reachy-mini 1.0.0rc1__py3-none-any.whl

reachy_mini/daemon/app/routers/state.py

@@ -0,0 +1,137 @@
+"""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,
+    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
+
+    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,
+    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,
+                use_pose_matrix=use_pose_matrix,
+                backend=backend,
+            )
+            await websocket.send_text(full_state.model_dump_json())
+            await asyncio.sleep(period)
+    except WebSocketDisconnect:
+        pass

reachy_mini/daemon/app/templates/dashboard.html

@@ -0,0 +1,40 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="UTF-8">
+    <title>Dashboard</title>
+    <link rel="stylesheet" href="/dashboard/style.css">
+</head>
+
+<body>
+    <h1>Dashboard</h1>
+    <section id="daemon-control">
+        <h2>Daemon Control</h2>
+        <div id="daemon-status">Loading daemon status...</div>
+        <button id="start-daemon">Start Daemon</button>
+        <button id="stop-daemon">Stop Daemon</button>
+        <button id="restart-daemon">Restart Daemon</button>
+        <label><input type="checkbox" id="wake-up-on-start" checked> Wake up on start</label>
+        <label><input type="checkbox" id="goto-sleep-on-stop" checked> Go to sleep on stop</label>
+    </section>
+    <hr>
+    <h2>Video stream</h2>
+    <div id="video-stream">
+        <div class="video">
+            <video id="video"></video>
+        </div>
+    </div>
+    <input type="text" id="video-ip" placeholder="IP address" value="pierre-pi.local" style="margin-right:8px;">
+    <button id="connect-video">Connect</button>
+    <h2>Examples</h2>
+    <ul id="examples-list">
+        {% for fname in files %}
+        <li><a href="/dashboard/{{ fname }}">{{ fname }}</a></li>
+        {% endfor %}
+    </ul>
+    <script src="/dashboard/js/3rdparty/gstwebrtc-api-2.0.0.min.js"></script>
+    <script src="/dashboard/js/dashboard.js"></script>
+</body>
+
+</html>

reachy_mini/daemon/backend/__init__.py

@@ -0,0 +1 @@
+"""Backend module for Reachy Mini Daemon."""