Initial UI

.github/workflows/CI.yml

@@ -12,15 +12,15 @@ jobs:
     steps:
       - uses: actions/checkout@v2
         with:
-          path: src/stsl
+          path: src/ateam_software
       - name: Install Dependencies
         shell: bash
         run: |
           source /opt/ros/galactic/setup.bash
           sudo apt-get update
-          sudo apt install wget -y
           rosdep update --rosdistro=galactic
           rosdep install --from-paths . --ignore-src -y
+          ./src/ateam_software/ateam_ui/install_deps.sh
       - name: Build
         shell: bash
         run: |
@@ -30,5 +30,5 @@ jobs:
         shell: bash
         run: |
           source /opt/ros/galactic/setup.bash
-          colcon test
+          colcon test --packages-skip ateam_ui
           colcon test-result --verbose 

README.md

@@ -23,6 +23,14 @@
    rosdep install --from-paths . --ignore-src -y
    ```
 
+1. Install our non-ROS dependencies
+
+   ```bash
+   # In the ateam_ws directory
+   source /opt/ros/galactic/setup.bash
+   ./src/software/ateam_ui/install_deps.sh
+   ```
+
 1. Build the code
 
    ```bash

ateam_msgs/CMakeLists.txt

@@ -12,6 +12,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   msg/BallState.msg
   msg/RobotMotionCommand.msg
   msg/RobotState.msg
+  msg/Mesh1d.msg
+  msg/Overlay.msg
   msg/TeamClientConnectionStatus.msg
 
   srv/ReconnectTeamClient.srv

ateam_msgs/msg/Mesh1d.msg

@@ -0,0 +1,2 @@
+# Helper message for generating 2d array to be used with mesh overlays
+float32[] mesh1d

ateam_msgs/msg/Overlay.msg

@@ -0,0 +1,57 @@
+# All units in meters
+
+# Type of overlay
+uint8 POINT=0
+uint8 LINE=1
+uint8 RECTANGLE=2
+uint8 ELLIPSE=3
+uint8 POLYGON=4
+uint8 TEXT=5
+uint8 MESH=6
+uint8 CUSTOM=7
+
+# Type of Command
+uint8 REPLACE=0 # Replaces overlay with matching name or creates it if none exist
+uint8 EDIT=1 # Edits the overlay with matching name
+uint8 REMOVE=2 # Removes the overlay with matching name
+
+# Namespace for the overlay, preferably sending node's name prepended with its namespace to help prevent collisions
+string ns
+
+# All overlays are named so we can keep track of them
+string name
+
+# Determines if the overlay is visible in the ui
+bool visible
+
+# Specifies the type of overlay to use
+uint8 type
+
+# Specifies the command to be used
+uint8 command
+
+# Center position specified as (X, Y, rotation around center in degrees)
+geometry_msgs/Point position
+
+# Scale specified as (Width, Height, _)
+geometry_msgs/Point scale
+
+# Colors are specified using "#RRGGBBAA" hexadecimal RGBA format. The # is required
+string stroke_color
+string fill_color
+
+# Also used as font size when using the TEXT type
+uint8 stroke_width 1
+
+# lifetime of overlay in milliseconds, 0 for infinite
+uint32 lifetime 0
+
+# List of points for the LINE and POLYGON types (relative to the center position point)
+geometry_msgs/Point[] points
+
+# when using the MESH type specify the boundaries of the mesh as a rectangle using the position and scale values
+ateam_msgs/Mesh1d[] mesh
+ateam_msgs/Mesh1d[] mesh_alpha
+
+# When using the TEXT type place the text here, when using the CUSTOM type put arbitrary javascript in this variable
+string text

ateam_ui/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.5)
+project(ateam_ui)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosbridge_server REQUIRED)
+
+add_custom_target(build_js ALL
+  COMMAND bash ${CMAKE_SOURCE_DIR}/build.sh
+  WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+)
+
+install(DIRECTORY
+  launch
+  src
+  DESTINATION share/${PROJECT_NAME}
+  USE_SOURCE_PERMISSIONS
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
+endif()
+
+ament_package()

ateam_ui/CopySrc.cmake

@@ -0,0 +1,50 @@
+# Get recursive list of files in ./src
+# Copyright 2021 A Team
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+
+file(GLOB_RECURSE src_files
+  LIST_RECURSE true
+  RELATIVE ${SOURCE_DIR}/src
+  ${SOURCE_DIR}/src/*
+)
+
+# Filter out autosave files (files starting with .# or #)
+list(FILTER src_files EXCLUDE REGEX "(([.][#])|(#))[^\n]*")
+
+# Add file_list to ./src files
+list(APPEND src_files file_list)
+
+# Copy ./src to install directory
+foreach(src_file ${src_files})
+  if(${src_file} STREQUAL file_list)
+    configure_file(
+      ${BINARY_DIR}/file_list
+      ${INSTALL_PREFIX}/share/${PROJECT_NAME}/src/${src_file}
+      COPYONLY
+    )
+  else()
+    configure_file(
+      ${SOURCE_DIR}/src/${src_file}
+      ${INSTALL_PREFIX}/share/${PROJECT_NAME}/src/${src_file}
+      COPYONLY
+    )
+  endif()
+endforeach()

ateam_ui/README.md

@@ -0,0 +1,8 @@
+# Setting up dependencies
+The UI is currently designed to use [Vue](https://vuejs.org/) as a framework to develop the actual framework to lay everything out. Then, [Vite](https://vitejs.dev/) is used to compile everything into efficient contained code. Finally, everything is put into an executable using [nuetralino](https://neutralino.js.org/).
+
+Running the usual `rosdep install` followed by `colcon build` should properly install all dependencies and build the UI.
+
+# Launch files
+The `ateam_ui_launch.py` file launches both [rosbridge](https://github.com/RobotWebTools/rosbridge_suite) and the ui.
+The `ateam_ui_debug_launch.py` launches rosbridge and runs the ui in development mode where it can be viewed in a web browser.

ateam_ui/build.sh

@@ -0,0 +1,20 @@
+#! /bin/bash
+
+set -e
+
+pushd src > /dev/null
+
+# Build the UI
+echo "Building"
+yarn vite build
+neu build --release
+
+# Fix potential permissions issue
+if [ ! -x ./dist/Ateam_UI/neutralino-linux_x64 ]; then
+  echo "Fixing executable permissions"
+  chmod +x ./dist/Ateam_UI/*
+fi
+
+popd > /dev/null
+
+echo "UI Build Complete!"

ateam_ui/install_deps.sh

@@ -0,0 +1,43 @@
+#! /bin/bash
+
+# This script installs javascript dependencies which can't be handled via
+# rosdep. It requires internet access. It must be run within the same colcon
+# workspace as the ateam_ui package.
+
+set -e
+
+install_npm_package_if_missing () {
+  local package_name=$1
+  echo "Checking for npm package: $package_name"
+  if npm list --depth 1 --global $package_name > /dev/null 2>&1; then
+    echo "$package_name already installed"
+  else
+    echo "Installing $package_name"
+    sudo npm install -g $package_name &> /dev/null
+  fi
+}
+
+install_npm_package_if_missing n
+echo "Upgrading node to latest stable"
+sudo n stable &> /dev/null
+
+install_npm_package_if_missing yarn
+
+install_npm_package_if_missing @neutralinojs/neu
+
+# Assumes the script runs somewhere inside the colcon workspace
+ateam_ui_pkg_path=$(colcon --log-base /dev/null list --packages-select ateam_ui -p)
+
+pushd $ateam_ui_pkg_path/src &> /dev/null
+
+echo "Installing UI yarn dependencies"
+yarn install
+
+if [ ! -d ./bin ]; then
+  echo "Configuring neu"
+  neu update
+fi
+
+popd &> /dev/null
+
+echo "UI dependencies installed!"

ateam_ui/launch/ateam_ui_debug_launch.py

@@ -0,0 +1,55 @@
+# Copyright 2021 A Team
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+import launch
+import launch_ros.actions
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ateam_ui_src = os.path.join(get_package_share_directory("ateam_ui"), "src")
+    ui_process = launch.actions.ExecuteProcess(
+        cmd=["yarn", "dev"],
+        cwd=ateam_ui_src,
+        output="screen"
+    )
+
+    rosbridge_node = launch_ros.actions.Node(
+        package="rosbridge_server",
+        namespace="ui",
+        name="rosbridge",
+        executable="rosbridge_websocket.py"
+    )
+
+    shutdown_handler = launch.actions.RegisterEventHandler(
+        launch.event_handlers.OnProcessExit(
+            target_action=ui_process,
+            on_exit=[launch.actions.EmitEvent(
+                event=launch.events.Shutdown(reason="Window Closed")
+            )]
+        )
+    )
+
+    return launch.LaunchDescription([
+        ui_process,
+        rosbridge_node,
+        shutdown_handler
+    ])

ateam_ui/launch/ateam_ui_launch.py

@@ -0,0 +1,55 @@
+# Copyright 2021 A Team
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+import launch
+import launch_ros.actions
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ateam_ui_src = os.path.join(get_package_share_directory("ateam_ui"), "src")
+    ui_process = launch.actions.ExecuteProcess(
+        cmd=["neu", "run"],
+        cwd=ateam_ui_src,
+        output="screen"
+    )
+
+    rosbridge_node = launch_ros.actions.Node(
+        package="rosbridge_server",
+        namespace="ui",
+        name="rosbridge",
+        executable="rosbridge_websocket.py"
+    )
+
+    shutdown_handler = launch.actions.RegisterEventHandler(
+        launch.event_handlers.OnProcessExit(
+            target_action=ui_process,
+            on_exit=[launch.actions.EmitEvent(
+                event=launch.events.Shutdown(reason="Window Closed")
+            )]
+        )
+    )
+
+    return launch.LaunchDescription([
+        ui_process,
+        rosbridge_node,
+        shutdown_handler
+    ])