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f71dad5344
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feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
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>
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2026-04-04 08:25:24 -04:00 |
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c2d9adad25
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feat: WebUI diagnostics dashboard (Issue #562)
Standalone 3-file diagnostics dashboard (ui/diagnostics_panel.{html,js,css}).
No build step — serve the ui/ directory directly. roslib.js via CDN.
Panels:
- Battery: voltage (V), SOC (%), current (A) with large readouts + gauge bars
+ 2-minute sparkline history canvas, 4S LiPo thresholds
- Temperatures: CPU/GPU (Jetson tegrastats) + Board/STM32 + Motor L/R
color-coded temp boxes with mini progress bars (green<60 amber<75 red>75°C)
- Motor current: per-wheel current gauge bars + CMD value + balance_state label
Thresholds: warn 8A / crit 12A
- Resources: RAM / GPU memory / Disk — gauge bars with used/total display
Thresholds: warn 80% / crit 95%
- WiFi / Network: RSSI signal bars (5-level) + dBm readout + latency (ms)
MQTT broker status via mqtt_connected KeyValue
- ROS2 node health: full DiagnosticArray node list with OK/WARN/ERROR/STALE
badges, per-node message preview, MutationObserver count badge
Features:
- Auto 2 Hz refresh via rosbridge subscriptions (throttle_rate: 500ms)
- Pulsing refresh indicator dot on each update
- System status bar: HEALTHY/DEGRADED/FAULT/STALE badge + battery/thermal/net
- Alert thresholds: red/amber/green for every metric
- Responsive CSS grid: 3-col → 2-col → 1-col via media queries
- WS URL persisted in localStorage
ROS topics:
SUB /diagnostics diagnostic_msgs/DiagnosticArray
SUB /saltybot/balance_state std_msgs/String (JSON)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-14 11:41:43 -04:00 |
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