> None: + """Offline Rendering loop for the Mujoco simulation. + + Capture the image from the virtual Reachy's camera and send it over UDP. + """ + streamer_udp = UDPJPEGFrameSender() + camera_size = (1280, 720) + offscreen_renderer = mujoco.Renderer( + self.model, height=camera_size[1], width=camera_size[0] + ) + while not self.should_stop.is_set(): + start_t = time.time() + offscreen_renderer.update_scene(self.data, self.camera_id) + im = offscreen_renderer.render() + streamer_udp.send_frame(im) + + took = time.time() - start_t + time.sleep(max(0, self.rendering_timestep - took)) + + def run(self) -> None: + """Run the Mujoco simulation with a viewer. + + This method initializes the viewer and enters the main simulation loop. + It updates the joint positions at a rate and publishes the joint positions. + """ + step = 1 + if not self.headless: + viewer = mujoco.viewer.launch_passive( + self.model, self.data, show_left_ui=False, show_right_ui=False + ) + with viewer.lock(): + viewer.cam.type = mujoco.mjtCamera.mjCAMERA_FREE + viewer.cam.distance = 0.8 # ≃ ||pos - lookat|| + viewer.cam.azimuth = 160 # degrees + viewer.cam.elevation = -20 # degrees + viewer.cam.lookat[:] = [0, 0, 0.15] + + # force one render with your new camera + mujoco.mj_step(self.model, self.data) + viewer.sync() + + # im = self.get_camera() + # self.streamer_udp.send_frame(im) + + self.data.qpos[self.joint_qpos_addr] = np.array( + self._SLEEP_HEAD_JOINT_POSITIONS + + self._SLEEP_ANTENNAS_JOINT_POSITIONS + ).reshape(-1, 1) + self.data.ctrl[:] = np.array( + self._SLEEP_HEAD_JOINT_POSITIONS + + self._SLEEP_ANTENNAS_JOINT_POSITIONS + ) + + # recompute all kinematics, collisions, etc. + mujoco.mj_forward(self.model, self.data) + + for i in range(100): + mujoco.mj_step(self.model, self.data) + + # enable collisions + for i in self.col_inds: + self.model.geom_contype[i] = 1 + self.model.geom_conaffinity[i] = 1 + + for i in range(100): + mujoco.mj_step(self.model, self.data) + + # one more frame so the viewer shows your startup pose + mujoco.mj_step(self.model, self.data) + if not self.headless: + viewer.sync() + + rendering_thread = Thread(target=self.rendering_loop, daemon=True) + rendering_thread.start() + + # Update the internal states of the IK and FK to the current configuration + # This is important to avoid jumps when starting the robot (beore wake-up) + self.head_kinematics.ik(self.get_mj_present_head_pose(), no_iterations=20) + self.head_kinematics.fk( + self.get_present_head_joint_positions(), no_iterations=20 + ) + + # 3) now enter your normal loop + while not self.should_stop.is_set(): + start_t = time.time() + + if step % self.decimation == 0: + # update the current states + self.current_head_joint_positions = ( + self.get_present_head_joint_positions() + ) + self.current_antenna_joint_positions = ( + self.get_present_antenna_joint_positions() + ) + # Update the Placo kinematics model to recompute passive joints + self.update_head_kinematics_model( + self.current_head_joint_positions, + self.current_antenna_joint_positions, + ) + self.current_head_pose = self.get_mj_present_head_pose() + + # Update the target head joint positions from IK if necessary + # - does nothing if the targets did not change + if self.ik_required: + try: + self.update_target_head_joints_from_ik( + self.target_head_pose, self.target_body_yaw + ) + except ValueError as e: + log_throttling.by_time(self.logger, interval=0.5).warning( + f"IK error: {e}" + ) + + if self.target_head_joint_positions is not None: + self.data.ctrl[:7] = self.target_head_joint_positions + if self.target_antenna_joint_positions is not None: + self.data.ctrl[-2:] = -self.target_antenna_joint_positions + + if ( + self.joint_positions_publisher is not None + and self.pose_publisher is not None + ): + if not self.is_shutting_down: + self.joint_positions_publisher.put( + json.dumps( + { + "head_joint_positions": self.current_head_joint_positions.tolist(), + "antennas_joint_positions": self.current_antenna_joint_positions.tolist(), + } + ).encode("utf-8") + ) + self.pose_publisher.put( + json.dumps( + { + "head_pose": self.get_present_head_pose().tolist(), + } + ).encode("utf-8") + ) + self.ready.set() + + if not self.headless: + viewer.sync() + + mujoco.mj_step(self.model, self.data) + + took = time.time() - start_t + time.sleep(max(0, self.model.opt.timestep - took)) + # print(f"Step {step}: took {took*1e6:.1f}us") + step += 1 + + if not self.headless: + viewer.close() + + def get_mj_present_head_pose(self) -> Annotated[npt.NDArray[np.float64], (4, 4)]: + """Get the current head pose from the Mujoco simulation. + + Returns: + np.ndarray: The current head pose as a 4x4 transformation matrix. + + """ + mj_current_head_pose = np.eye(4) + + mj_current_head_pose[:3, :3] = self.data.site_xmat[self.head_site_id].reshape( + 3, 3 + ) + mj_current_head_pose[:3, 3] = self.data.site_xpos[self.head_site_id] + mj_current_head_pose[2, 3] -= 0.177 + return mj_current_head_pose + + def close(self) -> None: + """Close the Mujoco backend.""" + # TODO Do something in mujoco here ? + pass + + def get_status(self) -> "MujocoBackendStatus": + """Get the status of the Mujoco backend. + + Returns: + dict: An empty dictionary as the Mujoco backend does not have a specific status to report. + + """ + return MujocoBackendStatus(motor_control_mode=self.get_motor_control_mode()) + + def get_present_head_joint_positions( + self, + ) -> Annotated[npt.NDArray[np.float64], (7,)]: + """Get the current joint positions of the head.""" + pos: npt.NDArray[np.float64] = self.data.qpos[ + self.joint_qpos_addr[:7] + ].flatten() + return pos + + def get_present_antenna_joint_positions( + self, + ) -> Annotated[npt.NDArray[np.float64], (2,)]: + """Get the current joint positions of the antennas.""" + pos: npt.NDArray[np.float64] = self.data.qpos[ + self.joint_qpos_addr[-2:] + ].flatten() + return -pos + + def get_motor_control_mode(self) -> MotorControlMode: + """Get the motor control mode.""" + return MotorControlMode.Enabled + + def set_motor_control_mode(self, mode: MotorControlMode) -> None: + """Set the motor control mode.""" + pass + + def set_motor_torque_ids(self, ids: list[str], on: bool) -> None: + """Set the motor torque state for specific motor names.""" + pass + + +@dataclass +class MujocoBackendStatus: + """Dataclass to represent the status of the Mujoco backend. + + Empty for now, as the Mujoco backend does not have a specific status to report. + """ + + motor_control_mode: MotorControlMode + error: str | None = None diff --git a/reachy_mini/src/reachy_mini/daemon/backend/mujoco/utils.py b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..c85b764393a438ab4c7998446453e1609b6f56ce --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/utils.py @@ -0,0 +1,59 @@ +"""Mujoco utilities for Reachy Mini. + +This module provides utility functions for working with MuJoCo models, including +homogeneous transformation matrices, joint positions, and actuator names. +""" + +from typing import Annotated + +import mujoco +import numpy as np +import numpy.typing as npt +from mujoco._structs import MjData, MjModel +from scipy.spatial.transform import Rotation as R + + +def get_homogeneous_matrix_from_euler( + position: tuple[float, float, float] = (0, 0, 0), # (x, y, z) meters + euler_angles: tuple[float, float, float] = (0, 0, 0), # (roll, pitch, yaw) + degrees: bool = False, +) -> Annotated[npt.NDArray[np.float64], (4, 4)]: + """Return a homogeneous transformation matrix from position and Euler angles.""" + homogeneous_matrix = np.eye(4) + homogeneous_matrix[:3, :3] = R.from_euler( + "xyz", euler_angles, degrees=degrees + ).as_matrix() + homogeneous_matrix[:3, 3] = position + return homogeneous_matrix + + +def get_joint_qpos(model: MjModel, data: MjData, joint_name: str) -> float: + """Return the qpos (rad) of a specified joint in the model.""" + # Get the joint id + joint_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, joint_name) + if joint_id == -1: + raise ValueError(f"Joint '{joint_name}' not found.") + + # Get the address of the joint's qpos in the qpos array + qpos_addr = model.jnt_qposadr[joint_id] + + # Get the qpos value + qpos: float = data.qpos[qpos_addr] + return qpos + + +def get_joint_id_from_name(model: MjModel, name: str) -> int: + """Return the id of a specified joint.""" + return mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, name) # type: ignore + + +def get_joint_addr_from_name(model: MjModel, name: str) -> int: + """Return the address of a specified joint.""" + addr: int = model.joint(name).qposadr + return addr + + +def get_actuator_names(model: MjModel) -> list[str]: + """Return the list of the actuators names from the MuJoCo model.""" + actuator_names = [model.actuator(k).name for k in range(0, model.nu)] + return actuator_names diff --git a/reachy_mini/src/reachy_mini/daemon/backend/mujoco/video_udp.py b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/video_udp.py new file mode 100644 index 0000000000000000000000000000000000000000..087ae9784de41b934f41b9ed2bbeadf391eacdd5 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/mujoco/video_udp.py @@ -0,0 +1,53 @@ +"""UDP JPEG Frame Sender. + +This module provides a class to send JPEG frames over UDP. It encodes the frames as JPEG images and splits them into chunks to fit within the maximum packet size for UDP transmission. +""" + +import socket +import struct + +import cv2 +import numpy as np +import numpy.typing as npt + + +class UDPJPEGFrameSender: + """A class to send JPEG frames over UDP.""" + + def __init__( + self, + dest_ip: str = "127.0.0.1", + dest_port: int = 5005, + max_packet_size: int = 1400, + ) -> None: + """Initialize the UDPJPEGFrameSender. + + Args: + dest_ip (str): Destination IP address. + dest_port (int): Destination port number. + max_packet_size (int): Maximum size of each UDP packet. + + """ + self.addr = (dest_ip, dest_port) + self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + self.max_packet_size = max_packet_size + + def send_frame(self, frame: npt.NDArray[np.uint8]) -> None: + """Send a frame as a JPEG image over UDP. + + Args: + frame (np.ndarray): The frame to be sent, in RGB format. + + """ + frame_cvt = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + ret, jpeg_bytes = cv2.imencode( + ".jpg", frame_cvt, [int(cv2.IMWRITE_JPEG_QUALITY), 80] + ) + data = jpeg_bytes.tobytes() + total_size = len(data) + n_chunks = (total_size + self.max_packet_size - 1) // self.max_packet_size + self.sock.sendto(struct.pack("!II", n_chunks, total_size), self.addr) + for i in range(n_chunks): + start = i * self.max_packet_size + end = min(start + self.max_packet_size, total_size) + self.sock.sendto(data[start:end], self.addr) diff --git a/reachy_mini/src/reachy_mini/daemon/backend/robot/__init__.py b/reachy_mini/src/reachy_mini/daemon/backend/robot/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..1b6ffe66ceea9f718065a88b9836bcdc80c7f144 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/robot/__init__.py @@ -0,0 +1,8 @@ +"""Real robot backend for Reachy Mini.""" + +from reachy_mini.daemon.backend.robot.backend import ( + RobotBackend, + RobotBackendStatus, +) + +__all__ = ["RobotBackend", "RobotBackendStatus"] diff --git a/reachy_mini/src/reachy_mini/daemon/backend/robot/backend.py b/reachy_mini/src/reachy_mini/daemon/backend/robot/backend.py new file mode 100644 index 0000000000000000000000000000000000000000..03440f9746ef0d22cb454e8e9358aa627ac6071f --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/backend/robot/backend.py @@ -0,0 +1,590 @@ +"""Robot Backend for Reachy Mini. + +This module provides the `RobotBackend` class, which interfaces with the Reachy Mini motor controller to control the robot's movements and manage its status. +It handles the control loop, joint positions, torque enabling/disabling, and provides a status report of the robot's backend. +It uses the `ReachyMiniMotorController` to communicate with the robot's motors. +""" + +import json +import logging +import struct +import time +from dataclasses import dataclass +from datetime import timedelta +from multiprocessing import Event # It seems to be more accurate than threading.Event +from typing import Annotated, Any + +import log_throttling +import numpy as np +import numpy.typing as npt +from reachy_mini_motor_controller import ReachyMiniPyControlLoop + +from reachy_mini.utils.hardware_config.parser import parse_yaml_config + +from ..abstract import Backend, MotorControlMode + + +class RobotBackend(Backend): + """Real robot backend for Reachy Mini.""" + + def __init__( + self, + serialport: str, + log_level: str = "INFO", + check_collision: bool = False, + kinematics_engine: str = "AnalyticalKinematics", + hardware_error_check_frequency: float = 1.0, + hardware_config_filepath: str | None = None, + ): + """Initialize the RobotBackend. + + Args: + serialport (str): The serial port to which the Reachy Mini is connected. + log_level (str): The logging level for the backend. Default is "INFO". + check_collision (bool): If True, enable collision checking. Default is False. + kinematics_engine (str): Kinematics engine to use. Defaults to "AnalyticalKinematics". + hardware_error_check_frequency (float): Frequency in seconds to check for hardware errors. Default is 1.0. + hardware_config_filepath (str | None): Path to the hardware configuration YAML file. Default is None. + + Tries to connect to the Reachy Mini motor controller and initializes the control loop. + + """ + super().__init__( + check_collision=check_collision, kinematics_engine=kinematics_engine + ) + + self.logger = logging.getLogger(__name__) + self.logger.setLevel(log_level) + + self.control_loop_frequency = 50.0 # Hz + self.c: ReachyMiniPyControlLoop | None = ReachyMiniPyControlLoop( + serialport, + read_position_loop_period=timedelta( + seconds=1.0 / self.control_loop_frequency + ), + allowed_retries=5, + stats_pub_period=None, + ) + + self.name2id = self.c.get_motor_name_id() + if hardware_config_filepath is not None: + config = parse_yaml_config(hardware_config_filepath) + for motor_name, motor_conf in config.motors.items(): + if motor_conf.pid is not None: + motor_id = self.name2id[motor_name] + p, i, d = motor_conf.pid + self.logger.info( + f"Setting PID gains for motor '{motor_name}' (ID: {motor_id}): P={p}, I={i}, D={d}" + ) + self.c.async_write_pid_gains(motor_id, p, i, d) + + self.motor_control_mode = self._infer_control_mode() + self._torque_enabled = self.motor_control_mode != MotorControlMode.Disabled + self.logger.info(f"Motor control mode: {self.motor_control_mode}") + self.last_alive: float | None = None + + self._status = RobotBackendStatus( + motor_control_mode=self.motor_control_mode, + ready=False, + last_alive=None, + control_loop_stats={}, + ) + self._stats_record_period = 1.0 # seconds + self._stats: dict[str, Any] = { + "timestamps": [], + "nb_error": 0, + "record_period": self._stats_record_period, + } + + self._current_head_operation_mode = -1 # Default to torque control mode + self._current_antennas_operation_mode = -1 # Default to torque control mode + self.target_antenna_joint_current = None # Placeholder for antenna joint torque + self.target_head_joint_current = None # Placeholder for head joint torque + + self.hardware_error_check_frequency = hardware_error_check_frequency # seconds + + def run(self) -> None: + """Run the control loop for the robot backend. + + This method continuously updates the motor controller at a specified frequency. + It reads the joint positions, updates the motor controller, and publishes the joint positions. + It also handles errors and retries if the motor controller is not responding. + """ + assert self.c is not None, "Motor controller not initialized or already closed." + + period = 1.0 / self.control_loop_frequency # Control loop period in seconds + + self.retries = 5 + self.stats_record_t0 = time.time() + + self.last_hardware_error_check_time = time.time() + + next_call_event = Event() + + # Compute the forward kinematics to get the initial head pose + # IMPORTANT for wake_up + head_positions, _ = self.get_all_joint_positions() + # make sure to converge fully (a lot of iterations) + self.current_head_pose = self.head_kinematics.fk( + np.array(head_positions), + no_iterations=20, + ) + assert self.current_head_pose is not None + + self.head_kinematics.ik(self.current_head_pose, no_iterations=20) + + while not self.should_stop.is_set(): + start_t = time.time() + self._stats["timestamps"].append(time.time()) + self._update() + took = time.time() - start_t + + sleep_time = period - took + if sleep_time < 0: + self.logger.debug( + f"Control loop took too long: {took * 1000:.3f} ms, expected {period * 1000:.3f} ms" + ) + sleep_time = 0.001 + + next_call_event.clear() + next_call_event.wait(sleep_time) + + def _update(self) -> None: + assert self.c is not None, "Motor controller not initialized or already closed." + + if self._torque_enabled: + if self._current_head_operation_mode != 0: # if position control mode + if self.target_head_joint_positions is not None: + self.c.set_stewart_platform_position( + self.target_head_joint_positions[1:].tolist() + ) + self.c.set_body_rotation(self.target_head_joint_positions[0]) + else: # it's in torque control mode + if self.gravity_compensation_mode: + # This function will set the head_joint_current + # to the current necessary to compensate for gravity + self.compensate_head_gravity() + if self.target_head_joint_current is not None: + self.c.set_stewart_platform_goal_current( + np.round(self.target_head_joint_current[1:], 0) + .astype(int) + .tolist() + ) + # Body rotation torque control is not supported with feetech motors + # self.c.set_body_rotation_goal_current(int(self.target_head_joint_current[0])) + + if self._current_antennas_operation_mode != 0: # if position control mode + if self.target_antenna_joint_positions is not None: + self.c.set_antennas_positions( + self.target_antenna_joint_positions.tolist() + ) + # Antenna torque control is not supported with feetech motors + # else: + # if self.target_antenna_joint_current is not None: + # self.c.set_antennas_goal_current( + # np.round(self.target_antenna_joint_current, 0).astype(int).tolist() + # ) + + if ( + self.joint_positions_publisher is not None + and self.pose_publisher is not None + ): + try: + head_positions, antenna_positions = self.get_all_joint_positions() + + # Update the head kinematics model with the current head positions + self.update_head_kinematics_model( + np.array(head_positions), + np.array(antenna_positions), + ) + + # Update the target head joint positions from IK if necessary + # - does nothing if the targets did not change + if self.ik_required: + try: + self.update_target_head_joints_from_ik( + self.target_head_pose, self.target_body_yaw + ) + except ValueError as e: + log_throttling.by_time(self.logger, interval=0.5).warning( + f"IK error: {e}" + ) + + if not self.is_shutting_down: + self.joint_positions_publisher.put( + json.dumps( + { + "head_joint_positions": head_positions, + "antennas_joint_positions": antenna_positions, + } + ) + ) + self.pose_publisher.put( + json.dumps( + { + "head_pose": self.get_present_head_pose().tolist(), + } + ) + ) + + self.last_alive = time.time() + + self.ready.set() # Mark the backend as ready + except RuntimeError as e: + self._stats["nb_error"] += 1 + + assert self.last_alive is not None + + if self.last_alive + 1 < time.time(): + self.error = ( + "No response from the robot's motor for the last second." + ) + + self.logger.error( + "No response from the robot for the last second, stopping." + ) + raise e + + if time.time() - self.stats_record_t0 > self._stats_record_period: + dt = np.diff(self._stats["timestamps"]) + if len(dt) > 1: + self._status.control_loop_stats["mean_control_loop_frequency"] = ( + float(np.mean(1.0 / dt)) + ) + self._status.control_loop_stats["max_control_loop_interval"] = ( + float(np.max(dt)) + ) + self._status.control_loop_stats["nb_error"] = self._stats[ + "nb_error" + ] + + self._stats["timestamps"].clear() + self._stats["nb_error"] = 0 + self.stats_record_t0 = time.time() + + if ( + time.time() - self.last_hardware_error_check_time + > self.hardware_error_check_frequency + ): + hardware_errors = self.read_hardware_errors() + if hardware_errors: + for motor_name, errors in hardware_errors.items(): + self.logger.error( + f"Motor '{motor_name}' hardware errors: {errors}" + ) + self.last_hardware_error_check_time = time.time() + + def close(self) -> None: + """Close the motor controller connection.""" + if self.c is not None: + self.c.close() + self.c = None + + def get_status(self) -> "RobotBackendStatus": + """Get the current status of the robot backend.""" + self._status.error = self.error + self._status.motor_control_mode = self.motor_control_mode + return self._status + + def enable_motors(self) -> None: + """Enable the motors by turning the torque on.""" + assert self.c is not None, "Motor controller not initialized or already closed." + + self.c.enable_torque() + self._torque_enabled = True + + def disable_motors(self) -> None: + """Disable the motors by turning the torque off.""" + assert self.c is not None, "Motor controller not initialized or already closed." + + self.c.disable_torque() + self._torque_enabled = False + + def set_head_operation_mode(self, mode: int) -> None: + """Change the operation mode of the head motors. + + Args: + mode (int): The operation mode for the head motors. + + The operation modes can be: + 0: torque control + 3: position control + 5: current-based position control. + + Important: + This method does not work well with the current feetech motors (body rotation), as they do not support torque control. + So the method disables the antennas when in torque control mode. + The dynamixel motors used for the head do support torque control, so this method works as expected. + + Args: + mode (int): The operation mode for the head motors. + This could be a specific mode like position control, velocity control, or torque control. + + """ + assert self.c is not None, "Motor controller not initialized or already closed." + assert mode in [0, 3, 5], ( + "Invalid operation mode. Must be one of [0 (torque), 3 (position), 5 (current-limiting position)]." + f" Got {mode} instead" + ) + + # if motors are enabled, disable them before changing the mode + if self._torque_enabled: + self.c.enable_stewart_platform(False) + # set the new operation mode + self.c.set_stewart_platform_operating_mode(mode) + + if mode != 0: + # if the mode is not torque control, we need to set the head joint positions + # to the current positions to avoid sudden movements + motor_pos = self.c.get_last_position() + self.target_head_joint_positions = np.array( + [motor_pos.body_yaw] + motor_pos.stewart + ) + + self.c.set_stewart_platform_position( + self.target_head_joint_positions[1:].tolist() + ) + self.c.set_body_rotation(self.target_head_joint_positions[0]) + self.c.enable_body_rotation(True) + self.c.set_body_rotation_operating_mode(0) + else: + self.c.enable_body_rotation(False) + + if self._torque_enabled: + self.c.enable_stewart_platform(True) + + self._current_head_operation_mode = mode + + def set_antennas_operation_mode(self, mode: int) -> None: + """Change the operation mode of the antennas motors. + + Args: + mode (int): The operation mode for the antennas motors (0: torque control, 3: position control, 5: current-based position control). + + Important: + This method does not work well with the current feetech motors, as they do not support torque control. + So the method disables the antennas when in torque control mode. + + Args: + mode (int): The operation mode for the antennas motors. + This could be a specific mode like position control, velocity control, or torque control. + + """ + assert self.c is not None, "Motor controller not initialized or already closed." + assert mode in [0, 3, 5], ( + "Invalid operation mode. Must be one of [0 (torque), 3 (position), 5 (current-limiting position)]." + ) + + if self._current_antennas_operation_mode != mode: + if mode != 0: + # if the mode is not torque control, we need to set the head joint positions + # to the current positions to avoid sudden movements + self.target_antenna_joint_positions = np.array( + self.c.get_last_position().antennas + ) + self.c.set_antennas_positions( + self.target_antenna_joint_positions.tolist() + ) + self.c.enable_antennas(True) + else: + self.c.enable_antennas(False) + + self._current_antennas_operation_mode = mode + + def get_all_joint_positions(self) -> tuple[list[float], list[float]]: + """Get the current joint positions of the robot. + + Returns: + tuple: A tuple containing two lists - the first list is for the head joint positions, + and the second list is for the antenna joint positions. + + """ + assert self.c is not None, "Motor controller not initialized or already closed." + positions = self.c.get_last_position() + + yaw = positions.body_yaw + antennas = positions.antennas + dofs = positions.stewart + + return [yaw] + list(dofs), list(antennas) + + def get_present_head_joint_positions( + self, + ) -> Annotated[npt.NDArray[np.float64], (7,)]: + """Get the current joint positions of the head. + + Returns: + list: A list of joint positions for the head, including the body rotation. + + """ + return np.array(self.get_all_joint_positions()[0]) + + def get_present_antenna_joint_positions( + self, + ) -> Annotated[npt.NDArray[np.float64], (2,)]: + """Get the current joint positions of the antennas. + + Returns: + list: A list of joint positions for the antennas. + + """ + return np.array(self.get_all_joint_positions()[1]) + + def compensate_head_gravity(self) -> None: + """Calculate the currents necessary to compensate for gravity.""" + assert self.kinematics_engine == "Placo", ( + "Gravity compensation is only supported with the Placo kinematics engine." + ) + + # Even though in their docs dynamixes says that 1 count is 1 mA, in practice I've found it to be 3mA. + # I am not sure why this happens + # Another explanation is that our model is bad and the current is overestimated 3x (but I have not had these issues with other robots) + # So I am using a magic number to compensate for this. + # for currents under 30mA the constant is around 1 + from_Nm_to_mA = 1.47 / 0.52 * 1000 + # Conversion factor from Nm to mA for the Stewart platform motors + # The torque constant is not linear, so we need to use a correction factor + # This is a magic number that should be determined experimentally + # For currents under 30mA, the constant is around 4.0 + # Then it drops to 1.0 for currents above 1.5A + correction_factor = 4.0 + # Get the current head joint positions + head_joints = self.get_present_head_joint_positions() + gravity_torque = self.head_kinematics.compute_gravity_torque( # type: ignore [union-attr] + np.array(head_joints) + ) + # Convert the torque from Nm to mA + current = gravity_torque * from_Nm_to_mA / correction_factor + # Set the head joint current + self.set_target_head_joint_current(current) + + def get_motor_control_mode(self) -> MotorControlMode: + """Get the motor control mode.""" + return self.motor_control_mode + + def set_motor_control_mode(self, mode: MotorControlMode) -> None: + """Set the motor control mode.""" + # Check if the mode is already set + if mode == self.motor_control_mode: + return + + if mode == MotorControlMode.Enabled: + if self.motor_control_mode == MotorControlMode.GravityCompensation: + # First, make sure we switch to position control + self.disable_motors() + self.set_head_operation_mode(3) + self.set_antennas_operation_mode(3) + + self.gravity_compensation_mode = False + self.enable_motors() + + elif mode == MotorControlMode.Disabled: + self.gravity_compensation_mode = False + self.disable_motors() + + elif mode == MotorControlMode.GravityCompensation: + if self.kinematics_engine != "Placo": + raise RuntimeError( + "Gravity compensation mode is only supported with the Placo kinematics engine." + ) + + self.disable_motors() + self.set_head_operation_mode(0) + self.set_antennas_operation_mode(0) + self.gravity_compensation_mode = True + self.enable_motors() + + self.motor_control_mode = mode + + def set_motor_torque_ids(self, ids: list[str], on: bool) -> None: + """Set the torque state for specific motor names. + + Args: + ids (list[int]): List of motor IDs to set the torque state for. + on (bool): True to enable torque, False to disable. + + """ + assert self.c is not None, "Motor controller not initialized or already closed." + + assert ids is not None and len(ids) > 0, "IDs list cannot be empty or None." + + ids_int = [self.name2id[name] for name in ids] + + if on: + self.c.enable_torque_on_ids(ids_int) + else: + self.c.disable_torque_on_ids(ids_int) + + def _infer_control_mode(self) -> MotorControlMode: + assert self.c is not None, "Motor controller not initialized or already closed." + + torque = self.c.is_torque_enabled() + + if not torque: + return MotorControlMode.Disabled + + mode = self.c.get_stewart_platform_operating_mode() + if mode == 3: + return MotorControlMode.Enabled + elif mode == 1: + return MotorControlMode.GravityCompensation + else: + raise ValueError(f"Unknown motor control mode: {mode}") + + def read_hardware_errors(self) -> dict[str, list[str]]: + """Read hardware errors from the motor controller.""" + if self.c is None: + return {} + + def decode_hardware_error_byte(err_byte: int) -> list[str]: + # https://emanual.robotis.com/docs/en/dxl/x/xl330-m288/#hardware-error-status + bits_to_error = { + 0: "Input Voltage Error", + 2: "Overheating Error", + 4: "Electrical Shock Error", + 5: "Overload Error", + } + err_bits = [i for i in range(8) if (err_byte & (1 << i)) != 0] + return [bits_to_error[b] for b in err_bits if b in bits_to_error] + + def voltage_ok( + id: int, + allowed_max_voltage: float = 7.3, + ) -> bool: + assert self.c is not None, ( + "Motor controller not initialized or already closed." + ) + # https://emanual.robotis.com/docs/en/dxl/x/xl330-m288/#present-input-voltage + resp_bytes = self.c.async_read_raw_bytes(id, 144, 2) + resp = struct.unpack("h", bytes(resp_bytes))[0] + voltage: float = resp / 10.0 # in Volts + + return voltage <= allowed_max_voltage + + errors = {} + for name, id in self.c.get_motor_name_id().items(): + # https://emanual.robotis.com/docs/en/dxl/x/xl330-m288/#hardware-error-status + err_byte = self.c.async_read_raw_bytes(id, 70, 1) + assert len(err_byte) == 1 + err = decode_hardware_error_byte(err_byte[0]) + if err: + if "Input Voltage Error" in err: + if voltage_ok(id): + err.remove("Input Voltage Error") + + # To avoid logging empty errors like "Motor 1: []" + if len(err) > 0: + errors[name] = err + + return errors + + +@dataclass +class RobotBackendStatus: + """Status of the Robot Backend.""" + + ready: bool + motor_control_mode: MotorControlMode + last_alive: float | None + control_loop_stats: dict[str, Any] + error: str | None = None diff --git a/reachy_mini/src/reachy_mini/daemon/daemon.py b/reachy_mini/src/reachy_mini/daemon/daemon.py new file mode 100644 index 0000000000000000000000000000000000000000..96b642657653110187011ad13bf942d752e51e04 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/daemon.py @@ -0,0 +1,485 @@ +"""Daemon for Reachy Mini robot. + +This module provides a daemon that runs a backend for either a simulated Reachy Mini using Mujoco or a real Reachy Mini robot using a serial connection. +It includes methods to start, stop, and restart the daemon, as well as to check its status. +It also provides a command-line interface for easy interaction. +""" + +import asyncio +import json +import logging +import time +from dataclasses import asdict, dataclass +from enum import Enum +from importlib.metadata import PackageNotFoundError, version +from threading import Event, Thread +from typing import Any, Optional + +from reachy_mini.daemon.backend.abstract import MotorControlMode +from reachy_mini.daemon.utils import ( + convert_enum_to_dict, + find_serial_port, + get_ip_address, +) + +from ..io.zenoh_server import ZenohServer +from .backend.mujoco import MujocoBackend, MujocoBackendStatus +from .backend.robot import RobotBackend, RobotBackendStatus + + +class Daemon: + """Daemon for simulated or real Reachy Mini robot. + + Runs the server with the appropriate backend (Mujoco for simulation or RobotBackend for real hardware). + """ + + def __init__(self, log_level: str = "INFO", wireless_version: bool = False) -> None: + """Initialize the Reachy Mini daemon.""" + self.log_level = log_level + self.logger = logging.getLogger(__name__) + self.logger.setLevel(self.log_level) + + self.wireless_version = wireless_version + + self.backend: "RobotBackend | MujocoBackend | None" = None + # Get package version + try: + package_version = version("reachy_mini") + self.logger.info(f"Daemon version: {package_version}") + except PackageNotFoundError: + package_version = None + self.logger.warning("Could not determine daemon version") + + self._status = DaemonStatus( + state=DaemonState.NOT_INITIALIZED, + wireless_version=wireless_version, + simulation_enabled=None, + backend_status=None, + error=None, + wlan_ip=None, + version=package_version, + ) + self._thread_event_publish_status = Event() + + self._webrtc: Optional[Any] = ( + None # type GstWebRTC imported for wireless version only + ) + if wireless_version: + from reachy_mini.media.webrtc_daemon import GstWebRTC + + self._webrtc = GstWebRTC(log_level) + + async def start( + self, + sim: bool = False, + serialport: str = "auto", + scene: str = "empty", + localhost_only: bool = True, + wake_up_on_start: bool = True, + check_collision: bool = False, + kinematics_engine: str = "AnalyticalKinematics", + headless: bool = False, + hardware_config_filepath: str | None = None, + ) -> "DaemonState": + """Start the Reachy Mini daemon. + + Args: + sim (bool): If True, run in simulation mode using Mujoco. Defaults to False. + serialport (str): Serial port for real motors. Defaults to "auto", which will try to find the port automatically. + scene (str): Name of the scene to load in simulation mode ("empty" or "minimal"). Defaults to "empty". + localhost_only (bool): If True, restrict the server to localhost only clients. Defaults to True. + wake_up_on_start (bool): If True, wake up Reachy Mini on start. Defaults to True. + check_collision (bool): If True, enable collision checking. Defaults to False. + kinematics_engine (str): Kinematics engine to use. Defaults to "AnalyticalKinematics". + headless (bool): If True, run Mujoco in headless mode (no GUI). Defaults to False. + hardware_config_filepath (str | None): Path to the hardware configuration YAML file. Defaults to None. + + Returns: + DaemonState: The current state of the daemon after attempting to start it. + + """ + if self._status.state == DaemonState.RUNNING: + self.logger.warning("Daemon is already running.") + return self._status.state + + self.logger.info( + f"Daemon start parameters: sim={sim}, serialport={serialport}, scene={scene}, localhost_only={localhost_only}, wake_up_on_start={wake_up_on_start}, check_collision={check_collision}, kinematics_engine={kinematics_engine}, headless={headless}, hardware_config_filepath={hardware_config_filepath}" + ) + + self._status.simulation_enabled = sim + + if not localhost_only: + self._status.wlan_ip = get_ip_address() + + self._start_params = { + "sim": sim, + "serialport": serialport, + "headless": headless, + "scene": scene, + "localhost_only": localhost_only, + } + + self.logger.info("Starting Reachy Mini daemon...") + self._status.state = DaemonState.STARTING + + try: + self.backend = self._setup_backend( + wireless_version=self.wireless_version, + sim=sim, + serialport=serialport, + scene=scene, + check_collision=check_collision, + kinematics_engine=kinematics_engine, + headless=headless, + hardware_config_filepath=hardware_config_filepath, + ) + except Exception as e: + self._status.state = DaemonState.ERROR + self._status.error = str(e) + raise e + + self.server = ZenohServer(self.backend, localhost_only=localhost_only) + self.server.start() + + self._thread_publish_status = Thread(target=self._publish_status, daemon=True) + self._thread_publish_status.start() + + def backend_wrapped_run() -> None: + assert self.backend is not None, ( + "Backend should be initialized before running." + ) + + try: + self.backend.wrapped_run() + except Exception as e: + self.logger.error(f"Backend encountered an error: {e}") + self._status.state = DaemonState.ERROR + self._status.error = str(e) + self.server.stop() + self.backend = None + + self.backend_run_thread = Thread(target=backend_wrapped_run) + self.backend_run_thread.start() + + if not self.backend.ready.wait(timeout=2.0): + self.logger.error( + "Backend is not ready after 2 seconds. Some error occurred." + ) + self._status.state = DaemonState.ERROR + self._status.error = self.backend.error + return self._status.state + + if wake_up_on_start: + try: + self.logger.info("Waking up Reachy Mini...") + self.backend.set_motor_control_mode(MotorControlMode.Enabled) + await self.backend.wake_up() + except Exception as e: + self.logger.error(f"Error while waking up Reachy Mini: {e}") + self._status.state = DaemonState.ERROR + self._status.error = str(e) + return self._status.state + except KeyboardInterrupt: + self.logger.warning("Wake up interrupted by user.") + self._status.state = DaemonState.STOPPING + return self._status.state + + if self._webrtc: + await asyncio.sleep( + 0.2 + ) # Give some time for the backend to release the audio device + self._webrtc.start() + + self.logger.info("Daemon started successfully.") + self._status.state = DaemonState.RUNNING + return self._status.state + + async def stop(self, goto_sleep_on_stop: bool = True) -> "DaemonState": + """Stop the Reachy Mini daemon. + + Args: + goto_sleep_on_stop (bool): If True, put Reachy Mini to sleep on stop. Defaults to True. + + Returns: + DaemonState: The current state of the daemon after attempting to stop it. + + """ + if self._status.state == DaemonState.STOPPED: + self.logger.warning("Daemon is already stopped.") + return self._status.state + + if self.backend is None: + self.logger.info("Daemon backend is not initialized.") + self._status.state = DaemonState.STOPPED + return self._status.state + + try: + if self._status.state in (DaemonState.STOPPING, DaemonState.ERROR): + goto_sleep_on_stop = False + + self.logger.info("Stopping Reachy Mini daemon...") + self._status.state = DaemonState.STOPPING + self.backend.is_shutting_down = True + self._thread_event_publish_status.set() + self.server.stop() + + if self._webrtc: + self._webrtc.stop() + + if goto_sleep_on_stop: + try: + self.logger.info("Putting Reachy Mini to sleep...") + self.backend.set_motor_control_mode(MotorControlMode.Enabled) + await self.backend.goto_sleep() + self.backend.set_motor_control_mode(MotorControlMode.Disabled) + except Exception as e: + self.logger.error(f"Error while putting Reachy Mini to sleep: {e}") + self._status.state = DaemonState.ERROR + self._status.error = str(e) + except KeyboardInterrupt: + self.logger.warning("Sleep interrupted by user.") + self._status.state = DaemonState.STOPPING + + self.backend.should_stop.set() + self.backend_run_thread.join(timeout=5.0) + if self.backend_run_thread.is_alive(): + self.logger.warning("Backend did not stop in time, forcing shutdown.") + self._status.state = DaemonState.ERROR + + self.backend.close() + self.backend.ready.clear() + + if self._status.state != DaemonState.ERROR: + self.logger.info("Daemon stopped successfully.") + self._status.state = DaemonState.STOPPED + except Exception as e: + self.logger.error(f"Error while stopping the daemon: {e}") + self._status.state = DaemonState.ERROR + self._status.error = str(e) + except KeyboardInterrupt: + self.logger.warning("Daemon already stopping...") + + if self.backend is not None: + backend_status = self.backend.get_status() + if backend_status.error: + self._status.state = DaemonState.ERROR + + self.backend = None + + return self._status.state + + async def restart( + self, + sim: Optional[bool] = None, + serialport: Optional[str] = None, + scene: Optional[str] = None, + headless: Optional[bool] = None, + localhost_only: Optional[bool] = None, + wake_up_on_start: Optional[bool] = None, + goto_sleep_on_stop: Optional[bool] = None, + ) -> "DaemonState": + """Restart the Reachy Mini daemon. + + Args: + sim (bool): If True, run in simulation mode using Mujoco. Defaults to None (uses the previous value). + serialport (str): Serial port for real motors. Defaults to None (uses the previous value). + scene (str): Name of the scene to load in simulation mode ("empty" or "minimal"). Defaults to None (uses the previous value). + headless (bool): If True, run Mujoco in headless mode (no GUI). Defaults to None (uses the previous value). + localhost_only (bool): If True, restrict the server to localhost only clients. Defaults to None (uses the previous value). + wake_up_on_start (bool): If True, wake up Reachy Mini on start. Defaults to None (don't wake up). + goto_sleep_on_stop (bool): If True, put Reachy Mini to sleep on stop. Defaults to None (don't go to sleep). + + Returns: + DaemonState: The current state of the daemon after attempting to restart it. + + """ + if self._status.state == DaemonState.STOPPED: + self.logger.warning("Daemon is not running.") + return self._status.state + + if self._status.state in (DaemonState.RUNNING, DaemonState.ERROR): + self.logger.info("Restarting Reachy Mini daemon...") + + await self.stop( + goto_sleep_on_stop=goto_sleep_on_stop + if goto_sleep_on_stop is not None + else False + ) + params: dict[str, Any] = { + "sim": sim if sim is not None else self._start_params["sim"], + "serialport": serialport + if serialport is not None + else self._start_params["serialport"], + "scene": scene if scene is not None else self._start_params["scene"], + "headless": headless + if headless is not None + else self._start_params["headless"], + "localhost_only": localhost_only + if localhost_only is not None + else self._start_params["localhost_only"], + "wake_up_on_start": wake_up_on_start + if wake_up_on_start is not None + else False, + } + + return await self.start(**params) + + raise NotImplementedError( + "Restarting is only supported when the daemon is in RUNNING or ERROR state." + ) + + def status(self) -> "DaemonStatus": + """Get the current status of the Reachy Mini daemon.""" + if self.backend is not None: + self._status.backend_status = self.backend.get_status() + + assert self._status.backend_status is not None, ( + "Backend status should not be None after backend initialization." + ) + + if self._status.backend_status.error: + self._status.state = DaemonState.ERROR + self._status.error = self._status.backend_status.error + else: + self._status.backend_status = None + + return self._status + + def _publish_status(self) -> None: + self._thread_event_publish_status.clear() + while self._thread_event_publish_status.is_set() is False: + json_str = json.dumps( + asdict(self.status(), dict_factory=convert_enum_to_dict) + ) + self.server.pub_status.put(json_str) + time.sleep(1) + + async def run4ever( + self, + sim: bool = False, + serialport: str = "auto", + scene: str = "empty", + localhost_only: bool = True, + wake_up_on_start: bool = True, + goto_sleep_on_stop: bool = True, + check_collision: bool = False, + kinematics_engine: str = "AnalyticalKinematics", + headless: bool = False, + ) -> None: + """Run the Reachy Mini daemon indefinitely. + + First, it starts the daemon, then it keeps checking the status and allows for graceful shutdown on user interrupt (Ctrl+C). + + Args: + sim (bool): If True, run in simulation mode using Mujoco. Defaults to False. + serialport (str): Serial port for real motors. Defaults to "auto", which will try to find the port automatically. + scene (str): Name of the scene to load in simulation mode ("empty" or "minimal"). Defaults to "empty". + localhost_only (bool): If True, restrict the server to localhost only clients. Defaults to True. + wake_up_on_start (bool): If True, wake up Reachy Mini on start. Defaults to True. + goto_sleep_on_stop (bool): If True, put Reachy Mini to sleep on stop. Defaults to True + check_collision (bool): If True, enable collision checking. Defaults to False. + kinematics_engine (str): Kinematics engine to use. Defaults to "AnalyticalKinematics". + headless (bool): If True, run Mujoco in headless mode (no GUI). Defaults to False. + + """ + await self.start( + sim=sim, + serialport=serialport, + scene=scene, + localhost_only=localhost_only, + wake_up_on_start=wake_up_on_start, + check_collision=check_collision, + kinematics_engine=kinematics_engine, + headless=headless, + ) + + if self._status.state == DaemonState.RUNNING: + try: + self.logger.info("Daemon is running. Press Ctrl+C to stop.") + while self.backend_run_thread.is_alive(): + self.logger.info(f"Daemon status: {self.status()}") + for _ in range(10): + self.backend_run_thread.join(timeout=1.0) + else: + self.logger.error("Backend thread has stopped unexpectedly.") + self._status.state = DaemonState.ERROR + except KeyboardInterrupt: + self.logger.warning("Daemon interrupted by user.") + except Exception as e: + self.logger.error(f"An error occurred: {e}") + self._status.state = DaemonState.ERROR + self._status.error = str(e) + + await self.stop(goto_sleep_on_stop) + + def _setup_backend( + self, + wireless_version: bool, + sim: bool, + serialport: str, + scene: str, + check_collision: bool, + kinematics_engine: str, + headless: bool, + hardware_config_filepath: str | None = None, + ) -> "RobotBackend | MujocoBackend": + if sim: + return MujocoBackend( + scene=scene, + check_collision=check_collision, + kinematics_engine=kinematics_engine, + headless=headless, + ) + else: + if serialport == "auto": + ports = find_serial_port(wireless_version=wireless_version) + + if len(ports) == 0: + raise RuntimeError( + "No Reachy Mini serial port found. " + "Check USB connection and permissions. " + "Or directly specify the serial port using --serialport." + ) + elif len(ports) > 1: + raise RuntimeError( + f"Multiple Reachy Mini serial ports found {ports}." + "Please specify the serial port using --serialport." + ) + + serialport = ports[0] + self.logger.info(f"Found Reachy Mini serial port: {serialport}") + + self.logger.info( + f"Creating RobotBackend with parameters: serialport={serialport}, check_collision={check_collision}, kinematics_engine={kinematics_engine}" + ) + return RobotBackend( + serialport=serialport, + log_level=self.log_level, + check_collision=check_collision, + kinematics_engine=kinematics_engine, + hardware_config_filepath=hardware_config_filepath, + ) + + +class DaemonState(Enum): + """Enum representing the state of the Reachy Mini daemon.""" + + NOT_INITIALIZED = "not_initialized" + STARTING = "starting" + RUNNING = "running" + STOPPING = "stopping" + STOPPED = "stopped" + ERROR = "error" + + +@dataclass +class DaemonStatus: + """Dataclass representing the status of the Reachy Mini daemon.""" + + state: DaemonState + wireless_version: bool + simulation_enabled: Optional[bool] + backend_status: Optional[RobotBackendStatus | MujocoBackendStatus] + error: Optional[str] = None + wlan_ip: Optional[str] = None + version: Optional[str] = None diff --git a/reachy_mini/src/reachy_mini/daemon/utils.py b/reachy_mini/src/reachy_mini/daemon/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..56230067d1b324d76587e4712160b2f8b6337631 --- /dev/null +++ b/reachy_mini/src/reachy_mini/daemon/utils.py @@ -0,0 +1,115 @@ +"""Utilities for managing the Reachy Mini daemon.""" + +import os +import socket +import struct +import subprocess +import time +from enum import Enum +from typing import Any, List + +import psutil +import serial.tools.list_ports + + +def daemon_check(spawn_daemon: bool, use_sim: bool) -> None: + """Check if the Reachy Mini daemon is running and spawn it if necessary.""" + + def is_python_script_running( + script_name: str, + ) -> tuple[bool, int | None, bool | None]: + """Check if a specific Python script is running.""" + found_script = False + simluation_enabled = False + for proc in psutil.process_iter(["pid", "name", "cmdline"]): + try: + for cmd in proc.info["cmdline"]: + if script_name in cmd: + found_script = True + if "--sim" in cmd: + simluation_enabled = True + if found_script: + return True, proc.pid, simluation_enabled + except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess): + continue + return False, None, None + + if spawn_daemon: + daemon_is_running, pid, sim = is_python_script_running("reachy-mini-daemon") + if daemon_is_running and sim == use_sim: + print( + f"Reachy Mini daemon is already running (PID: {pid}). " + "No need to spawn a new one." + ) + return + elif daemon_is_running and sim != use_sim: + print( + f"Reachy Mini daemon is already running (PID: {pid}) with a different configuration. " + ) + print("Killing the existing daemon...") + assert pid is not None, "PID should not be None if daemon is running" + os.kill(pid, 9) + time.sleep(1) + + print("Starting a new daemon...") + subprocess.Popen( + ["reachy-mini-daemon", "--sim"] if use_sim else ["reachy-mini-daemon"], + start_new_session=True, + ) + + +def find_serial_port( + wireless_version: bool = False, + vid: str = "1a86", + pid: str = "55d3", + pi_uart: str = "/dev/ttyAMA3", +) -> list[str]: + """Find the serial port for Reachy Mini based on VID and PID or the Raspberry Pi UART for the wireless version. + + Args: + wireless_version (bool): Whether to look for the wireless version using the Raspberry Pi UART. + vid (str): Vendor ID of the device. (eg. "1a86"). + pid (str): Product ID of the device. (eg. "55d3"). + pi_uart (str): Path to the Raspberry Pi UART device. (eg. "/dev/ttyAMA3"). + + """ + # If it's a wireless version, we should use the Raspberry Pi UART + if wireless_version: + return [pi_uart] if os.path.exists(pi_uart) else [] + + # If it's a lite version, we should find it using the VID and PID + ports = serial.tools.list_ports.comports() + + vid = vid.upper() + pid = pid.upper() + + return [p.device for p in ports if f"USB VID:PID={vid}:{pid}" in p.hwid] + + +def get_ip_address(ifname: str = "wlan0") -> str | None: + """Get the IP address of a specific network interface (Linux Only).""" + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + try: + import fcntl + + return socket.inet_ntoa( + fcntl.ioctl( + s.fileno(), + 0x8915, # SIOCGIFADDR + struct.pack("256s", ifname[:15].encode("utf-8")), + )[20:24] + ) + except OSError: + print(f"Could not get IP address for interface {ifname}.") + return None + + +def convert_enum_to_dict(data: List[Any]) -> dict[str, Any]: + """Convert a dataclass containing Enums to a dictionary with enum values.""" + + def convert_value(obj: Any) -> Any: + if isinstance(obj, Enum): + return obj.value + return obj + + return dict((k, convert_value(v)) for k, v in data) diff --git a/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.part b/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.part new file mode 100644 index 0000000000000000000000000000000000000000..323829c404dac84610e29fae4f4079c973f4630e --- /dev/null +++ b/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.part @@ -0,0 +1,13 @@ +{ + "configuration": "default", + "documentId": "7836ed39be931c6ece17e007", + "documentMicroversion": "22df16c0b36fccefd62a3ccb", + "elementId": "48f0e86376312f8ca242a082", + "fullConfiguration": "default", + "id": "MUIOPFRAXdyRYA5/y", + "isStandardContent": false, + "name": "5W_SPEAKER <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git 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<2>", + "partId": "JF7", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_interface_3dprint.stl b/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_interface_3dprint.stl new file mode 100644 index 0000000000000000000000000000000000000000..15b32f15011a3154fc5c832e7573d6dfac98b538 --- /dev/null +++ b/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_interface_3dprint.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:662384ed2de2c37fff6d5bab1ba0ccb76ee03f5d1680043d255e33e879b481bb +size 179984 diff --git a/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/arducam.part b/reachy_mini/src/reachy_mini/descriptions/reachy_mini/urdf/assets/arducam.part new file mode 100644 index 0000000000000000000000000000000000000000..6268a27d56b5bc11c338dd4130330ea77e290c13 --- /dev/null +++ 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/reachy_mini/src/reachy_mini/io/__init__.py b/reachy_mini/src/reachy_mini/io/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e0888e2576d28a98185f8b32543808ab48c3965c --- /dev/null +++ b/reachy_mini/src/reachy_mini/io/__init__.py @@ -0,0 +1 @@ +"""IO module.""" diff --git a/reachy_mini/src/reachy_mini/io/abstract.py b/reachy_mini/src/reachy_mini/io/abstract.py new file mode 100644 index 0000000000000000000000000000000000000000..24b16ab743ef5a9f59d57769d4f4b995cfa7f191 --- /dev/null +++ b/reachy_mini/src/reachy_mini/io/abstract.py @@ -0,0 +1,70 @@ +"""Base classes for server and client implementations. + +These abstract classes define the interface for server and client components +in the Reachy Mini project. They provide methods for starting and stopping +the server, handling commands, and managing client connections. +""" + +from abc import ABC, abstractmethod +from threading import Event +from uuid import UUID + +from reachy_mini.io.protocol import AnyTaskRequest + + +class AbstractServer(ABC): + """Base class for server implementations.""" + + @abstractmethod + def start(self) -> None: + """Start the server.""" + pass + + @abstractmethod + def stop(self) -> None: + """Stop the server.""" + pass + + @abstractmethod + def command_received_event(self) -> Event: + """Wait for a new command and return it.""" + pass + + +class AbstractClient(ABC): + """Base class for client implementations.""" + + @abstractmethod + def wait_for_connection(self) -> None: + """Wait for the client to connect to the server.""" + pass + + @abstractmethod + def is_connected(self) -> bool: + """Check if the client is connected to the server.""" + pass + + @abstractmethod + def disconnect(self) -> None: + """Disconnect the client from the server.""" + pass + + @abstractmethod + def send_command(self, command: str) -> None: + """Send a command to the server.""" + pass + + @abstractmethod + def get_current_joints(self) -> tuple[list[float], list[float]]: + """Get the current joint positions.""" + pass + + @abstractmethod + def send_task_request(self, task_req: AnyTaskRequest) -> UUID: + """Send a task request to the server and return a unique task identifier.""" + pass + + @abstractmethod + def wait_for_task_completion(self, task_uid: UUID, timeout: float = 5.0) -> None: + """Wait for the specified task to complete.""" + pass diff --git a/reachy_mini/src/reachy_mini/io/protocol.py b/reachy_mini/src/reachy_mini/io/protocol.py new file mode 100644 index 0000000000000000000000000000000000000000..b1ecfdd2d36a953c026e6fe3839a796894309328 --- /dev/null +++ b/reachy_mini/src/reachy_mini/io/protocol.py @@ -0,0 +1,44 @@ +"""Protocol definitions for Reachy Mini client/server communication.""" + +from datetime import datetime +from uuid import UUID + +from pydantic import BaseModel + +from reachy_mini.utils.interpolation import InterpolationTechnique + + +class GotoTaskRequest(BaseModel): + """Class to represent a goto target task.""" + + head: list[float] | None # 4x4 flatten pose matrix + antennas: list[float] | None # [right_angle, left_angle] (in rads) + duration: float + method: InterpolationTechnique + body_yaw: float | None + + +class PlayMoveTaskRequest(BaseModel): + """Class to represent a play move task.""" + + move_name: str + + +AnyTaskRequest = GotoTaskRequest | PlayMoveTaskRequest + + +class TaskRequest(BaseModel): + """Class to represent any task request.""" + + uuid: UUID + req: AnyTaskRequest + timestamp: datetime + + +class TaskProgress(BaseModel): + """Class to represent task progress.""" + + uuid: UUID + finished: bool = False + error: str | None = None + timestamp: datetime diff --git a/reachy_mini/src/reachy_mini/io/zenoh_client.py b/reachy_mini/src/reachy_mini/io/zenoh_client.py new file mode 100644 index 0000000000000000000000000000000000000000..1668470bf0c8a9645e5234273f4c4526b96af140 --- /dev/null +++ b/reachy_mini/src/reachy_mini/io/zenoh_client.py @@ -0,0 +1,258 @@ +"""Zenoh client for Reachy Mini. + +This module implements a Zenoh client that allows communication with the Reachy Mini +robot. It subscribes to joint positions updates and allows sending commands to the robot. +""" + +import json +import threading +import time +from dataclasses import dataclass +from datetime import datetime +from typing import Any, Dict, List, Optional +from uuid import UUID, uuid4 + +import numpy as np +import numpy.typing as npt +import zenoh + +from reachy_mini.io.abstract import AbstractClient +from reachy_mini.io.protocol import AnyTaskRequest, TaskProgress, TaskRequest + + +class ZenohClient(AbstractClient): + """Zenoh client for Reachy Mini.""" + + def __init__(self, localhost_only: bool = True): + """Initialize the Zenoh client.""" + if localhost_only: + c = zenoh.Config.from_json5( + json.dumps( + { + "connect": { + "endpoints": { + "peer": ["tcp/localhost:7447"], + "router": [], + }, + }, + } + ) + ) + else: + c = zenoh.Config() + + self.joint_position_received = threading.Event() + self.head_pose_received = threading.Event() + self.status_received = threading.Event() + + self.session = zenoh.open(c) + self.cmd_pub = self.session.declare_publisher("reachy_mini/command") + + self.joint_sub = self.session.declare_subscriber( + "reachy_mini/joint_positions", + self._handle_joint_positions, + ) + + self.pose_sub = self.session.declare_subscriber( + "reachy_mini/head_pose", + self._handle_head_pose, + ) + + self.recording_sub = self.session.declare_subscriber( + "reachy_mini/recorded_data", + self._handle_recorded_data, + ) + + self.status_sub = self.session.declare_subscriber( + "reachy_mini/daemon_status", + self._handle_status, + ) + + self._last_head_joint_positions = None + self._last_antennas_joint_positions = None + self._last_head_pose: Optional[npt.NDArray[np.float64]] = None + self._recorded_data: Optional[ + List[Dict[str, float | List[float] | List[List[float]]]] + ] = None + self._recorded_data_ready = threading.Event() + self._is_alive = False + self._last_status: Dict[str, Any] = {} # contains a DaemonStatus + + self.tasks: dict[UUID, TaskState] = {} + self.task_request_pub = self.session.declare_publisher("reachy_mini/task") + self.task_progress_sub = self.session.declare_subscriber( + "reachy_mini/task_progress", + self._handle_task_progress, + ) + + def wait_for_connection(self, timeout: float = 5.0) -> None: + """Wait for the client to connect to the server. + + Args: + timeout (float): Maximum time to wait for the connection in seconds. + + Raises: + TimeoutError: If the connection is not established within the timeout period. + + """ + start = time.time() + while not self.joint_position_received.wait( + timeout=1.0 + ) or not self.head_pose_received.wait(timeout=1.0): + if time.time() - start > timeout: + self.disconnect() + raise TimeoutError( + "Timeout while waiting for connection with the server." + ) + print("Waiting for connection with the server...") + + self._is_alive = True + self._check_alive_evt = threading.Event() + threading.Thread(target=self.check_alive, daemon=True).start() + + def check_alive(self) -> None: + """Periodically check if the client is still connected to the server.""" + while True: + self._is_alive = self.is_connected() + self._check_alive_evt.set() + time.sleep(1.0) + + def is_connected(self) -> bool: + """Check if the client is connected to the server.""" + self.joint_position_received.clear() + self.head_pose_received.clear() + return self.joint_position_received.wait( + timeout=1.0 + ) and self.head_pose_received.wait(timeout=1.0) + + def disconnect(self) -> None: + """Disconnect the client from the server.""" + self.session.close() # type: ignore[no-untyped-call] + + def send_command(self, command: str) -> None: + """Send a command to the server.""" + if not self._is_alive: + raise ConnectionError("Lost connection with the server.") + + self.cmd_pub.put(command.encode("utf-8")) + + def _handle_joint_positions(self, sample: zenoh.Sample) -> None: + """Handle incoming joint positions.""" + if sample.payload: + positions = json.loads(sample.payload.to_string()) + self._last_head_joint_positions = positions.get("head_joint_positions") + self._last_antennas_joint_positions = positions.get( + "antennas_joint_positions" + ) + self.joint_position_received.set() + + def _handle_recorded_data(self, sample: zenoh.Sample) -> None: + """Handle incoming recorded data.""" + print("Received recorded data.") + if sample.payload: + data = json.loads(sample.payload.to_string()) + self._recorded_data = data + self._recorded_data_ready.set() + if self._recorded_data is not None: + print(f"Recorded data: {len(self._recorded_data)} frames received.") + + def _handle_status(self, sample: zenoh.Sample) -> None: + """Handle incoming status updates.""" + if sample.payload: + status = json.loads(sample.payload.to_string()) + self._last_status = status + self.status_received.set() + + def get_current_joints(self) -> tuple[list[float], list[float]]: + """Get the current joint positions.""" + assert ( + self._last_head_joint_positions is not None + and self._last_antennas_joint_positions is not None + ), "No joint positions received yet. Wait for the client to connect." + return ( + self._last_head_joint_positions.copy(), + self._last_antennas_joint_positions.copy(), + ) + + def wait_for_recorded_data(self, timeout: float = 5.0) -> bool: + """Block until the daemon publishes the frames (or timeout).""" + return self._recorded_data_ready.wait(timeout) + + def get_recorded_data( + self, wait: bool = True, timeout: float = 5.0 + ) -> Optional[List[Dict[str, float | List[float] | List[List[float]]]]]: + """Return the cached recording, optionally blocking until it arrives. + + Raises `TimeoutError` if nothing shows up in time. + """ + if wait and not self._recorded_data_ready.wait(timeout): + raise TimeoutError("Recording not received in time.") + self._recorded_data_ready.clear() # ready for next run + if self._recorded_data is not None: + return self._recorded_data.copy() + return None + + def get_status(self, wait: bool = True, timeout: float = 5.0) -> Dict[str, Any]: + """Get the last received status. Returns DaemonStatus as a dict.""" + if wait and not self.status_received.wait(timeout): + raise TimeoutError("Status not received in time.") + self.status_received.clear() # ready for next run + return self._last_status + + def _handle_head_pose(self, sample: zenoh.Sample) -> None: + """Handle incoming head pose.""" + if sample.payload: + pose = json.loads(sample.payload.to_string()) + self._last_head_pose = np.array(pose.get("head_pose")).reshape(4, 4) + self.head_pose_received.set() + + def get_current_head_pose(self) -> npt.NDArray[np.float64]: + """Get the current head pose.""" + assert self._last_head_pose is not None, "No head pose received yet." + return self._last_head_pose.copy() + + def send_task_request(self, task_req: AnyTaskRequest) -> UUID: + """Send a task request to the server.""" + if not self._is_alive: + raise ConnectionError("Lost connection with the server.") + + task = TaskRequest(uuid=uuid4(), req=task_req, timestamp=datetime.now()) + + self.tasks[task.uuid] = TaskState(event=threading.Event(), error=None) + + self.task_request_pub.put(task.model_dump_json()) + + return task.uuid + + def wait_for_task_completion(self, task_uid: UUID, timeout: float = 5.0) -> None: + """Wait for the specified task to complete.""" + if task_uid not in self.tasks: + raise ValueError("Task not found.") + + self.tasks[task_uid].event.wait(timeout) + + if not self.tasks[task_uid].event.is_set(): + raise TimeoutError("Task did not complete in time.") + if self.tasks[task_uid].error is not None: + raise Exception(f"Task failed with error: {self.tasks[task_uid].error}") + + del self.tasks[task_uid] + + def _handle_task_progress(self, sample: zenoh.Sample) -> None: + if sample.payload: + progress = TaskProgress.model_validate_json(sample.payload.to_string()) + assert progress.uuid in self.tasks, "Unknown task UUID." + + if progress.error: + self.tasks[progress.uuid].error = progress.error + + if progress.finished: + self.tasks[progress.uuid].event.set() + + +@dataclass +class TaskState: + """Represents the state of a task.""" + + event: threading.Event + error: str | None diff --git a/reachy_mini/src/reachy_mini/io/zenoh_server.py b/reachy_mini/src/reachy_mini/io/zenoh_server.py new file mode 100644 index 0000000000000000000000000000000000000000..42a96a3e78212070f9ba64986755420c0d6aaf9e --- /dev/null +++ b/reachy_mini/src/reachy_mini/io/zenoh_server.py @@ -0,0 +1,188 @@ +"""Zenoh server for Reachy Mini. + +This module implements a Zenoh server that allows communication with the Reachy Mini +robot. It handles commands for joint positions and torque settings, and publishes joint positions updates. + +It uses the Zenoh protocol for efficient data exchange and can be configured to run +either on localhost only or to accept connections from other hosts. +""" + +import asyncio +import json +import threading +from datetime import datetime + +import numpy as np +import zenoh + +from reachy_mini.daemon.backend.abstract import Backend, MotorControlMode +from reachy_mini.io.abstract import AbstractServer +from reachy_mini.io.protocol import ( + GotoTaskRequest, + PlayMoveTaskRequest, + TaskProgress, + TaskRequest, +) + + +class ZenohServer(AbstractServer): + """Zenoh server for Reachy Mini.""" + + def __init__(self, backend: Backend, localhost_only: bool = True): + """Initialize the Zenoh server.""" + self.localhost_only = localhost_only + self.backend = backend + + self._lock = threading.Lock() + self._cmd_event = threading.Event() + + def start(self) -> None: + """Start the Zenoh server.""" + if self.localhost_only: + c = zenoh.Config.from_json5( + json.dumps( + { + "listen": { + "endpoints": ["tcp/localhost:7447"], + }, + "scouting": { + "multicast": { + "enabled": False, + }, + "gossip": { + "enabled": False, + }, + }, + "connect": { + "endpoints": [ + "tcp/localhost:7447", + ], + }, + } + ) + ) + else: + c = zenoh.Config() + + self.session = zenoh.open(c) + self.sub = self.session.declare_subscriber( + "reachy_mini/command", + self._handle_command, + ) + self.pub = self.session.declare_publisher("reachy_mini/joint_positions") + self.pub_record = self.session.declare_publisher("reachy_mini/recorded_data") + self.backend.set_joint_positions_publisher(self.pub) + self.backend.set_recording_publisher(self.pub_record) + + self.pub_pose = self.session.declare_publisher("reachy_mini/head_pose") + self.backend.set_pose_publisher(self.pub_pose) + + self.task_req_sub = self.session.declare_subscriber( + "reachy_mini/task", + self._handle_task_request, + ) + self.task_progress_pub = self.session.declare_publisher( + "reachy_mini/task_progress" + ) + + self.pub_status = self.session.declare_publisher("reachy_mini/daemon_status") + + def stop(self) -> None: + """Stop the Zenoh server.""" + self.session.close() # type: ignore[no-untyped-call] + + def command_received_event(self) -> threading.Event: + """Wait for a new command and return it.""" + return self._cmd_event + + def _handle_command(self, sample: zenoh.Sample) -> None: + data = sample.payload.to_string() + command = json.loads(data) + with self._lock: + if "torque" in command: + if ( + command["ids"] is not None + ): # If specific motor IDs are provided, just set torque for those motors + self.backend.set_motor_torque_ids(command["ids"], command["torque"]) + else: + if command["torque"]: + self.backend.set_motor_control_mode(MotorControlMode.Enabled) + else: + self.backend.set_motor_control_mode(MotorControlMode.Disabled) + if "head_joint_positions" in command: + self.backend.set_target_head_joint_positions( + np.array(command["head_joint_positions"]) + ) + if "head_pose" in command: + self.backend.set_target_head_pose( + np.array(command["head_pose"]).reshape(4, 4) + ) + if "body_yaw" in command: + self.backend.set_target_body_yaw(command["body_yaw"]) + if "antennas_joint_positions" in command: + self.backend.set_target_antenna_joint_positions( + np.array(command["antennas_joint_positions"]), + ) + if "gravity_compensation" in command: + try: + if command["gravity_compensation"]: + self.backend.set_motor_control_mode( + MotorControlMode.GravityCompensation + ) + else: + self.backend.set_motor_control_mode(MotorControlMode.Enabled) + + except ValueError as e: + print(e) + if "automatic_body_yaw" in command: + self.backend.set_automatic_body_yaw(command["automatic_body_yaw"]) + + if "set_target_record" in command: + self.backend.append_record(command["set_target_record"]) + + if "start_recording" in command: + self.backend.start_recording() + if "stop_recording" in command: + self.backend.stop_recording() + self._cmd_event.set() + + def _handle_task_request(self, sample: zenoh.Sample) -> None: + task_req = TaskRequest.model_validate_json(sample.payload.to_string()) + + if isinstance(task_req.req, GotoTaskRequest): + req = task_req.req + + def task() -> None: + asyncio.run( + self.backend.goto_target( + head=np.array(req.head).reshape(4, 4) if req.head else None, + antennas=np.array(req.antennas) if req.antennas else None, + duration=req.duration, + method=req.method, + body_yaw=req.body_yaw, + ) + ) + elif isinstance(task_req.req, PlayMoveTaskRequest): + + def task() -> None: + print("PLAY MOVE") + + else: + assert False, f"Unknown task request type {task_req.req.__class__.__name__}" + + def wrapped_task() -> None: + error = None + try: + task() + except Exception as e: + error = str(e) + + progress = TaskProgress( + uuid=task_req.uuid, + finished=True, + error=error, + timestamp=datetime.now(), + ) + self.task_progress_pub.put(progress.model_dump_json()) + + threading.Thread(target=wrapped_task).start() diff --git a/reachy_mini/src/reachy_mini/kinematics/__init__.py b/reachy_mini/src/reachy_mini/kinematics/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..176bfa7fcc543e97908ec851f7abcbfdffcccd3d --- /dev/null +++ b/reachy_mini/src/reachy_mini/kinematics/__init__.py @@ -0,0 +1,68 @@ +"""Try to import kinematics engines, and provide mockup classes if they are not available.""" + +from typing import Annotated + +import numpy as np +import numpy.typing as npt + +try: + from reachy_mini.kinematics.nn_kinematics import NNKinematics # noqa: F401 +except ImportError: + + class MockupNNKinematics: + """Mockup class for NNKinematics.""" + + def __init__(self, *args, **kwargs) -> None: # type: ignore[no-untyped-def] + """Raise ImportError when trying to instantiate the class.""" + raise ImportError( + "NNKinematics could not be imported. Make sure you run pip install reachy_mini[nn_kinematics]." + ) + + def ik(self, *args, **kwargs) -> Annotated[npt.NDArray[np.float64], (7,)]: # type: ignore[no-untyped-def] + """Mockup method for ik.""" + raise ImportError( + "NNKinematics could not be imported. Make sure you run pip install reachy_mini[nn_kinematics]." + ) + + def fk(self, *args, **kwargs) -> Annotated[npt.NDArray[np.float64], (4, 4)]: # type: ignore[no-untyped-def] + """Mockup method for fk.""" + raise ImportError( + "NNKinematics could not be imported. Make sure you run pip install reachy_mini[nn_kinematics]." + ) + + NNKinematics = MockupNNKinematics # type: ignore[assignment, misc] + +try: + from reachy_mini.kinematics.placo_kinematics import PlacoKinematics # noqa: F401 +except ImportError: + + class MockupPlacoKinematics: + """Mockup class for PlacoKinematics.""" + + def __init__(self, *args, **kwargs) -> None: # type: ignore[no-untyped-def] + """Raise ImportError when trying to instantiate the class.""" + raise ImportError( + "PlacoKinematics could not be imported. Make sure you run pip install reachy_mini[placo_kinematics]." + ) + + def ik(self, *args, **kwargs) -> Annotated[npt.NDArray[np.float64], (7,)]: # type: ignore[no-untyped-def] + """Mockup method for ik.""" + raise ImportError( + "PlacoKinematics could not be imported. Make sure you run pip install reachy_mini[placo_kinematics]." + ) + + def fk(self, *args, **kwargs) -> Annotated[npt.NDArray[np.float64], (4, 4)]: # type: ignore[no-untyped-def] + """Mockup method for fk.""" + raise ImportError( + "PlacoKinematics could not be imported. Make sure you run pip install reachy_mini[placo_kinematics]." + ) + + PlacoKinematics = MockupPlacoKinematics # type: ignore[assignment, misc] + + +from reachy_mini.kinematics.analytical_kinematics import ( # noqa: F401 + AnalyticalKinematics, +) + +AnyKinematics = NNKinematics | PlacoKinematics | AnalyticalKinematics +__all__ = ["NNKinematics", "PlacoKinematics", "AnalyticalKinematics"] diff --git a/reachy_mini/src/reachy_mini/kinematics/analytical_kinematics.py b/reachy_mini/src/reachy_mini/kinematics/analytical_kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..ca7674e8005f0061cc18a3d99c3e05b8b14e7502 --- /dev/null +++ b/reachy_mini/src/reachy_mini/kinematics/analytical_kinematics.py @@ -0,0 +1,152 @@ +"""An analytical kinematics engine for Reachy Mini, using Rust bindings. + +The inverse kinematics use an analytical method, while the forward kinematics +use a numerical method (Newton). +""" + +import json +import logging +from importlib.resources import files +from typing import Annotated + +import numpy as np +from numpy.typing import NDArray +from reachy_mini_rust_kinematics import ReachyMiniRustKinematics +from scipy.spatial.transform import Rotation as R + +import reachy_mini + +# Duplicated for now. +SLEEP_HEAD_POSE = np.array( + [ + [0.911, 0.004, 0.413, -0.021], + [-0.004, 1.0, -0.001, 0.001], + [-0.413, -0.001, 0.911, -0.044], + [0.0, 0.0, 0.0, 1.0], + ] +) + + +class AnalyticalKinematics: + """Reachy Mini Analytical Kinematics class, implemented in Rust with python bindings.""" + + def __init__( + self, + automatic_body_yaw: bool = True + ) -> None: + """Initialize.""" + assets_root_path: str = str(files(reachy_mini).joinpath("assets/")) + data_path = assets_root_path + "/kinematics_data.json" + data = json.load(open(data_path, "rb")) + + self.automatic_body_yaw = automatic_body_yaw + + self.head_z_offset = data["head_z_offset"] + + self.kin = ReachyMiniRustKinematics( + data["motor_arm_length"], data["rod_length"] + ) + + self.start_body_yaw = 0.0 + + self.motors = data["motors"] + for motor in self.motors: + self.kin.add_branch( + motor["branch_position"], + np.linalg.inv(motor["T_motor_world"]), # type: ignore[arg-type] + 1 if motor["solution"] else -1, + ) + + # TODO test with init head pose instead of sleep pose + sleep_head_pose = SLEEP_HEAD_POSE.copy() + sleep_head_pose[:3, 3][2] += self.head_z_offset + self.kin.reset_forward_kinematics(sleep_head_pose) # type: ignore[arg-type] + + self.logger = logging.getLogger(__name__) + # self.logger.setLevel(logging.WARNING) + + def ik( + self, + pose: Annotated[NDArray[np.float64], (4, 4)], + body_yaw: float = 0.0, + check_collision: bool = False, + no_iterations: int = 0, + ) -> Annotated[NDArray[np.float64], (7,)]: + """Compute the inverse kinematics for a given head pose. + + check_collision and no_iterations are not used by AnalyticalKinematics. We keep them for compatibility with the other kinematics engines + """ + _pose = pose.copy() + _pose[:3, 3][2] += self.head_z_offset + + reachy_joints = [] + if self.automatic_body_yaw: + # inverse kinematics solution that modulates the body yaw to + # stay within the mechanical limits (max_body_yaw) + # additionally it makes sure the the relative yaw between the body and the head + # stays within the mechanical limits (max_relative_yaw) + reachy_joints = self.kin.inverse_kinematics_safe(_pose, # type: ignore[arg-type] + body_yaw = body_yaw, + max_relative_yaw = np.deg2rad(65), + max_body_yaw = np.deg2rad(160)) + else: + # direct inverse kinematics solution with given body yaw + # it does not modify the body yaw + stewart_joints = self.kin.inverse_kinematics(_pose, body_yaw) # type: ignore[arg-type] + reachy_joints = [body_yaw] + stewart_joints + + return np.array(reachy_joints) + + def fk( + self, + joint_angles: Annotated[NDArray[np.float64], (7,)], + check_collision: bool = False, + no_iterations: int = 3, + ) -> Annotated[NDArray[np.float64], (4, 4)]: + """Compute the forward kinematics for a given set of joint angles. + + check_collision is not used by AnalyticalKinematics. + """ + body_yaw = joint_angles[0] + + _joint_angles = joint_angles[1:].tolist() + + if no_iterations < 1: + raise ValueError("no_iterations must be at least 1") + + T_world_platform = None + ok = False + while not ok: + for _ in range(no_iterations): + T_world_platform = np.array( + self.kin.forward_kinematics(_joint_angles, body_yaw) + ) + assert T_world_platform is not None + euler = R.from_matrix(T_world_platform[:3, :3]).as_euler( + "xyz", degrees=True + ) + # check that head is upright. Recompute with epsilon adjustments if not + if not (euler[0] > 90 or euler[0] < -90 or euler[1] > 90 or euler[1] < -90): + ok = True + else: + self.logger.warning("Head is not upright, recomputing FK") + body_yaw += 0.001 + _joint_angles = list(np.array(_joint_angles) + 0.001) + tmp = np.eye(4) + tmp[:3, 3][2] += self.head_z_offset + self.kin.reset_forward_kinematics(tmp) # type: ignore[arg-type] + + assert T_world_platform is not None + + T_world_platform[:3, 3][2] -= self.head_z_offset + + return T_world_platform + + def set_automatic_body_yaw(self, automatic_body_yaw: bool) -> None: + """Set the automatic body yaw. + + Args: + automatic_body_yaw (bool): Whether to enable automatic body yaw. + + """ + self.automatic_body_yaw = automatic_body_yaw \ No newline at end of file diff --git a/reachy_mini/src/reachy_mini/kinematics/nn_kinematics.py b/reachy_mini/src/reachy_mini/kinematics/nn_kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..3bab191285cdb016d4cd0a17540e9390a6266166 --- /dev/null +++ b/reachy_mini/src/reachy_mini/kinematics/nn_kinematics.py @@ -0,0 +1,111 @@ +"""Neural Network based FK/IK.""" + +import time +from typing import Annotated + +import numpy as np +import numpy.typing as npt +import onnxruntime +from scipy.spatial.transform import Rotation as R + + +class NNKinematics: + """Neural Network based FK/IK. Fitted from PlacoKinematics data.""" + + def __init__(self, models_root_path: str): + """Intialize.""" + self.fk_model_path = f"{models_root_path}/fknetwork.onnx" + self.ik_model_path = f"{models_root_path}/iknetwork.onnx" + self.fk_infer = OnnxInfer(self.fk_model_path) + self.ik_infer = OnnxInfer(self.ik_model_path) + + self.automatic_body_yaw = False # No used, kept for canaompatibility + + def ik( + self, + pose: Annotated[npt.NDArray[np.float64], (4, 4)], + body_yaw: float = 0.0, + check_collision: bool = False, + no_iterations: int = 0, + ) -> Annotated[npt.NDArray[np.float64], (7,)]: + """check_collision and no_iterations are not used by NNKinematics. + + We keep them for compatibility with the other kinematics engines + """ + x, y, z = pose[:3, 3][0], pose[:3, 3][1], pose[:3, 3][2] + roll, pitch, yaw = R.from_matrix(pose[:3, :3]).as_euler("xyz") + + yaw += body_yaw + input = np.array([x, y, z, roll, pitch, yaw]) + + joints = self.ik_infer.infer(input) + joints[0] += body_yaw + + return joints + + def fk( + self, + joint_angles: Annotated[npt.NDArray[np.float64], (7,)], + check_collision: bool = False, + no_iterations: int = 0, + ) -> Annotated[npt.NDArray[np.float64], (4, 4)]: + """check_collision and no_iterations are not used by NNKinematics. + + We keep them for compatibility with the other kinematics engines + """ + x, y, z, roll, pitch, yaw = self.fk_infer.infer(joint_angles) + pose = np.eye(4) + pose[:3, 3] = [x, y, z] + pose[:3, :3] = R.from_euler("xyz", [roll, pitch, yaw]).as_matrix() + return pose + + + def set_automatic_body_yaw(self, automatic_body_yaw: bool) -> None: + """Set the automatic body yaw. + + Args: + automatic_body_yaw (bool): Whether to enable automatic body yaw. + + """ + self.automatic_body_yaw = automatic_body_yaw + +class OnnxInfer: + """Infer an onnx model.""" + + def __init__(self, onnx_model_path: str) -> None: + """Initialize.""" + self.onnx_model_path = onnx_model_path + self.ort_session = onnxruntime.InferenceSession( + self.onnx_model_path, providers=["CPUExecutionProvider"] + ) + + def infer(self, input: npt.NDArray[np.float64]) -> npt.NDArray[np.float64]: + """Run inference on the input.""" + outputs = self.ort_session.run(None, {"input": [input]}) + res: npt.NDArray[np.float64] = outputs[0][0] + return res + + + + +if __name__ == "__main__": + nn_kin = NNKinematics( + "assets/models", + ) + + times_fk: list[float] = [] + times_ik: list[float] = [] + for i in range(1000): + fk_input = np.random.random(7).astype(np.float64) + # ik_input = np.random.random(6).astype(np.float64) + + fk_s = time.time() + fk_output = nn_kin.fk(fk_input) + times_fk.append(time.time() - fk_s) + + # ik_s = time.time() + # ik_output = nn_kin.ik(ik_input) + # times_ik.append(time.time() - ik_s) + + print(f"Average FK inference time: {np.mean(times_fk) * 1e6} µs") + # print(f"Average IK inference time: {np.mean(times_ik) * 1e6} µs") diff --git a/reachy_mini/src/reachy_mini/kinematics/placo_kinematics.py b/reachy_mini/src/reachy_mini/kinematics/placo_kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..e842fbd4f2b3b6db76bfd58e42a1ca0faf39bcf6 --- /dev/null +++ b/reachy_mini/src/reachy_mini/kinematics/placo_kinematics.py @@ -0,0 +1,656 @@ +"""Placo Kinematics for Reachy Mini. + +This module provides the PlacoKinematics class for performing inverse and forward kinematics based on the Reachy Mini robot URDF using the Placo library. +""" + +import logging +from typing import Annotated, List, Optional + +import numpy as np +import numpy.typing as npt +import pinocchio as pin +import placo +from scipy.spatial.transform import Rotation as R + + +class PlacoKinematics: + """Placo Kinematics class for Reachy Mini. + + This class provides methods for inverse and forward kinematics using the Placo library and a URDF model of the Reachy Mini robot. + """ + + def __init__( + self, + urdf_path: str, + dt: float = 0.02, + automatic_body_yaw: bool = False, + check_collision: bool = False, + log_level: str = "INFO", + ) -> None: + """Initialize the PlacoKinematics class. + + Args: + urdf_path (str): Path to the URDF file of the Reachy Mini robot. + dt (float): Time step for the kinematics solver. Default is 0.02 seconds. + automatic_body_yaw (bool): If True, the body yaw will be used to compute the IK and FK. Default is False. + check_collision (bool): If True, checks for collisions after solving IK. (default: False) + log_level (str): Logging level for the kinematics computations. + + """ + self.fk_reached_tol = np.deg2rad( + 0.1 + ) # 0.1 degrees tolerance for the FK reached condition + + if not urdf_path.endswith(".urdf"): + urdf_path = f"{urdf_path}/{'robot_simple_collision.urdf' if check_collision else 'robot_no_collision.urdf'}" + + self.robot = placo.RobotWrapper( + urdf_path, placo.Flags.collision_as_visual + placo.Flags.ignore_collisions + ) + + flags = ( + 0 + if check_collision + else placo.Flags.ignore_collisions + placo.Flags.collision_as_visual + ) + self.robot_ik = placo.RobotWrapper(urdf_path, flags) + + self.ik_solver = placo.KinematicsSolver(self.robot_ik) + self.ik_solver.mask_fbase(True) + + self.fk_solver = placo.KinematicsSolver(self.robot) + self.fk_solver.mask_fbase(True) + + self.automatic_body_yaw = automatic_body_yaw + self.check_collision = check_collision + + self._logger = logging.getLogger(__name__) + self._logger.setLevel(log_level) + + # we could go to soft limits to avoid over-constraining the IK + # but the current implementation works robustly with hard limits + # so we keep the hard limits for now + constrant_type = "hard" # "hard" or "soft" + + # IK closing tasks + ik_closing_tasks = [] + for i in range(1, 6): + ik_closing_task = self.ik_solver.add_relative_position_task( + f"closing_{i}_1", f"closing_{i}_2", np.zeros(3) + ) + ik_closing_task.configure(f"closing_{i}", constrant_type, 1.0) + ik_closing_tasks.append(ik_closing_task) + + # FK closing tasks + fk_closing_tasks = [] + for i in range(1, 6): + fk_closing_task = self.fk_solver.add_relative_position_task( + f"closing_{i}_1", f"closing_{i}_2", np.zeros(3) + ) + fk_closing_task.configure(f"closing_{i}", constrant_type, 1.0) + fk_closing_tasks.append(fk_closing_task) + + # Add the constraint between the rotated torso and the head + # This will allow independent control of the torso and the head yaw + # until this constraint is reached + yaw_constraint = self.ik_solver.add_yaw_constraint( + "dummy_torso_yaw", "head", np.deg2rad(55.0) + ) + yaw_constraint.configure("rel_yaw", "hard") + + # Add the constraint to avoid the head from looking too far behind + # Mostly due to some numerical problems 180 is always a bit tricky + # Not really constraining because the this 180 pose is almost not + # reachable with the real robot anyway + yaw_constraint_abs = self.ik_solver.add_yaw_constraint( + "body_foot_3dprint", "head", np.deg2rad(179.0) + ) + yaw_constraint_abs.configure("abs_yaw", "hard") + + # Add a cone constraint for the head to not exceed a certain angle + # This is to avoid the head from looking too far up or down + self.fk_cone = self.ik_solver.add_cone_constraint( + "body_foot_3dprint", "head", np.deg2rad(35.0) + ) + self.fk_cone.configure("cone", "hard") + self.fk_yaw_constraint = self.fk_solver.add_yaw_constraint( + "dummy_torso_yaw", "head", np.deg2rad(55.0) + ) + self.fk_yaw_constraint.configure("rel_yaw", "hard") + + # Add a cone constraint for the head to not exceed a certain angle + # This is to avoid the head from looking too far up or down + fk_cone = self.fk_solver.add_cone_constraint( + "body_foot_3dprint", "head", np.deg2rad(35.0) + ) + fk_cone.configure("cone", "hard") + + # Z offset for the head to make it easier to compute the IK and FK + # This is the height of the head from the base of the robot + self.head_z_offset = 0.177 # offset for the head height + + # IK head task + self.head_starting_pose = np.eye(4) + self.head_starting_pose[:3, 3][2] = self.head_z_offset + self.head_frame = self.ik_solver.add_frame_task("head", self.head_starting_pose) + # equivalance to ~1cm = 1deg weights + # set to 5 to be higher than the 1.0 for the body yaw + self.head_frame.configure( + "head", + "soft", + 5.0, # in meters # 1m + 5.0, # in radians # 1rad + ) + + self.head_frame.T_world_frame = self.head_starting_pose + + # regularization + self.ik_yaw_joint_task = self.ik_solver.add_joints_task() + self.ik_yaw_joint_task.set_joints({"yaw_body": 0}) + if not self.automatic_body_yaw: + self.ik_yaw_joint_task.configure("joints", "soft", 5e-5) + else: + self.ik_yaw_joint_task.configure("joints", "soft", 3.0) + + # joint limit tasks (values form URDF) + self.ik_solver.enable_velocity_limits(True) + self.ik_solver.enable_joint_limits(True) + self.ik_solver.dt = dt + + # FK joint task + self.head_joints_task = self.fk_solver.add_joints_task() + self.head_joints_task.configure("joints", "soft", 5.0) + # joint limit tasks (values form URDF) + self.fk_solver.enable_velocity_limits(True) + self.fk_solver.enable_joint_limits(True) + self.fk_solver.dt = dt + + # Actuated DoFs + self.joints_names = [ + "yaw_body", + "stewart_1", + "stewart_2", + "stewart_3", + "stewart_4", + "stewart_5", + "stewart_6", + ] + + # Passive DoFs to eliminate with constraint jacobian + self.passive_joints_names = [ + "passive_1_x", + "passive_1_y", + "passive_2_x", + "passive_2_y", + "passive_3_x", + "passive_3_y", + "passive_4_x", + "passive_4_y", + "passive_5_x", + "passive_5_y", + "passive_6_x", + "passive_6_y", + "passive_7_x", + "passive_7_y", + "passive_7_z", + ] + + # Retrieving indexes in the jacobian + self.passives_idx = [ + self.robot.get_joint_v_offset(dof) for dof in self.passive_joints_names + ] + self.actives_idx = [ + self.robot.get_joint_v_offset(dof) + for dof in self.robot.joint_names() + if dof not in self.passive_joints_names + ] + self.actuated_idx = [ + self.robot.get_joint_v_offset(dof) + for dof in self.robot.joint_names() + if dof in self.joints_names + ] + + # actuated dof indexes in active dofs + self.actuated_idx_in_active = [ + i for i, idx in enumerate(self.actives_idx) if idx in self.actuated_idx + ] + + # set velocity limits to be artificially high + # to enable faster convergence of the IK/FK solver + max_vel = 13.0 # rad/s + for joint_name in self.joints_names: + if joint_name != "yaw_body": + self.robot.set_velocity_limit(joint_name, max_vel) + self.robot_ik.set_velocity_limit(joint_name, max_vel) + + self.robot.set_joint_limits("yaw_body", -2.8, 2.8) + self.robot_ik.set_joint_limits("yaw_body", -2.8, 2.8) + + # initial state + self._inital_q = self.robot.state.q.copy() + self._inital_qd = np.zeros_like(self.robot.state.qd) + self._inital_qdd = np.zeros_like(self.robot.state.qdd) + + # initial FK to set the head pose + for _ in range(10): + self.ik_solver.solve(True) # False to not update the kinematics + self.robot_ik.update_kinematics() + + # last good q to revert to in case of collision + self._inital_q = self.robot_ik.state.q.copy() + self._last_good_q = self.robot_ik.state.q.copy() + + # update the robot state to the initial state + self._update_state_to_initial(self.robot) # revert to the inital state + self.robot.update_kinematics() + + if self.check_collision: + ik_col = self.ik_solver.add_avoid_self_collisions_constraint() + ik_col.self_collisions_margin = 0.001 # 1mm + ik_col.self_collisions_trigger = 0.002 # 2mm + ik_col.configure("avoid_self_collisions", "hard") + + # setup the collision model + self.config_collision_model() + + def _update_state_to_initial(self, robot: placo.RobotWrapper) -> None: + """Update the robot state to the initial state. + + It does not call update_kinematics, so the robot state is not updated. + + Args: + robot (placo.RobotWrapper): The robot wrapper instance to update. + + """ + robot.state.q = self._inital_q + robot.state.qd = self._inital_qd + robot.state.qdd = self._inital_qdd + + def _pose_distance( + self, pose1: npt.NDArray[np.float64], pose2: npt.NDArray[np.float64] + ) -> tuple[float, float]: + """Compute the orientation distance between two poses. + + Args: + pose1 (np.ndarray): The first pose (4x4 homogeneous transformation matrix). + pose2 (np.ndarray): The second pose (4x4 homogeneous transformation matrix). + + Returns: + float: The Euler distance between the two poses. + + """ + euler1 = R.from_matrix(pose1[:3, :3]).as_euler("xyz") + euler2 = R.from_matrix(pose2[:3, :3]).as_euler("xyz") + p1 = pose1[:3, 3] + p2 = pose2[:3, 3] + return float(np.linalg.norm(euler1 - euler2)), float(np.linalg.norm(p1 - p2)) + + def _closed_loop_constraints_valid( + self, robot: placo.RobotWrapper, tol: float = 1e-2 + ) -> bool: + """Check if all closed-loop constraints are satisfied. + + Args: + robot (placo.RobotWrapper): The robot wrapper instance to check. + tol (float): The tolerance for checking constraints (default: 1e-2). + + Returns: + bool: True if all constraints are satisfied, False otherwise. + + """ + for i in range(1, 6): + pos1 = robot.get_T_world_frame(f"closing_{i}_1")[:3, 3] + pos2 = robot.get_T_world_frame(f"closing_{i}_2")[:3, 3] + if not np.allclose(pos1, pos2, atol=tol): + return False + return True + + def _get_joint_values(self, robot: placo.RobotWrapper) -> List[float]: + """Get the joint values from the robot state. + + Args: + robot (placo.RobotWrapper): The robot wrapper instance to get joint values from. + + Returns: + List[float]: A list of joint values. + + """ + joints = [] + for joint_name in self.joints_names: + joint = robot.get_joint(joint_name) + joints.append(joint) + return joints + + def ik( + self, + pose: npt.NDArray[np.float64], + body_yaw: float = 0.0, + no_iterations: int = 2, + ) -> Annotated[npt.NDArray[np.float64], (7,)] | None: + """Compute the inverse kinematics for the head for a given pose. + + Args: + pose (np.ndarray): A 4x4 homogeneous transformation matrix + representing the desired position and orientation of the head. + body_yaw (float): Body yaw angle in radians. + no_iterations (int): Number of iterations to perform (default: 2). The higher the value, the more accurate the solution. + + Returns: + List[float]: A list of joint angles for the head. + + """ + _pose = pose.copy() + # set the head pose + _pose[:3, 3][2] += self.head_z_offset # offset the height of the head + self.head_frame.T_world_frame = _pose + # update the body_yaw task + self.ik_yaw_joint_task.set_joints({"yaw_body": body_yaw}) + + # check the starting configuration + # if the poses are too far start from the initial configuration + _dist_o, _dist_p = self._pose_distance( + _pose, self.robot_ik.get_T_world_frame("head") + ) + # if distance too small 0.1mm and 0.1 deg and the QP has converged (almost 0 velocity) + _dist_by = np.abs(body_yaw - self.robot_ik.get_joint("yaw_body")) + if ( + _dist_p < 0.1e-4 + and _dist_o < np.deg2rad(0.01) + and _dist_by < np.deg2rad(0.01) + and np.linalg.norm(self.robot_ik.state.qd) < 1e-4 + ): + # no need to recalculate - return the current joint values + return np.array( + self._get_joint_values(self.robot_ik) + ) # no need to solve IK + if _dist_o >= np.pi: + # distance too big between the current and the target pose + # start the optim from zero position + # + # TO INVESTIGATE: Another way to do this would be not to start from 0 but + # to set the target pose not to the actual target but to some intermediate pose + self._update_state_to_initial(self.robot_ik) + self.robot_ik.update_kinematics() + self._logger.debug("IK: Poses too far, starting from initial configuration") + + done = True + # do the inital ik + for i in range(no_iterations): + try: + self.ik_solver.solve(True) # False to not update the kinematics + except Exception as e: + self._logger.debug(f"IK solver failed: {e}, retrying...") + done = False + break + self.robot_ik.update_kinematics() + + # if no problem in solving the IK check for constraint violation + if done and (not self._closed_loop_constraints_valid(self.robot_ik)): + self._logger.debug( + "IK: Not all equality constraints are satisfied in IK, retrying..." + ) + done = False + + # if there was an issue start from scratch + if not done: + # set the initial pose + self._update_state_to_initial(self.robot_ik) + self.robot_ik.update_kinematics() + + no_iterations += 2 # add a few more iterations + # do the inital ik with 10 iterations + for i in range(no_iterations): + try: + self.ik_solver.solve(True) # False to not update the kinematics + except Exception as e: + self._logger.warning(f"IK solver failed: {e}, no solution found!") + return None + self.robot_ik.update_kinematics() + + # Get the joint angles + return np.array(self._get_joint_values(self.robot_ik)) + + def fk( + self, + joints_angles: Annotated[npt.NDArray[np.float64], (7,)], + no_iterations: int = 2, + ) -> Optional[npt.NDArray[np.float64]]: + """Compute the forward kinematics for the head given joint angles. + + Args: + joints_angles (List[float]): A list of joint angles for the head. + no_iterations (int): The number of iterations to use for the FK solver. (default: 2), the higher the more accurate the result. + + Returns: + np.ndarray: A 4x4 homogeneous transformation matrix + + """ + # check if we're already there + _current_joints = self._get_joint_values(self.robot) + # if the joint angles are the same (tol 1e-4) and teh QP has converged (max speed is 1e-4rad/s) + # no need to compute the FK + if ( + np.linalg.norm(np.array(_current_joints) - np.array(joints_angles)) + < self.fk_reached_tol + and self.robot.state.qd.max() < 1e-4 + ): + # no need to compute FK + T_world_head: npt.NDArray[np.float64] = self.robot.get_T_world_frame("head") + T_world_head[:3, 3][2] -= ( + self.head_z_offset + ) # offset the height of the head + return T_world_head + + # update the main task + self.head_joints_task.set_joints( + { + "yaw_body": joints_angles[0], + "stewart_1": joints_angles[1], + "stewart_2": joints_angles[2], + "stewart_3": joints_angles[3], + "stewart_4": joints_angles[4], + "stewart_5": joints_angles[5], + "stewart_6": joints_angles[6], + } + ) + + done = True + # do the inital ik with 2 iterations + for i in range(no_iterations): + try: + self.fk_solver.solve(True) # False to not update the kinematics + except Exception as e: + self._logger.debug(f"FK solver failed: {e}, retrying...") + done = False + break + self.robot.update_kinematics() + + if done and (not self._closed_loop_constraints_valid(self.robot)): + self._logger.debug( + "FK: Not all equality constraints are satisfied in FK, retrying..." + ) + done = False + + if not done: + self._update_state_to_initial(self.robot) # revert to the previous state + self.robot.update_kinematics() + + no_iterations += 2 # add a few more iterations + # do the inital ik with 10 iterations + for i in range(no_iterations): + try: + self.fk_solver.solve(True) # False to not update the kinematics + except Exception as e: + self._logger.warning(f"FK solver failed: {e}, no solution found!") + return None + self.robot.update_kinematics() + + # Get the head frame transformation + T_world_head = self.robot.get_T_world_frame("head") + T_world_head[:3, 3][2] -= self.head_z_offset # offset the height of the head + + return T_world_head + + def config_collision_model(self) -> None: + """Configure the collision model for the robot. + + Add collision pairs between the torso and the head colliders. + """ + geom_model = self.robot_ik.collision_model + + id_torso_colliders = list(range(len(geom_model.geometryObjects) - 1)) + id_head_collider = len(geom_model.geometryObjects) - 1 + + for i in id_torso_colliders: + geom_model.addCollisionPair( + pin.CollisionPair(id_head_collider, i) + ) # torso with head colliders + + def compute_collision(self, margin: float = 0.005) -> bool: + """Compute the collision between the robot and the environment. + + Args: + margin (float): The margin to consider for collision detection (default: 5mm). + + Returns: + True if there is a collision, False otherwise. + + """ + collision_data = self.robot_ik.collision_model.createData() + data = self.robot_ik.model.createData() + + # pin.computeCollisions( + pin.computeDistances( + self.robot_ik.model, + data, + self.robot_ik.collision_model, + collision_data, + self.robot_ik.state.q, + ) + + # Iterate over all collision pairs + for distance_result in collision_data.distanceResults: + if distance_result.min_distance <= margin: + return True # Something is too close or colliding! + + return False # Safe + + def compute_jacobian( + self, q: Optional[npt.NDArray[np.float64]] = None + ) -> npt.NDArray[np.float64]: + """Compute the Jacobian of the head frame with respect to the actuated DoFs. + + The jacobian in local world aligned. + + Args: + q (np.ndarray, optional): Joint angles of the robot. If None, uses the current state of the robot. (default: None) + + Returns: + np.ndarray: The Jacobian matrix. + + """ + # If q is provided, use it to compute the forward kinematics + if q is not None: + self.fk(q, no_iterations=20) + + # Computing the platform Jacobian + # dx = Jp.dq + Jp: npt.NDArray[np.float64] = self.robot.frame_jacobian( + "head", "local_world_aligned" + ) + + # Computing the constraints Jacobian + # 0 = Jc.dq + constraints = [] + for i in range(1, 6): + Jc = self.robot.relative_position_jacobian( + f"closing_{i}_1", f"closing_{i}_2" + ) + constraints.append(Jc) + Jc = np.vstack(constraints) + + # Splitting jacobians as + # Jp_a.dq_a + Jp_p.dq_p = dx + Jp_a = Jp[:, self.actives_idx] + Jp_p = Jp[:, self.passives_idx] + # Jc_a.dq_a + Jc_p.dq_p = 0 + Jc_a = Jc[:, self.actives_idx] + Jc_p = Jc[:, self.passives_idx] + + # Computing effector jacobian under constraints + # Because constraint equation + # Jc_a.dq_a + Jc_p.dq_p = 0 + # can be written as: + # dq_p = - (Jc_p)^(⁻1) @ Jc_a @ dq_a + # Then we can substitute dq_p in the first equation and get + # This new jacobian + J: npt.NDArray[np.float64] = Jp_a - Jp_p @ np.linalg.inv(Jc_p) @ Jc_a + + return J[:, self.actuated_idx_in_active] + + def compute_gravity_torque( + self, q: Optional[npt.NDArray[np.float64]] = None + ) -> npt.NDArray[np.float64]: + """Compute the gravity torque vector for the actuated joints of the robot. + + This method uses the static gravity compensation torques from the robot's dictionary. + + Args: + q (np.ndarray, optional): Joint angles of the robot. If None, uses the current state of the robot. (default: None) + + Returns: + np.ndarray: The gravity torque vector. + + """ + # If q is provided, use it to compute the forward kinematics + if q is not None: + self.fk(q) + + # Get the static gravity compensation torques for all joints + # except the mobile base 6dofs + grav_torque_all_joints = np.array( + list( + self.robot.static_gravity_compensation_torques_dict( + "body_foot_3dprint" + ).values() + ) + ) + + # See the paper for more info (equations 4-9): + # https://hal.science/hal-03379538/file/BriotKhalil_SpringerEncyclRob_bookchapterPKMDyn.pdf#page=4 + # + # Basically to compute the actuated torques necessary to compensate the gravity, we need to compute the + # the equivalent wrench in the head frame that would be created if all the joints were actuated. + # wrench_eq = np.linalg.pinv(J_all_joints.T) @ torque_all_joints + # And then we can compute the actuated torques as: + # torque_actuated = J_actuated.T @ wrench_eq + J_all_joints: npt.NDArray[np.float64] = self.robot.frame_jacobian( + "head", "local_world_aligned" + )[:, 6:] # all joints except the mobile base 6dofs + J_actuated = self.compute_jacobian() + # using a single matrix G to compute the actuated torques + G = J_actuated.T @ np.linalg.pinv(J_all_joints.T) + + # torques of actuated joints + grav_torque_actuated: npt.NDArray[np.float64] = G @ grav_torque_all_joints + + # Compute the gravity torque + return grav_torque_actuated + + def set_automatic_body_yaw(self, automatic_body_yaw: bool) -> None: + """Set the automatic body yaw. + + Args: + automatic_body_yaw (bool): Whether to enable automatic body yaw. + + """ + self.automatic_body_yaw = automatic_body_yaw + + if not self.automatic_body_yaw: + self.ik_yaw_joint_task.configure("joints", "soft", 3.0) + else: + self.ik_yaw_joint_task.configure("joints", "soft", 5e-5) + + def get_joint(self, joint_name: str) -> float: + """Get the joint object by its name.""" + return float(self.robot.get_joint(joint_name)) diff --git a/reachy_mini/src/reachy_mini/media/__init__.py b/reachy_mini/src/reachy_mini/media/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..71432d90862359f05e8c978c2069a4f07eedc8b7 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/__init__.py @@ -0,0 +1 @@ +"""Media module.""" diff --git a/reachy_mini/src/reachy_mini/media/audio_base.py b/reachy_mini/src/reachy_mini/media/audio_base.py new file mode 100644 index 0000000000000000000000000000000000000000..4bea6c138e0c449c2eb3bed03b4e51b2393d428d --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/audio_base.py @@ -0,0 +1,102 @@ +"""Base classes for audio implementations. + +The audio implementations support various backends and provide a unified +interface for audio input/output. +""" + +import logging +from abc import ABC, abstractmethod +from typing import Optional + +import numpy as np +import numpy.typing as npt + +from reachy_mini.media.audio_control_utils import ReSpeaker, init_respeaker_usb + + +class AudioBase(ABC): + """Abstract class for opening and managing audio devices.""" + + SAMPLE_RATE = 16000 # respeaker samplerate + + def __init__(self, log_level: str = "INFO") -> None: + """Initialize the audio device.""" + self.logger = logging.getLogger(__name__) + self.logger.setLevel(log_level) + self._respeaker: Optional[ReSpeaker] = init_respeaker_usb() + + def __del__(self) -> None: + """Destructor to ensure resources are released.""" + if self._respeaker: + self._respeaker.close() + + @abstractmethod + def start_recording(self) -> None: + """Start recording audio.""" + pass + + @abstractmethod + def get_audio_sample(self) -> Optional[npt.NDArray[np.float32]]: + """Read audio data from the device. Returns the data or None if error.""" + pass + + def get_input_audio_samplerate(self) -> int: + """Get the input samplerate of the audio device.""" + return self.SAMPLE_RATE + + def get_output_audio_samplerate(self) -> int: + """Get the outputsamplerate of the audio device.""" + return self.SAMPLE_RATE + + @abstractmethod + def stop_recording(self) -> None: + """Close the audio device and release resources.""" + pass + + @abstractmethod + def start_playing(self) -> None: + """Start playing audio.""" + pass + + @abstractmethod + def push_audio_sample(self, data: npt.NDArray[np.float32]) -> None: + """Push audio data to the output device.""" + pass + + @abstractmethod + def stop_playing(self) -> None: + """Stop playing audio and release resources.""" + pass + + @abstractmethod + def play_sound(self, sound_file: str) -> None: + """Play a sound file. + + Args: + sound_file (str): Path to the sound file to play. + + """ + pass + + def get_DoA(self) -> tuple[float, bool] | None: + """Get the Direction of Arrival (DoA) value from the ReSpeaker device. + + The spatial angle is given in radians: + 0 radians is left, π/2 radians is front/back, π radians is right. + + Note: The microphone array requires firmware version 2.1.0 or higher to support this feature. + The firmware is located in src/reachy_mini/assets/firmware/*.bin. + Refer to https://wiki.seeedstudio.com/respeaker_xvf3800_introduction/#update-firmware for the upgrade process. + + Returns: + tuple: A tuple containing the DoA value as a float (radians) and the speech detection as a bool, or None if the device is not found. + + """ + if not self._respeaker: + self.logger.warning("ReSpeaker device not found.") + return None + + result = self._respeaker.read("DOA_VALUE_RADIANS") + if result is None: + return None + return float(result[0]), bool(result[1]) diff --git a/reachy_mini/src/reachy_mini/media/audio_control_utils.py b/reachy_mini/src/reachy_mini/media/audio_control_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..97aed17cffd75566779dca393f2d5e819ac6c02b --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/audio_control_utils.py @@ -0,0 +1,428 @@ +"""Allows tuning of the XMOS XVF3800 chip. + +Example usage: + + # Read a parameter + python reachy_host.py AUDIO_MGR_OP_L + # Output: + # ReadCMD: cmdid: 143, resid: 35, response: array('B', [0, 8, 0]) + # AUDIO_MGR_OP_L: [0, 8, 0] + + # Write a parameter + python reachy_host.py AUDIO_MGR_OP_L --values 3 0 + # Output: + # Writing to AUDIO_MGR_OP_L with values: [3, 0] + # WriteCMD: cmdid: 15, resid: 35, payload: [3, 0] + # Write operation completed successfully + +More details about the parameters is available at: +https://www.xmos.com/documentation/XM-014888-PC/html/modules/fwk_xvf/doc/user_guide/AA_control_command_appendix.html +""" + +import argparse +import logging +import struct +import sys +import time +from typing import Any, Optional + +import usb.core +import usb.util +from libusb_package import get_libusb1_backend + +CONTROL_SUCCESS = 0 +SERVICER_COMMAND_RETRY = 64 + +# name, resid, cmdid, length, type +PARAMETERS = { + # APPLICATION_SERVICER_RESID commands + "VERSION": (48, 0, 3, "ro", "uint8"), + "BLD_MSG": (48, 1, 50, "ro", "char"), + "BLD_HOST": (48, 2, 30, "ro", "char"), + "BLD_REPO_HASH": (48, 3, 40, "ro", "char"), + "BLD_MODIFIED": (48, 4, 6, "ro", "char"), + "BOOT_STATUS": (48, 5, 3, "ro", "char"), + "TEST_CORE_BURN": (48, 6, 1, "rw", "uint8"), + "REBOOT": (48, 7, 1, "wo", "uint8"), + "USB_BIT_DEPTH": (48, 8, 2, "rw", "uint8"), + "SAVE_CONFIGURATION": (48, 9, 1, "wo", "uint8"), + "CLEAR_CONFIGURATION": (48, 10, 1, "wo", "uint8"), + # AEC_RESID commands + "SHF_BYPASS": (33, 70, 1, "rw", "uint8"), + "AEC_NUM_MICS": (33, 71, 1, "ro", "int32"), + "AEC_NUM_FARENDS": (33, 72, 1, "ro", "int32"), + "AEC_MIC_ARRAY_TYPE": (33, 73, 1, "ro", "int32"), + "AEC_MIC_ARRAY_GEO": (33, 74, 12, "ro", "float"), + "AEC_AZIMUTH_VALUES": (33, 75, 4, "ro", "radians"), + "TEST_AEC_DISABLE_CONTROL": (33, 76, 1, "wo", "uint32"), + "AEC_CURRENT_IDLE_TIME": (33, 77, 1, "ro", "uint32"), + "AEC_MIN_IDLE_TIME": (33, 78, 1, "ro", "uint32"), + "AEC_RESET_MIN_IDLE_TIME": (33, 79, 1, "wo", "uint32"), + "AEC_SPENERGY_VALUES": (33, 80, 4, "ro", "float"), + "AEC_FIXEDBEAMSAZIMUTH_VALUES": (33, 81, 2, "rw", "radians"), + "AEC_FIXEDBEAMSELEVATION_VALUES": (33, 82, 2, "rw", "radians"), + "AEC_FIXEDBEAMSGATING": (33, 83, 1, "rw", "uint8"), + "SPECIAL_CMD_AEC_FAR_MIC_INDEX": (33, 90, 2, "wo", "int32"), + "SPECIAL_CMD_AEC_FILTER_COEFF_START_OFFSET": (33, 91, 1, "rw", "int32"), + "SPECIAL_CMD_AEC_FILTER_COEFFS": (33, 92, 15, "rw", "float"), + "SPECIAL_CMD_AEC_FILTER_LENGTH": (33, 93, 1, "ro", "int32"), + "AEC_FILTER_CMD_ABORT": (33, 94, 1, "wo", "int32"), + "AEC_AECPATHCHANGE": (33, 0, 1, "ro", "int32"), + "AEC_HPFONOFF": (33, 1, 1, "rw", "int32"), + "AEC_AECSILENCELEVEL": (33, 2, 2, "rw", "float"), + "AEC_AECCONVERGED": (33, 3, 1, "ro", "int32"), + "AEC_AECEMPHASISONOFF": (33, 4, 1, "rw", "int32"), + "AEC_FAR_EXTGAIN": (33, 5, 1, "rw", "float"), + "AEC_PCD_COUPLINGI": (33, 6, 1, "rw", "float"), + "AEC_PCD_MINTHR": (33, 7, 1, "rw", "float"), + "AEC_PCD_MAXTHR": (33, 8, 1, "rw", "float"), + "AEC_RT60": (33, 9, 1, "ro", "float"), + "AEC_ASROUTONOFF": (33, 35, 1, "rw", "int32"), + "AEC_ASROUTGAIN": (33, 36, 1, "rw", "float"), + "AEC_FIXEDBEAMSONOFF": (33, 37, 1, "rw", "int32"), + "AEC_FIXEDBEAMNOISETHR": (33, 38, 2, "rw", "float"), + # AUDIO_MGR_RESID commands + "AUDIO_MGR_MIC_GAIN": (35, 0, 1, "rw", "float"), + "AUDIO_MGR_REF_GAIN": (35, 1, 1, "rw", "float"), + "AUDIO_MGR_CURRENT_IDLE_TIME": (35, 2, 1, "ro", "int32"), + "AUDIO_MGR_MIN_IDLE_TIME": (35, 3, 1, "ro", "int32"), + "AUDIO_MGR_RESET_MIN_IDLE_TIME": (35, 4, 1, "wo", "int32"), + "MAX_CONTROL_TIME": (35, 5, 1, "ro", "int32"), + "RESET_MAX_CONTROL_TIME": (35, 6, 1, "wo", "int32"), + "I2S_CURRENT_IDLE_TIME": (35, 7, 1, "ro", "int32"), + "I2S_MIN_IDLE_TIME": (35, 8, 1, "ro", "int32"), + "I2S_RESET_MIN_IDLE_TIME": (35, 9, 1, "wo", "int32"), + "I2S_INPUT_PACKED": (35, 10, 1, "rw", "uint8"), + "AUDIO_MGR_SELECTED_AZIMUTHS": (35, 11, 2, "ro", "radians"), + "AUDIO_MGR_SELECTED_CHANNELS": (35, 12, 2, "rw", "uint8"), + "AUDIO_MGR_OP_PACKED": (35, 13, 2, "rw", "uint8"), + "AUDIO_MGR_OP_UPSAMPLE": (35, 14, 2, "rw", "uint8"), + "AUDIO_MGR_OP_L": (35, 15, 2, "rw", "uint8"), + "AUDIO_MGR_OP_L_PK0": (35, 16, 2, "rw", "uint8"), + "AUDIO_MGR_OP_L_PK1": (35, 17, 2, "rw", "uint8"), + "AUDIO_MGR_OP_L_PK2": (35, 18, 2, "rw", "uint8"), + "AUDIO_MGR_OP_R": (35, 19, 2, "rw", "uint8"), + "AUDIO_MGR_OP_R_PK0": (35, 20, 2, "rw", "uint8"), + "AUDIO_MGR_OP_R_PK1": (35, 21, 2, "rw", "uint8"), + "AUDIO_MGR_OP_R_PK2": (35, 22, 2, "rw", "uint8"), + "AUDIO_MGR_OP_ALL": (35, 23, 12, "rw", "uint8"), + "I2S_INACTIVE": (35, 24, 1, "ro", "uint8"), + "AUDIO_MGR_FAR_END_DSP_ENABLE": (35, 25, 1, "rw", "uint8"), + "AUDIO_MGR_SYS_DELAY": (35, 26, 1, "rw", "int32"), + "I2S_DAC_DSP_ENABLE": (35, 27, 1, "rw", "uint8"), + # GPO_SERVICER_RESID commands + "GPO_READ_VALUES": (20, 0, 5, "ro", "uint8"), + "GPO_WRITE_VALUE": (20, 1, 2, "wo", "uint8"), + "GPO_PORT_PIN_INDEX": (20, 2, 2, "rw", "uint32"), + "GPO_PIN_VAL": (20, 3, 3, "wo", "uint8"), + "GPO_PIN_ACTIVE_LEVEL": (20, 4, 1, "rw", "uint32"), + "GPO_PIN_PWM_DUTY": (20, 5, 1, "rw", "uint8"), + "GPO_PIN_FLASH_MASK": (20, 6, 1, "rw", "uint32"), + "LED_EFFECT": (20, 12, 1, "rw", "uint8"), + "LED_BRIGHTNESS": (20, 13, 1, "rw", "uint8"), + "LED_GAMMIFY": (20, 14, 1, "rw", "uint8"), + "LED_SPEED": (20, 15, 1, "rw", "uint8"), + "LED_COLOR": (20, 16, 1, "rw", "uint32"), + "LED_DOA_COLOR": (20, 17, 2, "rw", "uint32"), + "DOA_VALUE": (20, 18, 2, "ro", "uint32"), + "DOA_VALUE_RADIANS": (20, 19, 2, "ro", "radians"), + # PP_RESID commands + "PP_CURRENT_IDLE_TIME": (17, 70, 1, "ro", "uint32"), + "PP_MIN_IDLE_TIME": (17, 71, 1, "ro", "uint32"), + "PP_RESET_MIN_IDLE_TIME": (17, 72, 1, "wo", "uint32"), + "SPECIAL_CMD_PP_NLMODEL_NROW_NCOL": (17, 90, 2, "ro", "int32"), + "SPECIAL_CMD_NLMODEL_START": (17, 91, 1, "wo", "int32"), + "SPECIAL_CMD_NLMODEL_COEFF_START_OFFSET": (17, 92, 1, "rw", "int32"), + "SPECIAL_CMD_PP_NLMODEL": (17, 93, 15, "rw", "float"), + "PP_NL_MODEL_CMD_ABORT": (17, 94, 1, "wo", "int32"), + "SPECIAL_CMD_PP_NLMODEL_BAND": (17, 95, 1, "rw", "uint8"), + "SPECIAL_CMD_PP_EQUALIZATION_NUM_BANDS": (17, 96, 1, "ro", "int32"), + "SPECIAL_CMD_EQUALIZATION_START": (17, 97, 1, "wo", "int32"), + "SPECIAL_CMD_EQUALIZATION_COEFF_START_OFFSET": (17, 98, 1, "rw", "int32"), + "SPECIAL_CMD_PP_EQUALIZATION": (17, 99, 15, "rw", "float"), + "PP_EQUALIZATION_CMD_ABORT": (17, 100, 1, "wo", "int32"), + "PP_AGCONOFF": (17, 10, 1, "rw", "int32"), + "PP_AGCMAXGAIN": (17, 11, 1, "rw", "float"), + "PP_AGCDESIREDLEVEL": (17, 12, 1, "rw", "float"), + "PP_AGCGAIN": (17, 13, 1, "rw", "float"), + "PP_AGCTIME": (17, 14, 1, "rw", "float"), + "PP_AGCFASTTIME": (17, 15, 1, "rw", "float"), + "PP_AGCALPHAFASTGAIN": (17, 16, 1, "rw", "float"), + "PP_AGCALPHASLOW": (17, 17, 1, "rw", "float"), + "PP_AGCALPHAFAST": (17, 18, 1, "rw", "float"), + "PP_LIMITONOFF": (17, 19, 1, "rw", "int32"), + "PP_LIMITPLIMIT": (17, 20, 1, "rw", "float"), + "PP_MIN_NS": (17, 21, 1, "rw", "float"), + "PP_MIN_NN": (17, 22, 1, "rw", "float"), + "PP_ECHOONOFF": (17, 23, 1, "rw", "int32"), + "PP_GAMMA_E": (17, 24, 1, "rw", "float"), + "PP_GAMMA_ETAIL": (17, 25, 1, "rw", "float"), + "PP_GAMMA_ENL": (17, 26, 1, "rw", "float"), + "PP_NLATTENONOFF": (17, 27, 1, "rw", "int32"), + "PP_NLAEC_MODE": (17, 28, 1, "rw", "int32"), + "PP_MGSCALE": (17, 29, 3, "rw", "float"), + "PP_FMIN_SPEINDEX": (17, 30, 1, "rw", "float"), + "PP_DTSENSITIVE": (17, 31, 1, "rw", "int32"), + "PP_ATTNS_MODE": (17, 32, 1, "rw", "int32"), + "PP_ATTNS_NOMINAL": (17, 33, 1, "rw", "float"), + "PP_ATTNS_SLOPE": (17, 34, 1, "rw", "float"), +} + + +class ReSpeaker: + """Class to interface with the ReSpeaker XVF3800 USB device.""" + + TIMEOUT = 100000 + + def __init__(self, dev: usb.core.Device) -> None: + """Initialize the ReSpeaker interface with the given USB device.""" + self.dev = dev + + def write(self, name: str, data_list: Any) -> None: + """Write data to a specified parameter on the ReSpeaker device.""" + try: + data = PARAMETERS[name] + except KeyError: + return + + if data[3] == "ro": + raise ValueError("{} is read-only".format(name)) + + if len(data_list) != data[2]: + raise ValueError("{} value count is not {}".format(name, data[2])) + + windex = data[0] # resid + wvalue = data[1] # cmdid + data_cnt = data[2] # cnt + data_type = data[4] # data type + payload = [] # type: ignore[var-annotated] + + if data_type == "float" or data_type == "radians": + for i in range(data_cnt): + payload += struct.pack(b"f", float(data_list[i])) + elif data_type == "char": + # For char arrays, convert string to bytes + payload = ( + bytearray(data_list, "utf-8") # type: ignore[assignment] + if isinstance(data_list, str) + else bytearray(data_list) + ) + elif data_type == "uint8": + for i in range(data_cnt): + payload += data_list[i].to_bytes(1, byteorder="little") + elif data_type == "uint32" or data_type == "int32": + for i in range(data_cnt): + payload += struct.pack( + b"I" if data_type == "uint32" else b"i", data_list[i] + ) + else: + # Default to int32 for other types + for i in range(data_cnt): + payload += struct.pack(b"i", data_list[i]) + + logging.debug( + "WriteCMD: cmdid: {}, resid: {}, payload: {}".format( + wvalue, windex, payload + ) + ) + + self.dev.ctrl_transfer( + usb.util.CTRL_OUT + | usb.util.CTRL_TYPE_VENDOR + | usb.util.CTRL_RECIPIENT_DEVICE, + 0, + wvalue, + windex, + payload, + self.TIMEOUT, + ) + + def read(self, name: str) -> Any: + """Read data from a specified parameter on the ReSpeaker device.""" + try: + data = PARAMETERS[name] + except KeyError: + return + + read_attempts = 1 + windex = data[0] # resid + wvalue = 0x80 | data[1] # cmdid + data_cnt = data[2] # cnt + data_type = data[4] # data type + if data_type == "uint8" or data_type == "char": + length = data_cnt + 1 # 1 byte for status + elif ( + data_type == "float" + or data_type == "radians" + or data_type == "uint32" + or data_type == "int32" + ): + length = data_cnt * 4 + 1 # 1 byte for status + + response = self.dev.ctrl_transfer( + usb.util.CTRL_IN + | usb.util.CTRL_TYPE_VENDOR + | usb.util.CTRL_RECIPIENT_DEVICE, + 0, + wvalue, + windex, + length, + self.TIMEOUT, + ) + while True: + if read_attempts > 100: + raise ValueError("Read attempt exceeds 100 times") + if response[0] == CONTROL_SUCCESS: + break + elif response[0] == SERVICER_COMMAND_RETRY: + read_attempts += 1 + response = self.dev.ctrl_transfer( + usb.util.CTRL_IN + | usb.util.CTRL_TYPE_VENDOR + | usb.util.CTRL_RECIPIENT_DEVICE, + 0, + wvalue, + windex, + length, + self.TIMEOUT, + ) + else: + raise ValueError("Unknown status code: {}".format(response[0])) + time.sleep(0.01) + + logging.info( + "ReadCMD: cmdid: {}, resid: {}, response: {}".format( + wvalue, windex, response + ) + ) + + if data_type == "uint8": + result = response.tolist() + elif data_type == "char": + # For char arrays, convert bytes to string + byte_data = response.tobytes() + # Remove status byte and null terminators + result = byte_data[1:].rstrip(b"\x00").decode("utf-8", errors="ignore") + elif data_type == "radians" or data_type == "float": + byte_data = response.tobytes() + match_str = "<" + for i in range(data_cnt): + match_str += "f" + result = struct.unpack(match_str, byte_data[1:]) + elif data_type == "uint32" or data_type == "int32": + result = response.tolist() + + return result + + def close(self) -> None: + """Close the interface.""" + usb.util.dispose_resources(self.dev) + + +def find(vid: int = 0x2886, pid: int = 0x001A) -> ReSpeaker | None: + """Find and return the ReSpeaker USB device with the given Vendor ID and Product ID.""" + dev = usb.core.find(idVendor=vid, idProduct=pid) + if not dev: + return None + + return ReSpeaker(dev) + + +def init_respeaker_usb() -> Optional[ReSpeaker]: + """Initialize the ReSpeaker USB device. Looks for both new and beta device IDs.""" + try: + dev = usb.core.find( + idVendor=0x38FB, idProduct=0x1001, backend=get_libusb1_backend() + ) + if dev is None: + dev = usb.core.find( + idVendor=0x2886, idProduct=0x001A, backend=get_libusb1_backend() + ) + if dev is None: + logging.error("No ReSpeaker USB device found !") + return None + else: + logging.warning("Old firmware detected on ReSpeaker USB device. Please update the firmware!") + return ReSpeaker(dev) + except usb.core.NoBackendError: + logging.error( + "No USB backend was found ! Make sure libusb_package is correctly installed with `pip install libusb_package`." + ) + return None + + +def main() -> None: + """Parse arguments and execute read/write commands.""" + parser = argparse.ArgumentParser( + description="Reachy Mini Audio Host Control Script" + ) + parser.add_argument( + "command", + choices=PARAMETERS.keys(), + help="Command to execute (e.g., VERSION, DOA_VALUE, etc.)", + ) + parser.add_argument( + "--vid", + type=lambda x: int(x, 0), + default=0x38FB, + help="Vendor ID (default: 0x38FB)", + ) + parser.add_argument( + "--pid", + type=lambda x: int(x, 0), + default=0x1001, + help="Product ID (default: 0x1001)", + ) + parser.add_argument( + "--values", + nargs="+", + type=float, + help="Values for write commands (only for write operations)", + ) + + args = parser.parse_args() + + dev = find(vid=args.vid, pid=args.pid) + if not dev: + print("No device found") + sys.exit(1) + + try: + if args.values: + if PARAMETERS[args.command][3] == "ro": + print(f"Error: {args.command} is read-only and cannot be written to") + sys.exit(1) + + if ( + PARAMETERS[args.command][4] != "float" + and PARAMETERS[args.command][4] != "radians" + ): + args.values = [int(v) for v in args.values] + + if PARAMETERS[args.command][2] != len(args.values): + print( + f"Error: {args.command} value count is {PARAMETERS[args.command][2]}, but {len(args.values)} values provided" + ) + sys.exit(1) + + print(f"Writing to {args.command} with values: {args.values}") + dev.write(args.command, args.values) + time.sleep(0.1) + print("Write operation completed successfully") + else: + if PARAMETERS[args.command][3] == "wo": + print(f"Error: {args.command} is write-only and cannot be read") + sys.exit(1) + + result = dev.read(args.command) + print(f"{args.command}: {result}") + + except Exception as e: + print(f"Error executing command {args.command}: {e}") + sys.exit(1) + finally: + dev.close() + + +if __name__ == "__main__": + main() diff --git a/reachy_mini/src/reachy_mini/media/audio_gstreamer.py b/reachy_mini/src/reachy_mini/media/audio_gstreamer.py new file mode 100644 index 0000000000000000000000000000000000000000..7a0f06158fb5dcf35af744e6055aaa338d1af4f2 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/audio_gstreamer.py @@ -0,0 +1,200 @@ +"""GStreamer camera backend. + +This module provides an implementation of the CameraBase class using GStreamer. +By default the module directly returns JPEG images as output by the camera. +""" + +from threading import Thread +from typing import Optional + +import numpy as np +import numpy.typing as npt + +try: + import gi +except ImportError as e: + raise ImportError( + "The 'gi' module is required for GStreamerCamera but could not be imported. \ + Please install the GStreamer backend: pip install .[gstreamer]." + ) from e + +gi.require_version("Gst", "1.0") +gi.require_version("GstApp", "1.0") + + +from gi.repository import GLib, Gst, GstApp # noqa: E402 + +from .audio_base import AudioBase # noqa: E402 + + +class GStreamerAudio(AudioBase): + """Audio implementation using GStreamer.""" + + def __init__(self, log_level: str = "INFO") -> None: + """Initialize the GStreamer audio.""" + super().__init__(log_level=log_level) + Gst.init(None) + self._loop = GLib.MainLoop() + self._thread_bus_calls = Thread(target=lambda: self._loop.run(), daemon=True) + self._thread_bus_calls.start() + + self._pipeline_record = Gst.Pipeline.new("audio_recorder") + self._appsink_audio: Optional[GstApp] = None + self._init_pipeline_record(self._pipeline_record) + self._bus_record = self._pipeline_record.get_bus() + self._bus_record.add_watch( + GLib.PRIORITY_DEFAULT, self._on_bus_message, self._loop + ) + + self._pipeline_playback = Gst.Pipeline.new("audio_player") + self._appsrc: Optional[GstApp] = None + self._init_pipeline_playback(self._pipeline_playback) + self._bus_playback = self._pipeline_playback.get_bus() + self._bus_playback.add_watch( + GLib.PRIORITY_DEFAULT, self._on_bus_message, self._loop + ) + + def _init_pipeline_record(self, pipeline: Gst.Pipeline) -> None: + self._appsink_audio = Gst.ElementFactory.make("appsink") + caps = Gst.Caps.from_string( + f"audio/x-raw,rate={self.SAMPLE_RATE},format=F32LE,layout=interleaved" + ) + self._appsink_audio.set_property("caps", caps) + self._appsink_audio.set_property("drop", True) # avoid overflow + self._appsink_audio.set_property("max-buffers", 500) + + autoaudiosrc = Gst.ElementFactory.make("autoaudiosrc") # use default mic + + queue = Gst.ElementFactory.make("queue") + audioconvert = Gst.ElementFactory.make("audioconvert") + audioresample = Gst.ElementFactory.make("audioresample") + + if not all( + [autoaudiosrc, queue, audioconvert, audioresample, self._appsink_audio] + ): + raise RuntimeError("Failed to create GStreamer elements") + + pipeline.add(autoaudiosrc) + pipeline.add(queue) + pipeline.add(audioconvert) + pipeline.add(audioresample) + pipeline.add(self._appsink_audio) + + autoaudiosrc.link(queue) + queue.link(audioconvert) + audioconvert.link(audioresample) + audioresample.link(self._appsink_audio) + + def __del__(self) -> None: + """Destructor to ensure gstreamer resources are released.""" + super().__del__() + self._loop.quit() + self._bus_record.remove_watch() + self._bus_playback.remove_watch() + + def _init_pipeline_playback(self, pipeline: Gst.Pipeline) -> None: + self._appsrc = Gst.ElementFactory.make("appsrc") + self._appsrc.set_property("format", Gst.Format.TIME) + self._appsrc.set_property("is-live", True) + caps = Gst.Caps.from_string( + f"audio/x-raw,format=F32LE,channels=1,rate={self.SAMPLE_RATE},layout=interleaved" + ) + self._appsrc.set_property("caps", caps) + + audioconvert = Gst.ElementFactory.make("audioconvert") + audioresample = Gst.ElementFactory.make("audioresample") + + queue = Gst.ElementFactory.make("queue") + audiosink = Gst.ElementFactory.make("autoaudiosink") # use default speaker + + pipeline.add(queue) + pipeline.add(audiosink) + pipeline.add(self._appsrc) + pipeline.add(audioconvert) + pipeline.add(audioresample) + + self._appsrc.link(queue) + queue.link(audioconvert) + audioconvert.link(audioresample) + audioresample.link(audiosink) + + def _on_bus_message(self, bus: Gst.Bus, msg: Gst.Message, loop) -> bool: # type: ignore[no-untyped-def] + t = msg.type + if t == Gst.MessageType.EOS: + self.logger.warning("End-of-stream") + return False + + elif t == Gst.MessageType.ERROR: + err, debug = msg.parse_error() + self.logger.error(f"Error: {err} {debug}") + return False + + return True + + def start_recording(self) -> None: + """Open the audio card using GStreamer.""" + self._pipeline_record.set_state(Gst.State.PLAYING) + + def _get_sample(self, appsink: GstApp.AppSink) -> Optional[bytes]: + sample = appsink.try_pull_sample(20_000_000) + if sample is None: + return None + data = None + if isinstance(sample, Gst.Sample): + buf = sample.get_buffer() + if buf is None: + self.logger.warning("Buffer is None") + + data = buf.extract_dup(0, buf.get_size()) + return data + + def get_audio_sample(self) -> Optional[npt.NDArray[np.float32]]: + """Read a sample from the audio card. Returns the sample or None if error. + + Returns: + Optional[npt.NDArray[np.float32]]: The captured sample in raw format, or None if error. + + """ + sample = self._get_sample(self._appsink_audio) + if sample is None: + return None + return np.frombuffer(sample, dtype=np.float32).reshape(-1, 2) + + def get_input_audio_samplerate(self) -> int: + """Get the input samplerate of the audio device.""" + return self.SAMPLE_RATE + + def get_output_audio_samplerate(self) -> int: + """Get the output samplerate of the audio device.""" + return self.SAMPLE_RATE + + def stop_recording(self) -> None: + """Release the camera resource.""" + self._pipeline_record.set_state(Gst.State.NULL) + + def start_playing(self) -> None: + """Open the audio output using GStreamer.""" + self._pipeline_playback.set_state(Gst.State.PLAYING) + + def stop_playing(self) -> None: + """Stop playing audio and release resources.""" + self._pipeline_playback.set_state(Gst.State.NULL) + + def push_audio_sample(self, data: npt.NDArray[np.float32]) -> None: + """Push audio data to the output device.""" + if self._appsrc is not None: + buf = Gst.Buffer.new_wrapped(data.tobytes()) + self._appsrc.push_buffer(buf) + else: + self.logger.warning( + "AppSrc is not initialized. Call start_playing() first." + ) + + def play_sound(self, sound_file: str) -> None: + """Play a sound file. + + Args: + sound_file (str): Path to the sound file to play. + + """ + self.logger.warning("play_sound is not implemented for GStreamerAudio.") diff --git a/reachy_mini/src/reachy_mini/media/audio_sounddevice.py b/reachy_mini/src/reachy_mini/media/audio_sounddevice.py new file mode 100644 index 0000000000000000000000000000000000000000..e381c685cf2e4e7cbb6be071b6757fe14ed71af9 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/audio_sounddevice.py @@ -0,0 +1,242 @@ +"""Audio implementation using sounddevice backend.""" + +import os +import threading +from typing import Any, List, Optional + +import numpy as np +import numpy.typing as npt +import scipy +import sounddevice as sd +import soundfile as sf + +from reachy_mini.utils.constants import ASSETS_ROOT_PATH + +from .audio_base import AudioBase + + +class SoundDeviceAudio(AudioBase): + """Audio device implementation using sounddevice.""" + + def __init__( + self, + frames_per_buffer: int = 256, + log_level: str = "INFO", + ) -> None: + """Initialize the SoundDevice audio device.""" + super().__init__(log_level=log_level) + self.frames_per_buffer = frames_per_buffer + self.stream = None + self._output_stream = None + self._buffer: List[npt.NDArray[np.float32]] = [] + self._output_device_id = self._get_device_id( + ["Reachy Mini Audio", "respeaker"], device_io_type="output" + ) + self._input_device_id = self._get_device_id( + ["Reachy Mini Audio", "respeaker"], device_io_type="input" + ) + + def start_recording(self) -> None: + """Open the audio input stream, using ReSpeaker card if available.""" + self.stream = sd.InputStream( + blocksize=self.frames_per_buffer, + device=self._input_device_id, + callback=self._callback, + samplerate=self.get_input_audio_samplerate(), + ) + if self.stream is None: + raise RuntimeError("Failed to open SoundDevice audio stream.") + self._buffer.clear() + self.stream.start() + self.logger.info("SoundDevice audio stream opened.") + + def _callback( + self, + indata: npt.NDArray[np.float32], + frames: int, + time: int, + status: sd.CallbackFlags, + ) -> None: + if status: + self.logger.warning(f"SoundDevice status: {status}") + + self._buffer.append(indata.copy()) + + def get_audio_sample(self) -> Optional[npt.NDArray[np.float32]]: + """Read audio data from the buffer. Returns numpy array or None if empty.""" + if self._buffer and len(self._buffer) > 0: + data: npt.NDArray[np.float32] = np.concatenate(self._buffer, axis=0) + self._buffer.clear() + return data + self.logger.debug("No audio data available in buffer.") + return None + + def get_input_audio_samplerate(self) -> int: + """Get the input samplerate of the audio device.""" + return int( + sd.query_devices(self._input_device_id, "input")["default_samplerate"] + ) + + def get_output_audio_samplerate(self) -> int: + """Get the output samplerate of the audio device.""" + return int( + sd.query_devices(self._output_device_id, "output")["default_samplerate"] + ) + + def stop_recording(self) -> None: + """Close the audio stream and release resources.""" + if self.stream is not None: + self.stream.stop() + self.stream.close() + self.stream = None + self.logger.info("SoundDevice audio stream closed.") + + def push_audio_sample(self, data: npt.NDArray[np.float32]) -> None: + """Push audio data to the output device.""" + if self._output_stream is not None: + if data.ndim > 1: # convert to mono + data = np.mean(data, axis=1) + self._output_stream.write(data) + else: + self.logger.warning( + "Output stream is not open. Call start_playing() first." + ) + + def start_playing(self) -> None: + """Open the audio output stream.""" + if self._output_stream is not None: + self.stop_playing() + self._output_stream = sd.OutputStream( + samplerate=self.get_output_audio_samplerate(), + device=self._output_device_id, + channels=1, + ) + if self._output_stream is None: + raise RuntimeError("Failed to open SoundDevice audio output stream.") + self._output_stream.start() + + def stop_playing(self) -> None: + """Close the audio output stream.""" + if self._output_stream is not None: + self._output_stream.stop() + self._output_stream.close() + self._output_stream = None + self.logger.info("SoundDevice audio output stream closed.") + + def play_sound(self, sound_file: str, autoclean: bool = False) -> None: + """Play a sound file. + + Args: + sound_file (str): Path to the sound file to play. May be given relative to the assets directory or as an absolute path. + autoclean (bool): If True, the audio device will be released after the sound is played. + + """ + if not os.path.exists(sound_file): + file_path = f"{ASSETS_ROOT_PATH}/{sound_file}" + if not os.path.exists(file_path): + raise FileNotFoundError( + f"Sound file {sound_file} not found in assets directory or given path." + ) + else: + file_path = sound_file + + data, samplerate_in = sf.read(file_path, dtype="float32") + samplerate_out = self.get_output_audio_samplerate() + + if samplerate_in != samplerate_out: + data = scipy.signal.resample( + data, int(len(data) * (samplerate_out / samplerate_in)) + ) + if data.ndim > 1: # convert to mono + data = np.mean(data, axis=1) + + self.logger.debug(f"Playing sound '{file_path}' at {samplerate_in} Hz") + + self.stop_playing() + start = 0 # current position in audio data + length = len(data) + + def callback( + outdata: npt.NDArray[np.float32], + frames: int, + time: Any, # cdata 'struct PaStreamCallbackTimeInfo * + status: sd.CallbackFlags, + ) -> None: + """Actual playback.""" + nonlocal start + + if status: + self.logger.warning(f"SoundDevice output status: {status}") + + end = start + frames + if end > length: + # Fill the output buffer with the audio data, or zeros if finished + outdata[: length - start, 0] = data[start:] + outdata[length - start :, 0] = 0 + raise sd.CallbackStop() + else: + outdata[:, 0] = data[start:end] + start = end + + stop_event = threading.Event() + + self._output_stream = sd.OutputStream( + samplerate=samplerate_out, + device=self._output_device_id, + channels=1, + callback=callback, + finished_callback=stop_event.set, # release the device when done + ) + if self._output_stream is None: + raise RuntimeError("Failed to open SoundDevice audio output stream.") + self._output_stream.start() + + if autoclean: + + def _clean_up_thread() -> None: + stop_event.wait() + self.stop_playing() + + threading.Thread( + target=_clean_up_thread, + daemon=True, + ).start() + + def _get_device_id( + self, names_contains: List[str], device_io_type: str = "output" + ) -> int: + """Return the output device id whose name contains the given strings (case-insensitive). + + Args: + names_contains (List[str]): List of strings that should be contained in the device name. + device_io_type (str): 'input' or 'output' to specify device type. + + If not found, return the default output device id. + + """ + devices = sd.query_devices() + + for idx, dev in enumerate(devices): + for name_contains in names_contains: + if ( + name_contains.lower() in dev["name"].lower() + and dev[f"max_{device_io_type}_channels"] > 0 + ): + return idx + # Return default output device if not found + self.logger.warning( + f"No {device_io_type} device found containing '{names_contains}', using default." + ) + return self._safe_query_device(device_io_type) + + def _safe_query_device(self, kind: str) -> int: + try: + return int(sd.query_devices(None, kind)["index"]) + except sd.PortAudioError: + return ( + int(sd.default.device[1]) + if kind == "input" + else int(sd.default.device[0]) + ) + except IndexError: + return 0 diff --git a/reachy_mini/src/reachy_mini/media/audio_utils.py b/reachy_mini/src/reachy_mini/media/audio_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..53dbbf17564d49efe626fb0b9f318f5b3ce58952 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/audio_utils.py @@ -0,0 +1,35 @@ +"""Utility functions for audio handling, specifically for detecting the ReSpeaker sound card.""" + +import logging +import subprocess + + +def get_respeaker_card_number() -> int: + """Return the card number of the ReSpeaker sound card, or 0 if not found.""" + try: + result = subprocess.run( + ["arecord", "-l"], capture_output=True, text=True, check=True + ) + output = result.stdout + + lines = output.split("\n") + for line in lines: + if "reachy mini audio" in line.lower() and "card" in line: + card_number = line.split(":")[0].split("card ")[1].strip() + logging.debug(f"Found Reachy Mini Audio sound card: {card_number}") + return int(card_number) + elif "respeaker" in line.lower() and "card" in line: + card_number = line.split(":")[0].split("card ")[1].strip() + logging.warning( + f"Found ReSpeaker sound card: {card_number}. Please update firmware!" + ) + return int(card_number) + + logging.warning( + "Reachy Mini Audio sound card not found. Returning default card" + ) + return 0 # default sound card + + except subprocess.CalledProcessError as e: + logging.error(f"Cannot find sound card: {e}") + return 0 diff --git a/reachy_mini/src/reachy_mini/media/camera_base.py b/reachy_mini/src/reachy_mini/media/camera_base.py new file mode 100644 index 0000000000000000000000000000000000000000..53b4a5b6252c4417aa1852c990d8197178d0af32 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/camera_base.py @@ -0,0 +1,100 @@ +"""Base classes for camera implementations. + +The camera implementations support various backends and provide a unified +interface for capturing images. +""" + +import logging +from abc import ABC, abstractmethod +from typing import Optional + +import numpy as np +import numpy.typing as npt + +from reachy_mini.media.camera_constants import ( + CameraResolution, + CameraSpecs, + MujocoCameraSpecs, +) + + +class CameraBase(ABC): + """Abstract class for opening and managing a camera.""" + + def __init__( + self, + log_level: str = "INFO", + ) -> None: + """Initialize the camera.""" + self.logger = logging.getLogger(__name__) + self.logger.setLevel(log_level) + self._resolution: Optional[CameraResolution] = None + self.camera_specs: Optional[CameraSpecs] = None + self.resized_K: Optional[npt.NDArray[np.float64]] = None + + @property + def resolution(self) -> tuple[int, int]: + """Get the current camera resolution as a tuple (width, height).""" + if self._resolution is None: + raise RuntimeError("Camera resolution is not set.") + return (self._resolution.value[0], self._resolution.value[1]) + + @property + def framerate(self) -> int: + """Get the current camera frames per second.""" + if self._resolution is None: + raise RuntimeError("Camera resolution is not set.") + return int(self._resolution.value[2]) + + @property + def K(self) -> Optional[npt.NDArray[np.float64]]: + """Get the camera intrinsic matrix for the current resolution.""" + return self.resized_K + + @property + def D(self) -> Optional[npt.NDArray[np.float64]]: + """Get the camera distortion coefficients.""" + if self.camera_specs is not None: + return self.camera_specs.D + return None + + def set_resolution(self, resolution: CameraResolution) -> None: + """Set the camera resolution.""" + if self.camera_specs is None: + raise RuntimeError( + "Camera specs not set. Open the camera before setting the resolution." + ) + + if isinstance(self.camera_specs, MujocoCameraSpecs): + raise RuntimeError( + "Cannot change resolution of Mujoco simulated camera for now." + ) + + if resolution not in self.camera_specs.available_resolutions: + raise ValueError( + f"Resolution not supported by the camera. Available resolutions are : {self.camera_specs.available_resolutions}" + ) + + w_ratio = resolution.value[0] / self.camera_specs.default_resolution.value[0] + h_ratio = resolution.value[1] / self.camera_specs.default_resolution.value[1] + self.resized_K = self.camera_specs.K.copy() + + self.resized_K[0, 0] *= w_ratio + self.resized_K[1, 1] *= h_ratio + self.resized_K[0, 2] *= w_ratio + self.resized_K[1, 2] *= h_ratio + + @abstractmethod + def open(self) -> None: + """Open the camera.""" + pass + + @abstractmethod + def read(self) -> Optional[npt.NDArray[np.uint8]]: + """Read an image from the camera. Returns the image or None if error.""" + pass + + @abstractmethod + def close(self) -> None: + """Close the camera and release resources.""" + pass diff --git a/reachy_mini/src/reachy_mini/media/camera_constants.py b/reachy_mini/src/reachy_mini/media/camera_constants.py new file mode 100644 index 0000000000000000000000000000000000000000..d3ba0f471e83def0c786ca18389ceac725809fe8 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/camera_constants.py @@ -0,0 +1,163 @@ +"""Camera constants for Reachy Mini.""" + +from dataclasses import dataclass, field +from enum import Enum +from typing import List + +import numpy as np +import numpy.typing as npt + + +class CameraResolution(Enum): + """Base class for camera resolutions.""" + + pass + + +class ArduCamResolution(CameraResolution): + """Camera resolutions. Arducam_12MP.""" + + R2304x1296 = (2304, 1296, 30) + R4608x2592 = (4608, 2592, 10) + R1920x1080 = (1920, 1080, 30) + R1600x1200 = (1600, 1200, 30) + R1280x720 = (1280, 720, 30) + + +class RPICameraResolution(CameraResolution): + """Camera resolutions. Raspberry Pi Camera. + + Camera supports higher resolutions but the h264 encoder won't follow. + """ + + R1920x1080 = (1920, 1080, 60) + R1600x1200 = (1600, 1200, 30) + R1536x864 = (1536, 864, 40) + R1280x720 = (1280, 720, 60) + + +class MujocoCameraResolution(CameraResolution): + """Camera resolutions for Mujoco simulated camera.""" + + R1280x720 = (1280, 720, 60) + + +@dataclass +class CameraSpecs: + """Base camera specifications.""" + + available_resolutions: List[CameraResolution] = field(default_factory=list) + default_resolution: CameraResolution = ArduCamResolution.R1280x720 + vid = 0 + pid = 0 + K: npt.NDArray[np.float64] = field(default_factory=lambda: np.eye(3)) + D: npt.NDArray[np.float64] = field(default_factory=lambda: np.zeros((5,))) + + +@dataclass +class ArducamSpecs(CameraSpecs): + """Arducam camera specifications.""" + + available_resolutions = [ + ArduCamResolution.R2304x1296, + ArduCamResolution.R4608x2592, + ArduCamResolution.R1920x1080, + ArduCamResolution.R1600x1200, + ArduCamResolution.R1280x720, + ] + default_resolution = ArduCamResolution.R1280x720 + vid = 0x0C45 + pid = 0x636D + K = np.array([[550.3564, 0.0, 638.0112], [0.0, 549.1653, 364.589], [0.0, 0.0, 1.0]]) + D = np.array([-0.0694, 0.1565, -0.0004, 0.0003, -0.0983]) + + +@dataclass +class ReachyMiniCamSpecs(CameraSpecs): + """Reachy Mini camera specifications.""" + + available_resolutions = [ + RPICameraResolution.R1920x1080, + RPICameraResolution.R1600x1200, + RPICameraResolution.R1536x864, + RPICameraResolution.R1280x720, + ] + default_resolution = RPICameraResolution.R1920x1080 + vid = 0x38FB + pid = 0x1002 + K = np.array( + [ + [821.515, 0.0, 962.241], + [0.0, 820.830, 542.459], + [0.0, 0.0, 1.0], + ] + ) + + D = np.array( + [ + -2.94475669e-02, + 6.00511974e-02, + 3.57813971e-06, + -2.96459394e-04, + -3.79243988e-02, + ] + ) + + +@dataclass +class OlderRPiCamSpecs(CameraSpecs): + """Older Raspberry Pi camera specifications.""" + + available_resolutions = [ + RPICameraResolution.R1920x1080, + RPICameraResolution.R1600x1200, + RPICameraResolution.R1536x864, + RPICameraResolution.R1280x720, + ] + default_resolution = RPICameraResolution.R1920x1080 + vid = 0x1BCF + pid = 0x28C4 + K = np.array( + [ + [821.51459423, 0.0, 962.24086301], + [0.0, 820.82987265, 542.45854246], + [0.0, 0.0, 1.0], + ] + ) + + D = np.array( + [ + -2.94475669e-02, + 6.00511974e-02, + 3.57813971e-06, + -2.96459394e-04, + -3.79243988e-02, + ] + ) + + +@dataclass +class MujocoCameraSpecs(CameraSpecs): + """Mujoco simulated camera specifications.""" + + available_resolutions = [ + MujocoCameraResolution.R1280x720, + ] + default_resolution = MujocoCameraResolution.R1280x720 + # ideal camera matrix + K = np.array( + [ + [ + MujocoCameraResolution.R1280x720.value[0], + 0.0, + MujocoCameraResolution.R1280x720.value[0] / 2, + ], + [ + 0.0, + MujocoCameraResolution.R1280x720.value[1], + MujocoCameraResolution.R1280x720.value[1] / 2, + ], + [0.0, 0.0, 1.0], + ] + ) + D = np.zeros((5,)) # no distortion diff --git a/reachy_mini/src/reachy_mini/media/camera_gstreamer.py b/reachy_mini/src/reachy_mini/media/camera_gstreamer.py new file mode 100644 index 0000000000000000000000000000000000000000..fc70a478c6a7e45dec2abc21c574c01fed1ff59c --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/camera_gstreamer.py @@ -0,0 +1,196 @@ +"""GStreamer camera backend. + +This module provides an implementation of the CameraBase class using GStreamer. +By default the module directly returns JPEG images as output by the camera. +""" + +from threading import Thread +from typing import Optional, cast + +import numpy as np +import numpy.typing as npt + +from reachy_mini.media.camera_constants import ( + ArducamSpecs, + CameraResolution, + CameraSpecs, + ReachyMiniCamSpecs, +) + +try: + import gi +except ImportError as e: + raise ImportError( + "The 'gi' module is required for GStreamerCamera but could not be imported. \ + Please install the GStreamer backend: pip install .[gstreamer]." + ) from e + +gi.require_version("Gst", "1.0") +gi.require_version("GstApp", "1.0") + + +from gi.repository import GLib, Gst, GstApp # noqa: E402 + +from .camera_base import CameraBase # noqa: E402 + + +class GStreamerCamera(CameraBase): + """Camera implementation using GStreamer.""" + + def __init__( + self, + log_level: str = "INFO", + ) -> None: + """Initialize the GStreamer camera.""" + super().__init__(log_level=log_level) + Gst.init(None) + self._loop = GLib.MainLoop() + self._thread_bus_calls: Optional[Thread] = None + + self.pipeline = Gst.Pipeline.new("camera_recorder") + + # TODO How do we hande video device not found ? + cam_path = self.get_video_device() + if self.camera_specs is None: + raise RuntimeError("Camera specs not set") + self._resolution = self.camera_specs.default_resolution + + if self._resolution is None: + raise RuntimeError("Failed to get default camera resolution.") + + # note for some applications the jpeg image could be directly used + self._appsink_video: GstApp = Gst.ElementFactory.make("appsink") + self.set_resolution(self._resolution) + self._appsink_video.set_property("drop", True) # avoid overflow + self._appsink_video.set_property("max-buffers", 1) # keep last image only + self.pipeline.add(self._appsink_video) + + # cam_path = self.get_video_device() + if cam_path == "": + self.logger.warning("Recording pipeline set without camera.") + self.pipeline.remove(self._appsink_video) + else: + camsrc = Gst.ElementFactory.make("v4l2src") + camsrc.set_property("device", cam_path) + self.pipeline.add(camsrc) + queue = Gst.ElementFactory.make("queue") + self.pipeline.add(queue) + # use vaapijpegdec or nvjpegdec for hardware acceleration + jpegdec = Gst.ElementFactory.make("jpegdec") + self.pipeline.add(jpegdec) + videoconvert = Gst.ElementFactory.make("videoconvert") + self.pipeline.add(videoconvert) + camsrc.link(queue) + queue.link(jpegdec) + jpegdec.link(videoconvert) + videoconvert.link(self._appsink_video) + + def _on_bus_message(self, bus: Gst.Bus, msg: Gst.Message, loop) -> bool: # type: ignore[no-untyped-def] + t = msg.type + if t == Gst.MessageType.EOS: + self.logger.warning("End-of-stream") + return False + + elif t == Gst.MessageType.ERROR: + err, debug = msg.parse_error() + self.logger.error(f"Error: {err} {debug}") + return False + + return True + + def _handle_bus_calls(self) -> None: + self.logger.debug("starting bus message loop") + bus = self.pipeline.get_bus() + bus.add_watch(GLib.PRIORITY_DEFAULT, self._on_bus_message, self._loop) + self._loop.run() + bus.remove_watch() + self.logger.debug("bus message loop stopped") + + def set_resolution(self, resolution: CameraResolution) -> None: + """Set the camera resolution.""" + super().set_resolution(resolution) + + # Check if pipeline is not playing before changing resolution + if self.pipeline.get_state(0).state == Gst.State.PLAYING: + raise RuntimeError( + "Cannot change resolution while the camera is streaming. Please close the camera first." + ) + + self._resolution = resolution + caps_video = Gst.Caps.from_string( + f"video/x-raw,format=BGR, width={self._resolution.value[0]},height={self._resolution.value[1]},framerate={self.framerate}/1" + ) + self._appsink_video.set_property("caps", caps_video) + + def open(self) -> None: + """Open the camera using GStreamer.""" + self.pipeline.set_state(Gst.State.PLAYING) + self._thread_bus_calls = Thread(target=self._handle_bus_calls, daemon=True) + self._thread_bus_calls.start() + + def _get_sample(self, appsink: GstApp.AppSink) -> Optional[bytes]: + sample = appsink.try_pull_sample(20_000_000) + if sample is None: + return None + data = None + if isinstance(sample, Gst.Sample): + buf = sample.get_buffer() + if buf is None: + self.logger.warning("Buffer is None") + + data = buf.extract_dup(0, buf.get_size()) + return data + + def read(self) -> Optional[npt.NDArray[np.uint8]]: + """Read a frame from the camera. Returns the frame or None if error. + + Returns: + Optional[npt.NDArray[np.uint8]]: The captured BGR frame as a NumPy array, or None if error. + + """ + data = self._get_sample(self._appsink_video) + if data is None: + return None + + arr = np.frombuffer(data, dtype=np.uint8).reshape( + (self.resolution[1], self.resolution[0], 3) + ) + return arr + + def close(self) -> None: + """Release the camera resource.""" + self._loop.quit() + self.pipeline.set_state(Gst.State.NULL) + + def get_video_device(self) -> str: + """Use Gst.DeviceMonitor to find the unix camera path /dev/videoX. + + Returns the device path (e.g., '/dev/video2'), or '' if not found. + """ + monitor = Gst.DeviceMonitor() + monitor.add_filter("Video/Source") + monitor.start() + + cam_names = ["Reachy", "Arducam_12MP"] + + devices = monitor.get_devices() + for cam_name in cam_names: + for device in devices: + name = device.get_display_name() + device_props = device.get_properties() + + if cam_name in name: + if device_props and device_props.has_field("api.v4l2.path"): + device_path = device_props.get_string("api.v4l2.path") + self.camera_specs = ( + cast(CameraSpecs, ArducamSpecs) + if cam_name == "Arducam_12MP" + else cast(CameraSpecs, ReachyMiniCamSpecs) + ) + self.resized_K = self.camera_specs.K + self.logger.debug(f"Found {cam_name} camera at {device_path}") + monitor.stop() + return str(device_path) + monitor.stop() + self.logger.warning("No camera found.") + return "" diff --git a/reachy_mini/src/reachy_mini/media/camera_opencv.py b/reachy_mini/src/reachy_mini/media/camera_opencv.py new file mode 100644 index 0000000000000000000000000000000000000000..a5c8d620bfd7768ed2f7bacdc9141c832d25501b --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/camera_opencv.py @@ -0,0 +1,79 @@ +"""OpenCv camera backend. + +This module provides an implementation of the CameraBase class using OpenCV. +""" + +from typing import Optional, cast + +import cv2 +import numpy as np +import numpy.typing as npt + +from reachy_mini.media.camera_constants import ( + CameraResolution, + CameraSpecs, + MujocoCameraSpecs, +) +from reachy_mini.media.camera_utils import find_camera + +from .camera_base import CameraBase + + +class OpenCVCamera(CameraBase): + """Camera implementation using OpenCV.""" + + def __init__( + self, + log_level: str = "INFO", + ) -> None: + """Initialize the OpenCV camera.""" + super().__init__(log_level=log_level) + self.cap: Optional[cv2.VideoCapture] = None + + def set_resolution(self, resolution: CameraResolution) -> None: + """Set the camera resolution.""" + super().set_resolution(resolution) + + self._resolution = resolution + if self.cap is not None: + self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self._resolution.value[0]) + self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self._resolution.value[1]) + + def open(self, udp_camera: Optional[str] = None) -> None: + """Open the camera using OpenCV VideoCapture.""" + if udp_camera: + self.cap = cv2.VideoCapture(udp_camera) + self.camera_specs = cast(CameraSpecs, MujocoCameraSpecs) + self._resolution = self.camera_specs.default_resolution + else: + self.cap, self.camera_specs = find_camera() + if self.cap is None or self.camera_specs is None: + raise RuntimeError("Camera not found") + + self._resolution = self.camera_specs.default_resolution + if self._resolution is None: + raise RuntimeError("Failed to get default camera resolution.") + + self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self._resolution.value[0]) + self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self._resolution.value[1]) + + self.resized_K = self.camera_specs.K + + if not self.cap.isOpened(): + raise RuntimeError("Failed to open camera") + + def read(self) -> Optional[npt.NDArray[np.uint8]]: + """Read a frame from the camera. Returns the frame or None if error.""" + if self.cap is None: + raise RuntimeError("Camera is not opened.") + ret, frame = self.cap.read() + if not ret: + return None + + return np.asarray(frame, dtype=np.uint8, copy=False) + + def close(self) -> None: + """Release the camera resource.""" + if self.cap is not None: + self.cap.release() + self.cap = None diff --git a/reachy_mini/src/reachy_mini/media/camera_utils.py b/reachy_mini/src/reachy_mini/media/camera_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..cfd1fc1161900cbf641c8e2d247fbebb2a0d2add --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/camera_utils.py @@ -0,0 +1,111 @@ +"""Camera utility for Reachy Mini.""" + +import platform +from typing import Optional, Tuple, cast + +import cv2 +from cv2_enumerate_cameras import enumerate_cameras + +from reachy_mini.media.camera_constants import ( + ArducamSpecs, + CameraSpecs, + OlderRPiCamSpecs, + ReachyMiniCamSpecs, +) + + +def find_camera( + apiPreference: int = cv2.CAP_ANY, no_cap: bool = False +) -> Tuple[Optional[cv2.VideoCapture], Optional[CameraSpecs]]: + """Find and return the Reachy Mini camera. + + Looks for the Reachy Mini camera first, then Arducam, then older Raspberry Pi Camera. Returns None if no camera is found. + + Args: + apiPreference (int): Preferred API backend for the camera. Default is cv2.CAP_ANY. + no_cap (bool): If True, close the camera after finding it. Default is False. + + Returns: + cv2.VideoCapture | None: A VideoCapture object if the camera is found and opened successfully, otherwise None. + + """ + cap = find_camera_by_vid_pid( + ReachyMiniCamSpecs.vid, ReachyMiniCamSpecs.pid, apiPreference + ) + if cap is not None: + fourcc = cv2.VideoWriter_fourcc("M", "J", "P", "G") # type: ignore + cap.set(cv2.CAP_PROP_FOURCC, fourcc) + if no_cap: + cap.release() + return cap, cast(CameraSpecs, ReachyMiniCamSpecs) + + cap = find_camera_by_vid_pid( + OlderRPiCamSpecs.vid, OlderRPiCamSpecs.pid, apiPreference + ) + if cap is not None: + fourcc = cv2.VideoWriter_fourcc("M", "J", "P", "G") # type: ignore + cap.set(cv2.CAP_PROP_FOURCC, fourcc) + if no_cap: + cap.release() + return cap, cast(CameraSpecs, OlderRPiCamSpecs) + + cap = find_camera_by_vid_pid(ArducamSpecs.vid, ArducamSpecs.pid, apiPreference) + if cap is not None: + if no_cap: + cap.release() + return cap, cast(CameraSpecs, ArducamSpecs) + + return None, None + + +def find_camera_by_vid_pid( + vid: int = ReachyMiniCamSpecs.vid, + pid: int = ReachyMiniCamSpecs.pid, + apiPreference: int = cv2.CAP_ANY, +) -> cv2.VideoCapture | None: + """Find and return a camera with the specified VID and PID. + + Args: + vid (int): Vendor ID of the camera. Default is ReachyMiniCamera + pid (int): Product ID of the camera. Default is ReachyMiniCamera + apiPreference (int): Preferred API backend for the camera. Default is cv2.CAP_ANY. + + Returns: + cv2.VideoCapture | None: A VideoCapture object if the camera is found and opened successfully, otherwise None. + + """ + if platform.system() == "Linux": + apiPreference = cv2.CAP_V4L2 + + selected_cap = None + for c in enumerate_cameras(apiPreference): + if c.vid == vid and c.pid == pid: + # the Arducam camera creates two /dev/videoX devices + # that enumerate_cameras cannot differentiate + try: + cap = cv2.VideoCapture(c.index, c.backend) + if cap.isOpened(): + selected_cap = cap + except Exception as e: + print(f"Error opening camera {c.index}: {e}") + return selected_cap + + +if __name__ == "__main__": + from reachy_mini.media.camera_constants import ArduCamResolution + + cam, _ = find_camera() + if cam is None: + exit("Camera not found") + + cam.set(cv2.CAP_PROP_FRAME_WIDTH, ArduCamResolution.R1280x720.value[0]) + cam.set(cv2.CAP_PROP_FRAME_HEIGHT, ArduCamResolution.R1280x720.value[1]) + + while True: + ret, frame = cam.read() + if not ret: + print("Failed to grab frame") + break + cv2.imshow("Camera Feed", frame) + if cv2.waitKey(1) & 0xFF == ord("q"): + break diff --git a/reachy_mini/src/reachy_mini/media/media_manager.py b/reachy_mini/src/reachy_mini/media/media_manager.py new file mode 100644 index 0000000000000000000000000000000000000000..956edb3bc52419b1e273efc16ff8a399a63b5287 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/media_manager.py @@ -0,0 +1,235 @@ +"""Media Manager. + +Provides camera and audio access based on the selected backedn +""" + +import logging +from enum import Enum +from typing import Optional + +import numpy as np +import numpy.typing as npt + +from reachy_mini.media.audio_base import AudioBase +from reachy_mini.media.camera_base import CameraBase + +# actual backends are dynamically imported + + +class MediaBackend(Enum): + """Media backends.""" + + NO_MEDIA = "no_media" + DEFAULT = "default" + DEFAULT_NO_VIDEO = "default_no_video" + GSTREAMER = "gstreamer" + WEBRTC = "webrtc" + + +class MediaManager: + """Abstract class for opening and managing audio devices.""" + + def __init__( + self, + backend: MediaBackend = MediaBackend.DEFAULT, + log_level: str = "INFO", + use_sim: bool = False, + signalling_host: str = "localhost", + ) -> None: + """Initialize the audio device.""" + self.logger = logging.getLogger(__name__) + self.logger.setLevel(log_level) + self.backend = backend + self.camera: Optional[CameraBase] = None + self.audio: Optional[AudioBase] = None + + match backend: + case MediaBackend.NO_MEDIA: + self.logger.info("No media backend selected.") + case MediaBackend.DEFAULT: + self.logger.info("Using default media backend (OpenCV + SoundDevice).") + self._init_camera(use_sim, log_level) + self._init_audio(log_level) + case MediaBackend.DEFAULT_NO_VIDEO: + self.logger.info("Using default media backend (SoundDevice only).") + self._init_audio(log_level) + case MediaBackend.GSTREAMER: + self.logger.info("Using GStreamer media backend.") + self._init_camera(use_sim, log_level) + self._init_audio(log_level) + case MediaBackend.WEBRTC: + self.logger.info("Using WebRTC GStreamer backend.") + self._init_webrtc(log_level, signalling_host, 8443) + case _: + raise NotImplementedError(f"Media backend {backend} not implemented.") + + def close(self) -> None: + """Close the media manager and release resources.""" + if self.camera is not None: + self.camera.close() + if self.audio is not None: + self.audio.stop_recording() + self.audio.stop_playing() + + def __del__(self) -> None: + """Destructor to ensure resources are released.""" + self.close() + + def _init_camera( + self, + use_sim: bool, + log_level: str, + ) -> None: + """Initialize the camera.""" + self.logger.debug("Initializing camera...") + if self.backend == MediaBackend.DEFAULT: + self.logger.info("Using OpenCV camera backend.") + from reachy_mini.media.camera_opencv import OpenCVCamera + + self.camera = OpenCVCamera(log_level=log_level) + if use_sim: + self.camera.open(udp_camera="udp://@127.0.0.1:5005") + else: + self.camera.open() + elif self.backend == MediaBackend.GSTREAMER: + self.logger.info("Using GStreamer camera backend.") + from reachy_mini.media.camera_gstreamer import GStreamerCamera + + self.camera = GStreamerCamera(log_level=log_level) + self.camera.open() + # Todo: use simulation with gstreamer? + + else: + raise NotImplementedError(f"Camera backend {self.backend} not implemented.") + + def get_frame(self) -> Optional[npt.NDArray[np.uint8]]: + """Get a frame from the camera. + + Returns: + Optional[npt.NDArray[np.uint8]]: The captured BGR frame, or None if the camera is not available. + + """ + if self.camera is None: + self.logger.warning("Camera is not initialized.") + return None + return self.camera.read() + + def _init_audio(self, log_level: str) -> None: + """Initialize the audio system.""" + self.logger.debug("Initializing audio...") + if ( + self.backend == MediaBackend.DEFAULT + or self.backend == MediaBackend.DEFAULT_NO_VIDEO + ): + self.logger.info("Using SoundDevice audio backend.") + from reachy_mini.media.audio_sounddevice import SoundDeviceAudio + + self.audio = SoundDeviceAudio(log_level=log_level) + elif self.backend == MediaBackend.GSTREAMER: + self.logger.info("Using GStreamer audio backend.") + from reachy_mini.media.audio_gstreamer import GStreamerAudio + + self.audio = GStreamerAudio(log_level=log_level) + else: + raise NotImplementedError(f"Audio backend {self.backend} not implemented.") + + def _init_webrtc( + self, log_level: str, signalling_host: str, signalling_port: int + ) -> None: + """Initialize the WebRTC system (not implemented yet).""" + from gst_signalling.utils import find_producer_peer_id_by_name + + from reachy_mini.media.webrtc_client_gstreamer import GstWebRTCClient + + peer_id = find_producer_peer_id_by_name( + signalling_host, signalling_port, "reachymini" + ) + + webrtc_media: GstWebRTCClient = GstWebRTCClient( + log_level=log_level, + peer_id=peer_id, + signaling_host=signalling_host, + signaling_port=signalling_port, + ) + + self.camera = webrtc_media + self.audio = webrtc_media # GstWebRTCClient handles both audio and video + self.camera.open() + + def play_sound(self, sound_file: str) -> None: + """Play a sound file. + + Args: + sound_file (str): Path to the sound file to play. + + """ + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return + self.audio.play_sound(sound_file) + + def start_recording(self) -> None: + """Start recording audio.""" + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return + self.audio.start_recording() + + def get_audio_sample(self) -> Optional[bytes | npt.NDArray[np.float32]]: + """Get an audio sample from the audio device. + + Returns: + Optional[np.ndarray]: The recorded audio sample, or None if no data is available. + + """ + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return None + return self.audio.get_audio_sample() + + def get_input_audio_samplerate(self) -> int: + """Get the input samplerate of the audio device.""" + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return -1 + return self.audio.get_input_audio_samplerate() + + def get_output_audio_samplerate(self) -> int: + """Get the output samplerate of the audio device.""" + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return -1 + return self.audio.get_output_audio_samplerate() + + def stop_recording(self) -> None: + """Stop recording audio.""" + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return + self.audio.stop_recording() + + def start_playing(self) -> None: + """Start playing audio.""" + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return + self.audio.start_playing() + + def push_audio_sample(self, data: npt.NDArray[np.float32]) -> None: + """Push audio data to the output device. + + Args: + data (npt.NDArray[np.float32]): The audio data to push to the output device (mono format). + + """ + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return + self.audio.push_audio_sample(data) + + def stop_playing(self) -> None: + """Stop playing audio.""" + if self.audio is None: + self.logger.warning("Audio system is not initialized.") + return + self.audio.stop_playing() diff --git a/reachy_mini/src/reachy_mini/media/webrtc_client_gstreamer.py b/reachy_mini/src/reachy_mini/media/webrtc_client_gstreamer.py new file mode 100644 index 0000000000000000000000000000000000000000..e67c5f05c1344f2d2a2b633ba3c28a2d7a098f24 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/webrtc_client_gstreamer.py @@ -0,0 +1,289 @@ +"""GStreamer WebRTC client implementation. + +The class is a client for the webrtc server hosted on the Reachy Mini Wireless robot. +""" + +from threading import Thread +from typing import Optional, cast + +import gi +import numpy as np +import numpy.typing as npt + +from reachy_mini.media.audio_base import AudioBase +from reachy_mini.media.camera_base import CameraBase +from reachy_mini.media.camera_constants import ( + CameraResolution, + CameraSpecs, + ReachyMiniCamSpecs, + RPICameraResolution, +) + +gi.require_version("Gst", "1.0") +gi.require_version("GstApp", "1.0") +from gi.repository import GLib, Gst, GstApp # noqa: E402, F401 + + +class GstWebRTCClient(CameraBase, AudioBase): + """GStreamer WebRTC client implementation.""" + + def __init__( + self, + log_level: str = "INFO", + peer_id: str = "", + signaling_host: str = "", + signaling_port: int = 8443, + ): + """Initialize the GStreamer WebRTC client.""" + super().__init__(log_level=log_level) + Gst.init(None) + self._loop = GLib.MainLoop() + self._thread_bus_calls = Thread(target=lambda: self._loop.run(), daemon=True) + self._thread_bus_calls.start() + + self._pipeline_record = Gst.Pipeline.new("audio_recorder") + self._bus_record = self._pipeline_record.get_bus() + self._bus_record.add_watch( + GLib.PRIORITY_DEFAULT, self._on_bus_message, self._loop + ) + + self._appsink_audio = Gst.ElementFactory.make("appsink") + caps = Gst.Caps.from_string( + f"audio/x-raw,rate={self.SAMPLE_RATE},format=F32LE,layout=interleaved" + ) + self._appsink_audio.set_property("caps", caps) + self._appsink_audio.set_property("drop", True) # avoid overflow + self._appsink_audio.set_property("max-buffers", 500) + self._pipeline_record.add(self._appsink_audio) + + self.camera_specs = cast(CameraSpecs, ReachyMiniCamSpecs) + self.set_resolution(RPICameraResolution.R1280x720) + + self._appsink_video = Gst.ElementFactory.make("appsink") + caps_video = Gst.Caps.from_string("video/x-raw,format=BGR") + self._appsink_video.set_property("caps", caps_video) + self._appsink_video.set_property("drop", True) # avoid overflow + self._appsink_video.set_property("max-buffers", 1) # keep last image only + self._pipeline_record.add(self._appsink_video) + + webrtcsrc = self._configure_webrtcsrc(signaling_host, signaling_port, peer_id) + self._pipeline_record.add(webrtcsrc) + + self._pipeline_playback = Gst.Pipeline.new("audio_player") + self._init_pipeline_playback( + self._pipeline_playback, signaling_host, signaling_port + ) + self._bus_playback = self._pipeline_playback.get_bus() + self._bus_playback.add_watch( + GLib.PRIORITY_DEFAULT, self._on_bus_message, self._loop + ) + + def __del__(self) -> None: + """Destructor to ensure gstreamer resources are released.""" + super().__del__() + self._loop.quit() + self._bus_record.remove_watch() + self._bus_playback.remove_watch() + + def set_resolution(self, resolution: CameraResolution) -> None: + """Set the camera resolution.""" + super().set_resolution(resolution) + self._resolution = resolution + + def _configure_webrtcsrc( + self, signaling_host: str, signaling_port: int, peer_id: str + ) -> Gst.Element: + source = Gst.ElementFactory.make("webrtcsrc") + if not source: + raise RuntimeError( + "Failed to create webrtcsrc element. Is the GStreamer webrtc rust plugin installed?" + ) + + source.connect("pad-added", self._webrtcsrc_pad_added_cb) + signaller = source.get_property("signaller") + signaller.set_property("producer-peer-id", peer_id) + signaller.set_property("uri", f"ws://{signaling_host}:{signaling_port}") + return source + + def _configure_webrtcbin(self, webrtcsrc: Gst.Element) -> None: + if isinstance(webrtcsrc, Gst.Bin): + webrtcbin_name = "webrtcbin0" + webrtcbin = webrtcsrc.get_by_name(webrtcbin_name) + assert webrtcbin is not None + # jitterbuffer has a default 200 ms buffer. Should be ok to lower this in localnetwork config + webrtcbin.set_property("latency", 100) + + def _webrtcsrc_pad_added_cb(self, webrtcsrc: Gst.Element, pad: Gst.Pad) -> None: + self._configure_webrtcbin(webrtcsrc) + if pad.get_name().startswith("video"): + queue = Gst.ElementFactory.make("queue") + + videoconvert = Gst.ElementFactory.make("videoconvert") + videoscale = Gst.ElementFactory.make("videoscale") + videorate = Gst.ElementFactory.make("videorate") + + self._pipeline_record.add(queue) + self._pipeline_record.add(videoconvert) + self._pipeline_record.add(videoscale) + self._pipeline_record.add(videorate) + pad.link(queue.get_static_pad("sink")) + + queue.link(videoconvert) + videoconvert.link(videoscale) + videoscale.link(videorate) + videorate.link(self._appsink_video) + + queue.sync_state_with_parent() + videoconvert.sync_state_with_parent() + videoscale.sync_state_with_parent() + videorate.sync_state_with_parent() + self._appsink_video.sync_state_with_parent() + + elif pad.get_name().startswith("audio"): + audioconvert = Gst.ElementFactory.make("audioconvert") + audioresample = Gst.ElementFactory.make("audioresample") + self._pipeline_record.add(audioconvert) + self._pipeline_record.add(audioresample) + + pad.link(audioconvert.get_static_pad("sink")) + audioconvert.link(audioresample) + audioresample.link(self._appsink_audio) + + self._appsink_audio.sync_state_with_parent() + audioconvert.sync_state_with_parent() + audioresample.sync_state_with_parent() + + def _on_bus_message(self, bus: Gst.Bus, msg: Gst.Message, loop) -> bool: # type: ignore[no-untyped-def] + t = msg.type + if t == Gst.MessageType.EOS: + self.logger.warning("End-of-stream") + return False + + elif t == Gst.MessageType.ERROR: + err, debug = msg.parse_error() + self.logger.error(f"Error: {err} {debug}") + return False + + return True + + def open(self) -> None: + """Open the video stream.""" + self._pipeline_record.set_state(Gst.State.PLAYING) + + def _get_sample(self, appsink: GstApp.AppSink) -> Optional[bytes]: + sample = appsink.try_pull_sample(20_000_000) + if sample is None: + return None + data = None + if isinstance(sample, Gst.Sample): + buf = sample.get_buffer() + if buf is None: + self.logger.warning("Buffer is None") + + data = buf.extract_dup(0, buf.get_size()) + return data + + def get_audio_sample(self) -> Optional[npt.NDArray[np.float32]]: + """Read a sample from the audio card. Returns the sample or None if error. + + Returns: + Optional[npt.NDArray[np.float32]]: The captured sample in raw format, or None if error. + + """ + sample = self._get_sample(self._appsink_audio) + if sample is None: + return None + return np.frombuffer(sample, dtype=np.float32).reshape(-1, 2) + + def read(self) -> Optional[npt.NDArray[np.uint8]]: + """Read a frame from the camera. Returns the frame or None if error. + + Returns: + Optional[npt.NDArray[np.uint8]]: The captured frame in BGR format, or None if error. + + """ + data = self._get_sample(self._appsink_video) + if data is None: + return None + + arr = np.frombuffer(data, dtype=np.uint8).reshape( + (self.resolution[1], self.resolution[0], 3) + ) + return arr + + def close(self) -> None: + """Stop the pipeline.""" + # self._loop.quit() + self._pipeline_record.set_state(Gst.State.NULL) + + def start_recording(self) -> None: + """Open the audio card using GStreamer.""" + pass # already started in open() + + def stop_recording(self) -> None: + """Release the camera resource.""" + pass # managed in close() + + def _init_pipeline_playback( + self, pipeline: Gst.Pipeline, signaling_host: str, signaling_port: int + ) -> None: + """Initialize the audio playback pipeline.""" + self._appsrc = Gst.ElementFactory.make("appsrc") + self._appsrc.set_property("format", Gst.Format.TIME) + self._appsrc.set_property("is-live", True) + caps = Gst.Caps.from_string( + f"audio/x-raw,format=F32LE,channels=1,rate={self.SAMPLE_RATE},layout=interleaved" + ) + self._appsrc.set_property("caps", caps) + audioconvert = Gst.ElementFactory.make("audioconvert") + audioresample = Gst.ElementFactory.make("audioresample") + opusenc = Gst.ElementFactory.make("opusenc") + queue = Gst.ElementFactory.make("queue") + rtpopuspay = Gst.ElementFactory.make("rtpopuspay") + udpsink = Gst.ElementFactory.make("udpsink") + + udpsink.set_property("host", signaling_host) + udpsink.set_property("port", 5000) + + pipeline.add(self._appsrc) + pipeline.add(audioconvert) + pipeline.add(audioresample) + pipeline.add(opusenc) + pipeline.add(queue) + pipeline.add(rtpopuspay) + pipeline.add(udpsink) + + self._appsrc.link(audioconvert) + audioconvert.link(audioresample) + audioresample.link(opusenc) + opusenc.link(queue) + queue.link(rtpopuspay) + rtpopuspay.link(udpsink) + + def start_playing(self) -> None: + """Open the audio output using GStreamer.""" + self._pipeline_playback.set_state(Gst.State.PLAYING) + + def stop_playing(self) -> None: + """Stop playing audio and release resources.""" + self._pipeline_playback.set_state(Gst.State.NULL) + + def push_audio_sample(self, data: npt.NDArray[np.float32]) -> None: + """Push audio data to the output device.""" + if self._appsrc is not None: + buf = Gst.Buffer.new_wrapped(data.tobytes()) + self._appsrc.push_buffer(buf) + + else: + self.logger.warning( + "AppSrc is not initialized. Call start_playing() first." + ) + + def play_sound(self, sound_file: str) -> None: + """Play a sound file. + + Args: + sound_file (str): Path to the sound file to play. + + """ + self.logger.warning("Audio playback not implemented in WebRTC client.") diff --git a/reachy_mini/src/reachy_mini/media/webrtc_daemon.py b/reachy_mini/src/reachy_mini/media/webrtc_daemon.py new file mode 100644 index 0000000000000000000000000000000000000000..f718a9bd494f21348e88a61a043525e9a1589bc4 --- /dev/null +++ b/reachy_mini/src/reachy_mini/media/webrtc_daemon.py @@ -0,0 +1,266 @@ +"""WebRTC daemon. + +Starts a gstreamer webrtc pipeline to stream video and audio. +""" + +import logging +from threading import Thread + +import gi + +from reachy_mini.media.audio_utils import get_respeaker_card_number +from reachy_mini.media.camera_constants import RPICameraResolution + +gi.require_version("Gst", "1.0") +gi.require_version("GstApp", "1.0") + +from gi.repository import GLib, Gst # noqa: E402 + + +class GstWebRTC: + """WebRTC pipeline using GStreamer.""" + + def __init__( + self, + log_level: str = "INFO", + resolution: RPICameraResolution = RPICameraResolution.R1280x720, + ) -> None: + """Initialize the GStreamer WebRTC pipeline.""" + self._logger = logging.getLogger(__name__) + self._logger.setLevel(log_level) + Gst.init(None) + self._loop = GLib.MainLoop() + self._thread_bus_calls = Thread(target=lambda: self._loop.run(), daemon=True) + self._thread_bus_calls.start() + self._resolution = resolution + + self._id_audio_card = get_respeaker_card_number() + + self._pipeline_sender = Gst.Pipeline.new("reachymini_webrtc_sender") + self._bus_sender = self._pipeline_sender.get_bus() + self._bus_sender.add_watch( + GLib.PRIORITY_DEFAULT, self._on_bus_message, self._loop + ) + + webrtcsink = self._configure_webrtc(self._pipeline_sender) + + self._configure_video(self._pipeline_sender, webrtcsink) + self._configure_audio(self._pipeline_sender, webrtcsink) + + self._pipeline_receiver = Gst.Pipeline.new("reachymini_webrtc_receiver") + self._bus_receiver = self._pipeline_receiver.get_bus() + self._bus_receiver.add_watch( + GLib.PRIORITY_DEFAULT, self._on_bus_message, self._loop + ) + self._configure_receiver(self._pipeline_receiver) + + def __del__(self) -> None: + """Destructor to ensure gstreamer resources are released.""" + self._loop.quit() + self._bus_sender.remove_watch() + self._bus_receiver.remove_watch() + + def _configure_webrtc(self, pipeline: Gst.Pipeline) -> Gst.Element: + self._logger.debug("Configuring WebRTC") + webrtcsink = Gst.ElementFactory.make("webrtcsink") + if not webrtcsink: + raise RuntimeError( + "Failed to create webrtcsink element. Is the GStreamer webrtc rust plugin installed?" + ) + + meta_structure = Gst.Structure.new_empty("meta") + meta_structure.set_value("name", "reachymini") + webrtcsink.set_property("meta", meta_structure) + webrtcsink.set_property("run-signalling-server", True) + + pipeline.add(webrtcsink) + + return webrtcsink + + def _configure_receiver(self, pipeline: Gst.Pipeline) -> None: + udpsrc = Gst.ElementFactory.make("udpsrc") + udpsrc.set_property("port", 5000) + caps = Gst.Caps.from_string( + "application/x-rtp,media=audio,encoding-name=OPUS,payload=96" + ) + capsfilter = Gst.ElementFactory.make("capsfilter") + capsfilter.set_property("caps", caps) + rtpjitterbuffer = Gst.ElementFactory.make("rtpjitterbuffer") + rtpjitterbuffer.set_property( + "latency", 200 + ) # configure latency depending on network conditions + rtpopusdepay = Gst.ElementFactory.make("rtpopusdepay") + opusdec = Gst.ElementFactory.make("opusdec") + queue = Gst.ElementFactory.make("queue") + audioconvert = Gst.ElementFactory.make("audioconvert") + audioresample = Gst.ElementFactory.make("audioresample") + alsasink = Gst.ElementFactory.make("alsasink") + alsasink.set_property("device", f"hw:{self._id_audio_card},0") + alsasink.set_property("sync", False) + + pipeline.add(udpsrc) + pipeline.add(capsfilter) + pipeline.add(rtpjitterbuffer) + pipeline.add(rtpopusdepay) + pipeline.add(opusdec) + pipeline.add(queue) + pipeline.add(audioconvert) + pipeline.add(audioresample) + pipeline.add(alsasink) + + udpsrc.link(capsfilter) + capsfilter.link(rtpjitterbuffer) + rtpjitterbuffer.link(rtpopusdepay) + rtpopusdepay.link(opusdec) + opusdec.link(queue) + queue.link(audioconvert) + audioconvert.link(audioresample) + audioresample.link(alsasink) + + @property + def resolution(self) -> tuple[int, int]: + """Get the current camera resolution as a tuple (width, height).""" + return (self._resolution.value[0], self._resolution.value[1]) + + @property + def framerate(self) -> int: + """Get the current camera framerate.""" + return self._resolution.value[2] + + def _configure_video(self, pipeline: Gst.Pipeline, webrtcsink: Gst.Element) -> None: + self._logger.debug("Configuring video") + libcamerasrc = Gst.ElementFactory.make("libcamerasrc") + + caps = Gst.Caps.from_string( + f"video/x-raw,width={self.resolution[0]},height={self.resolution[1]},framerate={self.framerate}/1,format=YUY2,colorimetry=bt709,interlace-mode=progressive" + ) + capsfilter = Gst.ElementFactory.make("capsfilter") + capsfilter.set_property("caps", caps) + queue = Gst.ElementFactory.make("queue") + v4l2h264enc = Gst.ElementFactory.make("v4l2h264enc") + extra_controls_structure = Gst.Structure.new_empty("extra-controls") + extra_controls_structure.set_value("repeat_sequence_header", 1) + extra_controls_structure.set_value("video_bitrate", 5_000_000) + v4l2h264enc.set_property("extra-controls", extra_controls_structure) + caps_h264 = Gst.Caps.from_string( + "video/x-h264,stream-format=byte-stream,alignment=au,level=(string)4" + ) + capsfilter_h264 = Gst.ElementFactory.make("capsfilter") + capsfilter_h264.set_property("caps", caps_h264) + + if not all( + [ + libcamerasrc, + capsfilter, + queue, + v4l2h264enc, + capsfilter_h264, + ] + ): + raise RuntimeError("Failed to create GStreamer video elements") + + pipeline.add(libcamerasrc) + pipeline.add(capsfilter) + pipeline.add(queue) + pipeline.add(v4l2h264enc) + pipeline.add(capsfilter_h264) + + libcamerasrc.link(capsfilter) + capsfilter.link(queue) + queue.link(v4l2h264enc) + v4l2h264enc.link(capsfilter_h264) + capsfilter_h264.link(webrtcsink) + + def _configure_audio(self, pipeline: Gst.Pipeline, webrtcsink: Gst.Element) -> None: + self._logger.debug("Configuring audio") + alsasrc = Gst.ElementFactory.make("alsasrc") + alsasrc.set_property("device", f"hw:{self._id_audio_card},0") + queue = Gst.ElementFactory.make("queue") + audioconvert = Gst.ElementFactory.make("audioconvert") + audioresample = Gst.ElementFactory.make("audioresample") + opusenc = Gst.ElementFactory.make("opusenc") + opusenc.set_property("audio-type", "restricted-lowdelay") + caps = Gst.Caps.from_string("audio/x-opus,channels=1,rate=48000") + capsfilter = Gst.ElementFactory.make("capsfilter") + capsfilter.set_property("caps", caps) + + if not all( + [ + alsasrc, + queue, + audioconvert, + audioresample, + opusenc, + capsfilter, + ] + ): + raise RuntimeError("Failed to create GStreamer audio elements") + + pipeline.add(alsasrc) + pipeline.add(queue) + pipeline.add(audioconvert) + pipeline.add(audioresample) + pipeline.add(opusenc) + pipeline.add(capsfilter) + + alsasrc.link(queue) + queue.link(audioconvert) + audioconvert.link(audioresample) + audioresample.link(opusenc) + opusenc.link(capsfilter) + capsfilter.link(webrtcsink) + + def _on_bus_message(self, bus: Gst.Bus, msg: Gst.Message, loop) -> bool: # type: ignore[no-untyped-def] + t = msg.type + if t == Gst.MessageType.EOS: + self._logger.warning("End-of-stream") + return False + + elif t == Gst.MessageType.ERROR: + err, debug = msg.parse_error() + self._logger.error(f"Error: {err} {debug}") + return False + + else: + # self._logger.warning(f"Unhandled message type: {t}") + pass + + return True + + def start(self) -> None: + """Start the WebRTC pipeline.""" + self._logger.debug("Starting WebRTC") + self._pipeline_sender.set_state(Gst.State.PLAYING) + self._pipeline_receiver.set_state(Gst.State.PLAYING) + + def pause(self) -> None: + """Pause the WebRTC pipeline.""" + self._logger.debug("Pausing WebRTC") + self._pipeline_sender.set_state(Gst.State.PAUSED) + self._pipeline_receiver.set_state(Gst.State.PAUSED) + + def stop(self) -> None: + """Stop the WebRTC pipeline.""" + self._logger.debug("Stopping WebRTC") + + self._pipeline_sender.set_state(Gst.State.NULL) + self._pipeline_receiver.set_state(Gst.State.NULL) + + +if __name__ == "__main__": + import time + + logging.basicConfig( + level=logging.DEBUG, + format="%(asctime)s - %(name)s - %(levelname)s - %(message)s", + ) + + webrtc = GstWebRTC(log_level="DEBUG") + webrtc.start() + try: + while True: + time.sleep(1) + except KeyboardInterrupt: + logging.info("User interrupted") + finally: + webrtc.stop() diff --git a/reachy_mini/src/reachy_mini/motion/__init__.py b/reachy_mini/src/reachy_mini/motion/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..79c18705f8b1f39b91c5e70d8a3e4996c42298c4 --- /dev/null +++ b/reachy_mini/src/reachy_mini/motion/__init__.py @@ -0,0 +1,4 @@ +"""Motion module for Reachy Mini. + +This module contains both utilities to create and play moves, as well as utilities to download datasets of recorded moves. +""" diff --git a/reachy_mini/src/reachy_mini/motion/goto.py b/reachy_mini/src/reachy_mini/motion/goto.py new file mode 100644 index 0000000000000000000000000000000000000000..ddb9e5cb721f940f5d40ef27fc430d3728f7499a --- /dev/null +++ b/reachy_mini/src/reachy_mini/motion/goto.py @@ -0,0 +1,71 @@ +"""A goto move to a target head pose and/or antennas position.""" + +import numpy as np +import numpy.typing as npt + +from reachy_mini.utils.interpolation import ( + InterpolationTechnique, + linear_pose_interpolation, + time_trajectory, +) + +from .move import Move + + +class GotoMove(Move): + """A goto move to a target head pose and/or antennas position.""" + + def __init__( + self, + start_head_pose: npt.NDArray[np.float64], + target_head_pose: npt.NDArray[np.float64] | None, + start_antennas: npt.NDArray[np.float64], + target_antennas: npt.NDArray[np.float64] | None, + start_body_yaw: float, + target_body_yaw: float | None, + duration: float, + method: InterpolationTechnique, + ): + """Set up the goto move.""" + self.start_head_pose = start_head_pose + self.target_head_pose = ( + target_head_pose if target_head_pose is not None else start_head_pose + ) + self.start_antennas = start_antennas + self.target_antennas = ( + target_antennas if target_antennas is not None else start_antennas + ) + self.start_body_yaw = start_body_yaw + self.target_body_yaw = ( + target_body_yaw if target_body_yaw is not None else start_body_yaw + ) + + self._duration = duration + self.method = method + + @property + def duration(self) -> float: + """Duration of the goto in seconds.""" + return self._duration + + def evaluate( + self, t: float + ) -> tuple[ + npt.NDArray[np.float64] | None, npt.NDArray[np.float64] | None, float | None + ]: + """Evaluate the goto at time t.""" + interp_time = time_trajectory(t / self.duration, method=self.method) + + interp_head_pose = linear_pose_interpolation( + self.start_head_pose, self.target_head_pose, interp_time + ) + interp_antennas_joint = ( + self.start_antennas + + (self.target_antennas - self.start_antennas) * interp_time + ) + interp_body_yaw_joint = ( + self.start_body_yaw + + (self.target_body_yaw - self.start_body_yaw) * interp_time + ) + + return interp_head_pose, interp_antennas_joint, interp_body_yaw_joint diff --git a/reachy_mini/src/reachy_mini/motion/move.py b/reachy_mini/src/reachy_mini/motion/move.py new file mode 100644 index 0000000000000000000000000000000000000000..f6481384afcd19b100a66d4173c358eb9046be33 --- /dev/null +++ b/reachy_mini/src/reachy_mini/motion/move.py @@ -0,0 +1,36 @@ +"""Module for defining motion moves on the ReachyMini robot.""" + +from abc import ABC, abstractmethod + +import numpy as np +import numpy.typing as npt + + +class Move(ABC): + """Abstract base class for defining a move on the ReachyMini robot.""" + + @property + @abstractmethod + def duration(self) -> float: + """Duration of the move in seconds.""" + pass + + @abstractmethod + def evaluate( + self, + t: float, + ) -> tuple[ + npt.NDArray[np.float64] | None, npt.NDArray[np.float64] | None, float | None + ]: + """Evaluate the move at time t, typically called at a high-frequency (eg. 100Hz). + + Arguments: + t: The time at which to evaluate the move (in seconds). It will always be between 0 and duration. + + Returns: + head: The head position (4x4 homogeneous matrix). + antennas: The antennas positions (rad). + body_yaw: The body yaw angle (rad). + + """ + pass diff --git a/reachy_mini/src/reachy_mini/motion/recorded_move.py b/reachy_mini/src/reachy_mini/motion/recorded_move.py new file mode 100644 index 0000000000000000000000000000000000000000..483040477141a1fc79580eac3a57e9fd86fcb151 --- /dev/null +++ b/reachy_mini/src/reachy_mini/motion/recorded_move.py @@ -0,0 +1,132 @@ +import bisect # noqa: D100 +import json +from glob import glob +from pathlib import Path +from typing import Any, Dict, List + +import numpy as np +import numpy.typing as npt +from huggingface_hub import snapshot_download + +from reachy_mini.motion.move import Move +from reachy_mini.utils.interpolation import linear_pose_interpolation + + +def lerp(v0: float, v1: float, alpha: float) -> float: + """Linear interpolation between two values.""" + return v0 + alpha * (v1 - v0) + + +class RecordedMove(Move): + """Represent a recorded move.""" + + def __init__(self, move: Dict[str, Any]) -> None: + """Initialize RecordedMove.""" + self.move = move + + self.description: str = self.move["description"] + self.timestamps: List[float] = self.move["time"] + self.trajectory: List[Dict[str, List[List[float]] | List[float] | float]] = ( + self.move["set_target_data"] + ) + + self.dt: float = (self.timestamps[-1] - self.timestamps[0]) / len( + self.timestamps + ) + + @property + def duration(self) -> float: + """Get the duration of the recorded move.""" + return len(self.trajectory) * self.dt + + def evaluate( + self, t: float + ) -> tuple[npt.NDArray[np.float64], npt.NDArray[np.float64], float]: + """Evaluate the move at time t. + + Returns: + head: The head position (4x4 homogeneous matrix). + antennas: The antennas positions (rad). + body_yaw: The body yaw angle (rad). + + """ + # Under is Remi's emotions code, adapted + if t >= self.timestamps[-1]: + raise Exception("Tried to evaluate recorded move beyond its duration.") + + # Locate the right interval in the recorded time array. + # 'index' is the insertion point which gives us the next timestamp. + index = bisect.bisect_right(self.timestamps, t) + # print(f"index: {index}, expected index: {t / self.dt:.0f}") + idx_prev = index - 1 if index > 0 else 0 + idx_next = index if index < len(self.timestamps) else idx_prev + + t_prev = self.timestamps[idx_prev] + t_next = self.timestamps[idx_next] + + # Avoid division by zero (if by any chance two timestamps are identical). + if t_next == t_prev: + alpha = 0.0 + else: + alpha = (t - t_prev) / (t_next - t_prev) + + head_prev = np.array(self.trajectory[idx_prev]["head"], dtype=np.float64) + head_next = np.array(self.trajectory[idx_next]["head"], dtype=np.float64) + antennas_prev: List[float] = self.trajectory[idx_prev]["antennas"] # type: ignore[assignment] + antennas_next: List[float] = self.trajectory[idx_next]["antennas"] # type: ignore[assignment] + body_yaw_prev: float = self.trajectory[idx_prev].get("body_yaw", 0.0) # type: ignore[assignment] + body_yaw_next: float = self.trajectory[idx_next].get("body_yaw", 0.0) # type: ignore[assignment] + # check_collision = self.trajectory[idx_prev].get("check_collision", False) + + # Interpolate to infer a better position at the current time. + # Joint interpolations are easy: + + antennas_joints = np.array( + [ + lerp(pos_prev, pos_next, alpha) + for pos_prev, pos_next in zip(antennas_prev, antennas_next) + ], + dtype=np.float64, + ) + + body_yaw = lerp(body_yaw_prev, body_yaw_next, alpha) + + # Head position interpolation is more complex: + head_pose = linear_pose_interpolation(head_prev, head_next, alpha) + + return head_pose, antennas_joints, body_yaw + + +class RecordedMoves: + """Load a library of recorded moves from a HuggingFace dataset.""" + + def __init__(self, hf_dataset_name: str): + """Initialize RecordedMoves.""" + self.hf_dataset_name = hf_dataset_name + self.local_path = snapshot_download(self.hf_dataset_name, repo_type="dataset") + self.moves: Dict[str, Any] = {} + + self.process() + + def process(self) -> None: + """Populate recorded moves and sounds.""" + move_paths_tmp = glob(f"{self.local_path}/*.json") + move_paths = [Path(move_path) for move_path in move_paths_tmp] + for move_path in move_paths: + move_name = move_path.stem + + move = json.load(open(move_path, "r")) + self.moves[move_name] = move + + def get(self, move_name: str) -> RecordedMove: + """Get a recorded move by name.""" + if move_name not in self.moves: + raise ValueError( + f"Move {move_name} not found in recorded moves library {self.hf_dataset_name}" + ) + + return RecordedMove(self.moves[move_name]) + + def list_moves(self) -> List[str]: + """List all moves in the loaded library.""" + return list(self.moves.keys()) diff --git a/reachy_mini/src/reachy_mini/reachy_mini.py b/reachy_mini/src/reachy_mini/reachy_mini.py new file mode 100644 index 0000000000000000000000000000000000000000..90293e57f7f177d9b20af53b89db5c1b6dfd4c10 --- /dev/null +++ b/reachy_mini/src/reachy_mini/reachy_mini.py @@ -0,0 +1,739 @@ +"""Reachy Mini class for controlling a simulated or real Reachy Mini robot. + +This class provides methods to control the head and antennas of the Reachy Mini robot, +set their target positions, and perform various behaviors such as waking up and going to sleep. + +It also includes methods for multimedia interactions like playing sounds and looking at specific points in the image frame or world coordinates. +""" + +import asyncio +import json +import logging +import time +from typing import Dict, List, Optional, Union + +import cv2 +import numpy as np +import numpy.typing as npt +from asgiref.sync import async_to_sync +from scipy.spatial.transform import Rotation as R + +from reachy_mini.daemon.utils import daemon_check +from reachy_mini.io.protocol import GotoTaskRequest +from reachy_mini.io.zenoh_client import ZenohClient +from reachy_mini.media.media_manager import MediaBackend, MediaManager +from reachy_mini.motion.move import Move +from reachy_mini.utils.interpolation import InterpolationTechnique, minimum_jerk + +# Behavior definitions +INIT_HEAD_POSE = np.eye(4) + +SLEEP_HEAD_JOINT_POSITIONS = [ + 0, + -0.9848156658225817, + 1.2624661884298831, + -0.24390294527381684, + 0.20555342557667577, + -1.2363885150358267, + 1.0032234352772091, +] + + +SLEEP_ANTENNAS_JOINT_POSITIONS = [-3.05, 3.05] +SLEEP_HEAD_POSE = np.array( + [ + [0.911, 0.004, 0.413, -0.021], + [-0.004, 1.0, -0.001, 0.001], + [-0.413, -0.001, 0.911, -0.044], + [0.0, 0.0, 0.0, 1.0], + ] +) + + +class ReachyMini: + """Reachy Mini class for controlling a simulated or real Reachy Mini robot. + + Args: + localhost_only (bool): If True, will only connect to localhost daemons, defaults to True. + spawn_daemon (bool): If True, will spawn a daemon to control the robot, defaults to False. + use_sim (bool): If True and spawn_daemon is True, will spawn a simulated robot, defaults to True. + + """ + + def __init__( + self, + localhost_only: bool = True, + spawn_daemon: bool = False, + use_sim: bool = False, + timeout: float = 5.0, + automatic_body_yaw: bool = True, + log_level: str = "INFO", + media_backend: str = "default", + ) -> None: + """Initialize the Reachy Mini robot. + + Args: + localhost_only (bool): If True, will only connect to localhost daemons, defaults to True. + spawn_daemon (bool): If True, will spawn a daemon to control the robot, defaults to False. + use_sim (bool): If True and spawn_daemon is True, will spawn a simulated robot, defaults to True. + timeout (float): Timeout for the client connection, defaults to 5.0 seconds. + automatic_body_yaw (bool): If True, the body yaw will be used to compute the IK and FK. Default is False. + log_level (str): Logging level, defaults to "INFO". + media_backend (str): Media backend to use, either "default" (OpenCV) or "gstreamer", defaults to "default". + + It will try to connect to the daemon, and if it fails, it will raise an exception. + + """ + self.logger = logging.getLogger(__name__) + self.logger.setLevel(log_level) + daemon_check(spawn_daemon, use_sim) + self.client = ZenohClient(localhost_only) + self.client.wait_for_connection(timeout=timeout) + self.set_automatic_body_yaw(automatic_body_yaw) + self._last_head_pose: Optional[npt.NDArray[np.float64]] = None + self.is_recording = False + + self.T_head_cam = np.eye(4) + self.T_head_cam[:3, 3][:] = [0.0437, 0, 0.0512] + self.T_head_cam[:3, :3] = np.array( + [ + [0, 0, 1], + [-1, 0, 0], + [0, -1, 0], + ] + ) + + self.media_manager = self._configure_mediamanager(media_backend, log_level) + + def __del__(self) -> None: + """Destroy the Reachy Mini instance. + + The client is disconnected explicitly to avoid a thread pending issue. + + """ + self.client.disconnect() + + def __enter__(self) -> "ReachyMini": + """Context manager entry point for Reachy Mini.""" + return self + + def __exit__(self, exc_type, exc_value, traceback) -> None: # type: ignore [no-untyped-def] + """Context manager exit point for Reachy Mini.""" + self.media_manager.close() + self.client.disconnect() + + @property + def media(self) -> MediaManager: + """Expose the MediaManager instance used by ReachyMini.""" + return self.media_manager + + def _configure_mediamanager( + self, media_backend: str, log_level: str + ) -> MediaManager: + if ( + self.client.get_status()["wireless_version"] + and media_backend != "gstreamer" + ): + self.logger.warning( + "Wireless version detected, media backend should be set to 'gstreamer'. Reverting to no_media" + ) + media_backend = "no_media" + + mbackend = MediaBackend.DEFAULT + match media_backend.lower(): + case "gstreamer": + if self.client.get_status()["wireless_version"]: + mbackend = MediaBackend.WEBRTC + else: + mbackend = MediaBackend.GSTREAMER + case "default": + mbackend = MediaBackend.DEFAULT + case "no_media": + mbackend = MediaBackend.NO_MEDIA + case "default_no_video": + mbackend = MediaBackend.DEFAULT_NO_VIDEO + case _: + raise ValueError( + f"Invalid media_backend '{media_backend}'. Supported values are 'default', 'gstreamer', 'no_media', 'default_no_video', and 'webrtc'." + ) + + return MediaManager( + use_sim=self.client.get_status()["simulation_enabled"], + backend=mbackend, + log_level=log_level, + signalling_host=self.client.get_status()["wlan_ip"], + ) + + def set_target( + self, + head: Optional[npt.NDArray[np.float64]] = None, # 4x4 pose matrix + antennas: Optional[ + Union[npt.NDArray[np.float64], List[float]] + ] = None, # [right_angle, left_angle] (in rads) + body_yaw: Optional[float] = None, # Body yaw angle in radians + ) -> None: + """Set the target pose of the head and/or the target position of the antennas. + + Args: + head (Optional[np.ndarray]): 4x4 pose matrix representing the head pose. + antennas (Optional[Union[np.ndarray, List[float]]]): 1D array with two elements representing the angles of the antennas in radians. + body_yaw (Optional[float]): Body yaw angle in radians. + + Raises: + ValueError: If neither head nor antennas are provided, or if the shape of head is not (4, 4), or if antennas is not a 1D array with two elements. + + """ + if head is None and antennas is None and body_yaw is None: + raise ValueError( + "At least one of head, antennas or body_yaw must be provided." + ) + + if head is not None and not head.shape == (4, 4): + raise ValueError(f"Head pose must be a 4x4 matrix, got shape {head.shape}.") + + if antennas is not None and not len(antennas) == 2: + raise ValueError( + "Antennas must be a list or 1D np array with two elements." + ) + + if body_yaw is not None and not isinstance(body_yaw, (int, float)): + raise ValueError("body_yaw must be a float.") + + if head is not None: + self.set_target_head_pose(head) + + if antennas is not None: + self.set_target_antenna_joint_positions(list(antennas)) + # self._set_joint_positions( + # antennas_joint_positions=list(antennas), + # ) + + if body_yaw is not None: + self.set_target_body_yaw(body_yaw) + + self._last_head_pose = head + + record: Dict[str, float | List[float] | List[List[float]]] = { + "time": time.time(), + "body_yaw": body_yaw if body_yaw is not None else 0.0, + } + if head is not None: + record["head"] = head.tolist() + if antennas is not None: + record["antennas"] = list(antennas) + if body_yaw is not None: + record["body_yaw"] = body_yaw + self._set_record_data(record) + + def goto_target( + self, + head: Optional[npt.NDArray[np.float64]] = None, # 4x4 pose matrix + antennas: Optional[ + Union[npt.NDArray[np.float64], List[float]] + ] = None, # [right_angle, left_angle] (in rads) + duration: float = 0.5, # Duration in seconds for the movement, default is 0.5 seconds. + method: InterpolationTechnique = InterpolationTechnique.MIN_JERK, # can be "linear", "minjerk", "ease" or "cartoon", default is "minjerk") + body_yaw: float | None = 0.0, # Body yaw angle in radians + ) -> None: + """Go to a target head pose and/or antennas position using task space interpolation, in "duration" seconds. + + Args: + head (Optional[np.ndarray]): 4x4 pose matrix representing the target head pose. + antennas (Optional[Union[np.ndarray, List[float]]]): 1D array with two elements representing the angles of the antennas in radians. + duration (float): Duration of the movement in seconds. + method (InterpolationTechnique): Interpolation method to use ("linear", "minjerk", "ease", "cartoon"). Default is "minjerk". + body_yaw (float | None): Body yaw angle in radians. Use None to keep the current yaw. + + Raises: + ValueError: If neither head nor antennas are provided, or if duration is not positive. + + """ + if head is None and antennas is None and body_yaw is None: + raise ValueError( + "At least one of head, antennas or body_yaw must be provided." + ) + + if duration <= 0.0: + raise ValueError( + "Duration must be positive and non-zero. Use set_target() for immediate position setting." + ) + + req = GotoTaskRequest( + head=np.array(head, dtype=np.float64).flatten().tolist() + if head is not None + else None, + antennas=np.array(antennas, dtype=np.float64).flatten().tolist() + if antennas is not None + else None, + duration=duration, + method=method, + body_yaw=body_yaw, + ) + + task_uid = self.client.send_task_request(req) + self.client.wait_for_task_completion(task_uid, timeout=duration + 1.0) + + def wake_up(self) -> None: + """Wake up the robot - go to the initial head position and play the wake up emote and sound.""" + self.goto_target(INIT_HEAD_POSE, antennas=[0.0, 0.0], duration=2) + time.sleep(0.1) + + # Toudoum + self.media.play_sound("wake_up.wav") + + # Roll 20° to the left + pose = INIT_HEAD_POSE.copy() + pose[:3, :3] = R.from_euler("xyz", [20, 0, 0], degrees=True).as_matrix() + self.goto_target(pose, duration=0.2) + + # Go back to the initial position + self.goto_target(INIT_HEAD_POSE, duration=0.2) + + def goto_sleep(self) -> None: + """Put the robot to sleep by moving the head and antennas to a predefined sleep position.""" + # Check if we are too far from the initial position + # Move to the initial position if necessary + current_positions, _ = self.get_current_joint_positions() + # init_positions = self.head_kinematics.ik(INIT_HEAD_POSE) + # Todo : get init position from the daemon? + init_positions = [ + 6.959852054044218e-07, + 0.5251518455536499, + -0.668710345667336, + 0.6067086443974802, + -0.606711497194891, + 0.6687148024583701, + -0.5251586523105128, + ] + dist = np.linalg.norm(np.array(current_positions) - np.array(init_positions)) + if dist > 0.2: + self.goto_target(INIT_HEAD_POSE, antennas=[0.0, 0.0], duration=1) + time.sleep(0.2) + + # Pfiou + self.media.play_sound("go_sleep.wav") + + # # Move to the sleep position + self.goto_target( + SLEEP_HEAD_POSE, antennas=SLEEP_ANTENNAS_JOINT_POSITIONS, duration=2 + ) + + self._last_head_pose = SLEEP_HEAD_POSE + time.sleep(2) + + def look_at_image( + self, u: int, v: int, duration: float = 1.0, perform_movement: bool = True + ) -> npt.NDArray[np.float64]: + """Make the robot head look at a point defined by a pixel position (u,v). + + # TODO image of reachy mini coordinate system + + Args: + u (int): Horizontal coordinate in image frame. + v (int): Vertical coordinate in image frame. + duration (float): Duration of the movement in seconds. If 0, the head will snap to the position immediately. + perform_movement (bool): If True, perform the movement. If False, only calculate and return the pose. + + Returns: + np.ndarray: The calculated head pose as a 4x4 matrix. + + Raises: + ValueError: If duration is negative. + + """ + if self.media_manager.camera is None: + raise RuntimeError("Camera is not initialized.") + + # TODO this is false for the raspicam for now + assert 0 < u < self.media_manager.camera.resolution[0], ( + f"u must be in [0, {self.media_manager.camera.resolution[0]}], got {u}." + ) + assert 0 < v < self.media_manager.camera.resolution[1], ( + f"v must be in [0, {self.media_manager.camera.resolution[1]}], got {v}." + ) + + if duration < 0: + raise ValueError("Duration can't be negative.") + + if self.media.camera is None or self.media.camera.camera_specs is None: + raise RuntimeError("Camera specs not set.") + + points = np.array([[[u, v]]], dtype=np.float32) + x_n, y_n = cv2.undistortPoints( + points, + self.media.camera.K, # type: ignore + self.media.camera.D, # type: ignore + )[0, 0] + + ray_cam = np.array([x_n, y_n, 1.0]) + ray_cam /= np.linalg.norm(ray_cam) + + T_world_head = self.get_current_head_pose() + T_world_cam = T_world_head @ self.T_head_cam + + R_wc = T_world_cam[:3, :3] + t_wc = T_world_cam[:3, 3] + + ray_world = R_wc @ ray_cam + + P_world = t_wc + ray_world + + return self.look_at_world( + x=P_world[0], + y=P_world[1], + z=P_world[2], + duration=duration, + perform_movement=perform_movement, + ) + + def look_at_world( + self, + x: float, + y: float, + z: float, + duration: float = 1.0, + perform_movement: bool = True, + ) -> npt.NDArray[np.float64]: + """Look at a specific point in 3D space in Reachy Mini's reference frame. + + TODO include image of reachy mini coordinate system + + Args: + x (float): X coordinate in meters. + y (float): Y coordinate in meters. + z (float): Z coordinate in meters. + duration (float): Duration of the movement in seconds. If 0, the head will snap to the position immediately. + perform_movement (bool): If True, perform the movement. If False, only calculate and return the pose. + + Returns: + np.ndarray: The calculated head pose as a 4x4 matrix. + + Raises: + ValueError: If duration is negative. + + """ + if duration < 0: + raise ValueError("Duration can't be negative.") + + # Head is at the origin, so vector from head to target position is directly the target position + # TODO FIX : Actually, the head frame is not the origin frame wrt the kinematics. Close enough for now. + target_position = np.array([x, y, z]) + target_vector = target_position / np.linalg.norm( + target_position + ) # normalize the vector + + # head_pointing straight vector + straight_head_vector = np.array([1, 0, 0]) + + # Calculate the rotation needed to align the head with the target vector + v1 = straight_head_vector + v2 = target_vector + axis = np.cross(v1, v2) + axis_norm = np.linalg.norm(axis) + if axis_norm < 1e-8: + # Vectors are (almost) parallel + if np.dot(v1, v2) > 0: + rot_mat = np.eye(3) + else: + # Opposite direction: rotate 180° around any perpendicular axis + perp = np.array([0, 1, 0]) if abs(v1[0]) < 0.9 else np.array([0, 0, 1]) + axis = np.cross(v1, perp) + axis /= np.linalg.norm(axis) + rot_mat = R.from_rotvec(np.pi * axis).as_matrix() + else: + axis = axis / axis_norm + angle = np.arccos(np.clip(np.dot(v1, v2), -1.0, 1.0)) + rotation_vector = angle * axis + rot_mat = R.from_rotvec(rotation_vector).as_matrix() + + target_head_pose = np.eye(4) + target_head_pose[:3, :3] = rot_mat + + # If perform_movement is True, execute the movement + if perform_movement: + # If duration is specified, use the goto_target method to move smoothly + # Otherwise, set the position immediately + if duration > 0: + self.goto_target(target_head_pose, duration=duration) + else: + self.set_target(target_head_pose) + + return target_head_pose + + def _goto_joint_positions( + self, + head_joint_positions: Optional[ + List[float] + ] = None, # [yaw, stewart_platform x 6] length 7 + antennas_joint_positions: Optional[ + List[float] + ] = None, # [right_angle, left_angle] length 2 + duration: float = 0.5, # Duration in seconds for the movement + ) -> None: + """Go to a target head joint positions and/or antennas joint positions using joint space interpolation, in "duration" seconds. + + [Internal] Go to a target head joint positions and/or antennas joint positions using joint space interpolation, in "duration" seconds. + + Args: + head_joint_positions (Optional[List[float]]): List of head joint positions in radians (length 7). + antennas_joint_positions (Optional[List[float]]): List of antennas joint positions in radians (length 2). + duration (float): Duration of the movement in seconds. Default is 0.5 seconds. + + Raises: + ValueError: If neither head_joint_positions nor antennas_joint_positions are provided, or if duration is not positive. + + """ + if duration <= 0.0: + raise ValueError( + "Duration must be positive and non-zero. Use set_target() for immediate position setting." + ) + + cur_head, cur_antennas = self.get_current_joint_positions() + current = cur_head + cur_antennas + + target = [] + if head_joint_positions is not None: + target.extend(head_joint_positions) + else: + target.extend(cur_head) + if antennas_joint_positions is not None: + target.extend(antennas_joint_positions) + else: + target.extend(cur_antennas) + + traj = minimum_jerk(np.array(current), np.array(target), duration) + + t0 = time.time() + while time.time() - t0 < duration: + t = time.time() - t0 + angles = traj(t) + + head_joint = angles[:7] # First 7 angles for the head + antennas_joint = angles[7:] + + self._set_joint_positions(list(head_joint), list(antennas_joint)) + time.sleep(0.01) + + def get_current_joint_positions(self) -> tuple[list[float], list[float]]: + """Get the current joint positions of the head and antennas. + + Get the current joint positions of the head and antennas (in rad) + + Returns: + tuple: A tuple containing two lists: + - List of head joint positions (rad) (length 7). + - List of antennas joint positions (rad) (length 2). + + """ + return self.client.get_current_joints() + + def get_present_antenna_joint_positions(self) -> list[float]: + """Get the present joint positions of the antennas. + + Get the present joint positions of the antennas (in rad) + + Returns: + list: A list of antennas joint positions (rad) (length 2). + + """ + return self.get_current_joint_positions()[1] + + def get_current_head_pose(self) -> npt.NDArray[np.float64]: + """Get the current head pose as a 4x4 matrix. + + Get the current head pose as a 4x4 matrix. + + Returns: + np.ndarray: A 4x4 matrix representing the current head pose. + + """ + return self.client.get_current_head_pose() + + def _set_joint_positions( + self, + head_joint_positions: list[float] | None = None, + antennas_joint_positions: list[float] | None = None, + ) -> None: + """Set the joint positions of the head and/or antennas. + + [Internal] Set the joint positions of the head and/or antennas. + + Args: + head_joint_positions (Optional[List[float]]): List of head joint positions in radians (length 7). + antennas_joint_positions (Optional[List[float]]): List of antennas joint positions in radians (length 2). + record (Optional[Dict]): If provided, the command will be logged with the given record data. + + """ + cmd = {} + + if head_joint_positions is not None: + assert len(head_joint_positions) == 7, ( + f"Head joint positions must have length 7, got {head_joint_positions}." + ) + cmd["head_joint_positions"] = list(head_joint_positions) + + if antennas_joint_positions is not None: + assert len(antennas_joint_positions) == 2, "Antennas must have length 2." + cmd["antennas_joint_positions"] = list(antennas_joint_positions) + + if not cmd: + raise ValueError( + "At least one of head_joint_positions or antennas must be provided." + ) + + self.client.send_command(json.dumps(cmd)) + + def set_target_head_pose(self, pose: npt.NDArray[np.float64]) -> None: + """Set the head pose to a specific 4x4 matrix. + + Args: + pose (np.ndarray): A 4x4 matrix representing the desired head pose. + body_yaw (float): The yaw angle of the body, used to adjust the head pose. + + Raises: + ValueError: If the shape of the pose is not (4, 4). + + """ + cmd = {} + + if pose is not None: + assert pose.shape == (4, 4), ( + f"Head pose should be a 4x4 matrix, got {pose.shape}." + ) + cmd["head_pose"] = pose.tolist() + else: + raise ValueError("Pose must be provided as a 4x4 matrix.") + + self.client.send_command(json.dumps(cmd)) + + def set_target_antenna_joint_positions(self, antennas: List[float]) -> None: + """Set the target joint positions of the antennas.""" + cmd = {"antennas_joint_positions": antennas} + self.client.send_command(json.dumps(cmd)) + + def set_target_body_yaw(self, body_yaw: float) -> None: + """Set the target body yaw. + + Args: + body_yaw (float): The yaw angle of the body in radians. + + """ + cmd = {"body_yaw": body_yaw} + self.client.send_command(json.dumps(cmd)) + + def start_recording(self) -> None: + """Start recording data.""" + self.client.send_command(json.dumps({"start_recording": True})) + self.is_recording = True + + def stop_recording( + self, + ) -> Optional[List[Dict[str, float | List[float] | List[List[float]]]]]: + """Stop recording data and return the recorded data.""" + self.client.send_command(json.dumps({"stop_recording": True})) + self.is_recording = False + if not self.client.wait_for_recorded_data(timeout=5): + raise RuntimeError("Daemon did not provide recorded data in time!") + recorded_data = self.client.get_recorded_data(wait=False) + + return recorded_data + + def _set_record_data( + self, record: Dict[str, float | List[float] | List[List[float]]] + ) -> None: + """Set the record data to be logged by the backend. + + Args: + record (Dict): The record data to be logged. + + """ + if not isinstance(record, dict): + raise ValueError("Record must be a dictionary.") + + # Send the record data to the backend + self.client.send_command(json.dumps({"set_target_record": record})) + + def enable_motors(self, ids: List[str] | None = None) -> None: + """Enable the motors. + + Args: + ids (List[str] | None): List of motor names to enable. If None, all motors will be enabled. + + """ + self._set_torque(True, ids=ids) + + def disable_motors(self, ids: List[str] | None = None) -> None: + """Disable the motors. + + Args: + ids (List[str] | None): List of motor names to disable. If None, all motors will be disabled. + + """ + self._set_torque(False, ids=ids) + + def _set_torque(self, on: bool, ids: List[str] | None = None) -> None: + self.client.send_command(json.dumps({"torque": on, "ids": ids})) + + def enable_gravity_compensation(self) -> None: + """Enable gravity compensation for the head motors.""" + self.client.send_command(json.dumps({"gravity_compensation": True})) + + def disable_gravity_compensation(self) -> None: + """Disable gravity compensation for the head motors.""" + self.client.send_command(json.dumps({"gravity_compensation": False})) + + def set_automatic_body_yaw(self, body_yaw: float) -> None: + """Set the automatic body yaw. + + Args: + body_yaw (float): The yaw angle of the body in radians. + + """ + self.client.send_command(json.dumps({"automatic_body_yaw": body_yaw})) + + async def async_play_move( + self, + move: Move, + play_frequency: float = 100.0, + initial_goto_duration: float = 0.0, + ) -> None: + """Asynchronously play a Move. + + Args: + move (Move): The Move object to be played. + play_frequency (float): The frequency at which to evaluate the move (in Hz). + initial_goto_duration (float): Duration for the initial goto to the starting position of the move (in seconds). If 0, no initial goto is performed. + + """ + if initial_goto_duration > 0.0: + start_head_pose, start_antennas_positions, start_body_yaw = move.evaluate( + 0.0 + ) + self.goto_target( + head=start_head_pose, + antennas=start_antennas_positions, + duration=initial_goto_duration, + body_yaw=start_body_yaw, + ) + + sleep_period = 1.0 / play_frequency + + t0 = time.time() + while time.time() - t0 < move.duration: + t = min(time.time() - t0, move.duration - 1e-2) + + head, antennas, body_yaw = move.evaluate(t) + if head is not None: + self.set_target_head_pose(head) + if body_yaw is not None: + self.set_target_body_yaw(body_yaw) + if antennas is not None: + self.set_target_antenna_joint_positions(list(antennas)) + + elapsed = time.time() - t0 - t + if elapsed < sleep_period: + await asyncio.sleep(sleep_period - elapsed) + else: + await asyncio.sleep(0.001) + + play_move = async_to_sync(async_play_move) diff --git a/reachy_mini/src/reachy_mini/utils/__init__.py b/reachy_mini/src/reachy_mini/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..1166e2b99f48c75aa932fa76d9eae93593634f13 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/__init__.py @@ -0,0 +1,46 @@ +"""Utility functions for Reachy Mini. + +These functions provide various utilities such as creating head poses, performing minimum jerk interpolation, +checking if the Reachy Mini daemon is running, and performing linear pose interpolation. + +""" + +import numpy as np +import numpy.typing as npt +from scipy.spatial.transform import Rotation as R + + +def create_head_pose( + x: float = 0, + y: float = 0, + z: float = 0, + roll: float = 0, + pitch: float = 0, + yaw: float = 0, + mm: bool = False, + degrees: bool = True, +) -> npt.NDArray[np.float64]: + """Create a homogeneous transformation matrix representing a pose in 6D space (position and orientation). + + Args: + x (float): X coordinate of the position. + y (float): Y coordinate of the position. + z (float): Z coordinate of the position. + roll (float): Roll angle + pitch (float): Pitch angle + yaw (float): Yaw angle + mm (bool): If True, convert position from millimeters to meters. + degrees (bool): If True, interpret roll, pitch, and yaw as degrees; otherwise as radians. + + Returns: + np.ndarray: A 4x4 homogeneous transformation matrix representing the pose. + + """ + pose = np.eye(4) + rot = R.from_euler("xyz", [roll, pitch, yaw], degrees=degrees).as_matrix() + pose[:3, :3] = rot + pose[:, 3] = [x, y, z, 1] + if mm: + pose[:3, 3] /= 1000 + + return pose diff --git a/reachy_mini/src/reachy_mini/utils/constants.py b/reachy_mini/src/reachy_mini/utils/constants.py new file mode 100644 index 0000000000000000000000000000000000000000..ce102daf8c50cbe908dce6fd110997deb8a90554 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/constants.py @@ -0,0 +1,9 @@ +"""Utility constants for the reachy_mini package.""" + +from importlib.resources import files + +import reachy_mini + +URDF_ROOT_PATH: str = str(files(reachy_mini).joinpath("descriptions/reachy_mini/urdf")) +ASSETS_ROOT_PATH: str = str(files(reachy_mini).joinpath("assets/")) +MODELS_ROOT_PATH: str = str(files(reachy_mini).joinpath("assets/models")) diff --git a/reachy_mini/src/reachy_mini/utils/hardware_config/__init__.py b/reachy_mini/src/reachy_mini/utils/hardware_config/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..89a11e958559e3f72f4b4469884b00af9fe5d450 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/hardware_config/__init__.py @@ -0,0 +1 @@ +"""Hardware configuration utilities.""" diff --git a/reachy_mini/src/reachy_mini/utils/hardware_config/parser.py b/reachy_mini/src/reachy_mini/utils/hardware_config/parser.py new file mode 100644 index 0000000000000000000000000000000000000000..e370c9ee12e1c87da10af3b5d5edd52015346127 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/hardware_config/parser.py @@ -0,0 +1,63 @@ +"""Module to parse Reachy Mini hardware configuration from a YAML file.""" + +from dataclasses import dataclass + +import yaml + + +@dataclass +class MotorConfig: + """Motor configuration.""" + + id: int + offset: int + angle_limit_min: int + angle_limit_max: int + return_delay_time: int + shutdown_error: int + pid: tuple[int, int, int] | None = None + + +@dataclass +class SerialConfig: + """Serial configuration.""" + + baudrate: int + + +@dataclass +class ReachyMiniConfig: + """Reachy Mini configuration.""" + + version: str + serial: SerialConfig + motors: dict[str, MotorConfig] + + +def parse_yaml_config(filename: str) -> ReachyMiniConfig: + """Parse the YAML configuration file and return a ReachyMiniConfig.""" + with open(filename, "r") as file: + conf = yaml.load(file, Loader=yaml.FullLoader) + + version = conf["version"] + + motor_ids = {} + for motor in conf["motors"]: + for name, params in motor.items(): + motor_ids[name] = MotorConfig( + id=params["id"], + offset=params["offset"], + angle_limit_min=params["lower_limit"], + angle_limit_max=params["upper_limit"], + return_delay_time=params["return_delay_time"], + shutdown_error=params["shutdown_error"], + pid=params.get("pid"), + ) + + serial = SerialConfig(baudrate=conf["serial"]["baudrate"]) + + return ReachyMiniConfig( + version=version, + serial=serial, + motors=motor_ids, + ) diff --git a/reachy_mini/src/reachy_mini/utils/interpolation.py b/reachy_mini/src/reachy_mini/utils/interpolation.py new file mode 100644 index 0000000000000000000000000000000000000000..1c39c031e5ddb9c00d6c7fb0003ce3cf3bd41457 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/interpolation.py @@ -0,0 +1,227 @@ +"""Interpolation utilities for Reachy Mini.""" + +from enum import Enum +from typing import Callable, Optional, Tuple + +import numpy as np +import numpy.typing as npt +from scipy.spatial.transform import Rotation as R + +InterpolationFunc = Callable[[float], npt.NDArray[np.float64]] + + +def minimum_jerk( + starting_position: npt.NDArray[np.float64], + goal_position: npt.NDArray[np.float64], + duration: float, + starting_velocity: Optional[npt.NDArray[np.float64]] = None, + starting_acceleration: Optional[npt.NDArray[np.float64]] = None, + final_velocity: Optional[npt.NDArray[np.float64]] = None, + final_acceleration: Optional[npt.NDArray[np.float64]] = None, +) -> InterpolationFunc: + """Compute the mimimum jerk interpolation function from starting position to goal position.""" + if starting_velocity is None: + starting_velocity = np.zeros(starting_position.shape) + if starting_acceleration is None: + starting_acceleration = np.zeros(starting_position.shape) + if final_velocity is None: + final_velocity = np.zeros(goal_position.shape) + if final_acceleration is None: + final_acceleration = np.zeros(goal_position.shape) + + a0 = starting_position + a1 = starting_velocity + a2 = starting_acceleration / 2 + + d1, d2, d3, d4, d5 = [duration**i for i in range(1, 6)] + + A = np.array(((d3, d4, d5), (3 * d2, 4 * d3, 5 * d4), (6 * d1, 12 * d2, 20 * d3))) + B = np.array( + ( + goal_position - a0 - (a1 * d1) - (a2 * d2), + final_velocity - a1 - (2 * a2 * d1), + final_acceleration - (2 * a2), + ) + ) + X = np.linalg.solve(A, B) + + coeffs = [a0, a1, a2, X[0], X[1], X[2]] + + def f(t: float) -> npt.NDArray[np.float64]: + if t > duration: + return goal_position + return np.sum([c * t**i for i, c in enumerate(coeffs)], axis=0) # type: ignore[no-any-return] + + return f + + +def linear_pose_interpolation( + start_pose: npt.NDArray[np.float64], target_pose: npt.NDArray[np.float64], t: float +) -> npt.NDArray[np.float64]: + """Linearly interpolate between two poses in 6D space.""" + # Extract rotations + rot_start = R.from_matrix(start_pose[:3, :3]) + rot_end = R.from_matrix(target_pose[:3, :3]) + + # Compute relative rotation q_rel such that rot_start * q_rel = rot_end + q_rel = rot_start.inv() * rot_end + # Convert to rotation vector (axis-angle) + rotvec_rel = q_rel.as_rotvec() + # Scale the rotation vector by t (allows t<0 or >1 for overshoot) + rot_interp = (rot_start * R.from_rotvec(rotvec_rel * t)).as_matrix() + + # Extract translations + pos_start = start_pose[:3, 3] + pos_end = target_pose[:3, 3] + # Linear interpolation/extrapolation on translation + pos_interp = pos_start + (pos_end - pos_start) * t + + # Compose homogeneous transformation + interp_pose = np.eye(4) + interp_pose[:3, :3] = rot_interp + interp_pose[:3, 3] = pos_interp + + return interp_pose + + +class InterpolationTechnique(str, Enum): + """Enumeration of interpolation techniques.""" + + LINEAR = "linear" + MIN_JERK = "minjerk" + EASE_IN_OUT = "ease_in_out" + CARTOON = "cartoon" + + +def time_trajectory( + t: float, method: InterpolationTechnique = InterpolationTechnique.MIN_JERK +) -> float: + """Compute the time trajectory value based on the specified interpolation method.""" + if t < 0 or t > 1: + raise ValueError("time value is out of range [0,1]") + + if method == InterpolationTechnique.LINEAR: + return t + + elif method == InterpolationTechnique.MIN_JERK: + return 10 * t**3 - 15 * t**4 + 6 * t**5 + + elif method == InterpolationTechnique.EASE_IN_OUT: + if t < 0.5: + return 2 * t * t + else: + return 1 - ((-2 * t + 2) ** 2) / 2 + + elif method == InterpolationTechnique.CARTOON: + c1 = 1.70158 + c2 = c1 * 1.525 + + if t < 0.5: + # phase in + return ((2 * t) ** 2 * ((c2 + 1) * 2 * t - c2)) / 2 + else: + # phase out + return (((2 * t - 2) ** 2 * ((c2 + 1) * (2 * t - 2) + c2)) + 2) / 2 + + else: + raise ValueError( + "Unknown interpolation method: {} (possible values: {})".format( + method, + list(InterpolationTechnique), + ) + ) + + +def delta_angle_between_mat_rot( + P: npt.NDArray[np.float64], Q: npt.NDArray[np.float64] +) -> float: + """Compute the angle (in radians) between two 3x3 rotation matrices `P` and `Q`. + + This is equivalent to the angular distance in axis-angle space. + It is computed via the trace of the relative rotation matrix. + + References: + - https://math.stackexchange.com/questions/2113634/comparing-two-rotation-matrices + - http://www.boris-belousov.net/2016/12/01/quat-dist/ + + Args: + P: A 3x3 rotation matrix. + Q: Another 3x3 rotation matrix. + + Returns: + The angle in radians between the two rotations. + + """ + R = np.dot(P, Q.T) + tr = (np.trace(R) - 1) / 2 + tr = np.clip(tr, -1.0, 1.0) # Ensure numerical stability + return float(np.arccos(tr)) + + +def distance_between_poses( + pose1: npt.NDArray[np.float64], pose2: npt.NDArray[np.float64] +) -> Tuple[float, float, float]: + """Compute three types of distance between two 4x4 homogeneous transformation matrices. + + The result combines translation (in mm) and rotation (in degrees) using an arbitrary but + emotionally satisfying equivalence: 1 degree ≈ 1 mm. + + Args: + pose1: A 4x4 homogeneous transformation matrix representing the first pose. + pose2: A 4x4 homogeneous transformation matrix representing the second pose. + + Returns: + A tuple of: + - translation distance in meters, + - angular distance in radians, + - unhinged distance in magic-mm (translation in mm + rotation in degrees). + + """ + distance_translation = float(np.linalg.norm(pose1[:3, 3] - pose2[:3, 3])) + distance_angle = delta_angle_between_mat_rot(pose1[:3, :3], pose2[:3, :3]) + unhinged_distance = distance_translation * 1000 + np.rad2deg(distance_angle) + + return distance_translation, distance_angle, unhinged_distance + + +def compose_world_offset( + T_abs: npt.NDArray[np.float64], + T_off_world: npt.NDArray[np.float64], + reorthonormalize: bool = False, +) -> npt.NDArray[np.float64]: + """Compose an absolute world-frame pose with a world-frame offset. + + - translations add in world: t_final = t_abs + t_off + - rotations compose in world: R_final = R_off @ R_abs + This rotates the frame in place (about its own origin) by a rotation + defined in world axes, and shifts it by a world translation. + + Parameters + ---------- + T_abs : (4,4) ndarray + Absolute pose in world frame. + T_off_world : (4,4) ndarray + Offset transform specified in world axes (dx,dy,dz in world; dR about world axes). + reorthonormalize : bool + If True, SVD-orthonormalize the resulting rotation to fight drift. + + Returns + ------- + T_final : (4,4) ndarray + Resulting pose in world frame. + + """ + R_abs, t_abs = T_abs[:3, :3], T_abs[:3, 3] + R_off, t_off = T_off_world[:3, :3], T_off_world[:3, 3] + + R_final = R_off @ R_abs + if reorthonormalize: + U, _, Vt = np.linalg.svd(R_final) + R_final = U @ Vt + + t_final = t_abs + t_off + + T_final = np.eye(4) + T_final[:3, :3] = R_final + T_final[:3, 3] = t_final + return T_final diff --git a/reachy_mini/src/reachy_mini/utils/parse_urdf_for_kinematics.py b/reachy_mini/src/reachy_mini/utils/parse_urdf_for_kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..8a38883f7871c316be611af2b79d45e90a4fb82c --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/parse_urdf_for_kinematics.py @@ -0,0 +1,110 @@ +"""Generate kinematics data from URDF using Placo as preprocessing. + +The analytical kinematics need information from the URDF. This files computes the information and writes it in a .json file. +""" + +import json +from importlib.resources import files +from typing import Any, Dict + +import numpy as np # noqa: D100 +from placo_utils.tf import tf + +import reachy_mini +from reachy_mini.kinematics.placo_kinematics import PlacoKinematics + + +def get_data() -> Dict[str, Any]: + """Generate the urdf_kinematics.json file.""" + urdf_root_path: str = str( + files(reachy_mini).joinpath("descriptions/reachy_mini/urdf") + ) + + placo_kinematics = PlacoKinematics(urdf_root_path, 0.02) + robot = placo_kinematics.robot + + placo_kinematics.fk(np.array([0.0] * 7), no_iterations=20) + robot.update_kinematics() + + # Measuring lengths for the arm and branch (constants could be used) + T_world_head_home = robot.get_T_world_frame("head").copy() + T_world_1 = robot.get_T_world_frame("stewart_1") + T_world_arm1 = robot.get_T_world_frame("passive_1_link_x") + T_1_arm1 = np.linalg.inv(T_world_1) @ T_world_arm1 + arm_z = T_1_arm1[2, 3] + motor_arm_length = np.linalg.norm(T_1_arm1[:2, 3]) + + T_world_branch1 = robot.get_T_world_frame("closing_1_2") + T_arm1_branch1 = np.linalg.inv(T_world_arm1) @ T_world_branch1 + rod_length = np.linalg.norm(T_arm1_branch1[:3, 3]) + + motors = [ + { + "name": "stewart_1", + "branch_frame": "closing_1_2", + "offset": 0, + "solution": 0, + }, + { + "name": "stewart_2", + "branch_frame": "closing_2_2", + "offset": 0, + "solution": 1, + }, + { + "name": "stewart_3", + "branch_frame": "closing_3_2", + "offset": 0, + "solution": 0, + }, + { + "name": "stewart_4", + "branch_frame": "closing_4_2", + "offset": 0, + "solution": 1, + }, + { + "name": "stewart_5", + "branch_frame": "closing_5_2", + "offset": 0, + "solution": 0, + }, + { + "name": "stewart_6", + "branch_frame": "passive_7_link_y", + "offset": 0, + "solution": 1, + }, + ] + + for motor in motors: + T_world_branch = robot.get_T_world_frame(motor["branch_frame"]) + T_head_branch = np.linalg.inv(T_world_head_home) @ T_world_branch + T_world_motor = robot.get_T_world_frame(motor["name"]) @ tf.translation_matrix( + (0, 0, arm_z) + ) + motor["T_motor_world"] = np.linalg.inv(T_world_motor).tolist() + motor["branch_position"] = T_head_branch[:3, 3].tolist() + motor["limits"] = robot.get_joint_limits(motor["name"]).tolist() + + data = { + "motor_arm_length": motor_arm_length, + "rod_length": rod_length, + "head_z_offset": placo_kinematics.head_z_offset, + "motors": motors, + } + + return data + + +def main() -> None: + """Generate the urdf_kinematics.json file.""" + assets_root_path: str = str(files(reachy_mini).joinpath("assets/")) + data = get_data() + print(assets_root_path + "/" + "kinematics_data.json") + with open(assets_root_path + "/" + "kinematics_data.json", "w") as f: + json.dump(data, f, indent=4) + + +if __name__ == "__main__": + main() diff --git a/reachy_mini/src/reachy_mini/utils/rerun.py b/reachy_mini/src/reachy_mini/utils/rerun.py new file mode 100644 index 0000000000000000000000000000000000000000..eeab8e7ba3c21d63095deb883630ec7f337839ae --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/rerun.py @@ -0,0 +1,320 @@ +"""Rerun logging for Reachy Mini. + +This module provides functionality to log the state of the Reachy Mini robot to Rerun, + a tool for visualizing and debugging robotic systems. + +It includes methods to log joint positions, camera images, and other relevant data. +""" + +import json +import logging +import os +import tempfile +import time +from threading import Event, Thread +from typing import Dict, List, Optional + +import numpy as np +import requests +import rerun as rr +from scipy.spatial.transform import Rotation as R +from urdf_parser_py import urdf + +from reachy_mini.kinematics.placo_kinematics import PlacoKinematics +from reachy_mini.media.media_manager import MediaBackend +from reachy_mini.reachy_mini import ReachyMini + + +class Rerun: + """Rerun logging for Reachy Mini.""" + + def __init__( + self, + reachymini: ReachyMini, + app_id: str = "reachy_mini_rerun", + spawn: bool = True, + ): + """Initialize the Rerun logging for Reachy Mini. + + Args: + reachymini (ReachyMini): The Reachy Mini instance to log. + app_id (str): The application ID for Rerun. Defaults to reachy_mini_daemon. + spawn (bool): If True, spawn the Rerun server. Defaults to True. + + """ + rr.init(app_id, spawn=spawn) + self.app_id = app_id + self._reachymini = reachymini + self.logger = logging.getLogger(__name__) + self.logger.setLevel(reachymini.logger.getEffectiveLevel()) + + self._robot_ip = "localhost" + if self._reachymini.client.get_status()["wireless_version"]: + self._robot_ip = self._reachymini.client.get_status()["wlan_ip"] + + self.recording = rr.get_global_data_recording() + + script_dir = os.path.dirname(os.path.abspath(__file__)) + + urdf_path = os.path.join( + script_dir, "../descriptions/reachy_mini/urdf/robot_no_collision.urdf" + ) + asset_path = os.path.join(script_dir, "../descriptions/reachy_mini/urdf") + + fixed_urdf = self.set_absolute_path_to_urdf(urdf_path, asset_path) + self.logger.debug( + f"Using URDF file: {fixed_urdf} with absolute paths for Rerun." + ) + + self.head_kinematics = PlacoKinematics(fixed_urdf) + + self.urdf_model = urdf.URDF.from_xml_file(fixed_urdf) + self._joints_by_name: Dict[str, urdf.Joint] = { + joint.name: joint for joint in self.urdf_model.joints + } + self._entity_paths = UrdfEntityPaths(self.urdf_model, "ReachyMini") + + rr.set_time("reachymini", timestamp=time.time(), recording=self.recording) + + # Use the native URDF loader in Rerun to visualize Reachy Mini's model + # Logging as non-static to allow updating joint positions + rr.log_file_from_path( + fixed_urdf, + static=False, + entity_path_prefix=self._entity_paths.prefix, + recording=self.recording, + ) + + self.running = Event() + self.thread_log_camera: Optional[Thread] = None + if ( + reachymini.media.backend == MediaBackend.GSTREAMER + or reachymini.media.backend == MediaBackend.DEFAULT + ): + self.thread_log_camera = Thread(target=self.log_camera, daemon=True) + self.thread_log_movements = Thread(target=self.log_movements, daemon=True) + + def set_absolute_path_to_urdf(self, urdf_path: str, abs_path: str) -> str: + """Set the absolute paths in the URDF file. Rerun cannot read the "package://" paths.""" + with open(urdf_path, "r") as f: + urdf_content = f.read() + urdf_content_mod = urdf_content.replace("package://", f"file://{abs_path}/") + + with tempfile.NamedTemporaryFile("w", delete=False, suffix=".urdf") as tmp_file: + tmp_file.write(urdf_content_mod) + return tmp_file.name + + def start(self) -> None: + """Start the Rerun logging thread.""" + if self.thread_log_camera is not None: + self.thread_log_camera.start() + self.thread_log_movements.start() + + def stop(self) -> None: + """Stop the Rerun logging thread.""" + self.running.set() + + def _get_joint(self, joint_name: str) -> urdf.Joint: + try: + return self._joints_by_name[joint_name] + except KeyError as exc: + raise RuntimeError(f"Invalid joint name: {joint_name}") from exc + + def _joint_entity_path(self, joint: urdf.Joint) -> str: + return self._entity_paths.joint_paths[joint.name] + + def log_camera(self) -> None: + """Log the camera image to Rerun.""" + if self._reachymini.media.camera is None: + self.logger.warning("Camera is not initialized.") + return + + self.logger.info("Starting camera logging to Rerun.") + + while not self.running.is_set(): + rr.set_time("reachymini", timestamp=time.time(), recording=self.recording) + frame = self._reachymini.media.get_frame() + if frame is not None: + if isinstance(frame, bytes): + self.logger.warning( + "Received frame is jpeg. Please use default backend." + ) + return + + else: + return + + K = np.array( + [ + [550.3564, 0.0, 638.0112], + [0.0, 549.1653, 364.589], + [0.0, 0.0, 1.0], + ] + ) + + cam_joint = self._get_joint("camera_optical_frame") + cam_path = self._joint_entity_path(cam_joint) + rr.log( + f"{cam_path}/image", + rr.Pinhole( + image_from_camera=rr.datatypes.Mat3x3(K), + width=frame.shape[1], + height=frame.shape[0], + image_plane_distance=0.8, + camera_xyz=rr.ViewCoordinates.RDF, + ), + rr.Image(frame, color_model="bgr").compress(), + recording=self.recording, + ) + + time.sleep(0.03) # ~30fps + + def _log_joint_angle( + self, + joint_name: str, + angle: float, + axis: list[float] | None = None, + ) -> None: + """Log the joint angle to Rerun.""" + joint = self._get_joint(joint_name) + joint_path = self._joint_entity_path(joint) + + base_euler = joint.origin.rotation or [0.0, 0.0, 0.0] + + # if we specify an axis override, use it; otherwise, use the joint's defined axis + effective_axis = ( + np.array(axis) + if axis is not None + else np.array(joint.axis or [1.0, 0.0, 0.0]) + ) + + target_euler = np.array(base_euler) + (effective_axis * angle) + target_translation = joint.origin.xyz or [0.0, 0.0, 0.0] + + rr.log( + joint_path, + rr.Transform3D( + translation=target_translation, + quaternion=R.from_euler("xyz", target_euler).as_quat(), + ), + recording=self.recording, + ) + + def log_movements(self) -> None: + """Log the movement data to Rerun.""" + url = f"http://{self._robot_ip}:8000/api/state/full" + + params = { + "with_control_mode": "false", + "with_head_pose": "false", + "with_target_head_pose": "false", + "with_head_joints": "true", + "with_target_head_joints": "false", + "with_body_yaw": "false", # already in head_joints + "with_target_body_yaw": "false", + "with_antenna_positions": "true", + "with_target_antenna_positions": "false", + "use_pose_matrix": "false", + "with_passive_joints": "true", + } + + while not self.running.is_set(): + msg = requests.get(url, params=params) + + if msg.status_code != 200: + self.logger.error( + f"Request failed with status {msg.status_code}: {msg.text}" + ) + time.sleep(0.1) + continue + try: + data = json.loads(msg.text) + self.logger.debug(f"Data: {data}") + except Exception: + continue + + rr.set_time("reachymini", timestamp=time.time(), recording=self.recording) + + if "antennas_position" in data and data["antennas_position"] is not None: + antennas = data["antennas_position"] + if antennas is not None: + self._log_joint_angle("left_antenna", antennas[0]) + self._log_joint_angle("right_antenna", antennas[1]) + + if "head_joints" in data and data["head_joints"] is not None: + head_joints = data["head_joints"] + + # The joint axis definitions in the URDF do not match the real axis of rotation + # due to URDF not supporting ball joints properly. + self._log_joint_angle("yaw_body", -head_joints[0], axis=[0, 0, 1]) + self._log_joint_angle("stewart_1", -head_joints[1], axis=[0, 1, 0]) + self._log_joint_angle("stewart_2", head_joints[2], axis=[0, 1, 0]) + self._log_joint_angle("stewart_3", -head_joints[3], axis=[0, 1, 0]) + self._log_joint_angle("stewart_4", head_joints[4], axis=[0, 1, 0]) + self._log_joint_angle("stewart_5", -head_joints[5], axis=[0, 1, 0]) + self._log_joint_angle("stewart_6", head_joints[6], axis=[0, 1, 0]) + + if "passive_joints" in data and data["passive_joints"] is not None: + passive_joints = data["passive_joints"] + + for axis_idx, axis in enumerate(["x", "y", "z"]): + for i in range(1, 8): + joint_name = f"passive_{i}_{axis}" + value_index = (i - 1) * 3 + axis_idx + + override_axis = [0.0, 0.0, 0.0] + override_axis[axis_idx] = 1.0 + self._log_joint_angle( + joint_name, + passive_joints[value_index], + axis=override_axis, + ) + + time.sleep(0.1) + + +class UrdfEntityPaths: + """Helper for constructing link/joint entity paths that match the native URDF logger.""" + + def __init__(self, model: urdf.URDF, entity_path_prefix: Optional[str]) -> None: + """Construct a new `UrdfEntityPaths` instance. + + Args: + model (urdf.URDF): The URDF model. + entity_path_prefix (Optional[str]): The prefix for entity paths. + + """ + self._model = model + self.prefix = entity_path_prefix + self.link_paths: Dict[str, str] = {} + self.joint_paths: Dict[str, str] = {} + + base_parts = [part for part in (self.prefix, model.name) if part] + self._base_path = "/".join(base_parts) + + children_map: Dict[str, List[urdf.Joint]] = {} + for joint in model.joints: + children_map.setdefault(joint.parent, []).append(joint) + + root_link = model.get_root() + self._build_paths(root_link, self._base_path, children_map) + + def _build_paths( + self, + link_name: str, + parent_path: str, + children_map: Dict[str, List[urdf.Joint]], + ) -> None: + link_path = self._join(parent_path, link_name) + self.link_paths[link_name] = link_path + + for joint in children_map.get(link_name, []): + joint_path = self._join(link_path, joint.name) + self.joint_paths[joint.name] = joint_path + self._build_paths(joint.child, joint_path, children_map) + + @staticmethod + def _join(parent: str, child: str) -> str: + if parent: + return f"{parent}/{child}" + return child diff --git a/reachy_mini/src/reachy_mini/utils/wireless_version/__init__.py b/reachy_mini/src/reachy_mini/utils/wireless_version/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..8db2704a00479b0c46e41536d2b86a417177b991 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/wireless_version/__init__.py @@ -0,0 +1 @@ +"""Utility functions for working with wireless version.""" diff --git a/reachy_mini/src/reachy_mini/utils/wireless_version/update.py b/reachy_mini/src/reachy_mini/utils/wireless_version/update.py new file mode 100644 index 0000000000000000000000000000000000000000..b12367010c96c6d25b8aa3c128872481900b8e57 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/wireless_version/update.py @@ -0,0 +1,20 @@ +"""Module to handle software updates for the Reachy Mini wireless.""" + +import logging + +from .utils import call_logger_wrapper + + +async def update_reachy_mini(pre_release: bool, logger: logging.Logger) -> None: + """Perform a software update by upgrading the reachy_mini package and restarting the daemon.""" + extra_args = [] + if pre_release: + extra_args.append("--pre") + + await call_logger_wrapper( + ["pip", "install", "--upgrade", "reachy_mini[wireless-version]"] + extra_args, + logger, + ) + await call_logger_wrapper( + ["sudo", "systemctl", "restart", "reachy-mini-daemon"], logger + ) diff --git a/reachy_mini/src/reachy_mini/utils/wireless_version/update_available.py b/reachy_mini/src/reachy_mini/utils/wireless_version/update_available.py new file mode 100644 index 0000000000000000000000000000000000000000..b8320b42bf8834df7e844a25dc59e4666867c409 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/wireless_version/update_available.py @@ -0,0 +1,61 @@ +"""Check if an update is available for Reachy Mini Wireless. + +For now, this only checks if a new version of "reachy_mini" is available on PyPI. +""" + +from importlib.metadata import version + +import requests +import semver + + +def is_update_available(package_name: str, pre_release: bool) -> bool: + """Check if an update is available for the given package.""" + pypi_version = get_pypi_version(package_name, pre_release) + local_version = get_local_version(package_name) + + is_update_available = pypi_version > local_version + assert isinstance(is_update_available, bool) + + return is_update_available + + +def get_pypi_version(package_name: str, pre_release: bool) -> semver.Version: + """Get the latest version of a package from PyPI.""" + url = f"https://pypi.org/pypi/{package_name}/json" + response = requests.get(url) + response.raise_for_status() + data = response.json() + + version = data["info"]["version"] + + if pre_release: + releases = list(data["releases"].keys()) + pre_version = _semver_version(releases[-1]) + if pre_version > version: + return pre_version + + return _semver_version(version) + + +def get_local_version(package_name: str) -> semver.Version: + """Get the currently installed version of a package.""" + return _semver_version(version(package_name)) + + +def _semver_version(v: str) -> semver.Version: + """Convert a version string to a semver.Version object, handling pypi pre-release formats.""" + try: + return semver.Version.parse(v) + except ValueError: + version_parts = v.split(".") + if len(version_parts) < 3: + raise ValueError(f"Invalid version string: {v}") + + patch_part = version_parts[2] + if "rc" in patch_part: + patch, rc = patch_part.split("rc", 1) + v_clean = f"{version_parts[0]}.{version_parts[1]}.{patch}-rc.{rc}" + return semver.Version.parse(v_clean) + + raise ValueError(f"Invalid version string: {v}") diff --git a/reachy_mini/src/reachy_mini/utils/wireless_version/utils.py b/reachy_mini/src/reachy_mini/utils/wireless_version/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..dff1b3650f38f259c1b35fc50cafc4f79572c809 --- /dev/null +++ b/reachy_mini/src/reachy_mini/utils/wireless_version/utils.py @@ -0,0 +1,39 @@ +"""Utility functions for running shell commands asynchronously with real-time logging.""" + +import asyncio +import logging +from typing import Callable + + +async def call_logger_wrapper(command: list[str], logger: logging.Logger) -> None: + """Run a command asynchronously, streaming stdout and stderr to logger in real time. + + Args: + command: list or tuple of command arguments (not a string) + logger: logger object with .info and .error methods + + """ + process = await asyncio.create_subprocess_exec( + *command, + stdout=asyncio.subprocess.PIPE, + stderr=asyncio.subprocess.PIPE, + ) + + async def stream_output( + stream: asyncio.StreamReader, + log_func: Callable[[str], None], + ) -> None: + while True: + line = await stream.readline() + if not line: + break + log_func(line.decode().rstrip()) + + tasks = [] + if process.stdout is not None: + tasks.append(asyncio.create_task(stream_output(process.stdout, logger.info))) + if process.stderr is not None: + tasks.append(asyncio.create_task(stream_output(process.stderr, logger.error))) + + await asyncio.gather(*tasks) + await process.wait() diff --git a/reachy_mini/tests/faulty_app/README.md b/reachy_mini/tests/faulty_app/README.md new file mode 100644 index 0000000000000000000000000000000000000000..63915a996d683aad5ba055ef43f9d2ca093c5b51 --- /dev/null +++ b/reachy_mini/tests/faulty_app/README.md @@ -0,0 +1 @@ +# faulty_app - A ReachyMini application \ No newline at end of file diff --git a/reachy_mini/tests/faulty_app/faulty_app/__init__.py b/reachy_mini/tests/faulty_app/faulty_app/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reachy_mini/tests/faulty_app/faulty_app/main.py b/reachy_mini/tests/faulty_app/faulty_app/main.py new file mode 100644 index 0000000000000000000000000000000000000000..7834aefc7b3cdd3805128f66b4b5ddb96a93ddcc --- /dev/null +++ b/reachy_mini/tests/faulty_app/faulty_app/main.py @@ -0,0 +1,9 @@ +import threading + +from reachy_mini import ReachyMini, ReachyMiniApp + + +class FaultyApp(ReachyMiniApp): + def run(self, reachy_mini: ReachyMini, stop_event: threading.Event): + raise RuntimeError("This is a faulty app for testing purposes.") + diff --git a/reachy_mini/tests/faulty_app/pyproject.toml b/reachy_mini/tests/faulty_app/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..5fe572f708a23be63839c0853fdaf09b46e7196f --- /dev/null +++ b/reachy_mini/tests/faulty_app/pyproject.toml @@ -0,0 +1,18 @@ +[build-system] +requires = ["setuptools>=61.0"] +build-backend = "setuptools.build_meta" + + +[project] +name = "faulty_app" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.8" +dependencies = [ + "reachy-mini" +] +keywords = ["reachy-mini-app"] + +[project.entry-points."reachy_mini_apps"] +faulty_app = "faulty_app.main:FaultyApp" \ No newline at end of file diff --git a/reachy_mini/tests/ok_app/README.md b/reachy_mini/tests/ok_app/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3297f129a114bac224eb602bce4300e26d01ad19 --- /dev/null +++ b/reachy_mini/tests/ok_app/README.md @@ -0,0 +1 @@ +# ok_app - A ReachyMini application \ No newline at end of file diff --git a/reachy_mini/tests/ok_app/ok_app/__init__.py b/reachy_mini/tests/ok_app/ok_app/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reachy_mini/tests/ok_app/ok_app/main.py b/reachy_mini/tests/ok_app/ok_app/main.py new file mode 100644 index 0000000000000000000000000000000000000000..80e245f3817b53dd35cb4cc06f0f0f2e08f6943f --- /dev/null +++ b/reachy_mini/tests/ok_app/ok_app/main.py @@ -0,0 +1,10 @@ +import threading +import time + +from reachy_mini import ReachyMini, ReachyMiniApp + + +class OkApp(ReachyMiniApp): + def run(self, reachy_mini: ReachyMini, stop_event: threading.Event): + while not stop_event.is_set(): + time.sleep(0.5) \ No newline at end of file diff --git a/reachy_mini/tests/ok_app/pyproject.toml b/reachy_mini/tests/ok_app/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..58ff6f6df56e0b3a9c433de7d9985a617ff19389 --- /dev/null +++ b/reachy_mini/tests/ok_app/pyproject.toml @@ -0,0 +1,18 @@ +[build-system] +requires = ["setuptools>=61.0"] +build-backend = "setuptools.build_meta" + + +[project] +name = "ok_app" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.8" +dependencies = [ + "reachy-mini" +] +keywords = ["reachy-mini-app"] + +[project.entry-points."reachy_mini_apps"] +ok_app = "ok_app.main:OkApp" \ No newline at end of file diff --git a/reachy_mini/tests/test_analytical_kinematics.py b/reachy_mini/tests/test_analytical_kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..810006a99a15321d2cf6fb2720814d2bbc0cb9ff --- /dev/null +++ b/reachy_mini/tests/test_analytical_kinematics.py @@ -0,0 +1,19 @@ +from reachy_mini.kinematics import AnalyticalKinematics +import numpy as np + +def test_analytical_kinematics(): + ak = AnalyticalKinematics() + pose = np.eye(4) + sol = ak.ik(pose) + assert sol is not None, "IK solution should be found" + fk_pose = ak.fk(sol, no_iterations=10) + assert np.allclose(fk_pose, pose, atol=1e-2), "FK should match the original pose" + +def test_analytical_kinematics_with_yaw(): + ak = AnalyticalKinematics() + pose = np.eye(4) + body_yaw = np.pi / 4 # 45 degrees + sol = ak.ik(pose, body_yaw=body_yaw) + assert sol is not None, "IK solution should be found with body yaw" + fk_pose = ak.fk(sol, no_iterations=10) + assert np.allclose(fk_pose, pose, atol=1e-2), "FK should match the original pose with body yaw" \ No newline at end of file diff --git a/reachy_mini/tests/test_app.py b/reachy_mini/tests/test_app.py new file mode 100644 index 0000000000000000000000000000000000000000..58eb7c6d9e5d9e958eaba35f6d44617172a66211 --- /dev/null +++ b/reachy_mini/tests/test_app.py @@ -0,0 +1,114 @@ + +import asyncio +from pathlib import Path +from threading import Event +import time +import pytest + +from reachy_mini import ReachyMiniApp +from reachy_mini.apps import AppInfo, SourceKind +from reachy_mini.apps.manager import AppManager, AppState +from reachy_mini.daemon.daemon import Daemon +from reachy_mini.reachy_mini import ReachyMini + + +@pytest.mark.asyncio +async def test_app() -> None: + class MockApp(ReachyMiniApp): + def run(self, reachy_mini: ReachyMini, stop_event: Event) -> None: + time.sleep(1) # Simulate some processing time + + daemon = Daemon() + await daemon.start( + sim=True, + headless=True, + wake_up_on_start=False, + ) + + stop = Event() + + with ReachyMini(media_backend="no_media") as mini: + app = MockApp() + app.run(mini, stop) + + await daemon.stop(goto_sleep_on_stop=False) + + +@pytest.mark.asyncio +async def test_app_manager() -> None: + daemon = Daemon() + await daemon.start( + sim=True, + headless=True, + wake_up_on_start=False, + ) + + app_mngr = AppManager() + + before_installed_apps = await app_mngr.list_available_apps(SourceKind.INSTALLED) + + app_info = AppInfo( + name="ok_app", + source_kind=SourceKind.LOCAL, + extra={"path": str(Path(__file__).parent / "ok_app")}, + ) + await app_mngr.install_new_app(app_info, daemon.logger) + + after_installed_apps = await app_mngr.list_available_apps(SourceKind.INSTALLED) + + assert len(after_installed_apps) == len(before_installed_apps) + 1 + + status = await app_mngr.start_app("ok_app", media_backend="no_media") + assert status is not None and status.state in (AppState.STARTING, AppState.RUNNING) + assert app_mngr.is_app_running() + status = await app_mngr.current_app_status() + assert status is not None and status.state in (AppState.STARTING, AppState.RUNNING) + + await app_mngr.stop_current_app() + assert not app_mngr.is_app_running() + status = await app_mngr.current_app_status() + assert status is None + + await app_mngr.remove_app("ok_app", daemon.logger) + after_uninstalled_apps = await app_mngr.list_available_apps(SourceKind.INSTALLED) + + assert len(after_uninstalled_apps) == len(before_installed_apps) + + await daemon.stop(goto_sleep_on_stop=False) + + + +@pytest.mark.asyncio +async def test_faulty_app() -> None: + daemon = Daemon() + await daemon.start( + sim=True, + headless=True, + wake_up_on_start=False, + ) + + app_mngr = AppManager() + + app_info = AppInfo( + name="faulty_app", + source_kind=SourceKind.LOCAL, + extra={"path": str(Path(__file__).parent / "faulty_app")}, + ) + await app_mngr.install_new_app(app_info, daemon.logger) + + + status = await app_mngr.start_app("faulty_app", media_backend="no_media") + + for _ in range(10): + status = await app_mngr.current_app_status() + if status is None or status.state in (AppState.STARTING, AppState.RUNNING): + await asyncio.sleep(1.0) + continue + assert status is not None and status.state == AppState.ERROR + break + else: + pytest.fail("Faulty app did not reach ERROR state in time") + + await app_mngr.remove_app("faulty_app", daemon.logger) + + await daemon.stop(goto_sleep_on_stop=False) diff --git a/reachy_mini/tests/test_audio.py b/reachy_mini/tests/test_audio.py new file mode 100644 index 0000000000000000000000000000000000000000..8ca28475f0960c0860c04b196c745c166ecbf09f --- /dev/null +++ b/reachy_mini/tests/test_audio.py @@ -0,0 +1,90 @@ +import os +import time +import tempfile +import pytest +import soundfile as sf +from reachy_mini.media.media_manager import MediaManager, MediaBackend + +@pytest.mark.audio +def test_play_sound_default_backend() -> None: + """Test playing a sound with the default backend.""" + media = MediaManager(backend=MediaBackend.DEFAULT_NO_VIDEO) + # Use a short sound file present in your assets directory + sound_file = "wake_up.wav" # Change to a valid file if needed + media.play_sound(sound_file) + print("Playing sound with default backend...") + # Wait a bit to let the sound play (non-blocking backend) + time.sleep(2) + # No assertion: test passes if no exception is raised. + # Sound should be audible if the audio device is correctly set up. + +@pytest.mark.audio +def test_record_audio_and_file_exists() -> None: + """Test recording audio and check that the file exists and is not empty.""" + media = MediaManager(backend=MediaBackend.DEFAULT_NO_VIDEO) + duration = 2 # seconds + tmpfile = tempfile.NamedTemporaryFile(suffix='.wav', delete=False) + tmpfile.close() + media.start_recording() + time.sleep(duration) + media.stop_recording() + audio = media.get_audio_sample() + samplerate = media.get_input_audio_samplerate() + if audio is not None: + sf.write(tmpfile.name, audio, samplerate) + assert os.path.exists(tmpfile.name) + assert os.path.getsize(tmpfile.name) > 0 + # comment the following line if you want to keep the file for inspection + os.remove(tmpfile.name) + # print(f"Recorded audio saved to {tmpfile.name}") + +@pytest.mark.audio +def test_DoA() -> None: + """Test Direction of Arrival (DoA) estimation.""" + media = MediaManager(backend=MediaBackend.DEFAULT_NO_VIDEO) + doa = media.audio.get_DoA() + assert doa is not None + assert isinstance(doa, tuple) + assert len(doa) == 2 + assert isinstance(doa[0], float) + assert isinstance(doa[1], bool) + + +''' +@pytest.mark.audio_gstreamer +def test_play_sound_gstreamer_backend() -> None: + """Test playing a sound with the GStreamer backend.""" + media = MediaManager(backend=MediaBackend.GSTREAMER) + time.sleep(2) # Give some time for the audio system to initialize + # Use a short sound file present in your assets directory + sound_file = "wake_up.wav" # Change to a valid file if needed + media.play_sound(sound_file) + print("Playing sound with GStreamer backend...") + # Wait a bit to let the sound play (non-blocking backend) + time.sleep(2) + # No assertion: test passes if no exception is raised. + # Sound should be audible if the audio device is correctly set up. +''' + +@pytest.mark.audio_gstreamer +def test_record_audio_and_file_exists_gstreamer() -> None: + """Test recording audio and check that the file exists and is not empty.""" + media = MediaManager(backend=MediaBackend.GSTREAMER) + duration = 2 # seconds + tmpfile = tempfile.NamedTemporaryFile(suffix='.wav', delete=False) + tmpfile.close() + media.start_recording() + time.sleep(duration) + audio = media.get_audio_sample() + assert audio is not None + media.stop_recording() + + +def test_no_media() -> None: + """Test that methods handle uninitialized media gracefully.""" + media = MediaManager(backend=MediaBackend.NO_MEDIA) + + assert media.get_frame() is None + assert media.get_audio_sample() is None + assert media.get_input_audio_samplerate() == -1 + assert media.get_output_audio_samplerate() == -1 diff --git a/reachy_mini/tests/test_collision.py b/reachy_mini/tests/test_collision.py new file mode 100644 index 0000000000000000000000000000000000000000..8948d8d6a869453d78e88dd94155e708495852b5 --- /dev/null +++ b/reachy_mini/tests/test_collision.py @@ -0,0 +1,17 @@ +from reachy_mini.utils.constants import URDF_ROOT_PATH +from reachy_mini.kinematics import PlacoKinematics +from reachy_mini.utils import create_head_pose + + +def offline_test_collision(): + head_kinematics = PlacoKinematics( + urdf_path=URDF_ROOT_PATH, check_collision=True + ) + + reachable_pose = create_head_pose() + sol = head_kinematics.ik(reachable_pose) + assert sol is not None, "The reachable pose should not cause a collision." + + unreachable_pose = create_head_pose(x=20, y=20, mm=True) + sol = head_kinematics.ik(unreachable_pose) + assert sol is None, "The unreachable pose should cause a collision." diff --git a/reachy_mini/tests/test_daemon.py b/reachy_mini/tests/test_daemon.py new file mode 100644 index 0000000000000000000000000000000000000000..589f1c09c042a43c335cbdbc555f1961550eb565 --- /dev/null +++ b/reachy_mini/tests/test_daemon.py @@ -0,0 +1,92 @@ +import asyncio +import numpy as np +import pytest + +from reachy_mini.daemon.daemon import Daemon +from reachy_mini.reachy_mini import ReachyMini + +@pytest.mark.asyncio +async def test_daemon_start_stop() -> None: + from reachy_mini.daemon.daemon import Daemon + + daemon = Daemon() + await daemon.start( + sim=True, + headless=True, + wake_up_on_start=False, + ) + await daemon.stop(goto_sleep_on_stop=False) + + +@pytest.mark.asyncio +async def test_daemon_multiple_start_stop() -> None: + daemon = Daemon() + + for _ in range(3): + await daemon.start( + sim=True, + headless=True, + wake_up_on_start=False, + ) + await daemon.stop(goto_sleep_on_stop=False) + + +@pytest.mark.asyncio +async def test_daemon_client_disconnection() -> None: + daemon = Daemon() + await daemon.start( + sim=True, + headless=True, + wake_up_on_start=False, + ) + + client_connected = asyncio.Event() + + async def simple_client() -> None: + with ReachyMini(media_backend="no_media") as mini: + status = mini.client.get_status() + assert status['state'] == "running" + assert status['simulation_enabled'] + assert status['error'] is None + assert status['backend_status']['motor_control_mode'] == "enabled" + assert status['backend_status']['error'] is None + assert status['wlan_ip'] is None + client_connected.set() + + async def wait_for_client() -> None: + await client_connected.wait() + await daemon.stop(goto_sleep_on_stop=False) + + await asyncio.gather(simple_client(), wait_for_client()) + +@pytest.mark.asyncio +async def test_daemon_early_stop() -> None: + daemon = Daemon() + await daemon.start( + sim=True, + headless=True, + wake_up_on_start=False, + ) + + client_connected = asyncio.Event() + daemon_stopped = asyncio.Event() + + async def client_bg() -> None: + with ReachyMini(media_backend="no_media") as reachy: + client_connected.set() + await daemon_stopped.wait() + + # Make sure the keep-alive check runs at least once + reachy.client._check_alive_evt.clear() + reachy.client._check_alive_evt.wait(timeout=100.0) + + with pytest.raises(ConnectionError, match="Lost connection with the server."): + reachy.set_target(head=np.eye(4)) + + async def will_stop_soon() -> None: + await client_connected.wait() + await daemon.stop(goto_sleep_on_stop=False) + daemon_stopped.set() + + await asyncio.gather(client_bg(), will_stop_soon()) + diff --git a/reachy_mini/tests/test_import.py b/reachy_mini/tests/test_import.py new file mode 100644 index 0000000000000000000000000000000000000000..a553156690d214bc6e65f88f56c5bbbf7cf6c13b --- /dev/null +++ b/reachy_mini/tests/test_import.py @@ -0,0 +1,6 @@ + + +def test_import(): # noqa: D100, D103 + from reachy_mini import ReachyMini # noqa: F401 + from reachy_mini import ReachyMiniApp # noqa: F401 + diff --git a/reachy_mini/tests/test_placo.py b/reachy_mini/tests/test_placo.py new file mode 100644 index 0000000000000000000000000000000000000000..1f9a76aff6c49311993d963fcb4ebde42b0c5b7e --- /dev/null +++ b/reachy_mini/tests/test_placo.py @@ -0,0 +1,7 @@ +def test_load_kinematics(): # noqa: D100, D103 + from reachy_mini.utils.constants import URDF_ROOT_PATH + from reachy_mini.kinematics import PlacoKinematics + + # Test loading the kinematics + kinematics = PlacoKinematics(URDF_ROOT_PATH) + assert kinematics is not None, "Failed to load PlacoKinematics." diff --git a/reachy_mini/tests/test_video.py b/reachy_mini/tests/test_video.py new file mode 100644 index 0000000000000000000000000000000000000000..63fbccd0bac4dd75e771ec72b818f523461a7350 --- /dev/null +++ b/reachy_mini/tests/test_video.py @@ -0,0 +1,87 @@ +from reachy_mini.media.camera_constants import ReachyMiniCamSpecs, ArduCamResolution, MujocoCameraSpecs +from reachy_mini.media.media_manager import MediaManager, MediaBackend +import numpy as np +import pytest +import time +# import tempfile +# import cv2 + + +@pytest.mark.video +def test_get_frame_exists() -> None: + """Test that a frame can be retrieved from the camera and is not None.""" + media = MediaManager(backend=MediaBackend.DEFAULT) + frame = media.get_frame() + assert frame is not None, "No frame was retrieved from the camera." + assert isinstance(frame, np.ndarray), "Frame is not a numpy array." + assert frame.size > 0, "Frame is empty." + assert frame.shape[0] == media.camera.resolution[1] and frame.shape[1] == media.camera.resolution[0], f"Frame has incorrect dimensions: {frame.shape}" + + # with tempfile.NamedTemporaryFile(suffix='.png', delete=False) as tmp_file: + # cv2.imwrite(tmp_file.name, frame) + # print(f"Frame saved for inspection: {tmp_file.name}") + +@pytest.mark.video +def test_get_frame_exists_all_resolutions() -> None: + """Test that a frame can be retrieved from the camera for all supported resolutions.""" + media = MediaManager(backend=MediaBackend.DEFAULT) + for resolution in media.camera.camera_specs.available_resolutions: + media.camera.set_resolution(resolution) + frame = media.get_frame() + assert frame is not None, f"No frame was retrieved from the camera at resolution {resolution}." + assert isinstance(frame, np.ndarray), f"Frame is not a numpy array at resolution {resolution}." + assert frame.size > 0, f"Frame is empty at resolution {resolution}." + assert frame.shape[0] == resolution.value[1] and frame.shape[1] == resolution.value[0], f"Frame has incorrect dimensions at resolution {resolution}: {frame.shape}" + +@pytest.mark.video +def test_change_resolution_errors() -> None: + """Test that changing resolution raises a runtime error if not allowed.""" + media = MediaManager(backend=MediaBackend.DEFAULT) + media.camera.camera_specs = None + with pytest.raises(RuntimeError): + media.camera.set_resolution(ArduCamResolution.R1280x720) + + media.camera.camera_specs = MujocoCameraSpecs() + with pytest.raises(RuntimeError): + media.camera.set_resolution(ArduCamResolution.R1280x720) + + media.camera.camera_specs = ReachyMiniCamSpecs() + with pytest.raises(ValueError): + media.camera.set_resolution(ArduCamResolution.R1280x720) + + +@pytest.mark.video_gstreamer +def test_get_frame_exists_gstreamer() -> None: + """Test that a frame can be retrieved from the camera and is not None.""" + media = MediaManager(backend=MediaBackend.GSTREAMER) + time.sleep(2) # Give some time for the camera to initialize + frame = media.get_frame() + assert frame is not None, "No frame was retrieved from the camera." + assert isinstance(frame, np.ndarray), "Frame is not a numpy array." + assert frame.size > 0, "Frame is empty." + assert frame.shape[0] == media.camera.resolution[1] and frame.shape[1] == media.camera.resolution[0], f"Frame has incorrect dimensions: {frame.shape}" + +@pytest.mark.video_gstreamer +def test_get_frame_exists_all_resolutions_gstreamer() -> None: + """Test that a frame can be retrieved from the camera for all supported resolutions.""" + media = MediaManager(backend=MediaBackend.GSTREAMER) + time.sleep(2) # Give some time for the camera to initialize + + for resolution in media.camera.camera_specs.available_resolutions: + media.camera.close() + media.camera.set_resolution(resolution) + media.camera.open() + time.sleep(2) # Give some time for the camera to adjust to new resolution + frame = media.get_frame() + assert frame is not None, f"No frame was retrieved from the camera at resolution {resolution}." + assert isinstance(frame, np.ndarray), f"Frame is not a numpy array at resolution {resolution}." + assert frame.size > 0, f"Frame is empty at resolution {resolution}." + assert frame.shape[0] == resolution.value[1] and frame.shape[1] == resolution.value[0], f"Frame has incorrect dimensions at resolution {resolution}: {frame.shape}" + +@pytest.mark.video_gstreamer +def test_change_resolution_errors_gstreamer() -> None: + """Test that changing resolution raises a runtime error if not allowed.""" + media = MediaManager(backend=MediaBackend.GSTREAMER) + time.sleep(1) # Give some time for the camera to initialize + with pytest.raises(RuntimeError): + media.camera.set_resolution(media.camera.camera_specs.available_resolutions[0]) diff --git a/reachy_mini/tests/test_wireless.py b/reachy_mini/tests/test_wireless.py new file mode 100644 index 0000000000000000000000000000000000000000..0d702d4666d90218d3a0548319ab50e256b824b5 --- /dev/null +++ b/reachy_mini/tests/test_wireless.py @@ -0,0 +1,30 @@ +import pytest + + +from reachy_mini.reachy_mini import ReachyMini +import time +import numpy as np +from reachy_mini.media.camera_constants import RPICameraResolution + +@pytest.mark.wireless +def test_daemon_wireless_client_disconnection() -> None: + with ReachyMini(media_backend="no_media", localhost_only=False) as mini: + status = mini.client.get_status() + assert status['state'] == "running" + assert status['wireless_version'] is True + assert not status['simulation_enabled'] + assert status['error'] is None + assert status['backend_status']['motor_control_mode'] == "enabled" + assert status['backend_status']['error'] is None + assert isinstance(status['wlan_ip'], str) + assert status['wlan_ip'].count('.') == 3 + assert all(0 <= int(part) <= 255 for part in status['wlan_ip'].split('.') if part.isdigit()) + +@pytest.mark.wireless_gstreamer +def test_daemon_wireless_gstreamer() -> None: + with ReachyMini(media_backend="gstreamer") as mini: + time.sleep(3) # Give some time for the camera to initialize + frame = mini.media.get_frame() + assert frame is not None, "No frame was retrieved from the camera." + assert isinstance(frame, np.ndarray), "Frame is not a numpy array." + assert frame.shape[0] == RPICameraResolution.R1280x720.value[1] and frame.shape[1] == RPICameraResolution.R1280x720.value[0], f"Frame has incorrect dimensions: {frame.shape}" diff --git a/reachy_mini/tools/setup_motor.py b/reachy_mini/tools/setup_motor.py new file mode 100644 index 0000000000000000000000000000000000000000..32b74b0c1f93bf28756662ebbf71d0343a14e611 --- /dev/null +++ b/reachy_mini/tools/setup_motor.py @@ -0,0 +1,389 @@ +"""Motor setup script for the Reachy Mini robot. + +This script allows to configure the motors of the Reachy Mini robot by setting their ID, baudrate, offset, angle limits, return delay time, and removing the input voltage error. + +The motor needs to be configured one by one, so you will need to connect only one motor at a time to the serial port. You can specify which motor to configure by passing its name as an argument. + +If not specified, it assumes the motor is in the factory settings (ID 1 and baudrate 57600). If it's not the case, you will need to use a tool like Dynamixel Wizard to first reset it or manually specify the ID and baudrate. + +Please note that all values given in the configuration file are in the motor's raw units. +""" + +import argparse +import time +from pathlib import Path + +from rustypot import Xl330PyController + +from reachy_mini.utils.hardware_config.parser import MotorConfig, parse_yaml_config + +FACTORY_DEFAULT_ID = 1 +FACTORY_DEFAULT_BAUDRATE = 57600 +SERIAL_TIMEOUT = 0.01 # seconds +MOTOR_SETUP_DELAY = 0.1 # seconds + +XL_BAUDRATE_CONV_TABLE = { + 9600: 0, + 57600: 1, + 115200: 2, + 1000000: 3, + 2000000: 4, + 3000000: 5, + 4000000: 6, +} + + +def setup_motor( + motor_config: MotorConfig, + serial_port: str, + from_baudrate: int, + target_baudrate: int, + from_id: int, +): + """Set up the motor with the given configuration.""" + if not lookup_for_motor( + serial_port, + from_id, + from_baudrate, + ): + raise RuntimeError( + f"No motor found on port {serial_port}. " + f"Make sure the motor is in factory settings (ID {from_id} and baudrate {from_baudrate}) and connected to the specified port." + ) + + # Make sure the torque is disabled to be able to write EEPROM + disable_torque(serial_port, from_id, from_baudrate) + try: + if from_baudrate != target_baudrate: + change_baudrate( + serial_port, + id=from_id, + base_baudrate=from_baudrate, + target_baudrate=target_baudrate, + ) + time.sleep(MOTOR_SETUP_DELAY) + + if from_id != motor_config.id: + change_id( + serial_port, + current_id=from_id, + new_id=motor_config.id, + baudrate=target_baudrate, + ) + time.sleep(MOTOR_SETUP_DELAY) + + change_offset( + serial_port, + id=motor_config.id, + offset=motor_config.offset, + baudrate=target_baudrate, + ) + + time.sleep(MOTOR_SETUP_DELAY) + + change_angle_limits( + serial_port, + id=motor_config.id, + angle_limit_min=motor_config.angle_limit_min, + angle_limit_max=motor_config.angle_limit_max, + baudrate=target_baudrate, + ) + + time.sleep(MOTOR_SETUP_DELAY) + + change_shutdown_error( + serial_port, + id=motor_config.id, + baudrate=target_baudrate, + shutdown_error=motor_config.shutdown_error, + ) + + time.sleep(MOTOR_SETUP_DELAY) + + change_return_delay_time( + serial_port, + id=motor_config.id, + return_delay_time=motor_config.return_delay_time, + baudrate=target_baudrate, + ) + + time.sleep(MOTOR_SETUP_DELAY) + except Exception as e: + print(f"Error while setting up motor ID {from_id}: {e}") + raise e + + +def lookup_for_motor( + serial_port: str, id: int, baudrate: int, silent: bool = False +) -> bool: + """Check if a motor with the given ID is reachable on the specified serial port.""" + if not silent: + print( + f"Looking for motor with ID {id} on port {serial_port}...", + end="", + flush=True, + ) + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + ret = c.ping(id) + if not silent: + print(f"{'✅' if ret else '❌'}") + return ret + + +def disable_torque(serial_port: str, id: int, baudrate: int): + """Disable the torque of the motor with the given ID on the specified serial port.""" + print(f"Disabling torque for motor with ID {id}...", end="", flush=True) + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + c.write_torque_enable(id, False) + print("✅") + + +def change_baudrate( + serial_port: str, id: int, base_baudrate: int, target_baudrate: int +): + """Change the baudrate of the motor with the given ID on the specified serial port.""" + print(f"Changing baudrate to {target_baudrate}...", end="", flush=True) + c = Xl330PyController(serial_port, baudrate=base_baudrate, timeout=SERIAL_TIMEOUT) + c.write_baud_rate(id, XL_BAUDRATE_CONV_TABLE[target_baudrate]) + print("✅") + + +def change_id(serial_port: str, current_id: int, new_id: int, baudrate: int): + """Change the ID of the motor with the given current ID on the specified serial port.""" + print(f"Changing ID from {current_id} to {new_id}...", end="", flush=True) + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + c.write_id(current_id, new_id) + print("✅") + + +def change_offset(serial_port: str, id: int, offset: int, baudrate: int): + """Change the offset of the motor with the given ID on the specified serial port.""" + print(f"Changing offset for motor with ID {id} to {offset}...", end="", flush=True) + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + c.write_homing_offset(id, offset) + print("✅") + + +def change_angle_limits( + serial_port: str, + id: int, + angle_limit_min: int, + angle_limit_max: int, + baudrate: int, +): + """Change the angle limits of the motor with the given ID on the specified serial port.""" + print( + f"Changing angle limits for motor with ID {id} to [{angle_limit_min}, {angle_limit_max}]...", + end="", + flush=True, + ) + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + c.write_raw_min_position_limit(id, angle_limit_min) + c.write_raw_max_position_limit(id, angle_limit_max) + print("✅") + + +def change_shutdown_error( + serial_port: str, id: int, baudrate: int, shutdown_error: int +): + """Change the shutdown error of the motor with the given ID on the specified serial port.""" + print( + f"Changing shutdown error for motor with ID {id} to {shutdown_error}...", + end="", + flush=True, + ) + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + c.write_shutdown(id, shutdown_error) + print("✅") + + +def change_return_delay_time( + serial_port: str, id: int, return_delay_time: int, baudrate: int +): + """Change the return delay time of the motor with the given ID on the specified serial port.""" + print( + f"Changing return delay time for motor with ID {id} to {return_delay_time}...", + end="", + flush=True, + ) + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + c.write_return_delay_time(id, return_delay_time) + print("✅") + + +def light_led_up(serial_port: str, id: int, baudrate: int): + """Light the LED of the motor with the given ID on the specified serial port.""" + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + + trials = 0 + + while trials < 3: + try: + c.write_led(id, 1) + break + except RuntimeError as e: + print(f"Error while turning on LED for motor ID {id}: {e}") + trials += 1 + + +def light_led_down(serial_port: str, id: int, baudrate: int): + """Light the LED of the motor with the given ID on the specified serial port.""" + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + trials = 0 + + while trials < 3: + try: + c.write_led(id, 0) + break + except RuntimeError as e: + print(f"Error while turning off LED for motor ID {id}: {e}") + trials += 1 + + +def check_configuration(motor_config: MotorConfig, serial_port: str, baudrate: int): + """Check the configuration of the motor with the given ID on the specified serial port.""" + c = Xl330PyController(serial_port, baudrate=baudrate, timeout=SERIAL_TIMEOUT) + + print("Checking configuration...") + + # Check if there is a motor with the desired ID + if not c.ping(motor_config.id): + raise RuntimeError(f"No motor with ID {motor_config.id} found, cannot proceed") + print(f"Found motor with ID {motor_config.id} ✅.") + + # Read return delay time + return_delay = c.read_return_delay_time(motor_config.id)[0] + if return_delay != motor_config.return_delay_time: + raise RuntimeError( + f"Return delay time is {return_delay}, expected {motor_config.return_delay_time}" + ) + print(f"Return delay time is correct: {return_delay} ✅.") + + # Read angle limits + angle_limit_min = c.read_raw_min_position_limit(motor_config.id)[0] + angle_limit_max = c.read_raw_max_position_limit(motor_config.id)[0] + if angle_limit_min != motor_config.angle_limit_min: + raise RuntimeError( + f"Angle limit min is {angle_limit_min}, expected {motor_config.angle_limit_min}" + ) + if angle_limit_max != motor_config.angle_limit_max: + raise RuntimeError( + f"Angle limit max is {angle_limit_max}, expected {motor_config.angle_limit_max}" + ) + print( + f"Angle limits are correct: [{motor_config.angle_limit_min}, {motor_config.angle_limit_max}] ✅." + ) + + # Read homing offset + offset = c.read_homing_offset(motor_config.id)[0] + if offset != motor_config.offset: + raise RuntimeError(f"Homing offset is {offset}, expected {motor_config.offset}") + print(f"Homing offset is correct: {offset} ✅.") + + # Read shutdown + shutdown = c.read_shutdown(motor_config.id)[0] + if shutdown != motor_config.shutdown_error: + raise RuntimeError( + f"Shutdown is {shutdown}, expected {motor_config.shutdown_error}" + ) + print(f"Shutdown error is correct: {shutdown} ✅.") + + print("Configuration is correct ✅!") + + +def run(args): + """Entry point for the Reachy Mini motor configuration tool.""" + config = parse_yaml_config(args.config_file) + + if args.motor_name == "all": + motors = list(config.motors.keys()) + else: + motors = [args.motor_name] + + for motor_name in motors: + motor_config = config.motors[motor_name] + + if args.update_config: + args.from_id = motor_config.id + args.from_baudrate = config.serial.baudrate + + if not args.check_only: + setup_motor( + motor_config, + args.serialport, + from_id=args.from_id, + from_baudrate=args.from_baudrate, + target_baudrate=config.serial.baudrate, + ) + + try: + check_configuration( + motor_config, + args.serialport, + baudrate=config.serial.baudrate, + ) + except RuntimeError as e: + print(f"❌ Configuration check failed for motor '{motor_name}': {e}") + return + + light_led_up( + args.serialport, + motor_config.id, + baudrate=config.serial.baudrate, + ) + + +if __name__ == "__main__": + """Entry point for the Reachy Mini motor configuration tool.""" + parser = argparse.ArgumentParser(description="Motor Configuration tool") + parser.add_argument( + "config_file", + type=Path, + help="Path to the hardware configuration file (default: hardware_config.yaml).", + ) + parser.add_argument( + "motor_name", + type=str, + help="Name of the motor to configure.", + choices=[ + "body_rotation", + "stewart_1", + "stewart_2", + "stewart_3", + "stewart_4", + "stewart_5", + "stewart_6", + "right_antenna", + "left_antenna", + "all", + ], + ) + parser.add_argument( + "serialport", + type=str, + help="Serial port for communication with the motor.", + ) + parser.add_argument( + "--check-only", + action="store_true", + help="Only check the configuration without applying changes.", + ) + parser.add_argument( + "--from-id", + type=int, + default=FACTORY_DEFAULT_ID, + help=f"Current ID of the motor (default: {FACTORY_DEFAULT_ID}).", + ) + parser.add_argument( + "--from-baudrate", + type=int, + default=FACTORY_DEFAULT_BAUDRATE, + help=f"Current baudrate of the motor (default: {FACTORY_DEFAULT_BAUDRATE}).", + ) + parser.add_argument( + "--update-config", + action="store_true", + help="Update a specific motor (assumes it already has the correct id and baudrate).", + ) + args = parser.parse_args() + run(args) diff --git a/reachy_mini/tools/setup_motor_rpi.py b/reachy_mini/tools/setup_motor_rpi.py new file mode 100644 index 0000000000000000000000000000000000000000..6d865de339bc1d7bf3032fb26cd6b2d9417ef8c7 --- /dev/null +++ b/reachy_mini/tools/setup_motor_rpi.py @@ -0,0 +1,108 @@ +"""You need to `pip install gpiozero lgpio`.""" + +import argparse +import os +import time +from typing import List + +import numpy as np +from gpiozero import DigitalOutputDevice +from setup_motor import ( + FACTORY_DEFAULT_BAUDRATE, + FACTORY_DEFAULT_ID, + light_led_down, + lookup_for_motor, + parse_yaml_config, + run, +) + +assets_root_path = "../src/reachy_mini/assets/" + + +UART_PORT = "/dev/ttyAMA3" +CONFIG_FILE_PATH = os.path.join(assets_root_path, "config", "hardware_config.yaml") + +ID_TO_CHANNEL = { + 10: 0, + 11: 1, + 12: 2, + 13: 3, + 14: 4, + 15: 5, + 16: 6, + 17: 7, + 18: 8, +} +CHANNEL_TO_ID = {v: k for k, v in ID_TO_CHANNEL.items()} + +S0 = DigitalOutputDevice(25) +S1 = DigitalOutputDevice(8) +S2 = DigitalOutputDevice(7) +S3 = DigitalOutputDevice(1) + + +def get_channel_binary(channel) -> List[int]: + """Convert channel number (0-8) to 4-bit binary representation.""" + assert channel in np.arange(9), "Channel must be between 0 and 8" + bits = [int(b) for b in f"{channel:04b}"] # 4-bit binary + return bits[::-1] # flip the order + + +def select_channel(channel: int): + """Select a channel on the multiplexer.""" + bits = get_channel_binary(channel) + S0.on() if bits[0] else S0.off() + S1.on() if bits[1] else S1.off() + S2.on() if bits[2] else S2.off() + S3.on() if bits[3] else S3.off() + + +def main(): + """Scan all channels of the multiplexer to find motors in factory default state, and set them up one by one.""" + config = parse_yaml_config(CONFIG_FILE_PATH) + motor_name_to_id = {m: config.motors[m].id for m in config.motors} + id_to_motor_name = {v: k for k, v in motor_name_to_id.items()} + + print("Starting motor setup...") + current_channel = 0 + while True: + current_channel = (current_channel + 1) % 9 + select_channel(current_channel) + target_id = CHANNEL_TO_ID[current_channel] + target_name = id_to_motor_name[target_id] + if lookup_for_motor( + UART_PORT, FACTORY_DEFAULT_ID, FACTORY_DEFAULT_BAUDRATE, silent=True + ): + print(f"Found motor on channel {current_channel}!") + args = argparse.Namespace( + config_file=CONFIG_FILE_PATH, + motor_name=target_name, + serialport=UART_PORT, + check_only=False, + from_id=FACTORY_DEFAULT_ID, + from_baudrate=FACTORY_DEFAULT_BAUDRATE, + update_config=False, + ) + run(args) + + elif lookup_for_motor(UART_PORT, current_channel + 10, 1000000, silent=True): + print(f"Motor on channel {current_channel} already set up.") + # light_led_up(UART_PORT, current_channel+10, 1000000) + light_led_down(UART_PORT, current_channel + 10, 1000000) + args = argparse.Namespace( + config_file=CONFIG_FILE_PATH, + motor_name=target_name, + serialport=UART_PORT, + check_only=False, + from_id=current_channel + 10, + from_baudrate=1000000, + update_config=False, + ) + run(args) + time.sleep(2) + + time.sleep(0.01) + + +if __name__ == "__main__": + main() diff --git a/reachy_mini/uv.lock b/reachy_mini/uv.lock new file mode 100644 index 0000000000000000000000000000000000000000..fed1adff9e455914f52d524e9fefff4ea32b141f --- /dev/null +++ b/reachy_mini/uv.lock @@ -0,0 +1,3938 @@ +version = 1 +revision = 3 +requires-python = ">=3.10" +resolution-markers = [ + "python_full_version >= '3.13'", + "python_full_version >= '3.11' and python_full_version < '3.13'", + "python_full_version < '3.11'", +] + +[[package]] +name = "absl-py" +version = "2.3.1" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/10/2a/c93173ffa1b39c1d0395b7e842bbdc62e556ca9d8d3b5572926f3e4ca752/absl_py-2.3.1.tar.gz", hash = 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0000000000000000000000000000000000000000..808fea148f42f29df0f6526c6b4abad3588547df --- /dev/null +++ b/rmscript/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/rmscript/.idea/rmscript.iml b/rmscript/.idea/rmscript.iml new file mode 100644 index 0000000000000000000000000000000000000000..749e725db0752f36e5c13f06bb47f8057632568c --- /dev/null +++ b/rmscript/.idea/rmscript.iml @@ -0,0 +1,14 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/rmscript/README.md b/rmscript/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ca8752f2d2fdb896a190f7fbd0c89133ab357fcf --- /dev/null +++ b/rmscript/README.md @@ -0,0 +1,86 @@ +# rmscript + +A kid-friendly robot programming language for Reachy Mini. + +## Overview + +rmscript is a simple, Python-like domain-specific language (DSL) designed to make robot programming accessible to children and beginners. It compiles to an intermediate representation (IR) that can be executed by different adapters (queue-based execution, WebSocket streaming, etc.). + +## Installation + +```bash +pip install rmscript +``` + +With optional dependencies: +```bash +pip install rmscript[reachy] # For reachy_mini integration +pip install rmscript[scipy] # For advanced transformations +``` + +## Quick Start + +```python +from rmscript import compile_script + +# Compile rmscript source +result = compile_script(""" +DESCRIPTION Wave hello +look left +antenna both up +wait 1s +look right +""") + +if result.success: + print(f"Compiled {len(result.ir)} actions") + for action in result.ir: + print(f" - {type(action).__name__}") +else: + for error in result.errors: + print(f"Error: {error}") +``` + +## Language Features + +- **Intuitive syntax**: `look left`, `turn right`, `antenna up` +- **Time control**: `wait 2s`, `slow`, `fast` +- **Qualitative strengths**: `little`, `medium`, `lot`, `maximum` +- **Compound movements**: `look left and up` +- **Loops**: `repeat 3` blocks +- **Sound & pictures**: `play sound`, `picture` + +See the [Language Reference](docs/language_reference.md) for complete syntax. + +## Architecture + +rmscript uses a 5-stage compilation pipeline: + +``` +Source → Lexer → Parser → Semantic Analyzer → Optimizer → IR +``` + +The compiler outputs **Intermediate Representation (IR)**, not executable code. Execution is handled by **adapters** that consume IR in different contexts. + +## For Developers + +### Adapters + +Adapters execute IR in specific contexts. Example: + +```python +from rmscript import compile_file, ExecutionAdapter, ExecutionContext +from dataclasses import dataclass + +@dataclass +class MyContext(ExecutionContext): + robot: Any + +class MyAdapter: + def execute(self, ir, context: MyContext) -> dict: + for action in ir: + # Execute each IR action + if isinstance(action, IRAction): + context.robot.move(action.head_pose) + return {"status": "complete"} +``` \ No newline at end of file diff --git a/rmscript/pyproject.toml b/rmscript/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..dec328b2abba9cc9ee5fa3cd61a9aa7293c8ea55 --- /dev/null +++ b/rmscript/pyproject.toml @@ -0,0 +1,37 @@ +[project] +name = "rmscript" +version = "0.1.0" +description = "A kid-friendly robot programming language for Reachy Mini" +readme = "README.md" +requires-python = ">=3.11" + +dependencies = [ + "numpy>=1.24.0", + "reachy_mini>=1.0.0", +] + +[project.optional-dependencies] +dev = [ + "pytest>=7.0.0", + "pytest-asyncio>=0.21.0", + "ruff>=0.1.0", + "scipy>=1.10.0", # For testing rotation matrices +] + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[tool.ruff] +line-length = 100 +target-version = "py311" + +[tool.ruff.lint] +select = ["E", "F", "I", "N", "W"] +ignore = [] + +[tool.pytest.ini_options] +testpaths = ["tests"] +python_files = ["test_*.py"] +python_classes = ["Test*"] +python_functions = ["test_*"] diff --git a/rmscript/rmscript_reference_doc.md b/rmscript/rmscript_reference_doc.md new file mode 100644 index 0000000000000000000000000000000000000000..e7ea53879237df00164e841450a26a494b0c7d7a --- /dev/null +++ b/rmscript/rmscript_reference_doc.md @@ -0,0 +1,1021 @@ +# rmscript - Kid-Friendly Robot Programming + +rmscript is a natural language-inspired programming language designed to make robot programming accessible and fun for children. It compiles to Python code that controls the Reachy Mini robot. + +## Example Usage + +Create a file `hello.rmscript`: + +```rmscript +DESCRIPTION Wave hello to someone +antenna up +wait 1s +antenna down +look left +look right +look center +``` + +Test the script using the provided runner (after starting the reachy-mini-daemon): + +``` +python src/reachy_mini_conversation_app/rmscript/run_rmscript.py path/to/hello.rmscript +``` + + +## Language Syntax + +### File Structure + +Every rmscript file has a simple structure: + +```rmscript +DESCRIPTION Wave hello to someone +# Your commands here +look left +wait 1s +``` + +**Key features:** +- **Tool name**: Automatically derived from the filename (e.g., `wave_hello.rmscript` → tool name is `wave_hello`) +- **DESCRIPTION** (optional): One-line description used for LLM tool registration + +### Basic Commands + +```rmscript +# Comments start with # + +# Movement commands +look left +turn right +antenna up +head forward 10 + +# Wait command +wait 2s +wait 0.5s + +# Camera command +picture + +# Sound playback +play mysound +play othersound pause +``` + +### Case Insensitivity + +rmscript is case-insensitive for keywords: + +```rmscript +LOOK left # Same as "look left" +Look Left # Same as "look left" +WAIT 1s # Same as "wait 1s" +``` + +## Movement Commands + +### Look (Head Orientation) + +Control the robot's head orientation (pitch and yaw): + +```rmscript +look left # Turn head left (30° default) +look right 45 # Turn head right 45° +look up # Tilt head up (30° default) +look down 20 # Tilt head down 20° +look center # Return to center position + +# Synonyms +look straight # Same as center +look neutral # Same as center +``` + +**Physical Limits:** +- Pitch (up/down): ±40° +- Yaw (left/right): ±180° absolute, ±65° relative to body + +### Turn (Body Rotation) + +Rotate the robot's body (the head rotates together with the body): + +```rmscript +turn left # Rotate body and head left (30° default) +turn right 90 # Rotate body and head right 90° +turn center # Face forward +``` + +**Note:** The `turn` command rotates both the body yaw and the head yaw together, since the body carries the head. + +**Physical Limits:** +- Body yaw: ±160° (safe range) + +### Antenna + +Control the antenna positions using multiple syntaxes: + +**Clock Position (Numeric 0-12):** +```rmscript +antenna both 0 # 0 o'clock = 0° (straight up) +antenna both 3 # 3 o'clock = 90° (external/right) +antenna both 6 # 6 o'clock = 180° (straight down) +antenna both 9 # 9 o'clock = -90° (internal/left) +antenna left 4.5 # Left antenna to 4.5 o'clock (135°) +``` + +**Clock Keywords:** +```rmscript +antenna both high # 0° (high position) +antenna both ext # 90° (external) +antenna both low # 180° (low position) +antenna both int # -90° (internal) +``` + +**Directional Keywords (Natural Language):** +```rmscript +antenna both up # 0° (up) +antenna both right # 90° (right/external) +antenna both down # 180° (down) +antenna both left # -90° (left/internal) + +# Individual antenna control +antenna left up # Left antenna pointing up +antenna right down # Right antenna pointing down + +# Even in potentially confusing cases, it works naturally: +antenna left left # Left antenna pointing left (-90°) +antenna right right # Right antenna pointing right (90°) +``` + +**Physical Limits:** +- Antenna angle: ±180° (safe recommended: ±120°) + +### Head Translation + +Move the head forward/back/left/right/up/down in space: + +```rmscript +head forward 10 # Move head forward 10mm +head back 5 # Move head back 5mm +head backward 5 # Same as "back" (synonym) +head backwards 5 # Same as "back" (synonym) +head left 8 # Move head left 8mm +head right 8 # Move head right 8mm +head up 5 # Move head up 5mm +head down 3 # Move head down 3mm +``` + +**Physical Limits:** +- X (forward/back): ±50mm typical +- Y (left/right): ±50mm typical +- Z (up/down): +20mm / -30mm typical + +### Tilt (Head Roll) + +Tilt the head side-to-side: + +```rmscript +tilt left 15 # Tilt head left +tilt right 15 # Tilt head right +tilt center # Return to level +``` + +**Physical Limits:** +- Roll: ±40° + +### Wait + +Pause between movements: + +```rmscript +wait 1s # Wait 1 second +wait 0.5s # Wait 0.5 seconds +wait 2.5s # Wait 2.5 seconds +``` + +**Important:** The `s` suffix is **required** for consistency. `wait 1` will produce a compilation error. + +### Picture + +Take a picture with the robot's camera and add it to the conversation: + +```rmscript +picture # Take a picture +``` + +The picture command captures a frame from the camera and returns it as a base64-encoded image. + +**How it works:** + +1. **During execution**: The `picture` command is queued as a movement (instant duration: 0.01s) +2. **Capture timing**: Picture is captured at the right moment in the movement sequence +3. **File storage**: Pictures are automatically saved to `/tmp/reachy_picture_YYYYMMDD_HHMMSS_microseconds.jpg` +4. **Color handling**: Images are captured in RGB format with proper color conversion +5. **LLM integration**: When called by the LLM, pictures are automatically added to the conversation + +**Single picture (LLM-compatible):** +```rmscript +DESCRIPTION Check behind by taking a picture +turn left maximum +wait 0.5s +picture +wait 0.5s +turn center +``` + +This script: +- Turns the robot to look behind (120° left) +- Waits for movement to stabilize +- Captures a picture at the right moment +- Returns to center position +- The LLM receives the picture and can describe what it sees + +**Important timing notes:** +- Add `wait` commands before `picture` to let movements complete +- The tool automatically waits for all movements + picture capture before returning +- Pictures are captured when the movement queue reaches them (not immediately) + +**Multiple pictures:** +```rmscript +DESCRIPTION Look around and take pictures +look left +wait 0.5s +picture +look right +wait 0.5s +picture +look center +``` + +Each `picture` command captures a separate image. For single-picture scripts, the image is returned in Camera-compatible format (`b64_im`) for LLM integration. For multi-picture scripts, images are returned as an array. + +**Use with `run_rmscript.py`:** + +When testing scripts with `run_rmscript.py`, pictures are: +- Saved to `/tmp` with timestamped filenames +- Logged with full paths for easy access +- Displayed in the execution summary + +**Use with LLM conversation:** + +When called as a tool by the LLM: +- Single picture: Automatically fed to the LLM conversation (like Camera tool) +- Multiple pictures: Available as base64 data (future enhancement for multi-image display) +- Gradio UI: Picture thumbnails displayed in the conversation interface + +**Example conversation:** +``` +User: "Can you check what's behind you?" +→ LLM calls: check_behind() +→ Robot: turns, captures picture, returns to center +→ LLM sees the picture and responds: "I can see a desk with a laptop and some books!" +``` + +### Play Sound + +Play sound files (.wav, .mp3, .ogg, .flac) during script execution: + +```rmscript +play soundname # Play sound in background (async, continues immediately) +play soundname pause # Wait for sound to finish before continuing (blocking) +play soundname 5s # Play sound for exactly 5 seconds (blocking) +``` + +The script automatically searches for sound files in this order: +1. **Directory containing the .rmscript file** (highest priority - co-located sounds) +2. Current working directory +3. `sounds/` subdirectory + +**Asynchronous playback (default):** +```rmscript +play intro # Starts playing, script continues immediately +look left +wait 1s +``` +The sound plays in the background while movements execute. + +**Blocking playback (wait for sound to finish):** +```rmscript +play mysound pause # Waits for sound to finish +# OR use synonyms: +play mysound fully +play mysound wait +play mysound block +play mysound complete +``` + +The script pauses until the sound finishes playing, then continues. + +**Duration-limited playback:** +```rmscript +play mysound 10s # Play sound for exactly 10 seconds (blocks for 10s) +``` + +Plays the sound for the specified duration. If the sound is shorter, it will finish early. If longer, it will be cut off. + +### Loop Sound + +Loop a sound file repeatedly for a specified duration: + +```rmscript +loop soundname # Loop sound for 10 seconds (default) +loop soundname 5s # Loop sound for 5 seconds +loop soundname 30s # Loop sound for 30 seconds +``` + +The loop command automatically repeats the sound until the duration expires. This is useful for background music or ambient sounds. + +**Example use case:** +```rmscript +DESCRIPTION Greet with sound and movement +play hello pause # Play greeting sound fully +wait 0.5s +antenna both up # Wave antennas +wait 1s +antenna both down +``` + +**Sound files:** +- File extensions: `.wav`, `.mp3`, `.ogg`, `.flac` +- Example: `play hello` looks for `hello.wav`, `hello.mp3`, etc. +- **Best practice**: Place sound files in the same directory as your .rmscript file +- Alternative locations: working directory or `sounds/` subdirectory + +## Advanced Features + +### Keyword Reuse with `and` + +Chain multiple directions with the same action keyword: + +```rmscript +# Reuse "look" keyword +look left and up 25 +# → Equivalent to: look left + look up 25 +# → Merged into single command + +# Different keywords - no reuse +turn left and look right +# → turn left + look right +# → Two separate commands merged +``` + +This creates more natural, flowing descriptions while optimizing execution. + +### Qualitative Strength + +Use descriptive words instead of numbers - works for both angles and distances: + +```rmscript +# 5 levels of strength - values are context-aware! + +# Examples: +turn left tiny # 10° (body yaw can handle larger movements) +look up tiny # 5° (head pitch limited by cone constraint) +head forward tiny # 2mm + +turn left maximum # 120° (body yaw safe maximum) +look up maximum # 38° (respects ±40° pitch limit) +look left maximum # 60° (respects ±65° body-head differential) +head forward maximum # 28mm (under 30mm limit) +``` + +**Available Qualitative Keywords:** +- **VERY_SMALL**: minuscule, mini, verysmall, tiny +- **SMALL**: little, slightly, small, alittle +- **MEDIUM**: medium, normal, regular, standard, normally +- **LARGE**: lot, big, large, very, alot, huge, strong, strongly +- **VERY_LARGE**: verybig, enormous, verylarge, maximum + +**Context-Aware Values:** + +The same qualitative keyword maps to different values depending on the movement type, respecting physical limits: + +| Keyword | VERY_SMALL | SMALL | MEDIUM | LARGE | VERY_LARGE | +|---------|------------|-------|--------|-------|------------| +| **Body Yaw (turn)** | 10° | 30° | 60° | 90° | 120° | +| **Head Pitch/Roll (look up/down, tilt)** | 5° | 10° | 20° | 30° | 38° | +| **Head Yaw (look left/right)** | 5° | 15° | 30° | 45° | 60° | +| **Head Translation (head forward/back/etc)** | 2mm | 5mm | 10mm | 20mm | 28mm | +| **Antennas** | 10° | 30° | 60° | 90° | 110° | + +**Note:** These values are carefully chosen to stay within the robot's physical limits while maximizing safe range of motion. + +### Duration Keywords + +Use descriptive speed words: + +```rmscript +look left superfast # 0.2 seconds +look right fast # 0.5 seconds +look up slow # 2.0 seconds +look up slowly # 2.0 seconds (synonym for slow) +look down superslow # 3.0 seconds +``` + +Combine with 'and': + +```rmscript +turn left and look right fast +# Both movements complete in 0.5 seconds +``` + +### Repeat Blocks + +Repeat a sequence of commands: + +```rmscript +repeat 3 + look left + wait 0.5s + look right + wait 0.5s + +# Nested repeat blocks work too +repeat 2 + antenna up + repeat 3 + look left + look right + antenna down +``` + +**Indentation:** Use spaces or tabs consistently (tabs = 4 spaces). + +### Combining Movements + +Combine multiple movements into a single smooth motion: + +```rmscript +# All happen simultaneously +antenna both up and look up 25 and turn left 30 +``` + +This merges into a single `goto_target()` call with all parameters. + +**Important:** The `and` keyword can only combine movement commands (turn, look, head, tilt, antenna). You **cannot** combine movements with control commands (picture, play, loop, wait) using `and`. Use separate lines instead: + +```rmscript +# ❌ ERROR - Cannot combine movement with picture +look left and picture + +# ✓ CORRECT - Use separate lines +look left +wait 0.5s +picture + +# ❌ ERROR - Cannot combine movement with play +turn right and play mysound + +# ✓ CORRECT - Use separate lines +turn right +play mysound +``` + +## Compiler Architecture + +### Overview + +The compiler uses a 5-stage pipeline: + +``` +Source Code → Lexer → Parser → Semantic Analyzer → Optimizer → Code Generator +``` + +### Stage 1: Lexer (Tokenization) + +Converts source text into tokens with indentation tracking: + +```python +from reachy_mini.rmscript.lexer import Lexer + +source = "look left\nwait 1s" +lexer = Lexer(source) +tokens = lexer.tokenize() +# → [Token(KEYWORD_LOOK, 'look', L1:C1), Token(DIRECTION, 'left', L1:C6), ...] +``` + +Features: +- Python-like INDENT/DEDENT tokens +- Case-insensitive keyword matching +- Comment stripping +- Line/column tracking for error messages + +### Stage 2: Parser (AST Construction) + +Builds an Abstract Syntax Tree from tokens: + +```python +from reachy_mini.rmscript.parser import Parser + +ast = Parser(tokens).parse() +# → Program(tool_name='...', description='...', statements=[...]) +``` + +Features: +- Keyword reuse detection for `and` chains +- Direction validation per keyword +- Repeat block nesting +- Syntax error reporting + +### Stage 3: Semantic Analyzer + +Applies defaults, validates ranges, and generates IR: + +```python +from reachy_mini.rmscript.semantic import SemanticAnalyzer + +ir, errors, warnings = SemanticAnalyzer().analyze(ast) +# → List[Action | WaitAction], List[CompilationError], List[CompilationError] +``` + +Features: +- Default value resolution (30° for angles, 1s for duration) +- Qualitative → quantitative conversion +- Duration keyword mapping +- Physical limit validation +- Action merging (multiple SingleActions → one Action) + +### Stage 4: Optimizer + +Optimizes the IR: + +```python +from reachy_mini.rmscript.optimizer import Optimizer + +optimized_ir = Optimizer().optimize(ir) +``` + +Features: +- Consecutive wait merging +- No-op action removal + +### Stage 5: Code Generator + +Creates executable Python functions: + +```python +from reachy_mini.rmscript.codegen import CodeGenerator + +executable = CodeGenerator().generate(tool_name, description, ir) +# → Callable that executes the behavior +``` + +Features: +- Direct execution: `executable(mini)` +- Readable code generation: `to_python_code()` +- Proper imports and function signatures + +## API Reference + +### rmscriptCompiler + +Main compiler class. + +```python +from reachy_mini.rmscript import rmscriptCompiler + +compiler = rmscriptCompiler(log_level="INFO") +tool = compiler.compile(source_code) +``` + +**Parameters:** +- `log_level` (str): Logging level - "DEBUG", "INFO", "WARNING", "ERROR" + +**Returns:** +- `CompiledTool`: Compilation result object + +### verify_rmscript + +Verification function that checks if rmscript code compiles without generating executable code. + +```python +from reachy_mini_conversation_app.rmscript import verify_rmscript + +is_valid, errors = verify_rmscript(source_code) +if not is_valid: + for error in errors: + print(error) +``` + +**Parameters:** +- `source_code` (str): rmscript source code to verify + +**Returns:** +- `tuple[bool, list[str]]`: Tuple of (is_valid, error_messages) + - `is_valid`: True if compilation succeeds, False otherwise + - `error_messages`: List of error and warning messages (empty if valid) + +**Example:** + +```python +script = """ +DESCRIPTION Test script +look left and picture +""" + +is_valid, errors = verify_rmscript(script) +# is_valid = False +# errors = ["❌ Line 3: Cannot combine movement with 'picture' using 'and'. Use separate lines instead."] +``` + +### CompiledTool + +Result of compilation. + +```python +class CompiledTool: + name: str # Tool name + description: str # Tool description + executable: Callable # Function to execute on robot + success: bool # Compilation succeeded? + errors: List[CompilationError] # Compilation errors + warnings: List[CompilationError] # Compilation warnings + source_code: str # Original source + ir: List[Action | WaitAction] # Intermediate representation + + def execute(self, mini: ReachyMini) -> None: + """Execute the compiled behavior on the robot.""" + + def to_python_code(self) -> str: + """Generate readable Python code.""" +``` + +**Usage:** + +```python +if tool.success: + # Execute on robot + with ReachyMini() as mini: + tool.execute(mini) + + # Or get Python code + print(tool.to_python_code()) +else: + # Handle errors + for error in tool.errors: + print(f"{error.severity} Line {error.line}: {error.message}") +``` + +### CompilationError + +Error or warning from compilation. + +```python +@dataclass +class CompilationError: + line: int # Line number (1-indexed) + column: int # Column number (1-indexed) + message: str # Error/warning message + severity: str # "ERROR" or "WARNING" +``` + +### Action (IR) + +Intermediate representation of a movement. + +```python +@dataclass +class Action: + head_pose: Optional[np.ndarray] # 4x4 transformation matrix + antennas: Optional[np.ndarray] # [left, right] angles in radians + body_yaw: Optional[float] # Body rotation in radians + duration: float # Movement duration in seconds + interpolation: str # "minjerk", "linear", "ease", "cartoon" +``` + +### WaitAction (IR) + +Intermediate representation of a wait/pause. + +```python +@dataclass +class WaitAction: + duration: float # Wait duration in seconds +``` + +## Examples + +### Example 1: Simple Greeting + +```rmscript + +DESCRIPTION Greet someone warmly +# Wave with antennas +antenna up +wait 0.5s +antenna down +wait 0.5s + +# Nod +look down 20 +wait 0.3s +look up 20 +wait 0.3s +look center +``` + +### Example 2: Search Pattern + +```rmscript + +DESCRIPTION Look around to search for something +# Scan left to right +look left 45 +wait 1s +look center +wait 0.5s +look right 45 +wait 1s +look center + +# Check up and down +look up 30 +wait 0.5s +look down 30 +wait 0.5s +look center +``` + +### Example 3: Dance Choreography + +```rmscript + +DESCRIPTION Perform a fun dance routine +# Opening pose +antenna both up and look up 25 +wait 1s + +# Main sequence +repeat 2 + # Move left + turn left 30 and look right 20 + wait 0.5s + + # Move right + turn right 30 and look left 20 + wait 0.5s + +# Ending pose +turn center and look center and antenna down +``` + +### Example 4: Using Qualitative Strength + +```rmscript + +DESCRIPTION Wave shyly at someone +# Small movements +look down slightly +antenna left up a little +wait 1s +antenna left down +look center +``` + +### Example 5: Complex Combination + +```rmscript + +DESCRIPTION Show excitement when greeting +# Quick movements +repeat 3 + antenna both up superfast + antenna both down superfast + +# Energetic looking around +look left and up fast +wait 0.2s +look right and up fast +wait 0.2s +look center slow +``` + +## Error Handling + +### Compilation Errors + +Errors prevent code generation: + +```rmscript +# Invalid keyword +jump up +``` +**Output:** `❌ Line 1: Unexpected token: 'jump'` + +```rmscript +# Invalid direction for keyword +turn up +``` +**Output:** `❌ Line 1: Invalid direction 'up' for keyword 'turn'` + +```rmscript +# Missing indentation +repeat 3 +look left +``` +**Output:** `❌ Line 2: Expected indented block after 'repeat'` + +### Compilation Warnings + +Warnings allow compilation but alert to potential issues: + +```rmscript +# Exceeds safe range +turn left 200 +``` +**Output:** `⚠️ Line 1: Body yaw 200.0° exceeds safe range (±160.0°), will be clamped` + +```rmscript +# Exceeds physical limit +look up 50 +``` +**Output:** `⚠️ Line 1: Head pitch 50.0° exceeds limit (±40.0°), will be clamped` + +### Handling Errors in Code + +```python +tool = compiler.compile(source) + +if not tool.success: + print("Compilation failed!") + for error in tool.errors: + print(f" ❌ Line {error.line}: {error.message}") + exit(1) + +if tool.warnings: + print("Compilation succeeded with warnings:") + for warning in tool.warnings: + print(f" ⚠️ Line {warning.line}: {warning.message}") + +# Safe to execute +tool.execute(mini) +``` + +## Tips and Best Practices + +### 1. Use Comments + +```rmscript +# Good: explain what you're doing +# Opening sequence: get attention +antenna up +wait 1s + +# Main behavior: scan the room +look left 45 +wait 1s +look right 45 +``` + +### 2. Use Descriptive Tool Names + +```python +# Good + + + + +# Avoid + + + +``` + +### 3. Break Complex Behaviors into Steps + +```rmscript +# Good: readable steps +antenna up +wait 1s +look left +wait 0.5s +look right +wait 0.5s +look center + +# Avoid: too compressed +antenna up and look left and wait 1s and look right +``` + +### 4. Use Repeat for Patterns + +```rmscript +# Good: use repeat +repeat 3 + antenna up + antenna down + +# Avoid: repetitive +antenna up +antenna down +antenna up +antenna down +antenna up +antenna down +``` + +### 5. Test with Small Values First + +```rmscript +# Start conservative +look left 10 +turn right 15 + +# Then increase if needed +look left 45 +turn right 90 +``` + +## Physical Safety Limits + +rmscript validates all movements against these limits: + +| Movement | Limit | Warning Threshold | +|----------|-------|------------------| +| Body yaw (turn) | ±180° | ±160° | +| Head yaw (look left/right) | ±180° absolute | ±65° relative to body | +| Head pitch (look up/down) | ±40° | ±40° | +| Head roll (tilt) | ±40° | ±40° | +| Antenna | ±90° | ±65° | +| Head X (forward/back) | ±50mm typical | - | +| Head Y (left/right) | ±50mm typical | - | +| Head Z (up/down) | +20mm / -30mm typical | - | + +Exceeding these limits generates **warnings** but still compiles. The robot's hardware will clamp values to safe ranges. + +## Default Values + +When values aren't specified: + +| Parameter | Default | +|-----------|---------| +| Angle (look, turn, tilt) | 30° | +| Distance (head translation) | 10mm | +| Antenna angle | 45° | +| Duration | 1.0s | + +**Qualitative Strength Values:** + +| Level | Keywords | Angle | Distance | +|-------|----------|-------|----------| +| VERY_SMALL | tiny, minuscule, mini, verysmall | 5° | 2mm | +| SMALL | little, slightly, small, alittle | 15° | 5mm | +| MEDIUM | medium, normal, regular, standard, normally | 30° | 10mm | +| LARGE | strong, lot, big, large, very, alot, huge, strongly | 45° | 20mm | +| VERY_LARGE | enormous, verybig, verylarge, maximum | 60° | 30mm | + +## Troubleshooting + +### Issue: "Inconsistent indentation" + +**Cause:** Mixing tabs and spaces, or inconsistent indentation levels. + +**Solution:** Use only spaces or only tabs (not mixed). Ensure nested blocks are indented consistently. + +```rmscript +# Bad: mixed tabs and spaces +repeat 3 + look left # 4 spaces +→ look right # 1 tab (shows as →) + +# Good: consistent spaces +repeat 3 + look left # 4 spaces + look right # 4 spaces +``` + +### Issue: "Expected indented block after 'repeat'" + +**Cause:** No indentation after `repeat`. + +**Solution:** Indent the repeat block body. + +```rmscript +# Bad +repeat 3 +look left + +# Good +repeat 3 + look left +``` + +### Issue: Generated code has unexpected angles + +**Cause:** Sign convention confusion (left/right). + +**Solution:** Remember: `left` = positive yaw, `right` = negative yaw in the generated code. `up` = negative pitch, `down` = positive pitch. This matches the robot's actual coordinate system. + + +## Contributing + +To extend rmscript: + +1. **Add new keywords**: Update `lexer.py`, `parser.py`, and `semantic.py` +2. **Add new features**: Modify the appropriate compiler stage +3. **Add tests**: Create integration tests in `tests/test_rmscript/` +4. **Update docs**: Keep this README and examples current + +## License + +Same as Reachy Mini SDK. diff --git a/rmscript/src/rmscript/__init__.py b/rmscript/src/rmscript/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..87a5181531eea4bc3338cb06ff7c329b7c054409 --- /dev/null +++ b/rmscript/src/rmscript/__init__.py @@ -0,0 +1,32 @@ +"""rmscript: A kid-friendly robot programming language for Reachy Mini.""" + +from rmscript.compiler import RMScriptCompiler, compile_script, compile_file, verify_script +from rmscript.ir import ( + CompilationResult, + CompilationError, + IRAction, + IRWaitAction, + IRPictureAction, + IRPlaySoundAction, +) +from rmscript.adapters import ExecutionAdapter, ExecutionContext + +__version__ = "0.1.0" + +__all__ = [ + # Compiler + "RMScriptCompiler", + "compile_script", + "compile_file", + "verify_script", + # IR types + "CompilationResult", + "CompilationError", + "IRAction", + "IRWaitAction", + "IRPictureAction", + "IRPlaySoundAction", + # Adapter protocol + "ExecutionAdapter", + "ExecutionContext", +] diff --git a/rmscript/src/rmscript/adapters/__init__.py b/rmscript/src/rmscript/adapters/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..7cd2e4aace6a85914305192ec8ecb721212e6072 --- /dev/null +++ b/rmscript/src/rmscript/adapters/__init__.py @@ -0,0 +1,5 @@ +"""Execution adapters for rmscript.""" + +from rmscript.adapters.base import ExecutionAdapter, ExecutionContext + +__all__ = ["ExecutionAdapter", "ExecutionContext"] diff --git a/rmscript/src/rmscript/adapters/base.py b/rmscript/src/rmscript/adapters/base.py new file mode 100644 index 0000000000000000000000000000000000000000..689a98238994e664af135daf5629ec7973ec7d8c --- /dev/null +++ b/rmscript/src/rmscript/adapters/base.py @@ -0,0 +1,42 @@ +"""Base adapter protocol for executing rmscript IR.""" + +from typing import Protocol, Any, Dict, List, Optional +from dataclasses import dataclass + +from rmscript.ir import IRAction, IRWaitAction, IRPictureAction, IRPlaySoundAction + + +@dataclass +class ExecutionContext: + """Base context for all adapters.""" + + script_name: str + script_description: str + source_file_path: Optional[str] = None + + +class ExecutionAdapter(Protocol): + """Protocol for execution adapters. + + Adapters consume IR and execute it in adapter-specific ways. + Examples: + - QueueExecutionAdapter: Converts IR to movement queue for robot execution + - WebSocketExecutionAdapter: Streams pose parameters over WebSocket + - SimulationAdapter: Runs IR in a simulation environment + """ + + def execute( + self, + ir: List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction], + context: ExecutionContext, + ) -> Dict[str, Any]: + """Execute IR in adapter-specific way. + + Args: + ir: List of IR actions to execute + context: Execution context with metadata + + Returns: + Dictionary with execution results (adapter-specific format) + """ + ... diff --git a/rmscript/src/rmscript/ast_nodes.py b/rmscript/src/rmscript/ast_nodes.py new file mode 100644 index 0000000000000000000000000000000000000000..3263d6196915ae351480e91dbd36d653eed92a6d --- /dev/null +++ b/rmscript/src/rmscript/ast_nodes.py @@ -0,0 +1,96 @@ +"""Abstract Syntax Tree node definitions for ReachyMiniScript.""" + +from typing import List, Optional +from dataclasses import dataclass + + +@dataclass +class ASTNode: + """Base class for all AST nodes.""" + + line: int = 0 + column: int = 0 + + +@dataclass +class Program(ASTNode): + """Root node of the AST.""" + + tool_name: str = "" + description: str = "" + statements: List["Statement"] = None # type: ignore + + def __post_init__(self) -> None: + """Initialize mutable defaults.""" + if self.statements is None: + self.statements = [] + + +@dataclass +class Statement(ASTNode): + """Base class for statements.""" + + pass + + +@dataclass +class ActionChain(Statement): + """Chain of actions connected by 'and' keyword.""" + + actions: List["SingleAction"] = None # type: ignore + + def __post_init__(self) -> None: + """Initialize mutable defaults.""" + if self.actions is None: + self.actions = [] + + +@dataclass +class SingleAction(ASTNode): + """Single action (may be part of a chain).""" + + keyword: str = "" # turn, look, head, tilt, antenna + direction: Optional[str] = None # left, right, up, down, etc. + antenna_modifier: Optional[str] = None # left, right, both (for antenna only) + strength: Optional[float] = None # Numerical value (degrees or mm) + strength_qualitative: Optional[str] = None # little, lot, etc. + duration: Optional[float] = None # seconds + duration_keyword: Optional[str] = None # fast, slow, etc. + + +@dataclass +class RepeatBlock(Statement): + """Repeat block with nested statements.""" + + count: int = 0 + body: List[Statement] = None # type: ignore + + def __post_init__(self) -> None: + """Initialize mutable defaults.""" + if self.body is None: + self.body = [] + + +@dataclass +class WaitStatement(Statement): + """Wait/pause statement.""" + + duration: Optional[float] = None + duration_keyword: Optional[str] = None + + +@dataclass +class PictureStatement(Statement): + """Take a picture statement.""" + + pass + + +@dataclass +class PlaySoundStatement(Statement): + """Play a sound statement.""" + + sound_name: str = "" # Name of the sound file (without extension) + blocking: bool = False # True = wait for sound to finish + loop: bool = False # True = loop the sound + duration: Optional[float] = None # Duration for looping (or limited playback) diff --git a/rmscript/src/rmscript/compiler.py b/rmscript/src/rmscript/compiler.py new file mode 100644 index 0000000000000000000000000000000000000000..8308294a862467fb090538f1f89fa490d6cb32f9 --- /dev/null +++ b/rmscript/src/rmscript/compiler.py @@ -0,0 +1,202 @@ +"""Main ReachyMiniScript compiler - orchestrates lexing, parsing, semantic analysis, and optimization.""" + +import logging +from pathlib import Path + +from rmscript.lexer import Lexer +from rmscript.ir import CompilationResult, CompilationError +from rmscript.parser import Parser, ParseError +from rmscript.semantic import SemanticAnalyzer +from rmscript.optimizer import Optimizer + + +class RMScriptCompiler: + """Compiler for ReachyMiniScript language.""" + + def __init__(self, log_level: str = "WARNING"): + """Initialize compiler.""" + self.logger = logging.getLogger(__name__) + self.logger.setLevel(log_level) + + def compile(self, source: str) -> CompilationResult: + """Compile ReachyMiniScript source code into intermediate representation.""" + result = CompilationResult( + name="", + description="", + source_code=source, + ) + + try: + # Stage 1: Lexical Analysis + self.logger.info("Stage 1: Lexical analysis...") + lexer = Lexer(source) + tokens = lexer.tokenize() + self.logger.debug(f"Generated {len(tokens)} tokens") + + # Stage 2: Parsing + self.logger.info("Stage 2: Parsing...") + parser = Parser(tokens) + ast = parser.parse() + + # Use tool_name from AST, or default to "rmscript_tool" if empty + result.name = ast.tool_name if ast.tool_name else "rmscript_tool" + result.description = ast.description + + self.logger.debug(f"Parsed tool '{result.name}'") + + # Stage 3: Semantic Analysis + self.logger.info("Stage 3: Semantic analysis...") + analyzer = SemanticAnalyzer() + ir = analyzer.analyze(ast) + + result.ir = ir + result.errors.extend(analyzer.errors) + result.warnings.extend(analyzer.warnings) + + if result.errors: + self.logger.error( + f"Compilation failed with {len(result.errors)} error(s)" + ) + result.success = False + return result + + self.logger.debug(f"Generated {len(ir)} IR actions") + + # Stage 4: Optimization + self.logger.info("Stage 4: Optimization...") + optimizer = Optimizer() + optimized_ir = optimizer.optimize(ir) + + result.ir = optimized_ir + self.logger.debug( + f"Optimized to {len(optimized_ir)} actions (from {len(ir)})" + ) + + # Compilation successful + result.success = True + + self.logger.info(f"✓ Successfully compiled tool '{result.name}'") + + # Print warnings if any + if result.warnings: + self.logger.warning( + f"Compilation succeeded with {len(result.warnings)} warning(s)" + ) + + except ParseError as e: + # Parser error + result.success = False + result.errors.append( + CompilationError( + line=e.token.line, column=e.token.column, message=e.message + ) + ) + self.logger.error(f"Parse error: {e}") + + except SyntaxError as e: + # Lexer error + result.success = False + result.errors.append(CompilationError(line=1, column=1, message=str(e))) + self.logger.error(f"Syntax error: {e}") + + except Exception as e: + # Unexpected error + result.success = False + result.errors.append( + CompilationError(line=0, column=0, message=f"Internal error: {e}") + ) + self.logger.exception("Unexpected error during compilation") + + return result + + def compile_file(self, filepath: str) -> CompilationResult: + """Compile a rmscript file. + + The tool name is derived from the filename (without .rmscript extension), + with spaces replaced by underscores. + """ + try: + # Extract tool name from filename + filename = Path(filepath).stem # Remove .rmscript extension + tool_name = filename.replace(" ", "_") # Replace spaces with underscores + + # Read and compile source + with open(filepath, "r") as f: + source = f.read() + + result = self.compile(source) + + # Override tool name with filename (from compile(), name is "rmscript_tool") + if result.name == "rmscript_tool": + result.name = tool_name + + # Store absolute path to source file + result.source_file_path = str(Path(filepath).resolve()) + + return result + except FileNotFoundError: + result = CompilationResult(name="", description="", source_code="") + result.success = False + result.errors.append( + CompilationError( + line=0, column=0, message=f"File not found: {filepath}" + ) + ) + return result + except Exception as e: + result = CompilationResult(name="", description="", source_code="") + result.success = False + result.errors.append( + CompilationError( + line=0, column=0, message=f"Error reading file: {e}" + ) + ) + return result + + +def compile_script(source: str, verbose: bool = False) -> CompilationResult: + """Compile ReachyMiniScript source, convenience function.""" + log_level = "INFO" if verbose else "WARNING" + compiler = RMScriptCompiler(log_level=log_level) + return compiler.compile(source) + + +def compile_file(filepath: str, verbose: bool = False) -> CompilationResult: + """Compile ReachyMiniScript file, convenience function.""" + log_level = "INFO" if verbose else "WARNING" + compiler = RMScriptCompiler(log_level=log_level) + return compiler.compile_file(filepath) + + +def verify_script(source: str) -> tuple[bool, list[str]]: + """Verify ReachyMiniScript source without generating executable code. + + Args: + source: ReachyMiniScript source code to verify + + Returns: + Tuple of (is_valid, error_messages) + - is_valid: True if compilation succeeds, False otherwise + - error_messages: List of error and warning messages (empty if no errors/warnings) + + Example: + >>> is_valid, errors = verify_script("look left\\nwait 1s") + >>> if not is_valid: + ... for error in errors: + ... print(error) + + """ + compiler = RMScriptCompiler(log_level="ERROR") + result = compiler.compile(source) + + error_messages = [] + + # Collect errors + for error in result.errors: + error_messages.append(str(error)) + + # Collect warnings + for warning in result.warnings: + error_messages.append(str(warning)) + + return result.success, error_messages diff --git a/rmscript/src/rmscript/constants.py b/rmscript/src/rmscript/constants.py new file mode 100644 index 0000000000000000000000000000000000000000..df47afee3a25ad1d22870c3df7ce9ac8d1e0c369 --- /dev/null +++ b/rmscript/src/rmscript/constants.py @@ -0,0 +1,158 @@ +"""Constants and default values for ReachyMiniScript.""" + +from typing import Dict, List + + +# Default Strengths +DEFAULT_ANGLE = 30 # degrees (for turn, look, tilt) +DEFAULT_DISTANCE = 10 # mm (for head translation) +DEFAULT_ANTENNA_ANGLE = 45 # degrees + +# Qualitative Strength Mappings - Context-Aware +# Different movement types have different physical limits + +# For BODY YAW (turn command) - can handle larger angles +BODY_YAW_VERY_SMALL = 10 # degrees +BODY_YAW_SMALL = 30 # degrees +BODY_YAW_MEDIUM = 60 # degrees +BODY_YAW_LARGE = 90 # degrees +BODY_YAW_VERY_LARGE = 120 # degrees (safe limit, max is ±160°) + +# For HEAD PITCH/ROLL (look up/down, tilt) - limited by cone constraint +HEAD_PITCH_ROLL_VERY_SMALL = 5 # degrees +HEAD_PITCH_ROLL_SMALL = 10 # degrees +HEAD_PITCH_ROLL_MEDIUM = 20 # degrees +HEAD_PITCH_ROLL_LARGE = 30 # degrees +HEAD_PITCH_ROLL_VERY_LARGE = 38 # degrees (just under ±40° limit) + +# For HEAD YAW (look left/right) - larger range possible +HEAD_YAW_VERY_SMALL = 5 # degrees +HEAD_YAW_SMALL = 15 # degrees +HEAD_YAW_MEDIUM = 30 # degrees +HEAD_YAW_LARGE = 45 # degrees +HEAD_YAW_VERY_LARGE = 60 # degrees (respecting ±65° body-head differential) + +# For ANTENNAS - safe operating range +ANTENNA_VERY_SMALL = 10 # degrees +ANTENNA_SMALL = 30 # degrees +ANTENNA_MEDIUM = 60 # degrees +ANTENNA_LARGE = 90 # degrees +ANTENNA_VERY_LARGE = 110 # degrees (safe limit, under ±120°) + +# For HEAD TRANSLATIONS (distances in mm) +TRANSLATION_VERY_SMALL = 2 # mm +TRANSLATION_SMALL = 5 # mm +TRANSLATION_MEDIUM = 10 # mm +TRANSLATION_LARGE = 20 # mm +TRANSLATION_VERY_LARGE = 28 # mm (just under ±30mm limit) + +# Legacy constants (deprecated - use context-aware versions above) +VERY_SMALL_ANGLE = HEAD_YAW_VERY_SMALL +VERY_SMALL_DISTANCE = TRANSLATION_VERY_SMALL +SMALL_ANGLE = HEAD_YAW_SMALL +SMALL_DISTANCE = TRANSLATION_SMALL +MEDIUM_ANGLE = HEAD_YAW_MEDIUM +MEDIUM_DISTANCE = TRANSLATION_MEDIUM +LARGE_ANGLE = HEAD_YAW_LARGE +LARGE_DISTANCE = TRANSLATION_LARGE +VERY_LARGE_ANGLE = HEAD_YAW_VERY_LARGE +VERY_LARGE_DISTANCE = TRANSLATION_VERY_LARGE + +# Duration Mappings +DEFAULT_DURATION = 1.0 # seconds + +DURATION_KEYWORDS: Dict[str, float] = { + "superfast": 0.2, + "veryfast": 0.2, + "fast": 0.5, + "slow": 2.0, + "slowly": 2.0, + "veryslow": 3.0, + "superslow": 3.0, +} + +# Qualitative keywords +SMALL_KEYWORDS: List[str] = ["little", "slightly", "small", "alittle"] +MEDIUM_KEYWORDS: List[str] = ["medium", "normal", "regular", "standard", "normally"] +LARGE_KEYWORDS: List[str] = ["lot", "big", "large", "very", "alot", "huge", "strong", "strongly"] +VERY_SMALL_KEYWORDS: List[str] = ["minuscule", "mini", "verysmall", "tiny"] +VERY_LARGE_KEYWORDS: List[str] = ["verybig", "enormous","verylarge","maximum"] + +# Direction Synonyms +CENTER_SYNONYMS: List[str] = ["center", "straight", "forward", "neutral"] +INWARD_SYNONYMS: List[str] = ["in", "inside", "inward"] +OUTWARD_SYNONYMS: List[str] = ["out", "outside", "outward"] +BACKWARD_SYNONYMS: List[str] = ["back", "backward", "backwards"] + +# All valid directions (used by lexer for tokenization) +ALL_DIRECTIONS: List[str] = [ + "left", "right", "up", "down", "both" +] + CENTER_SYNONYMS + INWARD_SYNONYMS + OUTWARD_SYNONYMS + BACKWARD_SYNONYMS + +# Physical Limits (from robot constraints) +MAX_BODY_YAW_DEG = 160.0 # degrees +MAX_HEAD_PITCH_DEG = 40.0 # degrees (cone constraint) +MAX_HEAD_ROLL_DEG = 40.0 # degrees (cone constraint) +MAX_HEAD_YAW_DEG = 180.0 # degrees (absolute) +MAX_HEAD_BODY_YAW_DIFF_DEG = 65.0 # degrees (relative constraint) + +MAX_HEAD_TRANSLATION_X_MM = 30.0 # mm +MAX_HEAD_TRANSLATION_Y_MM = 30.0 # mm +MAX_HEAD_TRANSLATION_Z_MM = 40.0 # mm (positive) +MIN_HEAD_TRANSLATION_Z_MM = -20.0 # mm (negative) + +MAX_ANTENNA_ANGLE_DEG = 180.0 # degrees +SAFE_ANTENNA_ANGLE_DEG = 120.0 # recommended maximum for safety + +# Movement Keywords +MOVEMENT_KEYWORDS: List[str] = ["turn", "look", "head", "tilt", "antenna"] + +# Control Keywords +CONTROL_KEYWORDS: List[str] = ["wait", "repeat", "end", "play", "loop", "picture"] + +# Sound Playback Mode Keywords +SOUND_BLOCKING_KEYWORDS: List[str] = ["pause", "fully", "wait", "block", "complete"] + +# Valid Directions per Keyword +TURN_DIRECTIONS: List[str] = ["left", "right"] + CENTER_SYNONYMS +LOOK_DIRECTIONS: List[str] = ["left", "right", "up", "down"] + CENTER_SYNONYMS +HEAD_DIRECTIONS: List[str] = ["forward", "left", "right", "up", "down"] + BACKWARD_SYNONYMS +TILT_DIRECTIONS: List[str] = ["left", "right"] + CENTER_SYNONYMS + +# Antenna movements (OLD SYSTEM - kept for backward compatibility if needed) +ANTENNA_MOVEMENTS: List[str] = ["up", "down"] + INWARD_SYNONYMS + OUTWARD_SYNONYMS +ANTENNA_MODIFIERS: List[str] = ["left", "right", "both"] + +# Antenna clock system (NEW) +ANTENNA_CLOCK_KEYWORDS: Dict[str, float] = { + "high": 0.0, # 0 o'clock = 0° + "ext": 3.0, # 3 o'clock = +90° (external) + "low": 6.0, # 6 o'clock = ±180° + "int": 9.0, # 9 o'clock = -90° (internal) +} + +# Antenna directional keywords (map to clock positions) +ANTENNA_DIRECTION_KEYWORDS: Dict[str, float] = { + "up": 0.0, # Same as high: 0° + "right": 3.0, # Same as ext: +90° (external/right) + "down": 6.0, # Same as low: ±180° + "left": 9.0, # Same as int: -90° (internal/left) +} + +# Direction Sign Conventions (for coordinate system) +# Note: These match the robot's actual coordinate system +# Positive values +POSITIVE_DIRECTIONS = { + "left": "yaw", # Positive yaw (verified from robot) + "down": "pitch", # Positive pitch (verified from robot) + "forward": "x", # Positive X +} + +# Negative values +NEGATIVE_DIRECTIONS = { + "right": "yaw", # Negative yaw (verified from robot) + "up": "pitch", # Negative pitch (verified from robot) + "back": "x", # Negative X + "backward": "x", # Negative X (synonym for back) + "backwards": "x", # Negative X (synonym for back) +} diff --git a/rmscript/src/rmscript/ir.py b/rmscript/src/rmscript/ir.py new file mode 100644 index 0000000000000000000000000000000000000000..e08b8a9da28dbd4cf603052eba11580b812adae7 --- /dev/null +++ b/rmscript/src/rmscript/ir.py @@ -0,0 +1,89 @@ +"""Intermediate representation and compilation result types for ReachyMiniScript.""" + +from typing import List, Literal, Optional +from dataclasses import field, dataclass + +import numpy as np +import numpy.typing as npt + + +@dataclass +class CompilationError: + """Represents a compilation error or warning.""" + + line: int + column: int = 0 + message: str = "" + severity: Literal["error", "warning"] = "error" + + def __str__(self) -> str: + """Format error message for display.""" + icon = "❌" if self.severity == "error" else "⚠️ " + return f"{icon} Line {self.line}: {self.message}" + + +@dataclass +class IRAction: + """Resolved action - all defaults applied, ready to execute.""" + + head_pose: Optional[npt.NDArray[np.float64]] = None # 4x4 matrix + antennas: Optional[List[float]] = None # [right, left] in radians + body_yaw: Optional[float] = None # radians + duration: float = 1.0 + interpolation: str = "minjerk" + + # Metadata for debugging + source_line: int = 0 + original_text: str = "" + + +@dataclass +class IRWaitAction: + """Wait/pause action.""" + + duration: float + source_line: int = 0 + original_text: str = "" + + +@dataclass +class IRPictureAction: + """Take a picture action.""" + + source_line: int = 0 + original_text: str = "" + + +@dataclass +class IRPlaySoundAction: + """Play a sound action.""" + + sound_name: str # Name of the sound file (without extension) + blocking: bool = False # True = wait for sound to finish, False = play in background + loop: bool = False # True = loop the sound + duration: Optional[float] = None # Duration for looping or limited playback + source_line: int = 0 + original_text: str = "" + + +@dataclass +class CompilationResult: + """Result of ReachyMiniScript compilation.""" + + # Tool metadata + name: str + description: str + + # Compilation results + success: bool = False + errors: List[CompilationError] = field(default_factory=list) + warnings: List[CompilationError] = field(default_factory=list) + + # Source code + source_code: str = "" + source_file_path: Optional[str] = None + + # Intermediate representation (IR output) + ir: List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction] = field( + default_factory=list + ) diff --git a/rmscript/src/rmscript/lexer.py b/rmscript/src/rmscript/lexer.py new file mode 100644 index 0000000000000000000000000000000000000000..85bdfc38b270ee4991c84bcea4a3815a4bbdcb23 --- /dev/null +++ b/rmscript/src/rmscript/lexer.py @@ -0,0 +1,323 @@ +"""Lexer for ReachyMiniScript - tokenization and indentation handling.""" + +from enum import Enum, auto +from typing import List, Optional +from dataclasses import dataclass + + +class TokenType(Enum): + """Token types for ReachyMiniScript.""" + + # Keywords + KEYWORD_TURN = auto() + KEYWORD_LOOK = auto() + KEYWORD_HEAD = auto() + KEYWORD_TILT = auto() + KEYWORD_ANTENNA = auto() + KEYWORD_WAIT = auto() + KEYWORD_PICTURE = auto() + KEYWORD_PLAY = auto() + KEYWORD_LOOP = auto() + KEYWORD_REPEAT = auto() + KEYWORD_END = auto() + KEYWORD_DESCRIPTION = auto() + + # Directions + DIRECTION = auto() # left, right, up, down, center, etc. + + # Values + NUMBER = auto() # 30, 2.5 + DURATION = auto() # 2s, 0.5s + DURATION_KEYWORD = auto() # fast, slow, superfast, superslow + QUALITATIVE = auto() # little, lot, etc. + ANTENNA_CLOCK = auto() # high, low, ext, int (clock position keywords) + SOUND_BLOCKING = auto() # pause, fully, wait, block, complete (for sound playback) + + # Operators + AND = auto() # and + + # Structure + INDENT = auto() + DEDENT = auto() + NEWLINE = auto() + EOF = auto() + + # Identifiers + IDENTIFIER = auto() # For tool names and other identifiers + + +@dataclass +class Token: + """Represents a lexical token.""" + + type: TokenType + value: str + line: int + column: int + + def __repr__(self) -> str: + """Turn as string representation for debugging.""" + return f"Token({self.type.name}, {self.value!r}, L{self.line}:C{self.column})" + + +class Lexer: + """Tokenizer for ReachyMiniScript with indentation handling.""" + + def __init__(self, source: str): + """Initialize lexer with source code.""" + self.source = source + self.pos = 0 + self.line = 1 + self.column = 1 + self.tokens: List[Token] = [] + self.indent_stack: List[int] = [0] # Track indentation levels + + # Keywords (case-insensitive) + self.keywords = { + "turn": TokenType.KEYWORD_TURN, + "look": TokenType.KEYWORD_LOOK, + "head": TokenType.KEYWORD_HEAD, + "tilt": TokenType.KEYWORD_TILT, + "antenna": TokenType.KEYWORD_ANTENNA, + "wait": TokenType.KEYWORD_WAIT, + "picture": TokenType.KEYWORD_PICTURE, + "play": TokenType.KEYWORD_PLAY, + "loop": TokenType.KEYWORD_LOOP, + "repeat": TokenType.KEYWORD_REPEAT, + "end": TokenType.KEYWORD_END, + "description": TokenType.KEYWORD_DESCRIPTION, + } + + # Directions - import from constants + from rmscript.constants import ALL_DIRECTIONS + self.directions = set(ALL_DIRECTIONS) + + # Duration keywords - import from constants + from rmscript.constants import DURATION_KEYWORDS + self.duration_keywords = set(DURATION_KEYWORDS.keys()) + + # Qualitative strength - import from constants + from rmscript.constants import ( + LARGE_KEYWORDS, + SMALL_KEYWORDS, + MEDIUM_KEYWORDS, + VERY_LARGE_KEYWORDS, + VERY_SMALL_KEYWORDS, + ) + self.qualitative_keywords = ( + set(SMALL_KEYWORDS) + | set(MEDIUM_KEYWORDS) + | set(LARGE_KEYWORDS) + | set(VERY_SMALL_KEYWORDS) + | set(VERY_LARGE_KEYWORDS) + ) + + # Antenna clock keywords + self.antenna_clock_keywords = {"high", "low", "ext", "int"} + + # Sound blocking keywords (for "play sound pause/fully") + from rmscript.constants import SOUND_BLOCKING_KEYWORDS + self.sound_blocking_keywords = set(SOUND_BLOCKING_KEYWORDS) + + def error(self, message: str) -> Exception: + """Create a lexer error with position information.""" + return SyntaxError(f"Line {self.line}, Column {self.column}: {message}") + + def peek(self, offset: int = 0) -> Optional[str]: + """Peek at character at current position + offset.""" + pos = self.pos + offset + if pos < len(self.source): + return self.source[pos] + return None + + def advance(self) -> Optional[str]: + """Advance position and return current character.""" + if self.pos >= len(self.source): + return None + + char = self.source[self.pos] + self.pos += 1 + + if char == "\n": + self.line += 1 + self.column = 1 + else: + self.column += 1 + + return char + + def skip_whitespace_inline(self) -> None: + """Skip spaces and tabs but not newlines.""" + while self.peek() in (" ", "\t"): + self.advance() + + def skip_comment(self) -> None: + """Skip comment (from # to end of line).""" + if self.peek() == "#": + while self.peek() and self.peek() != "\n": + self.advance() + + def read_number(self) -> Token: + """Read a number token (integer or float).""" + start_col = self.column + num_str = "" + + while (ch := self.peek()) is not None and (ch.isdigit() or ch == "."): + num_str += self.advance() # type: ignore + + # Check if followed by 's' for duration + if self.peek() == "s": + self.advance() + return Token( + TokenType.DURATION, num_str + "s", self.line, start_col + ) # Keep 's' in value + + return Token(TokenType.NUMBER, num_str, self.line, start_col) + + def read_identifier(self) -> Token: + """Read an identifier or keyword.""" + start_col = self.column + ident = "" + + while (ch := self.peek()) is not None and (ch.isalnum() or ch == "_"): + ident += self.advance() # type: ignore + + ident_lower = ident.lower() + + # Check if it's a keyword + if ident_lower in self.keywords: + return Token(self.keywords[ident_lower], ident, self.line, start_col) + + # Check if it's a direction + if ident_lower in self.directions: + return Token(TokenType.DIRECTION, ident_lower, self.line, start_col) + + # Check if it's a duration keyword + if ident_lower in self.duration_keywords: + return Token(TokenType.DURATION_KEYWORD, ident_lower, self.line, start_col) + + # Check if it's a qualitative keyword + if ident_lower in self.qualitative_keywords: + return Token(TokenType.QUALITATIVE, ident_lower, self.line, start_col) + + # Check if it's an antenna clock keyword + if ident_lower in self.antenna_clock_keywords: + return Token(TokenType.ANTENNA_CLOCK, ident_lower, self.line, start_col) + + # Check if it's a sound blocking keyword + if ident_lower in self.sound_blocking_keywords: + return Token(TokenType.SOUND_BLOCKING, ident_lower, self.line, start_col) + + # Check for 'and' + if ident_lower == "and": + return Token(TokenType.AND, ident_lower, self.line, start_col) + + # Otherwise it's a generic identifier + return Token(TokenType.IDENTIFIER, ident, self.line, start_col) + + def handle_indentation(self, indent_level: int) -> List[Token]: + """Generate INDENT/DEDENT tokens based on indentation level.""" + tokens = [] + + if indent_level > self.indent_stack[-1]: + # Indent + self.indent_stack.append(indent_level) + tokens.append(Token(TokenType.INDENT, "", self.line, 1)) + + elif indent_level < self.indent_stack[-1]: + # Dedent (possibly multiple levels) + while self.indent_stack and indent_level < self.indent_stack[-1]: + self.indent_stack.pop() + tokens.append(Token(TokenType.DEDENT, "", self.line, 1)) + + # Check if we dedented to a valid level + if not self.indent_stack or indent_level != self.indent_stack[-1]: + raise self.error(f"Inconsistent indentation (level {indent_level})") + + return tokens + + def tokenize(self) -> List[Token]: + """Tokenize the entire source code.""" + tokens = [] + at_line_start = True + + while self.pos < len(self.source): + # Handle indentation at start of line BEFORE skipping whitespace + if at_line_start: + # Count indentation + indent_level = 0 + temp_pos = self.pos + while temp_pos < len(self.source) and self.source[temp_pos] in ( + " ", + "\t", + ): + if self.source[temp_pos] == " ": + indent_level += 1 + else: # tab + indent_level += 4 # Treat tab as 4 spaces + temp_pos += 1 + + # Check if this is a blank line or comment-only line + if ( + temp_pos >= len(self.source) + or self.source[temp_pos] == "\n" + or self.source[temp_pos] == "#" + ): + # Skip blank/comment lines - consume the line + while self.peek() and self.peek() != "\n": + self.advance() + if self.peek() == "\n": + self.advance() + continue + + # Generate INDENT/DEDENT tokens + indent_tokens = self.handle_indentation(indent_level) + tokens.extend(indent_tokens) + + at_line_start = False + + # Skip inline whitespace + self.skip_whitespace_inline() + + # Skip comments + self.skip_comment() + + # Check for EOF + if self.pos >= len(self.source): + break + + # Handle newlines + if self.peek() == "\n": + self.advance() + tokens.append(Token(TokenType.NEWLINE, "\\n", self.line - 1, 1)) + at_line_start = True + continue + + # Read numbers + if (ch := self.peek()) is not None and ch.isdigit(): + tokens.append(self.read_number()) + continue + + # Read identifiers/keywords + if (ch := self.peek()) is not None and (ch.isalpha() or ch == "_"): + tokens.append(self.read_identifier()) + continue + + # Unknown character + raise self.error(f"Unexpected character: {self.peek()!r}") + + # Close any remaining indentation levels + while len(self.indent_stack) > 1: + self.indent_stack.pop() + tokens.append(Token(TokenType.DEDENT, "", self.line, 1)) + + # Add EOF token + tokens.append(Token(TokenType.EOF, "", self.line, self.column)) + + return tokens + + +def tokenize(source: str) -> List[Token]: + """Tokenize source code, convenience function.""" + lexer = Lexer(source) + return lexer.tokenize() diff --git a/rmscript/src/rmscript/optimizer.py b/rmscript/src/rmscript/optimizer.py new file mode 100644 index 0000000000000000000000000000000000000000..6f90c77c4f147430b4e032b9b5bbdf7c1d31a9ac --- /dev/null +++ b/rmscript/src/rmscript/optimizer.py @@ -0,0 +1,64 @@ +"""Optimizer for ReachyMiniScript - further optimize IR for execution.""" + +from typing import List + +from rmscript.ir import IRAction, IRWaitAction, IRPictureAction, IRPlaySoundAction + + +class Optimizer: + """Optimizes intermediate representation.""" + + def optimize(self, ir: List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction]) -> List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction]: + """Optimize IR. + + Current optimizations: + - Merge consecutive wait actions + - Remove no-op actions + + Future optimizations: + - Combine compatible actions with same duration + - Minimize movement time + """ + optimized: List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction] = [] + + i = 0 + while i < len(ir): + action = ir[i] + + # Merge consecutive waits + if isinstance(action, IRWaitAction): + total_wait = action.duration + j = i + 1 + while j < len(ir): + next_action = ir[j] + if isinstance(next_action, IRWaitAction): + total_wait += next_action.duration + j += 1 + else: + break + + optimized.append( + IRWaitAction( + duration=total_wait, + source_line=action.source_line, + original_text=f"wait {total_wait}s", + ) + ) + i = j + continue + + # Remove no-op actions (no actual movement) + if isinstance(action, IRAction): + if ( + action.head_pose is None + and action.antennas is None + and action.body_yaw is None + ): + # Skip this action - it does nothing + i += 1 + continue + + optimized.append(action) + i += 1 + + return optimized diff --git a/rmscript/src/rmscript/parser.py b/rmscript/src/rmscript/parser.py new file mode 100644 index 0000000000000000000000000000000000000000..80118856be0e9634b153710433d9c4e6a97c7501 --- /dev/null +++ b/rmscript/src/rmscript/parser.py @@ -0,0 +1,441 @@ +"""Parser for ReachyMiniScript - builds Abstract Syntax Tree from tokens.""" + +from typing import List, Optional + +from rmscript.lexer import Token, TokenType +from rmscript.ast_nodes import ( + Program, + Statement, + ActionChain, + RepeatBlock, + SingleAction, + WaitStatement, + PictureStatement, + PlaySoundStatement, +) +from rmscript.constants import ( + HEAD_DIRECTIONS, + LOOK_DIRECTIONS, + TILT_DIRECTIONS, + TURN_DIRECTIONS, + ANTENNA_MODIFIERS, + ANTENNA_DIRECTION_KEYWORDS, +) + + +class ParseError(Exception): + """Parser error with position information.""" + + def __init__(self, message: str, token: Token): + """Initialize parse error.""" + self.message = message + self.token = token + super().__init__(f"Line {token.line}: {message}") + + +class Parser: + """Parser for ReachyMiniScript.""" + + def __init__(self, tokens: List[Token]): + """Initialize parser with token stream.""" + self.tokens = tokens + self.pos = 0 + + def error(self, message: str) -> ParseError: + """Create parse error at current position.""" + return ParseError(message, self.current()) + + def current(self) -> Token: + """Get current token.""" + if self.pos < len(self.tokens): + return self.tokens[self.pos] + return self.tokens[-1] # Return EOF token + + def peek(self, offset: int = 0) -> Token: + """Peek at token at current position + offset.""" + pos = self.pos + offset + if pos < len(self.tokens): + return self.tokens[pos] + return self.tokens[-1] # Return EOF token + + def advance(self) -> Token: + """Consume and return current token.""" + token = self.current() + if self.pos < len(self.tokens) - 1: + self.pos += 1 + return token + + def expect(self, token_type: TokenType) -> Token: + """Consume token of expected type or raise error.""" + token = self.current() + if token.type != token_type: + raise self.error( + f"Expected {token_type.name}, got {token.type.name} ({token.value!r})" + ) + return self.advance() + + def skip_newlines(self) -> None: + """Skip any newline tokens.""" + while self.current().type == TokenType.NEWLINE: + self.advance() + + def parse(self) -> Program: + """Parse entire program.""" + program = Program() + + self.skip_newlines() + + # Parse optional DESCRIPTION header + if self.current().type == TokenType.KEYWORD_DESCRIPTION: + self.advance() # Skip DESCRIPTION keyword + + # Read the rest of the line as the description + description_parts = [] + while self.current().type not in (TokenType.NEWLINE, TokenType.EOF): + description_parts.append(self.current().value) + self.advance() + program.description = " ".join(description_parts) + self.skip_newlines() + + # Note: tool_name will be set from filename by the compiler + program.tool_name = "" + + # Parse statements + program.statements = self.parse_statements() + + return program + + def parse_statements(self) -> List[Statement]: + """Parse a list of statements.""" + statements = [] + + while self.current().type not in ( + TokenType.EOF, + TokenType.DEDENT, + TokenType.KEYWORD_END, + ): + self.skip_newlines() + + if self.current().type in ( + TokenType.EOF, + TokenType.DEDENT, + TokenType.KEYWORD_END, + ): + break + + stmt = self.parse_statement() + if stmt: + statements.append(stmt) + + self.skip_newlines() + + return statements + + def parse_statement(self) -> Optional[Statement]: + """Parse a single statement.""" + token = self.current() + + # Check for repeat block + if token.type == TokenType.KEYWORD_REPEAT: + return self.parse_repeat_block() + + # Check for wait command + if token.type == TokenType.KEYWORD_WAIT: + return self.parse_wait() + + # Check for picture command + if token.type == TokenType.KEYWORD_PICTURE: + return self.parse_picture() + + # Check for play command + if token.type == TokenType.KEYWORD_PLAY: + return self.parse_play() + + # Check for loop command + if token.type == TokenType.KEYWORD_LOOP: + return self.parse_loop() + + # Check for movement keywords + if token.type in ( + TokenType.KEYWORD_TURN, + TokenType.KEYWORD_LOOK, + TokenType.KEYWORD_HEAD, + TokenType.KEYWORD_TILT, + TokenType.KEYWORD_ANTENNA, + ): + return self.parse_action_chain() + + # Unknown statement + if token.type != TokenType.NEWLINE: + raise self.error(f"Unexpected token: {token.value!r}") + + return None + + def parse_wait(self) -> WaitStatement: + """Parse wait command.""" + token = self.current() + self.advance() # consume 'wait' + + wait = WaitStatement(line=token.line, column=token.column) + + # Parse duration + if self.current().type == TokenType.DURATION: + duration_str = self.current().value.rstrip("s") + wait.duration = float(duration_str) + self.advance() + elif self.current().type == TokenType.DURATION_KEYWORD: + wait.duration_keyword = self.current().value + self.advance() + elif self.current().type == TokenType.NUMBER: + wait.duration = float(self.current().value) + self.advance() + # Require 's' suffix for consistency + if self.current().value != "s": + raise self.error( + f"Expected 's' after wait duration (e.g., 'wait {wait.duration}s')" + ) + self.advance() + else: + raise self.error("Expected duration after 'wait' (e.g., 'wait 1s')") + + return wait + + def parse_picture(self) -> PictureStatement: + """Parse picture command.""" + token = self.current() + self.advance() # consume 'picture' + + return PictureStatement(line=token.line, column=token.column) + + def parse_play(self) -> PlaySoundStatement: + """Parse play command: 'play soundname', 'play soundname pause', or 'play soundname 10s'.""" + token = self.current() + self.advance() # consume 'play' + + play = PlaySoundStatement(line=token.line, column=token.column) + + # Expect sound name (identifier) + if self.current().type != TokenType.IDENTIFIER: + raise self.error(f"Expected sound name after 'play', got '{self.current().value}'") + + play.sound_name = self.current().value + self.advance() + + # Check for optional duration or blocking modifier + if self.current().type == TokenType.DURATION: + # Duration specified (e.g., "play mysound 10s") + duration_str = self.current().value.rstrip("s") + play.duration = float(duration_str) + play.blocking = True # Duration implies blocking + self.advance() + elif self.current().type == TokenType.SOUND_BLOCKING: + # Blocking modifier (pause, fully, wait, block, complete) + play.blocking = True + self.advance() + + return play + + def parse_loop(self) -> PlaySoundStatement: + """Parse loop command: 'loop soundname' or 'loop soundname 10s'.""" + token = self.current() + self.advance() # consume 'loop' + + play = PlaySoundStatement(line=token.line, column=token.column, loop=True, blocking=True) + + # Expect sound name (identifier) + if self.current().type != TokenType.IDENTIFIER: + raise self.error(f"Expected sound name after 'loop', got '{self.current().value}'") + + play.sound_name = self.current().value + self.advance() + + # Check for optional duration (default to 10s if not specified) + if self.current().type == TokenType.DURATION: + duration_str = self.current().value.rstrip("s") + play.duration = float(duration_str) + self.advance() + else: + # Default duration for loop is 10s + play.duration = 10.0 + + return play + + def parse_repeat_block(self) -> RepeatBlock: + """Parse repeat block.""" + token = self.current() + self.advance() # consume 'repeat' + + # Parse count + if self.current().type != TokenType.NUMBER: + raise self.error("Expected number after 'repeat'") + + count = int(float(self.current().value)) + self.advance() + + self.skip_newlines() + + # Expect indent + if self.current().type != TokenType.INDENT: + raise self.error("Expected indented block after 'repeat'") + self.advance() + + # Parse body + body = self.parse_statements() + + # Expect dedent (this closes the block) + if self.current().type == TokenType.DEDENT: + self.advance() + # Note: 'end' keyword is no longer required - indentation defines the block + + return RepeatBlock(count=count, body=body, line=token.line, column=token.column) + + def parse_action_chain(self) -> ActionChain: + """Parse action chain (one or more actions connected by 'and').""" + chain = ActionChain() + chain.line = self.current().line + chain.column = self.current().column + + # Parse first action + first_action = self.parse_single_action() + chain.actions.append(first_action) + + # Parse additional actions connected by 'and' + while self.current().type == TokenType.AND: + self.advance() # consume 'and' + + # Check if next token is a keyword + next_action = self.parse_single_action( + previous_keyword=first_action.keyword + ) + chain.actions.append(next_action) + + return chain + + def parse_single_action( + self, previous_keyword: Optional[str] = None + ) -> SingleAction: + """Parse a single action. + + Args: + previous_keyword: If provided and no keyword is present, reuse this keyword. + + """ + token = self.current() + action = SingleAction(keyword="", line=token.line, column=token.column) + + # Check if we have a movement keyword + if token.type in ( + TokenType.KEYWORD_TURN, + TokenType.KEYWORD_LOOK, + TokenType.KEYWORD_HEAD, + TokenType.KEYWORD_TILT, + TokenType.KEYWORD_ANTENNA, + ): + action.keyword = token.value.lower() + self.advance() + elif previous_keyword: + # Check if current token is a control keyword (not allowed after 'and') + if token.type in (TokenType.KEYWORD_PICTURE, TokenType.KEYWORD_PLAY, TokenType.KEYWORD_LOOP, TokenType.KEYWORD_WAIT): + raise self.error( + f"Cannot combine movement with '{token.value}' using 'and'. " + f"Use separate lines instead." + ) + # Keyword reuse after 'and' + action.keyword = previous_keyword + else: + raise self.error(f"Expected movement keyword, got {token.value!r}") + + # Parse antenna modifier and clock position if applicable + if action.keyword == "antenna": + # Antenna modifier is now REQUIRED (left, right, both) + if ( + self.current().type == TokenType.DIRECTION + and self.current().value in ANTENNA_MODIFIERS + ): + action.antenna_modifier = self.current().value + self.advance() + else: + raise self.error( + f"Antenna command requires a modifier (left/right/both), got '{self.current().value}'" + ) + + # Now parse clock position (number, clock keyword, or directional keyword) + if self.current().type == TokenType.NUMBER: + # Clock position as number (0-12) + clock_pos = float(self.current().value) + if clock_pos < 0 or clock_pos > 12: + raise self.error( + f"Antenna clock position must be between 0 and 12, got {clock_pos}" + ) + action.strength = clock_pos # Store as strength for now + action.direction = "clock" # Special marker + self.advance() + elif self.current().type == TokenType.ANTENNA_CLOCK: + # Clock keyword (high/low/ext/int) + action.direction = self.current().value # Store keyword + self.advance() + elif ( + self.current().type == TokenType.DIRECTION + and self.current().value in ANTENNA_DIRECTION_KEYWORDS + ): + # Directional keyword (up/down/left/right) + action.direction = self.current().value # Store keyword + self.advance() + else: + raise self.error( + f"Antenna command requires a position (0-12, high/low/ext/int, or up/down/left/right), got '{self.current().value}'" + ) + + # Parse direction for non-antenna keywords + elif self.current().type == TokenType.DIRECTION: + direction = self.current().value + + # Validate direction for keyword + if action.keyword == "turn" and direction not in TURN_DIRECTIONS: + raise self.error( + f"Invalid direction '{direction}' for 'turn' (use left/right/center)" + ) + elif action.keyword == "look" and direction not in LOOK_DIRECTIONS: + raise self.error( + f"Invalid direction '{direction}' for 'look' (use left/right/up/down/center)" + ) + elif action.keyword == "head" and direction not in HEAD_DIRECTIONS: + raise self.error( + f"Invalid direction '{direction}' for 'head' (use forward/back/left/right/up/down)" + ) + elif action.keyword == "tilt" and direction not in TILT_DIRECTIONS: + raise self.error( + f"Invalid direction '{direction}' for 'tilt' (use left/right/center)" + ) + + action.direction = direction + self.advance() + + # Parse optional parameters (strength and/or duration, in any order) + while self.current().type in ( + TokenType.NUMBER, + TokenType.DURATION, + TokenType.DURATION_KEYWORD, + TokenType.QUALITATIVE, + ): + if self.current().type == TokenType.NUMBER: + action.strength = float(self.current().value) + self.advance() + elif self.current().type == TokenType.DURATION: + duration_str = self.current().value.rstrip("s") + action.duration = float(duration_str) + self.advance() + elif self.current().type == TokenType.DURATION_KEYWORD: + action.duration_keyword = self.current().value + self.advance() + elif self.current().type == TokenType.QUALITATIVE: + action.strength_qualitative = self.current().value + self.advance() + + return action + + +def parse(tokens: List[Token]) -> Program: + """Parse tokens into AST, convenience function.""" + parser = Parser(tokens) + return parser.parse() diff --git a/rmscript/src/rmscript/semantic.py b/rmscript/src/rmscript/semantic.py new file mode 100644 index 0000000000000000000000000000000000000000..7314849b7f488776bbe7967c17437d026e688e74 --- /dev/null +++ b/rmscript/src/rmscript/semantic.py @@ -0,0 +1,535 @@ +"""Semantic analysis for ReachyMiniScript - validation, defaults, and IR generation.""" + +from typing import List + +import numpy as np + +from reachy_mini.utils import create_head_pose +from rmscript.ir import ( + IRAction, + IRWaitAction, + IRPictureAction, + IRPlaySoundAction, + CompilationError, +) +from rmscript.ast_nodes import ( + Program, + Statement, + ActionChain, + RepeatBlock, + SingleAction, + WaitStatement, + PictureStatement, + PlaySoundStatement, +) +from rmscript.constants import ( + # Legacy angle/distance constants + ANTENNA_LARGE, + ANTENNA_SMALL, + DEFAULT_ANGLE, + ANTENNA_MEDIUM, + BODY_YAW_LARGE, + BODY_YAW_SMALL, + HEAD_YAW_LARGE, + HEAD_YAW_SMALL, + LARGE_KEYWORDS, + SMALL_KEYWORDS, + BODY_YAW_MEDIUM, + CENTER_SYNONYMS, + HEAD_YAW_MEDIUM, + MEDIUM_KEYWORDS, + DEFAULT_DISTANCE, + BACKWARD_SYNONYMS, + # Other constants + DEFAULT_DURATION, + MAX_BODY_YAW_DEG, + DURATION_KEYWORDS, + MAX_HEAD_ROLL_DEG, + TRANSLATION_LARGE, + TRANSLATION_SMALL, + ANTENNA_VERY_LARGE, + ANTENNA_VERY_SMALL, + MAX_HEAD_PITCH_DEG, + TRANSLATION_MEDIUM, + BODY_YAW_VERY_LARGE, + # Context-aware qualitative constants + BODY_YAW_VERY_SMALL, + HEAD_YAW_VERY_LARGE, + HEAD_YAW_VERY_SMALL, + VERY_LARGE_KEYWORDS, + VERY_SMALL_KEYWORDS, + DEFAULT_ANTENNA_ANGLE, + HEAD_PITCH_ROLL_LARGE, + HEAD_PITCH_ROLL_SMALL, + MAX_ANTENNA_ANGLE_DEG, + ANTENNA_CLOCK_KEYWORDS, + HEAD_PITCH_ROLL_MEDIUM, + SAFE_ANTENNA_ANGLE_DEG, + TRANSLATION_VERY_LARGE, + TRANSLATION_VERY_SMALL, + MAX_HEAD_TRANSLATION_X_MM, + MAX_HEAD_TRANSLATION_Y_MM, + MAX_HEAD_TRANSLATION_Z_MM, + MIN_HEAD_TRANSLATION_Z_MM, + ANTENNA_DIRECTION_KEYWORDS, + HEAD_PITCH_ROLL_VERY_LARGE, + HEAD_PITCH_ROLL_VERY_SMALL, +) + + +class SemanticAnalyzer: + """Analyzes AST and generates intermediate representation.""" + + def __init__(self) -> None: + """Initialize semantic analyzer.""" + self.errors: List[CompilationError] = [] + self.warnings: List[CompilationError] = [] + + @staticmethod + def clock_to_angle(clock_position: float) -> float: + """Convert clock position (0-12) to angle in degrees. + + Args: + clock_position: Clock position from 0 to 12 + + Returns: + Angle in degrees, normalized to ±180° + + Examples: + 0 -> 0° (straight up) + 3 -> 90° (to the right) + 6 -> 180° (straight down) + 9 -> -90° (to the left) + + """ + # Convert clock position to angle: position * 30° (360/12) + angle = clock_position * 30.0 + + # Normalize to ±180° range + if angle > 180: + angle = angle - 360 + + return angle + + def error(self, line: int, message: str) -> None: + """Add an error.""" + self.errors.append(CompilationError(line=line, message=message)) + + def warn(self, line: int, message: str) -> None: + """Add a warning.""" + self.warnings.append( + CompilationError(line=line, message=message, severity="warning") + ) + + def analyze(self, program: Program) -> List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction]: + """Analyze program and generate IR.""" + ir: List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction] = [] + + for statement in program.statements: + ir.extend(self.analyze_statement(statement)) + + return ir + + def analyze_statement(self, stmt: Statement) -> List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction]: + """Analyze a single statement.""" + if isinstance(stmt, WaitStatement): + return [self.analyze_wait(stmt)] + elif isinstance(stmt, PictureStatement): + return [self.analyze_picture(stmt)] + elif isinstance(stmt, PlaySoundStatement): + return [self.analyze_play_sound(stmt)] + elif isinstance(stmt, ActionChain): + return [self.analyze_action_chain(stmt)] + elif isinstance(stmt, RepeatBlock): + return self.analyze_repeat(stmt) + else: + self.error(0, f"Unknown statement type: {type(stmt)}") + return [] + + def analyze_wait(self, wait: WaitStatement) -> IRWaitAction: + """Analyze wait statement.""" + # Resolve duration + duration = DEFAULT_DURATION + if wait.duration is not None: + duration = wait.duration + elif wait.duration_keyword is not None: + duration = DURATION_KEYWORDS.get(wait.duration_keyword, DEFAULT_DURATION) + + return IRWaitAction( + duration=duration, source_line=wait.line, original_text="wait" + ) + + def analyze_picture(self, picture: PictureStatement) -> IRPictureAction: + """Analyze picture statement.""" + return IRPictureAction( + source_line=picture.line, original_text="picture" + ) + + def analyze_play_sound(self, play: PlaySoundStatement) -> IRPlaySoundAction: + """Analyze play sound statement.""" + return IRPlaySoundAction( + sound_name=play.sound_name, + blocking=play.blocking, + loop=play.loop, + duration=play.duration, + source_line=play.line, + original_text=f"{'loop' if play.loop else 'play'} {play.sound_name}" + ) + + def analyze_repeat(self, repeat: RepeatBlock) -> List[IRAction | IRWaitAction | IRPictureAction | IRPlaySoundAction]: + """Analyze repeat block - expand it into IR.""" + if repeat.count < 0: + self.error(repeat.line, f"Repeat count cannot be negative: {repeat.count}") + return [] + + if repeat.count == 0: + self.warn( + repeat.line, + "Repeat count is 0, block will not execute", + ) + return [] + + # Analyze body once + body_ir = [] + for stmt in repeat.body: + body_ir.extend(self.analyze_statement(stmt)) + + # Expand repeat + expanded = [] + for _ in range(repeat.count): + expanded.extend(body_ir) + + return expanded + + def analyze_action_chain(self, chain: ActionChain) -> IRAction: + """Analyze action chain and merge into single IRAction.""" + # Resolve each action + resolved_actions = [self.resolve_action(action) for action in chain.actions] + + # Merge all actions into a single IRAction + merged = self.merge_actions(resolved_actions, chain.line) + + return merged + + def resolve_action(self, action: SingleAction) -> "ResolvedAction": + """Resolve a single action - apply defaults and convert qualitative.""" + # Determine strength + strength = self.resolve_strength(action) + + # Determine duration + duration = self.resolve_duration(action) + + # Check ranges and issue warnings + self.validate_ranges(action, strength) + + return ResolvedAction( + keyword=action.keyword, + direction=action.direction or "", + antenna_modifier=action.antenna_modifier or "both", + strength=strength, + duration=duration, + line=action.line, + ) + + def _get_qualitative_values(self, action: SingleAction) -> tuple[float, float, float, float, float, float]: + """Get context-aware qualitative values based on movement type. + + Returns tuple of (very_small, small, medium, large, very_large, default). + """ + if action.keyword == "head": + # Head translations (distances in mm) + return (TRANSLATION_VERY_SMALL, TRANSLATION_SMALL, TRANSLATION_MEDIUM, + TRANSLATION_LARGE, TRANSLATION_VERY_LARGE, DEFAULT_DISTANCE) + + elif action.keyword == "turn": + # Body yaw rotation + return (BODY_YAW_VERY_SMALL, BODY_YAW_SMALL, BODY_YAW_MEDIUM, + BODY_YAW_LARGE, BODY_YAW_VERY_LARGE, DEFAULT_ANGLE) + + elif action.keyword == "antenna": + # Antenna rotations + return (ANTENNA_VERY_SMALL, ANTENNA_SMALL, ANTENNA_MEDIUM, + ANTENNA_LARGE, ANTENNA_VERY_LARGE, DEFAULT_ANTENNA_ANGLE) + + elif action.keyword == "tilt": + # Head roll - limited by cone constraint + return (HEAD_PITCH_ROLL_VERY_SMALL, HEAD_PITCH_ROLL_SMALL, HEAD_PITCH_ROLL_MEDIUM, + HEAD_PITCH_ROLL_LARGE, HEAD_PITCH_ROLL_VERY_LARGE, DEFAULT_ANGLE) + + elif action.keyword == "look": + # Head pitch/yaw - depends on direction + if action.direction in ["up", "down"]: + # Pitch - limited by cone constraint + return (HEAD_PITCH_ROLL_VERY_SMALL, HEAD_PITCH_ROLL_SMALL, HEAD_PITCH_ROLL_MEDIUM, + HEAD_PITCH_ROLL_LARGE, HEAD_PITCH_ROLL_VERY_LARGE, DEFAULT_ANGLE) + else: + # Yaw (left/right) - larger range + return (HEAD_YAW_VERY_SMALL, HEAD_YAW_SMALL, HEAD_YAW_MEDIUM, + HEAD_YAW_LARGE, HEAD_YAW_VERY_LARGE, DEFAULT_ANGLE) + + else: + # Fallback to head yaw values + return (HEAD_YAW_VERY_SMALL, HEAD_YAW_SMALL, HEAD_YAW_MEDIUM, + HEAD_YAW_LARGE, HEAD_YAW_VERY_LARGE, DEFAULT_ANGLE) + + def resolve_strength(self, action: SingleAction) -> float: + """Resolve strength parameter with context-aware qualitative mapping.""" + # If quantitative specified, use it + if action.strength is not None: + if action.strength_qualitative is not None: + self.warn( + action.line, + f"Both qualitative '{action.strength_qualitative}' and quantitative '{action.strength}' strength specified, using {action.strength}", + ) + return action.strength + + # Get context-aware values + very_small, small, medium, large, very_large, default = self._get_qualitative_values(action) + + # If qualitative specified, convert it using context-aware values + if action.strength_qualitative is not None: + if action.strength_qualitative in VERY_SMALL_KEYWORDS: + return float(very_small) + elif action.strength_qualitative in SMALL_KEYWORDS: + return float(small) + elif action.strength_qualitative in MEDIUM_KEYWORDS: + return float(medium) + elif action.strength_qualitative in LARGE_KEYWORDS: + return float(large) + elif action.strength_qualitative in VERY_LARGE_KEYWORDS: + return float(very_large) + + # Use context-aware default + return float(default) + + def resolve_duration(self, action: SingleAction) -> float: + """Resolve duration parameter.""" + if action.duration is not None: + if action.duration < 0.1: + self.warn( + action.line, + f"Very short duration ({action.duration}s) may cause jerky motion", + ) + return action.duration + + if action.duration_keyword is not None: + return DURATION_KEYWORDS.get(action.duration_keyword, DEFAULT_DURATION) + + return DEFAULT_DURATION + + def validate_ranges(self, action: SingleAction, strength: float) -> None: + """Validate ranges and issue warnings.""" + if action.keyword == "turn": + if abs(strength) > MAX_BODY_YAW_DEG: + self.warn( + action.line, + f"Body yaw {strength}° exceeds safe range (±{MAX_BODY_YAW_DEG}°), will be clamped", + ) + + elif action.keyword == "look": + if action.direction in ["up", "down"]: # pitch + if abs(strength) > MAX_HEAD_PITCH_DEG: + self.warn( + action.line, + f"Head pitch {strength}° exceeds limit (±{MAX_HEAD_PITCH_DEG}°), will be clamped", + ) + + elif action.keyword == "tilt": + if abs(strength) > MAX_HEAD_ROLL_DEG: + self.warn( + action.line, + f"Head roll {strength}° exceeds limit (±{MAX_HEAD_ROLL_DEG}°), will be clamped", + ) + + elif action.keyword == "head": + if action.direction in ["forward", "back"]: + if abs(strength) > MAX_HEAD_TRANSLATION_X_MM: + self.warn( + action.line, + f"Head X translation {strength}mm exceeds typical range (±{MAX_HEAD_TRANSLATION_X_MM}mm)", + ) + elif action.direction in ["left", "right"]: + if abs(strength) > MAX_HEAD_TRANSLATION_Y_MM: + self.warn( + action.line, + f"Head Y translation {strength}mm exceeds typical range (±{MAX_HEAD_TRANSLATION_Y_MM}mm)", + ) + elif action.direction == "up": + if strength > MAX_HEAD_TRANSLATION_Z_MM: + self.warn( + action.line, + f"Head Z translation {strength}mm exceeds typical range ({MAX_HEAD_TRANSLATION_Z_MM}mm max)", + ) + elif action.direction == "down": + if strength > abs(MIN_HEAD_TRANSLATION_Z_MM): + self.warn( + action.line, + f"Head Z translation {strength}mm exceeds typical range ({MIN_HEAD_TRANSLATION_Z_MM}mm min)", + ) + + elif action.keyword == "antenna": + if abs(strength) > MAX_ANTENNA_ANGLE_DEG: + self.warn( + action.line, + f"Antenna angle {strength}° exceeds maximum (±{MAX_ANTENNA_ANGLE_DEG}°), will be clamped", + ) + elif abs(strength) > SAFE_ANTENNA_ANGLE_DEG: + self.warn( + action.line, + f"Antenna angle {strength}° exceeds recommended safe range (±{SAFE_ANTENNA_ANGLE_DEG}°), may cause collision", + ) + + def merge_actions( + self, actions: List["ResolvedAction"], line: int + ) -> IRAction: # noqa: F821 + """Merge multiple actions into a single IRAction IR node.""" + # Extract parameters + head_pose_params = {"x": 0.0, "y": 0.0, "z": 0.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0} + has_head_movement = False + + antennas = [0.0, 0.0] # [right, left] + has_antenna_movement = False + + body_yaw = 0.0 + has_body_yaw = False + + # Use the maximum duration + max_duration = max((a.duration for a in actions), default=DEFAULT_DURATION) + + for action in actions: + if action.keyword == "turn": + has_body_yaw = True + has_head_movement = True # Head rotates with body + if action.direction in CENTER_SYNONYMS: + body_yaw = 0.0 + head_pose_params["yaw"] = 0.0 + elif action.direction == "left": + body_yaw += action.strength # LEFT = positive yaw + head_pose_params["yaw"] += action.strength # Head follows body + elif action.direction == "right": + body_yaw -= action.strength # RIGHT = negative yaw + head_pose_params["yaw"] -= action.strength # Head follows body + + elif action.keyword == "look": + has_head_movement = True + if action.direction in CENTER_SYNONYMS: + head_pose_params["yaw"] = 0.0 + head_pose_params["pitch"] = 0.0 + elif action.direction == "left": + head_pose_params["yaw"] += action.strength # LEFT = positive yaw + elif action.direction == "right": + head_pose_params["yaw"] -= action.strength # RIGHT = negative yaw + elif action.direction == "up": + head_pose_params["pitch"] -= action.strength # UP = negative pitch + elif action.direction == "down": + head_pose_params["pitch"] += action.strength # DOWN = positive pitch + + elif action.keyword == "head": + has_head_movement = True + if action.direction == "forward": + head_pose_params["x"] += action.strength + elif action.direction in BACKWARD_SYNONYMS: + head_pose_params["x"] -= action.strength + elif action.direction == "left": + head_pose_params["y"] += action.strength + elif action.direction == "right": + head_pose_params["y"] -= action.strength + elif action.direction == "up": + head_pose_params["z"] += action.strength + elif action.direction == "down": + head_pose_params["z"] -= action.strength + + elif action.keyword == "tilt": + has_head_movement = True + if action.direction in CENTER_SYNONYMS: + head_pose_params["roll"] = 0.0 + elif action.direction == "left": + head_pose_params["roll"] += action.strength + elif action.direction == "right": + head_pose_params["roll"] -= action.strength + + elif action.keyword == "antenna": + has_antenna_movement = True + + # Determine which antenna(s) to move + # Note: antennas array is [left_antenna, right_antenna] + if action.antenna_modifier == "both": + left_idx, right_idx = 0, 1 + elif action.antenna_modifier == "right": + left_idx, right_idx = None, 1 + elif action.antenna_modifier == "left": + left_idx, right_idx = 0, None + else: + left_idx, right_idx = 0, 1 # default to both + + # Convert clock position to angle + # If direction is "clock", the clock position is stored in strength + # If direction is a clock keyword (high/low/ext/int), look it up + if action.direction == "clock": + # Clock position as number (already in strength) + clock_pos = action.strength + elif action.direction in ANTENNA_CLOCK_KEYWORDS: + # Clock keyword - look up the position + clock_pos = ANTENNA_CLOCK_KEYWORDS[action.direction] + elif action.direction in ANTENNA_DIRECTION_KEYWORDS: + # Directional keyword (up/down/left/right) - look up the position + clock_pos = ANTENNA_DIRECTION_KEYWORDS[action.direction] + else: + # Shouldn't happen due to parser validation, but fallback + clock_pos = 0.0 + + # Convert clock position to angle + angle = self.clock_to_angle(clock_pos) + + # Set antenna positions (same angle for specified antenna(s)) + if right_idx is not None: + antennas[right_idx] = angle + if left_idx is not None: + antennas[left_idx] = angle + + # Build IRAction IR node + result = IRAction( + source_line=line, + duration=max_duration, + ) + + if has_head_movement: + result.head_pose = create_head_pose( + x=head_pose_params["x"], + y=head_pose_params["y"], + z=head_pose_params["z"], + roll=head_pose_params["roll"], + pitch=head_pose_params["pitch"], + yaw=head_pose_params["yaw"], + mm=True, + degrees=True, + ) + + if has_antenna_movement: + result.antennas = [np.deg2rad(antennas[0]), np.deg2rad(antennas[1])] + + if has_body_yaw: + result.body_yaw = np.deg2rad(body_yaw) + + return result + + +class ResolvedAction: + """Temporary structure for resolved action parameters.""" + + def __init__( + self, + keyword: str, + direction: str, + antenna_modifier: str, + strength: float, + duration: float, + line: int, + ): + """Initialize resolved action.""" + self.keyword = keyword + self.direction = direction + self.antenna_modifier = antenna_modifier + self.strength = strength + self.duration = duration + self.line = line diff --git a/rmscript/uv.lock b/rmscript/uv.lock new file mode 100644 index 0000000000000000000000000000000000000000..adf377fbe7c06797b885ff0f61078b4dff7280bd --- /dev/null +++ b/rmscript/uv.lock @@ -0,0 +1,2179 @@ +version = 1 +revision = 3 +requires-python = ">=3.11" +resolution-markers = [ + "python_full_version >= '3.12' and sys_platform == 'darwin'", + "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", + "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "python_full_version < '3.12' and sys_platform == 'darwin'", + "python_full_version < '3.12' and platform_machine == 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