sl-webui
0c03060016
ROS2 node and WebUI component for centralized dynamic parameter configuration.
- Parameter server node with validation, range checks, and persistence
- Organized into groups: hardware/perception/controls/social/safety/debug
- Service-based API for dynamic reconfiguration (/saltybot/set_param)
- Named presets: indoor/outdoor/demo/debug
- WebUI component with parameter browsing, editing, and preset loading
- Safety parameter confirmation dialogs
- Real-time parameter metadata display (type, range, description)
Files:
- jetson/ros2_ws/src/saltybot_param_server/ - ROS2 parameter server node
- ui/social-bot/src/components/ParameterServer.jsx - WebUI component
- App.jsx - Integrated into CONFIG tab group as 'Parameters'
Build status: ✅ PASSING (127 modules)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
352 lines
13 KiB
JavaScript
352 lines
13 KiB
JavaScript
/**
|
||
* App.jsx — Saltybot Social + Telemetry + Fleet + Mission Dashboard root component.
|
||
*
|
||
* Social tabs (issue #107):
|
||
* Status | Faces | Conversation | Personality | Navigation
|
||
*
|
||
* Telemetry tabs (issue #126):
|
||
* IMU | Battery | Motors | Map | Control | Health | Cameras
|
||
*
|
||
* Fleet tabs (issue #139):
|
||
* Fleet (self-contained via useFleet)
|
||
*
|
||
* Mission tabs (issue #145):
|
||
* Missions (waypoint editor, route builder, geofence, schedule, execute)
|
||
*
|
||
* Camera viewer (issue #177):
|
||
* CSI × 4 + D435i RGB/depth + panoramic, detection overlays, recording
|
||
*/
|
||
|
||
import { useState, useCallback } from 'react';
|
||
import { useRosbridge } from './hooks/useRosbridge.js';
|
||
|
||
// Social panels
|
||
import { StatusPanel } from './components/StatusPanel.jsx';
|
||
import { StatusHeader } from './components/StatusHeader.jsx';
|
||
import { FaceGallery } from './components/FaceGallery.jsx';
|
||
import { ConversationLog } from './components/ConversationLog.jsx';
|
||
import { ConversationHistory } from './components/ConversationHistory.jsx';
|
||
import { PersonalityTuner } from './components/PersonalityTuner.jsx';
|
||
import { NavModeSelector } from './components/NavModeSelector.jsx';
|
||
import { AudioMeter } from './components/AudioMeter.jsx';
|
||
|
||
// Telemetry panels
|
||
import PoseViewer from './components/PoseViewer.jsx';
|
||
import { BatteryPanel } from './components/BatteryPanel.jsx';
|
||
import { BatteryChart } from './components/BatteryChart.jsx';
|
||
import { MotorPanel } from './components/MotorPanel.jsx';
|
||
import { MotorCurrentGraph } from './components/MotorCurrentGraph.jsx';
|
||
import { MapViewer } from './components/MapViewer.jsx';
|
||
import { ControlMode } from './components/ControlMode.jsx';
|
||
import { SystemHealth } from './components/SystemHealth.jsx';
|
||
|
||
// Fleet panel (issue #139)
|
||
import { FleetPanel } from './components/FleetPanel.jsx';
|
||
|
||
// Mission planner (issue #145)
|
||
import { MissionPlanner } from './components/MissionPlanner.jsx';
|
||
|
||
// Settings panel (issue #160)
|
||
import { SettingsPanel } from './components/SettingsPanel.jsx';
|
||
|
||
// Camera viewer (issue #177)
|
||
import { CameraViewer } from './components/CameraViewer.jsx';
|
||
|
||
// Event log (issue #192)
|
||
import { EventLog } from './components/EventLog.jsx';
|
||
|
||
// Log viewer (issue #275)
|
||
import { LogViewer } from './components/LogViewer.jsx';
|
||
|
||
// Joystick teleop (issue #212)
|
||
import JoystickTeleop from './components/JoystickTeleop.jsx';
|
||
|
||
// Network diagnostics (issue #222)
|
||
import { NetworkPanel } from './components/NetworkPanel.jsx';
|
||
|
||
// Waypoint editor (issue #261)
|
||
import { WaypointEditor } from './components/WaypointEditor.jsx';
|
||
|
||
// Bandwidth monitor (issue #287)
|
||
import { BandwidthMonitor } from './components/BandwidthMonitor.jsx';
|
||
|
||
// Temperature gauge (issue #308)
|
||
import { TempGauge } from './components/TempGauge.jsx';
|
||
|
||
// Node list viewer
|
||
import { NodeList } from './components/NodeList.jsx';
|
||
|
||
// Gamepad teleoperation (issue #319)
|
||
import { Teleop } from './components/Teleop.jsx';
|
||
|
||
// System diagnostics (issue #340)
|
||
import { Diagnostics } from './components/Diagnostics.jsx';
|
||
|
||
// Hand tracking visualization (issue #344)
|
||
import { HandTracker } from './components/HandTracker.jsx';
|
||
|
||
// Salty Face animated expression UI (issue #370)
|
||
import { SaltyFace } from './components/SaltyFace.jsx';
|
||
|
||
// Parameter server (issue #471)
|
||
import { ParameterServer } from './components/ParameterServer.jsx';
|
||
|
||
const TAB_GROUPS = [
|
||
{
|
||
label: 'DISPLAY',
|
||
color: 'text-rose-600',
|
||
tabs: [
|
||
{ id: 'salty-face', label: 'Salty Face', },
|
||
],
|
||
},
|
||
{
|
||
label: 'SOCIAL',
|
||
color: 'text-cyan-600',
|
||
tabs: [
|
||
{ id: 'status', label: 'Status', },
|
||
{ id: 'faces', label: 'Faces', },
|
||
{ id: 'hands', label: 'Hands', },
|
||
{ id: 'conversation', label: 'Convo', },
|
||
{ id: 'history', label: 'History', },
|
||
{ id: 'personality', label: 'Personality', },
|
||
{ id: 'navigation', label: 'Nav Mode', },
|
||
{ id: 'audio', label: 'Audio', },
|
||
],
|
||
},
|
||
{
|
||
label: 'TELEMETRY',
|
||
color: 'text-amber-600',
|
||
tabs: [
|
||
{ id: 'imu', label: 'IMU', },
|
||
{ id: 'battery', label: 'Battery', },
|
||
{ id: 'battery-chart', label: 'Battery History', },
|
||
{ id: 'motors', label: 'Motors', },
|
||
{ id: 'thermal', label: 'Thermal', },
|
||
{ id: 'map', label: 'Map', },
|
||
{ id: 'control', label: 'Control', },
|
||
{ id: 'health', label: 'Health', },
|
||
],
|
||
},
|
||
{
|
||
label: 'CAMERAS',
|
||
color: 'text-rose-600',
|
||
tabs: [
|
||
{ id: 'cameras', label: 'Cameras' },
|
||
],
|
||
},
|
||
{
|
||
label: 'NAVIGATION',
|
||
color: 'text-teal-600',
|
||
tabs: [
|
||
{ id: 'waypoints', label: 'Waypoints' },
|
||
],
|
||
},
|
||
{
|
||
label: 'FLEET',
|
||
color: 'text-green-600',
|
||
tabs: [
|
||
{ id: 'fleet', label: 'Fleet' },
|
||
{ id: 'missions', label: 'Missions' },
|
||
],
|
||
},
|
||
{
|
||
label: 'MONITORING',
|
||
color: 'text-yellow-600',
|
||
tabs: [
|
||
{ id: 'diagnostics', label: 'Diagnostics' },
|
||
{ id: 'eventlog', label: 'Events' },
|
||
{ id: 'bandwidth', label: 'Bandwidth' },
|
||
{ id: 'nodes', label: 'Nodes' },
|
||
],
|
||
},
|
||
{
|
||
label: 'CONFIG',
|
||
color: 'text-purple-600',
|
||
tabs: [
|
||
{ id: 'parameters', label: 'Parameters' },
|
||
{ id: 'network', label: 'Network' },
|
||
{ id: 'settings', label: 'Settings' },
|
||
],
|
||
},
|
||
];
|
||
|
||
const FLEET_TABS = new Set(['fleet', 'missions']);
|
||
|
||
const DEFAULT_WS_URL = 'ws://localhost:9090';
|
||
|
||
function ConnectionBar({ url, setUrl, connected, error }) {
|
||
const [editing, setEditing] = useState(false);
|
||
const [draft, setDraft] = useState(url);
|
||
|
||
const handleApply = () => { setUrl(draft); setEditing(false); };
|
||
|
||
return (
|
||
<div className="flex items-center gap-2 text-xs">
|
||
<div className={`w-2 h-2 rounded-full shrink-0 ${
|
||
connected ? 'bg-green-400' : error ? 'bg-red-500' : 'bg-gray-600'
|
||
}`} />
|
||
{editing ? (
|
||
<div className="flex items-center gap-1">
|
||
<input
|
||
value={draft}
|
||
onChange={(e) => setDraft(e.target.value)}
|
||
onKeyDown={(e) => {
|
||
if (e.key === 'Enter') handleApply();
|
||
if (e.key === 'Escape') setEditing(false);
|
||
}}
|
||
autoFocus
|
||
className="bg-gray-900 border border-cyan-800 rounded px-2 py-0.5 text-cyan-300 w-52 focus:outline-none"
|
||
/>
|
||
<button
|
||
onClick={handleApply}
|
||
className="px-2 py-0.5 rounded bg-cyan-950 border border-cyan-700 text-cyan-400 hover:bg-cyan-900 text-xs"
|
||
>
|
||
Connect
|
||
</button>
|
||
<button onClick={() => setEditing(false)} className="text-gray-600 hover:text-gray-400 px-1">
|
||
✕
|
||
</button>
|
||
</div>
|
||
) : (
|
||
<button
|
||
onClick={() => { setDraft(url); setEditing(true); }}
|
||
className="text-gray-500 hover:text-cyan-400 transition-colors truncate max-w-52"
|
||
title={url}
|
||
>
|
||
{connected ? (
|
||
<span className="text-green-400">{url}</span>
|
||
) : error ? (
|
||
<span className="text-red-400">⚠ {url}</span>
|
||
) : (
|
||
<span className="text-gray-500">{url}</span>
|
||
)}
|
||
</button>
|
||
)}
|
||
</div>
|
||
);
|
||
}
|
||
|
||
export default function App() {
|
||
const [wsUrl, setWsUrl] = useState(DEFAULT_WS_URL);
|
||
const [activeTab, setActiveTab] = useState('status');
|
||
|
||
const { connected, error, subscribe, publish, callService, setParam } = useRosbridge(wsUrl);
|
||
const publishFn = useCallback((name, type, data) => publish(name, type, data), [publish]);
|
||
|
||
return (
|
||
<div className="min-h-screen flex flex-col bg-[#050510] text-gray-300 font-mono">
|
||
|
||
{/* ── Top Bar ── */}
|
||
<header className="flex items-center justify-between px-4 py-2 bg-[#070712] border-b border-cyan-950 shrink-0 gap-2 flex-wrap">
|
||
<div className="flex items-center gap-3">
|
||
<span className="text-orange-500 font-bold tracking-widest text-sm">⚡ SALTYBOT</span>
|
||
<span className="text-cyan-800 text-xs hidden sm:inline">DASHBOARD</span>
|
||
</div>
|
||
{!FLEET_TABS.has(activeTab) && (
|
||
<ConnectionBar url={wsUrl} setUrl={setWsUrl} connected={connected} error={error} />
|
||
)}
|
||
</header>
|
||
|
||
{/* ── Status Header ── */}
|
||
<StatusHeader subscribe={subscribe} />
|
||
|
||
{/* ── Tab Navigation ── */}
|
||
<nav className="bg-[#070712] border-b border-cyan-950 shrink-0 overflow-x-auto">
|
||
<div className="flex min-w-max">
|
||
{TAB_GROUPS.map((group, gi) => (
|
||
<div key={group.label} className="flex items-stretch">
|
||
{gi > 0 && (
|
||
<div className="flex items-center px-1">
|
||
<div className="w-px h-4 bg-cyan-950" />
|
||
</div>
|
||
)}
|
||
<div className="flex items-center px-1.5 shrink-0">
|
||
<span className={`text-xs font-bold tracking-widest ${group.color} opacity-60`}>
|
||
{group.label}
|
||
</span>
|
||
</div>
|
||
{group.tabs.map((tab) => (
|
||
<button
|
||
key={tab.id}
|
||
onClick={() => setActiveTab(tab.id)}
|
||
className={`px-3 py-2.5 text-xs font-bold tracking-wider whitespace-nowrap border-b-2 transition-colors ${
|
||
activeTab === tab.id
|
||
? 'border-cyan-500 text-cyan-300 bg-cyan-950 bg-opacity-30'
|
||
: 'border-transparent text-gray-600 hover:text-gray-300 hover:border-gray-700'
|
||
}`}
|
||
>
|
||
{tab.label.toUpperCase()}
|
||
</button>
|
||
))}
|
||
</div>
|
||
))}
|
||
</div>
|
||
</nav>
|
||
|
||
{/* ── Content ── */}
|
||
<main className={`flex-1 ${
|
||
activeTab === 'salty-face' ? '' :
|
||
['eventlog', 'control', 'imu'].includes(activeTab) ? 'flex flex-col' : 'overflow-y-auto'
|
||
} ${activeTab === 'salty-face' ? '' : 'p-4'}`}>
|
||
{activeTab === 'salty-face' && <SaltyFace subscribe={subscribe} />}
|
||
|
||
{activeTab === 'status' && <StatusPanel subscribe={subscribe} />}
|
||
{activeTab === 'faces' && <FaceGallery subscribe={subscribe} callService={callService} />}
|
||
{activeTab === 'hands' && <HandTracker subscribe={subscribe} />}
|
||
{activeTab === 'conversation' && <ConversationLog subscribe={subscribe} />}
|
||
{activeTab === 'history' && <ConversationHistory subscribe={subscribe} />}
|
||
{activeTab === 'personality' && <PersonalityTuner subscribe={subscribe} setParam={setParam} />}
|
||
{activeTab === 'navigation' && <NavModeSelector subscribe={subscribe} publish={publishFn} />}
|
||
{activeTab === 'audio' && <AudioMeter subscribe={subscribe} />}
|
||
{activeTab === 'accessibility' && <AccessibilityComm subscribe={subscribe} publish={publishFn} />}
|
||
|
||
{activeTab === 'imu' && <PoseViewer subscribe={subscribe} />}
|
||
{activeTab === 'battery' && <BatteryPanel subscribe={subscribe} />}
|
||
{activeTab === 'battery-chart' && <BatteryChart subscribe={subscribe} />}
|
||
{activeTab === 'motors' && <MotorPanel subscribe={subscribe} />}
|
||
{activeTab === 'motor-current-graph' && <MotorCurrentGraph subscribe={subscribe} />}
|
||
{activeTab === 'thermal' && <TempGauge subscribe={subscribe} />}
|
||
{activeTab === 'map' && <MapViewer subscribe={subscribe} />}
|
||
{activeTab === 'control' && <Teleop publish={publishFn} />}
|
||
{activeTab === 'health' && <SystemHealth subscribe={subscribe} />}
|
||
{activeTab === 'cameras' && <CameraViewer subscribe={subscribe} />}
|
||
|
||
{activeTab === 'waypoints' && <WaypointEditor subscribe={subscribe} publish={publishFn} callService={callService} />}
|
||
|
||
{activeTab === 'fleet' && <FleetPanel />}
|
||
{activeTab === 'missions' && <MissionPlanner />}
|
||
|
||
{activeTab === 'diagnostics' && <Diagnostics subscribe={subscribe} />}
|
||
|
||
{activeTab === 'eventlog' && <EventLog subscribe={subscribe} />}
|
||
|
||
{activeTab === 'bandwidth' && <BandwidthMonitor />}
|
||
|
||
{activeTab === 'nodes' && <NodeList subscribe={subscribe} publish={publishFn} callService={callService} />}
|
||
|
||
{activeTab === 'logs' && <LogViewer subscribe={subscribe} />}
|
||
|
||
{activeTab === 'parameters' && <ParameterServer subscribe={subscribe} callService={callService} />}
|
||
|
||
{activeTab === 'network' && <NetworkPanel subscribe={subscribe} connected={connected} wsUrl={wsUrl} />}
|
||
|
||
{activeTab === 'settings' && <SettingsPanel subscribe={subscribe} callService={callService} connected={connected} wsUrl={wsUrl} />}
|
||
</main>
|
||
|
||
{/* ── Footer ── */}
|
||
<footer className="bg-[#070712] border-t border-cyan-950 px-4 py-1.5 flex items-center justify-between text-xs text-gray-700 shrink-0">
|
||
{!FLEET_TABS.has(activeTab) ? (
|
||
<>
|
||
<span>rosbridge: <code className="text-gray-600">{wsUrl}</code></span>
|
||
<span className={connected ? 'text-green-700' : 'text-red-900'}>
|
||
{connected ? 'CONNECTED' : 'DISCONNECTED'}
|
||
</span>
|
||
</>
|
||
) : (
|
||
<span className="text-green-800">FLEET MODE — multi-robot</span>
|
||
)}
|
||
</footer>
|
||
</div>
|
||
);
|
||
}
|