tassello 0.1.0 → 0.2.0

package/dist/types/shared/protocol.d.ts

@@ -1,3 +1,4 @@
+import type { BtNodeModel } from './bt_nodes.ts';
 export type ImageTransport = 'auto' | 'raw' | 'compressed';
 export type GridStyle = 'map' | 'costmap';
 export interface TwistCommand {
@@ -146,7 +147,52 @@ export interface PluginSubscribe {
     stream: string;
     params: unknown;
 }
-export type ClientMessage = TwistCommand | ImageSubscribe | GridSubscribe | TfSubscribe | PathSubscribe | TopicSubscribe | ServicesSubscribe | ServiceAction | LogsSubscribe | Unsubscribe | FrameAck | PosePublish | CommandRun | CommandStop | ArmSubscribe | ArmJog | RosPublish | RosCall | PluginRequest | PluginSubscribe;
+export interface BehaviorTreeSubscribe {
+    type: 'bt.subscribe';
+    id: number;
+    topic: string;
+    tree: string;
+}
+export interface BehaviorTreeRecord {
+    type: 'bt.record';
+    id: number;
+    topic: string;
+    path: string | null;
+}
+export interface BehaviorTreePlaybackSubscribe {
+    type: 'bt.playback';
+    id: number;
+    bag: string;
+    topic: string;
+    tree: string;
+}
+export interface BehaviorTreePlaybackControl {
+    type: 'bt.playback.control';
+    id: number;
+    playing?: boolean;
+    speed?: number;
+    time?: number;
+}
+export interface BehaviorTreeFileSubscribe {
+    type: 'bt.file.subscribe';
+    id: number;
+    path: string;
+    libraries: string[];
+}
+export interface BehaviorTreeFileSave {
+    type: 'bt.file.save';
+    id: number;
+    path: string;
+    text: string;
+    base: string | null;
+    create: boolean;
+}
+export interface RosoutSubscribe {
+    type: 'rosout.subscribe';
+    id: number;
+    topic: string;
+}
+export type ClientMessage = TwistCommand | ImageSubscribe | GridSubscribe | TfSubscribe | PathSubscribe | TopicSubscribe | ServicesSubscribe | ServiceAction | LogsSubscribe | Unsubscribe | FrameAck | PosePublish | CommandRun | CommandStop | ArmSubscribe | ArmJog | RosPublish | RosCall | PluginRequest | PluginSubscribe | BehaviorTreeSubscribe | BehaviorTreeRecord | BehaviorTreePlaybackSubscribe | BehaviorTreePlaybackControl | BehaviorTreeFileSubscribe | BehaviorTreeFileSave | RosoutSubscribe;
 export interface Hello {
     type: 'hello';
     clientId: string;
@@ -277,7 +323,113 @@ export interface PluginData {
     id: number;
     data: unknown;
 }
-export type ServerMessage = Hello | CommandStates | CommandUpdate | StreamStatus | TfUpdate | PathUpdate | TopicMessage | ServicesUpdate | ServiceResult | LogsUpdate | ArmUpdate | Result | PluginData | PanelsChanged | ErrorMessage;
+export type BtNodeKind = 'action' | 'condition' | 'control' | 'decorator' | 'subtree';
+export interface BtNode {
+    name: string;
+    type: string;
+    kind: BtNodeKind | null;
+    parent: number;
+    ports: Record<string, string>;
+}
+export interface BehaviorTreeInfo {
+    type: 'bt.tree';
+    id: number;
+    treeId: string;
+    nodes: BtNode[];
+    error: string | null;
+    warnings: string[];
+}
+export interface BtNodeState {
+    node: number;
+    status: string | null;
+    result: string | null;
+    since: number;
+    changes: number;
+    successes: number;
+    failures: number;
+}
+export interface BtTransition {
+    time: number;
+    node: number;
+    from: string;
+    to: string;
+}
+export interface BehaviorTreeRecording {
+    type: 'bt.recording';
+    id: number;
+    recording: {
+        path: string;
+        since: number;
+    } | null;
+}
+export interface BehaviorTreePlaybackState {
+    type: 'bt.playback.state';
+    id: number;
+    topic: string;
+    start: number;
+    end: number;
+    time: number;
+    playing: boolean;
+    speed: number;
+    error: string | null;
+}
+export interface BehaviorTreeUpdate {
+    type: 'bt';
+    id: number;
+    reset: boolean;
+    added: BtNode[];
+    states: BtNodeState[];
+    transitions: BtTransition[];
+    mismatch: string | null;
+}
+export interface BehaviorTreeFile {
+    type: 'bt.file';
+    id: number;
+    file: string;
+    text: string | null;
+    version: string | null;
+    readOnly: string | null;
+    error: string | null;
+}
+export interface BtNodeLibrary {
+    name: string;
+    file: string;
+    models: BtNodeModel[];
+}
+export interface BehaviorTreeModels {
+    type: 'bt.models';
+    id: number;
+    libraries: BtNodeLibrary[];
+    trees: {
+        id: string;
+        file: string;
+    }[];
+    warnings: string[];
+}
+export interface BehaviorTreeSaved {
+    version: string;
+    conflict: boolean;
+}
+export interface LogEntry {
+    seq: number;
+    stamp: number;
+    level: number;
+    name: string;
+    msg: string;
+    file: string;
+    function: string;
+    line: number;
+}
+export interface RosoutUpdate {
+    type: 'rosout';
+    id: number;
+    reset: boolean;
+    started: number;
+    entries: LogEntry[];
+    skipped: number;
+    nodes: string[] | null;
+}
+export type ServerMessage = Hello | CommandStates | CommandUpdate | StreamStatus | TfUpdate | PathUpdate | TopicMessage | ServicesUpdate | ServiceResult | LogsUpdate | ArmUpdate | Result | PluginData | BehaviorTreeInfo | BehaviorTreeUpdate | BehaviorTreeRecording | BehaviorTreePlaybackState | BehaviorTreeFile | BehaviorTreeModels | RosoutUpdate | PanelsChanged | ErrorMessage;
 export declare const FRAME_HEADER_BYTES = 11;
 export declare const IMAGE_FORMATS: readonly ['image/jpeg', 'image/png'];
 export interface GridInfo {
@@ -297,6 +449,9 @@ export interface GridInfo {
 }
 export declare const TELEOP_WATCHDOG_MS = 500;
 export declare const ARM_STATE_RATE = 10;
+export declare const BT_RATE = 10;
+export declare const ROSOUT_RATE = 10;
+export declare const ROSOUT_HISTORY = 10000;
 export declare const DASHBOARD_CLIENT_HEADER = "X-Dashboard-Client";
 export interface PluginInfo {
     name: string;

package/dist/www/assets/Joystick.js

@@ -1 +1 @@
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n?`/api/packages/${encodeURIComponent(n[1])}/${n[2].split(`/`).map(encodeURIComponent).join(`/`)}`:t.startsWith(`/`)||t.startsWith(`~/`)?`/api/files?path=${encodeURIComponent(t)}`:null}var u={listPanels:()=>o(`GET`,`/api/panels`),getPanel:e=>o(`GET`,s(e)),createPanel:e=>o(`POST`,`/api/panels`,e),savePanel:e=>o(`PUT`,s(e.id),e),deletePanel:e=>o(`DELETE`,s(e)),listTopics:()=>o(`GET`,`/api/topics`),listPlugins:()=>o(`GET`,`/api/plugins`),listFiles:e=>o(`GET`,`/api/files/list?dir=${encodeURIComponent(e)}`),uploadImage:async e=>`uploads/${(await c(e)).name}`},d=e(t(),1),f=e(a(),1);function p({title:e,onClose:t,children:n,wide:i=!1}){return(0,d.useEffect)(()=>{let e=e=>{e.key===`Escape`&&t()};return window.addEventListener(`keydown`,e),()=>window.removeEventListener(`keydown`,e)},[t]),(0,f.jsx)(`div`,{className:`modal-backdrop`,onPointerDown:e=>e.target===e.currentTarget&&t(),children:(0,f.jsxs)(`div`,{className:`modal${i?` 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a=r=>{e.kind===`confirm`?e.resolve(r):e.resolve(r&&n.trim()?n.trim():null),t()};return(0,f.jsx)(p,{title:e.title,onClose:()=>a(!1),children:(0,f.jsxs)(`form`,{className:`modal-body`,onSubmit:e=>{e.preventDefault(),a(!0)},children:[e.kind===`confirm`?e.message&&(0,f.jsx)(`div`,{className:`dialog-message`,children:e.message}):(0,f.jsxs)(`label`,{className:`field`,children:[(0,f.jsx)(`span`,{className:`field-label`,children:e.label}),(0,f.jsx)(`input`,{ref:i,value:n,onChange:e=>r(e.target.value),autoFocus:!0})]}),(0,f.jsxs)(`div`,{className:`modal-actions`,children:[(0,f.jsx)(`button`,{type:`button`,className:`button`,onClick:()=>a(!1),children:`Cancel`}),(0,f.jsx)(`button`,{type:`submit`,className:`button ${e.kind===`confirm`&&e.danger?`danger`:`primary`}`,disabled:e.kind===`prompt`&&!n.trim(),autoFocus:e.kind===`confirm`,children:e.confirmLabel??`OK`})]})]})})}var y=5e3,b=[],x=1,S=new Set;function C(e){b=e,S.forEach(e=>e())}function w(e){C(b.filter(t=>t.id!==e))}function 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+import{n as e}from"./rolldown-runtime.js";import{t}from"./react.js";import{it as n,lt as r,u as i}from"./icons.js";import{t as a}from"./jsx-runtime.js";async function o(e,t,i){let a=await fetch(t,{method:e,headers:{"Content-Type":`application/json`,[r]:n.clientId??``},body:i===void 0?void 0:JSON.stringify(i)});if(!a.ok){let e=`${a.status} ${a.statusText}`;try{e=(await a.json()).error??e}catch{}throw Error(e)}return a.status===204?void 0:await a.json()}var s=e=>`/api/panels/${encodeURIComponent(e)}`;async function c(e){let t=await fetch(`/api/uploads`,{method:`POST`,body:e});if(!t.ok){let e=await t.json().catch(()=>null);throw Error(e?.error??`${t.status} ${t.statusText}`)}return await t.json()}function l(e){let t=e.trim();if(t.startsWith(`uploads/`))return`/api/uploads/${encodeURIComponent(t.slice(8))}`;let n=/^package:\/\/([^/]+)\/(.+)$/.exec(t);return 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