fix run node fail, modify arm control panel

2025-10-28 11:53:25 +08:00
parent 78811099d8
commit f4912b9711
2 changed files with 81 additions and 30 deletions
--- a/ctrlgui/ctrlgui_node.py
+++ b/ctrlgui/ctrlgui_node.py
@@ -209,6 +209,9 @@ def build_ui(node: CtrlGuiNode) -> None:
                ui.button('Cancel', on_click=dialog.close).classes('text-white bg-red-500')
        dialog.open()

+    # Shared variables for arm control
+    arm_inputs = {}
+
    with ui.row():

         # send action package
@@ -372,25 +375,51 @@ def build_ui(node: CtrlGuiNode) -> None:

        #move arm
        with ui.column():
-            with ui.row():
-                left_arm_position_pose = ui.input('LEFT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 550px')
+            arm_mode_select = ui.select(['MoveJ', 'MoveP'], value='MoveP').style('width: 100px')

-            with ui.row():
-                right_arm_position_pose = ui.input('RIGHT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 550px')
+        with ui.column():
+            arm_inputs_container = ui.column()

-            # TODO check input data
+            def update_arm_inputs():
+                arm_inputs_container.clear()
+                arm_inputs.clear()
+                if arm_mode_select.value == 'MoveJ':
+                    with arm_inputs_container:
+                        with ui.row():
+                            arm_inputs['left'] = ui.input('LEFT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='0, 0, 0, 0, 0, 0').style('width: 550px')
+                        with ui.row():
+                            arm_inputs['right'] = ui.input('RIGHT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='0, 0, 0, 0, 0, 0').style('width: 550px')
+                elif arm_mode_select.value == 'MoveP':
+                    with arm_inputs_container:
+                        with ui.row():
+                            arm_inputs['left'] = ui.input('LEFT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 550px')
+                        with ui.row():
+                            arm_inputs['right'] = ui.input('RIGHT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 550px')

-            def move_arm_() -> None:
-                node.file_logger.info('Running move_arm_...')
-                action_name = "Arm"
-                text = f"body_id: 0\ndata_type: 3\ndata_length: 14\ncommand_id: 0\nframe_time_stamp: {node.get_clock().now().to_msg().sec}\ndata_array: [{left_arm_position_pose.value}, {right_arm_position_pose.value}]\n"
-                # send_action_package(action_name, text)
-                rebuild_now("Remote", action_name, text)
+            # Initial update
+            update_arm_inputs()

-            ui.button('Arm Control', on_click=lambda: show_confirm_dialog(
-                f'Confirm Move Arm operation?\nleft_arm_pose: {left_arm_position_pose.value}\nright_arm_pose: {right_arm_position_pose.value}\n',
-                move_arm_
-            )).classes('self-end')
+            # Update inputs when select value changes
+            arm_mode_select.on('update:model-value', lambda e: update_arm_inputs())
+        def move_arm_() -> None:
+            node.file_logger.info('Running move_arm_...')
+            action_name = "Arm"
+
+            if arm_mode_select.value == 'MoveJ':
+                data_type = 2
+                data_length = 12
+            elif arm_mode_select.value == 'MoveP':
+                data_type = 3
+                data_length = 14
+
+            text = f"body_id: 0\ndata_type: {data_type}\ndata_length: {data_length}\ncommand_id: 0\nframe_time_stamp: {node.get_clock().now().to_msg().sec}\ndata_array: [{arm_inputs['left'].value}, {arm_inputs['right'].value}]\n"
+            # send_action_package(action_name, text)
+            rebuild_now("Remote", action_name, text)
+
+        ui.button('Arm Control', on_click=lambda: show_confirm_dialog(
+            f'Confirm Move Arm operation?\nMove: {arm_mode_select.value}\nleft_arm_params: {arm_inputs["left"].value}\nright_arm_params: {arm_inputs["right"].value}\n',
+            move_arm_
+        )).classes('self-end')
    
    # Add statistics display
    # ui.separator()
@@ -489,10 +518,30 @@ def main() -> None:
    spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
    spin_thread.start()

-    # Add static file serving for background image
+    # Add static file serving: prefer workspace ../static (with background.png), fallback to package static
    from nicegui import app
-    static_path = os.path.join(os.path.dirname(__file__), '..', 'static')
-    app.mount('/static', StaticFiles(directory=static_path), name='static')
+    pkg_static = os.path.join(os.path.dirname(__file__), 'static')
+    # Allow explicit override via environment variable
+    override_static = os.getenv('CTRLGUI_STATIC_DIR')
+    static_path = None
+    if override_static and os.path.isdir(override_static):
+        static_path = override_static
+    else:
+        # Prefer share-installed static (from package data_files)
+        try:
+            from ament_index_python.packages import get_package_share_directory
+            share_dir = get_package_share_directory('ctrlgui')
+            share_static = os.path.join(share_dir, 'static')
+            if os.path.isdir(share_static):
+                static_path = share_static
+        except Exception:
+            static_path = None
+        # Fallback to packaged static inside site-packages
+        if not static_path:
+            static_path = pkg_static
+    print("static_path: " + static_path)
+    if os.path.isdir(static_path):
+        app.mount('/static', StaticFiles(directory=static_path), name='static')

    # Build UI for the default page
    @ui.page('/')
@@ -523,18 +572,15 @@ def main() -> None:

    atexit.register(shutdown)

-if __name__ in {"__main__", "__mp_main__"}:
-    # Import StaticFiles for serving static files
-    from starlette.staticfiles import StaticFiles
-    
-    # Start NiceGUI honoring HOST/PORT environment variables (configurable via ROS launch)
+    # Start NiceGUI honoring HOST/PORT environment variables (works with ros2 launch env)
    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='HiveCore Robot Control Panel', host=host, port=port, reload=False, uvicorn_logging_level='info')
-else:
-    ui.run(main, title='HiveCore Robot Control Panel')
+
+
+if __name__ in {"__main__", "__mp_main__"}:
+    main()
--- a/setup.py
+++ b/setup.py
@@ -1,6 +1,6 @@
 from setuptools import find_packages, setup
-import os
 from glob import glob
+import os

 package_name = 'ctrlgui'

@@ -8,14 +8,19 @@ setup(
    name=package_name,
    version='0.0.0',
    packages=find_packages(exclude=['test']),
+    include_package_data=True,
+    package_data={
+        'ctrlgui': ['static/*'],
+    },
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        ('share/' + package_name + '/launch', ['launch/ctrlgui.launch.py']),
-        ('share/' + package_name + '/static', 
-            [os.path.join('static', 'background.png'),
-             os.path.join('static', 'favicon.ico')]),
+        # Install top-level static assets into share for runtime serving
+        ('share/' + package_name + '/static', [
+            *glob(os.path.join('static', '*'))
+        ]),
    ],
    install_requires=['setuptools', 'nicegui>=1.4.0'],
    zip_safe=True,