Navigator WebAssistant First Commit #2

RaulTrombin · 2024-01-24T18:49:44Z

Can be used on BlueOS locally, please change ardupilot to SITL then add extension:

raulelektron.blueos_navigator_webassistant

Navigator Assistant

latest

{
  "ExposedPorts": {
    "8080/tcp": {}
  },
  "HostConfig": {
    "Privileged": true,
    "PortBindings": {
      "8080/tcp": [
        {
          "HostPort": ""
        }
      ]
    }
  }
}

README.md

src/cli.rs

src/hardware_manager.rs

src/main.rs

src/server/mod.rs

src/server/protocols/v1/frontend/index.html

src/server/protocols/v1/packages.rs

src/server/protocols/v1/websocket.rs

src/server/protocols/v1/rest.rs

patrickelectric

needs to remove merge commits

RaulTrombin · 2024-02-05T18:56:48Z

ping2 @patrickelectric

joaoantoniocardoso

I'm happy with the overall, I have just a few notes, feel free to merge the PR as it is and work on them afterward.

joaoantoniocardoso · 2024-02-13T15:09:09Z

src/cli.rs

+    let datalogger_directory = matches
+        .get_one::<String>("datalogger_directory")
+        .map(|d| d.to_string())
+        .unwrap_or("./".to_string());


Pretty sure we should add the default values when specifying the argument instead of leaving them as optionals and using these unwrap fallbacks. The benefit is that it will show the default values for each argument in the help, and it will be easier to maintain.

Plan to fix it changing the clap use

Use clap struct over Command, it's easier to code and mantain #5

joaoantoniocardoso · 2024-02-13T15:19:02Z

src/hardware_manager.rs

+    pub fn init_monitor(refresh_interval: u64) {
+        NavigationManager::get_instance().lock().unwrap().monitor = Some(
+            thread::Builder::new()
+                .name("Navigator service - monitor".into())


This name will not be distinguishable in htop or ps. Please keep the thread names under 15 characters.

Since they are subprocesses of the Navigator binary, you can name it as just monitor for example.

joaoantoniocardoso · 2024-02-13T15:19:16Z

src/hardware_manager.rs

+    pub fn init_datalogger(refresh_interval: u64, file_path: PathBuf) {
+        NavigationManager::get_instance().lock().unwrap().datalogger = Some(
+            thread::Builder::new()
+                .name("Navigator service - datalogger".into())


Same here. datalogger

joaoantoniocardoso · 2024-02-13T15:23:56Z

src/hardware_manager.rs

+        loop {
+            thread::sleep(std::time::Duration::from_micros(refresh_interval));
+
+            let reading = DATA.read().unwrap().state;
+
+            logger.log_data(&reading).expect("Failed to log data");
+
+        }


note: by sleeping first, we are adding a delay to the logged measurements, which is a constant phase between the monitored and the logged measurements.

changed it to sleep after

joaoantoniocardoso · 2024-02-13T15:34:01Z

src/logger.rs

We should switch to tracing and add output to files with rotation ASAP.

joaoantoniocardoso · 2024-02-13T15:34:49Z

src/main.rs

+        hardware_manager::init_monitor(monitor_settings.interval);
+        log::info!("starting monitor...");


Suggested change

hardware_manager::init_monitor(monitor_settings.interval);

log::info!("starting monitor...");

log::info!("starting monitor...");

hardware_manager::init_monitor(monitor_settings.interval);

joaoantoniocardoso · 2024-02-13T15:35:06Z

src/main.rs

+        hardware_manager::init_datalogger(
+            datalogger_settings.interval,
+            format!("{}/{}", datalogger_settings.directory, datalogger_settings.filename).into()
+        );
+        log::info!("starting datalogger...");


Suggested change

hardware_manager::init_datalogger(

datalogger_settings.interval,

format!("{}/{}", datalogger_settings.directory, datalogger_settings.filename).into()

);

log::info!("starting datalogger...");

log::info!("starting datalogger...");

hardware_manager::init_datalogger(

datalogger_settings.interval,

format!("{}/{}", datalogger_settings.directory, datalogger_settings.filename).into()

);

joaoantoniocardoso · 2024-02-13T15:40:07Z

src/server/protocols/v1/websocket.rs

+                }
+            }
+            Ok(ws::Message::Binary(bin)) => ctx.binary(bin),
+            _ => (),


Shouldn't we handle the Close frame?

@joaoantoniocardoso Will test it:
Ok(ws::Message::Close(msg)) => ctx.close(msg)

If it works we can add to mavlink2rest.

@joaoantoniocardoso It works, thanks, before this the connection keep holding for some seconds or minutes until it really closes and finish session on websocket client, we need to add this do mavlink2rest.

.gitignore

fix: remove cargo.lock from git

src: server: fix bind route, fix CORs issue src: server: package: minor fix on sensor type src: server: package: add pwm package handlers src: server: package: add pwm_channel from string handler src: server: rest: rework on get_sensors method src: server: rest: add pwm related post services src: server: add pwm related post services src: server: change sensors service name

src:server: Add embedded host index to services and the fronted source folder path src:server:frontend Add a html to embed and host interface

…onstructor src: server: package: use a new method to compose the packets src: server: frontnd: integrations with new sensor readings json and change update interval to use ms src: server: package: remove altitude from sensors readings

src: hardware_manager: Add sensor readings thread service, and start function

…use defaults src: hardware_manager: Add user led functions src: hardware_manager: Add neo pixel function

…ation src: server: Add errors sections src: server: rest: Fix schemathesis tests with defined errors code on generated spec src: server: frontend: Add trailing zeros on left side src: server: frontend: Change refresh event and validate inputs src: server: frontend: Add sensor broadcast received frequency src: server: frontend: Add docs button

src: server: rest: Add derive validate and min/max value for Channel and Frequency src: server: rest: Add validation and retrieve error for channel value route src: server: rest: Add validation and retrieve error for frequency value route

src: server: structures: Move API structures src: server: remove unnecessary code src: server: websocket: Use new API structure, similar to restAPI src: server: packages: Remove deprecated function src: server: frontend: Update websocket structure

src: server: frontend: RGB and User LEDs syncronization through websocket src: server: frontend: RGB and User LEDs functions using websocket and their structures src: server: frontend: Minor change, format src: server: websocket: Fix Userled routes

…ficant overlap src: hardware_manager: Change the wait check src: server: frontend: Add buttons to disable or restart autopilot

README: Fix the adresses

src: server: structures: Minimal req changes src: server: rest: Minimal req changes

src: server: frontend: Simplify pwm frequency parser src: server: frontend: Simplify neopixel parser src: server: frontend: Simplify userled parser

src: server: Add port argument src: main: Add port argument Readme: Add instructions for port argument

…ry (#8)

joaoantoniocardoso

Pro tip: when requesting reviews, please, do not rebase before solving all comments (leave the fixups instead), it makes the reviewer's life a lot harder, it's especially hard to keep track of the changes are up to the request, which is terrible on these gigantic PRs.

Other than that, it seems good to me!

patrickelectric

RaulTrombin requested review from patrickelectric and joaoantoniocardoso January 24, 2024 18:57

patrickelectric requested changes Jan 29, 2024

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This was referenced Feb 1, 2024

Use clap struct over Command, it's easier to code and mantain #5

Open

Fox copy logic #6

Open

The API use should be abstracted by a class. #7

Open

Remove websocket parser and use HttpRequest directly with actix #8

Open

patrickelectric requested changes Feb 1, 2024

View reviewed changes

RaulTrombin force-pushed the master branch 2 times, most recently from 0ed23e6 to 23e9e37 Compare February 2, 2024 18:22

RaulTrombin requested a review from patrickelectric February 2, 2024 18:42

RaulTrombin force-pushed the master branch from dfc098f to 0873516 Compare February 8, 2024 19:34

joaoantoniocardoso approved these changes Feb 13, 2024

View reviewed changes

RaulTrombin closed this Feb 23, 2024

RaulTrombin force-pushed the master branch from 0873516 to 81e3a46 Compare February 23, 2024 13:30

RaulTrombin reopened this Feb 23, 2024

RaulTrombin requested a review from joaoantoniocardoso February 23, 2024 14:00

RaulTrombin force-pushed the master branch from a01f794 to ad80931 Compare February 23, 2024 14:19

joaoantoniocardoso reviewed Feb 23, 2024

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.gitignore Outdated Show resolved Hide resolved

RaulTrombin added 9 commits February 23, 2024 11:55

first commit

a074c7e

fix: remove cargo.lock from git

cargo: add embedded index related crates

5002dbc

src:server:rest: add embedded host index

eecd4f0

src:server: Add embedded host index to services and the fronted source folder path src:server:frontend Add a html to embed and host interface

src: hardware_manager: minor correction

620847d

src: hardware_manager: Add Data cache for hardware sensor readings

63e5bb8

src: hardware_manager: Add sensor readings thread service, and start function

src: main: Add sensor_auto_reading service

494ef68

src: hardware_manager: Remove use of option for navigator access and …

db4e3e1

…use defaults src: hardware_manager: Add user led functions src: hardware_manager: Add neo pixel function

RaulTrombin and others added 26 commits February 23, 2024 13:32

Cargo: Add validator crate.

30e45bf

Cargo: Update dependencies

61ad0f2

README: Update project name

f43cab5

Cargo: Update project name

e9ee6be

github: action: Update project name

d8c8e41

src: server: rest: Move API structures

5d63a7c

src: server: structures: Move API structures src: server: remove unnecessary code src: server: websocket: Use new API structure, similar to restAPI src: server: packages: Remove deprecated function src: server: frontend: Update websocket structure

docs: Add instructions for websocket with structures

59bd3fd

src: hardware_manager: Change monitor to log only if there is a signi…

a4cb95f

…ficant overlap src: hardware_manager: Change the wait check src: server: frontend: Add buttons to disable or restart autopilot

Page: Add demo gif

00b9264

README: Add demo gif

12ac956

github: action: Publish separate assets

3a9e483

src: main: Change to use logger instead print

f0f4af0

src: server: websocket: Change to use logger instead print

3a631f2

README: Change to use 1Hz instead 0.0017 Hz to example

62188fe

README: Fix the adresses

src: server: packages: Minimal req changes

f282263

src: server: structures: Minimal req changes src: server: rest: Minimal req changes

src: hardware_manager: Minimal req changes

90c28dc

src: server: frontend: Simplify pwm channel

b7da9d0

src: server: frontend: Simplify pwm frequency parser src: server: frontend: Simplify neopixel parser src: server: frontend: Simplify userled parser

src: cli: Add port argument

3433b36

src: server: Add port argument src: main: Add port argument Readme: Add instructions for port argument

src: server: frontend: Add wss option

98cb509

src: main: fix: Use log instead print (#7)

06c7e3f

github: action: Change to self-hosted runner download only armv7 bina…

aba6503

…ry (#8)

Readme: Update the BlueOS extension page

7488768

src: datalogger: Change to use PathBuf

88e3294

RaulTrombin force-pushed the master branch from d9ec6e1 to 88e3294 Compare February 23, 2024 16:32

joaoantoniocardoso approved these changes Feb 26, 2024

View reviewed changes

patrickelectric approved these changes Feb 27, 2024

View reviewed changes

patrickelectric merged commit e34443c into bluerobotics:master Feb 27, 2024

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Navigator WebAssistant First Commit #2

Navigator WebAssistant First Commit #2

RaulTrombin commented Jan 24, 2024

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		hardware_manager::init_monitor(monitor_settings.interval);
		log::info!("starting monitor...");

Navigator WebAssistant First Commit #2

Navigator WebAssistant First Commit #2

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