origin version

.gitignore

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+.vscode/
+build/
+install/
+log/
+test/
+*.pyc
+__pycache__/
+*.pyo
+*.pyd
+*.swp
+*.egg-info/
+dist/

ctrlgui/ctrlgui_node.py

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+"""NiceGUI + ROS2 example.
+
+This module starts a NiceGUI web page and an rclpy node. Clicking the button on the
+page publishes a std_msgs/String message to the /robot_status topic.
+"""
+import atexit
+import threading
+import os
+import socket
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from std_srvs.srv import Trigger
+from nicegui import ui
+from interfaces.msg import RobotWorkInfo
+
+class CtrlGuiNode(Node):
+    """ROS2 node that publishes String messages to /robot_status."""
+
+    def __init__(self, node_name: str = 'ctrlgui_node'):
+        super().__init__(node_name)
+        # publisher on /robot_status
+        self.publisher_ = self.create_publisher(String, '/robot_status', 10)
+        self.run_trigger_ = self.create_client(Trigger, '/cerebrum/rebuild_now')
+        # subscribe to /robot_work_info to display incoming messages in the UI
+        self.last_work_info: RobotWorkInfo = RobotWorkInfo()
+        self._sub_work_info = self.create_subscription(
+            RobotWorkInfo, '/robot_work_info', self._on_work_info, 10
+        )
+
+    def _on_work_info(self, msg: RobotWorkInfo) -> None:
+        """Callback for /robot_work_info subscription: store latest text."""
+        self.last_work_info = msg
+        # keep logs lightweight to avoid flooding
+        self.get_logger().debug(f"/robot_work_info: {self.last_work_info}")
+
+    def publish_info(self, text: str) -> None:
+        msg = String()
+        msg.data = text
+        self.publisher_.publish(msg)
+        self.get_logger().info(f'Published to /robot_status: {text}')
+
+    def rebuild_now(self) -> None:
+        self.get_logger().info('Rebuild now')
+        self.run_trigger_.call_async(Trigger.Request())
+
+def build_ui(node: CtrlGuiNode) -> None:
+    """Build the NiceGUI UI."""
+    # --- build UI ---
+    # ui.label('Robot Control GUI Node').classes('text-2xl')
+    # message_input = ui.input('Message', value='Hello from NiceGUI')
+
+    # def send_message() -> None:
+    #     text = message_input.value or ''
+    #     try:
+    #         node.publish_info(text)
+    #         ui.notify(f'Sent: {text}')
+    #     except Exception as e:
+    #         node.get_logger().error(f'Failed to publish: {e}')
+    #         ui.notify('Failed to send message', color='negative')
+
+    # ui.button('Send to /robot_status', on_click=lambda: send_message())
+
+    def rebuild() -> None:
+        try:
+            node.get_logger().info('Running rebuild_now...')
+            node.rebuild_now()
+        except Exception:
+            pass
+
+    ui.button('Rebuild', on_click=lambda: rebuild())
+
+    # Display area for incoming /robot_work_info messages
+    ui.separator()
+    ui.label('Robot Work Information').classes('text-xl')
+    
+    # Create labels for all RobotWorkInfo fields
+    with ui.card().classes('w-full'):
+        ui.label('Basic Information').classes('text-lg font-bold')
+        with ui.grid(columns=2).classes('w-full'):
+            msg_id_label = ui.label()
+            working_state_label = ui.label()
+            battery_capacity_label = ui.label()
+            working_time_label = ui.label()
+            nav_state_label = ui.label()
+            comm_quality_label = ui.label()
+            expt_completion_time_label = ui.label()
+            work_log_label = ui.label().classes('col-span-2')
+            
+        ui.label('Task Information').classes('text-lg font-bold')
+        with ui.grid(columns=3).classes('w-full'):
+            last_task_label = ui.label('Last Task: ')
+            next_task_label = ui.label('Next Task: ')
+            current_task_label = ui.label('Current Task: ')
+            
+        ui.label('Skill Information').classes('text-lg font-bold')
+        with ui.grid(columns=2).classes('w-full'):
+            skill_label = ui.label()
+            action_name_label = ui.label()
+            instance_params_label = ui.label().classes('col-span-2')
+            bt_node_status_label = ui.label()
+            smacc_state_label = ui.label()
+
+    # Update the labels periodically from the UI thread (safe cross-thread update)
+    def update_work_info():
+        msg = node.last_work_info
+        
+        # Basic Information
+        msg_id_label.set_text(f'Message ID: {msg.msg_id}')
+        working_state_label.set_text(f'Working State: {msg.working_state}')
+        battery_capacity_label.set_text(f'Battery Capacity: {msg.battery_capacity}%')
+        working_time_label.set_text(f'Working Time: {msg.working_time}h')
+        nav_state_label.set_text(f'Navigation State: {msg.nav_state}')
+        comm_quality_label.set_text(f'Communication Quality: {msg.comm_quality}')
+        expt_completion_time_label.set_text(f'Expected Completion Time: {msg.expt_completion_time}')
+        work_log_label.set_text(f'Work Log: {msg.work_log}')
+        
+        # Task Information
+        tasks = list(msg.task)
+        if len(tasks) >= 3:
+            last_task_label.set_text(f'Last Task: {tasks[0]}')
+            next_task_label.set_text(f'Next Task: {tasks[1]}')
+            current_task_label.set_text(f'Current Task: {tasks[2]}')
+        else:
+            last_task_label.set_text('Last Task: N/A')
+            next_task_label.set_text('Next Task: N/A')
+            current_task_label.set_text('Current Task: N/A')
+            
+        # Skill Information
+        skill_label.set_text(f'Skill: {msg.skill}')
+        action_name_label.set_text(f'Action Name: {msg.action_name}')
+        instance_params_label.set_text(f'Instance Parameters: {msg.instance_params}')
+        bt_node_status_label.set_text(f'BT Node Status: {msg.bt_node_status}')
+        smacc_state_label.set_text(f'SMACC State: {msg.smacc_state}')
+
+    ui.timer(0.5, update_work_info)
+
+def main() -> None:
+    """Start rclpy, the ROS2 node in a background thread, and run the NiceGUI app.
+
+    The NiceGUI handlers will call node.publish_info(...) when the user clicks the button.
+    """
+
+    # init ROS and start node
+    rclpy.init()
+    node = CtrlGuiNode()
+
+    # spin the node in a background thread so the NiceGUI server can run in the main thread
+    spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
+    spin_thread.start()
+
+    # Build UI for the default page
+    @ui.page('/')
+    def main_page():
+        build_ui(node)
+
+    # Ensure clean shutdown when the process exits
+    def shutdown() -> None:
+        try:
+            node.get_logger().info('Shutting down CtrlGuiNode...')
+        except Exception:
+            pass
+        try:
+            node.destroy_node()
+        except Exception:
+            pass
+        try:
+            rclpy.shutdown()
+        except Exception:
+            pass
+        # join the spin thread briefly
+        try:
+            spin_thread.join(timeout=1.0)
+        except Exception:
+            pass
+
+    atexit.register(shutdown)
+
+if __name__ in {"__main__", "__mp_main__"}:
+    # Start NiceGUI honoring HOST/PORT environment variables (configurable via ROS launch)
+    host = os.getenv('HOST', '0.0.0.0')
+    try:
+        port = int(os.getenv('PORT', '8080'))
+    except ValueError:
+        port = 8080
+    print(f'Starting NiceGUI on {host}:{port}...')
+    main()
+    ui.run(title='Robot Control GUI', host=host, port=port, reload=False, uvicorn_logging_level='info')
+else:
+    ui.run(main, title='Robot Control GUI')

launch/ctrlgui.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    # Optional node name override from launch argument
+    node_name_arg = DeclareLaunchArgument(
+        'node_name', default_value='ctrlgui_node',
+        description='Name of the ctrlgui node')
+    host_arg = DeclareLaunchArgument(
+        'host', default_value='0.0.0.0',
+        description='Host interface for NiceGUI')
+    port_arg = DeclareLaunchArgument(
+        'port', default_value='8080',
+        description='TCP port for NiceGUI')
+
+    ld = LaunchDescription([node_name_arg, host_arg, port_arg])
+
+    ctrlgui_node = Node(
+        package='ctrlgui',
+        executable='ctrlgui_node',
+        name=LaunchConfiguration('node_name'),
+        output='screen',
+        emulate_tty=True,
+        parameters=[],
+        env={
+            'HOST': LaunchConfiguration('host'),
+            'PORT': LaunchConfiguration('port'),
+        },
+    )
+
+    ld.add_action(ctrlgui_node)
+    return ld

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ctrlgui</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="david@hivecore.cn">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>dpg</depend>
+  <depend>interfaces</depend>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

setup.cfg

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+[develop]
+script_dir=$base/lib/ctrlgui
+[install]
+install_scripts=$base/lib/ctrlgui

setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'ctrlgui'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', ['launch/ctrlgui.launch.py']),
+    ],
+    install_requires=['setuptools', 'nicegui>=1.4.0'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='david@hivecore.cn',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'ctrlgui_node = ctrlgui.ctrlgui_node:main'
+        ],
+    },
+)