fa75c442a7
feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only
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Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md
Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
stm32_cmd.launch.py → esp32_cmd.launch.py,
test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node
Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF
docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md
TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF
No new functionality — cleanup only.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 09:00:38 -04:00
f71dad5344
feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
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Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 08:25:24 -04:00
57420807ca
feat(webui): live camera viewer — multi-stream + detection overlays (Issue #177 )
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UI (src/hooks/useCamera.js, src/components/CameraViewer.jsx):
- 7 camera sources: front/left/rear/right CSI, D435i RGB/depth, panoramic
- Compressed image subscription via rosbridge (sensor_msgs/CompressedImage)
- Client-side 15fps gate (drops excess frames, reduces JS pressure)
- Per-camera FPS indicator with quality badge (FULL/GOOD/LOW/NO SIGNAL)
- Detection overlays: face boxes + names (/social/faces/detections),
gesture icons (/social/gestures), scene object labels + hazard colours
(/social/scene/objects); overlay mode selector (off/faces/gestures/objects/all)
- 360° panoramic equirect viewer with mouse/touch drag azimuth pan
- Picture-in-picture: up to 3 pinned cameras via ⊕ button
- One-click recording (MediaRecorder → MP4/WebM download)
- Snapshot to PNG with detection overlay composite + timestamp watermark
- Cameras tab added to TELEMETRY group in App.jsx
Jetson (rosbridge bringup):
- rosbridge_params.yaml: whitelist + /camera/depth/image_rect_raw/compressed,
/camera/panoramic/compressed, /social/faces/detections,
/social/gestures, /social/scene/objects
- rosbridge.launch.py: D435i colour republisher (JPEG 75%) +
depth republisher (compressedDepth/PNG16 preserving uint16 values)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:47:01 -05:00
da3ee19688
feat(webui): settings & configuration panel (Issue #160 )
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social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 2s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
- useSettings.js: PID parameter catalogue, step-response simulation,
ROS2 parameter apply via rcl_interfaces/srv/SetParameters, sensor
param management, firmware info extraction from /diagnostics,
diagnostics bundle export, JSON backup/restore, localStorage persist
- SettingsPanel.jsx: 6-view panel (PID, Sensors, Network, Firmware,
Diagnostics, Backup); StepResponseCanvas with stable/oscillating/
unstable colour-coding; GainSlider with range+number input; weight-
class tabs (empty/light/heavy); parameter validation badges
- App.jsx: CONFIG tab group (purple), settings tab render, FLEET_TABS
set to gate ConnectionBar and footer for fleet/missions/settings
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:26:42 -05:00
51dcc01bfa
feat(webui): mission planner — waypoint editor, routes, geofences, schedule (Issue #145 )
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useMissions.js:
- Waypoints: click-to-place, drag, dwell time, localStorage persistence
- Routes: loop/oneshot/pingpong, per-robot assignment, waypoint sequence
- Geofences: polygon draw (no-go / allowed zones)
- Templates: save/load profiles + JSON export/import
- Schedules: time+day triggers with client-side runner
- Executions: running/paused/aborted state per route
MissionPlanner.jsx:
- Canvas: waypoints, route lines + direction arrows, geofence fills,
robot position overlays, scale bar, zoom/pan, execution progress
- 7 sub-views: Map | Waypoints | Routes | Geofences | Templates | Schedule | Execute
- Execute: start/pause/resume/abort, waypoint-by-waypoint advance,
sends /goal_pose (single) and /outdoor/waypoints (patrol PoseArray)
- Integrates useFleet for robot selection and /goal_pose publishing
App.jsx: adds Missions tab to FLEET group
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 10:04:38 -05:00
b09f17b787
feat(webui): fleet management dashboard — Issue #139
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- useFleet.js: multi-robot ROSLIB.Ros multiplexer with localStorage
persistence; per-robot balance_state/control_mode/odom/diagnostics
subscriptions; sendGoal, sendPatrol, scanSubnet helpers
- FleetPanel.jsx: fleet sub-views (Robots/Map/Missions/Video/Alerts)
plus RobotDetail overlay reusing ImuPanel/BatteryPanel/MotorPanel/
ControlMode/SystemHealth via subscribeRobot adapter pattern
- App.jsx: adds FLEET tab group pointing to FleetPanel
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 09:37:10 -05:00
1cd8ebeb32
feat(ui): add social-bot dashboard (issue #107 )
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React + Vite + TailwindCSS dashboard served on port 8080.
Connects to ROS2 via rosbridge_server WebSocket (default ws://localhost:9090).
Panels:
- StatusPanel: pipeline state (idle/listening/thinking/speaking/throttled)
with animated pulse indicator, GPU memory bar, per-stage latency stats
- FaceGallery: enrolled persons grid with enroll/delete via
/social/enrollment/* services; live detection indicator
- ConversationLog: real-time transcript with human/bot bubbles,
streaming partial support, auto-scroll
- PersonalityTuner: sass/humor/verbosity sliders (0–10) writing to
personality_node via rcl_interfaces/srv/SetParameters; live
PersonalityState display
- NavModeSelector: shadow/lead/side/orbit/loose/tight mode buttons
publishing to /social/nav/mode; voice command reference table
Usage:
cd ui/social-bot && npm install && npm run dev # dev server port 8080
npm run build && npm run preview # production preview
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:36:51 -05:00
