V0.2 to main

.github/workflows/buildBackend.yaml

@@ -0,0 +1,44 @@
+name: Node.js Build
+
+on:
+    push:
+    pull_request:
+
+jobs:
+    build_backend:
+        runs-on: ubuntu-latest
+
+        steps:
+            - name: Checkout code
+              uses: actions/checkout@v4
+
+            - name: Set up Node.js
+              uses: actions/setup-node@v4
+              with:
+                    node-version: '16'
+                    check-latest: true
+
+            - name: Install dependencies
+              run: |
+                cd nodejs-backend 
+                npm install
+                npm rebuild
+            # Disabled for now, we caan enable this one
+            # as soon as we have remove the login from
+            # back- and frondend (and tested its working
+            # with nginx)
+            # - name: Run build
+            #  run: |
+            #    cd nodejs-backend
+            #    exit_status=0
+            #    timeout 60 npm run backend || exit_status=$?
+            #    
+            #    if [[ $exit_status -eq 124 ]]; then
+            #        echo "Backend ran good!"
+            #    else
+            #        echo "Backend run failed!"
+            #        exit 1
+            #    fi
+
+            # - name: Run tests
+            #     run: npm test

.github/workflows/buildFrontend.yaml

@@ -0,0 +1,31 @@
+name: Node.js Build
+
+on:
+    push:
+    pull_request:
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+
+        steps:
+            - name: Checkout code
+              uses: actions/checkout@v4
+
+            - name: Set up Node.js
+              uses: actions/setup-node@v4
+              with:
+                    node-version: 'current'
+                    check-latest: true
+
+            - name: Install dependencies
+              run: |
+                cd vue-frontend 
+                npm install
+            - name: Run build
+              run: |
+                cd vue-frontend
+                npm run build
+
+            # - name: Run tests
+            #     run: npm test

NOTICE

@@ -0,0 +1,7 @@
+This software is licensed under GNU General Public License v3.
+See the LICENSE file for details.
+
+Technische Universiteit Delft hereby disclaims all copyright interest
+in the software of "MIRTE robot" (an educational robot) written by the
+Author(s).
+prof. dr. ir. Fred van Keulen, Dean of Mechanical Engineering

README.md

@@ -1,47 +1,53 @@
 # mirte-web-interface
 
-This repository contains both the backend (NodeJS) and frontend (Vue) of the robot. 
+This repository contains both the backend (NodeJS) and frontend (Vue) of
+the [MIRTE robot](https://mirte.org). Please read the [MIRTE documentation](https://docs.mirte.org/)
+on how this can be used.
 
-## Preparations
+## Build preparations
 
 In order to build and run both the frontend and backend one needs an installation of NodeJS. We
 prefer using nodeenv.
 
-```
+```sh
 sudo apt install -y python3-pip python3-setuptools python3-wheel
 sudo -H pip install nodeenv
 nodeenv --node=16.2.0 node_env
 source node_env/bin/activate
 ```
 
-## Build and run the frontend
+## Build
 
-```
-cd vue-frontend
-npm install .
-npm run build
-```
+- backend:
 
-This will build a dist folder which will be served by the backend.
+  ```sh
+  cd nodejs-backend
+  npm install .
+  npm run backend
+  ```
 
+- frontend:
 
-## Build and run the backend
+  ```sh
+  cd vue-frontend
+  npm install .
+  npm run build
+  ```
+  This will build a dist folder which will be served by the backend.
 
-```
-cd nodejs-backend
-npm install .
-npm run backend
-```
 
-## Develop for the frontend
+## Build locally, and deploy on robot
 
-The orange pi might not have enough power to build the backend. In order to develop on your own machine
-you could also serve the frontend on your local machine (without the backend). 
+The SBC of the robot might not have sufficient RAM to actually build the
+frontend. You can also build the frontend locally, and then deploy it
+to the robot:
 
 ```
 cd vue-frontend
 npm install .
-npm run serve
+rm -rf dist && npm run build && scp -R dist mirte@<mirte-ip>:/usr/local/src/mirte/mirte-web-interface/vue-frontend/
 ```
 
+## License
 
+This work is licensed under a GPL-3.0 OSS license.

nodejs-backend/reload_params.sh

@@ -1,10 +1,4 @@
 #!/bin/bash
 
-source /opt/ros/noetic/setup.bash
-source /home/mirte/mirte_ws/devel/setup.bash
-rosnode kill /mirte_telemetrix_mirte
-rosparam delete /mirte
-rosparam load /home/mirte/mirte_ws/src/mirte-ros-packages/mirte_telemetrix/config/mirte_user_config.yaml mirte
-rosrun mirte_telemetrix ROS_telemetrix_api.py  __name:=mirte_telemetrix_mirte
-
-
+# Killing telelmetrix node, which ROS will restart automtically (with the new params)
+pkill -f /opt/ros/humble/lib/mirte_telemetrix_cpp/mirte_telemetrix_cpp_node

nodejs-backend/services.js

@@ -14,6 +14,10 @@ var flash=require("connect-flash");
 const { createProxyMiddleware } = require('http-proxy-middleware');
 fs = require('fs')
 
+ // FIXME: This needs to change to the correct config location. Doesn't work nicely with pre-compiled packages.
+const mirte_user_config_file = '/home/mirte/mirte_ws/src/mirte-ros-packages/mirte_bringup/telemetrix_config/mirte_user_config.yaml';
+
+
 // TODO: Currently the local-ip package is not working
 function getLocalIP(){
   var  address,os = require('os'),ifaces = os.networkInterfaces();
@@ -67,9 +71,7 @@ server.once('listening', function() {
 
 server.listen(4000);
 
-// Setup passportJS
-//
-//
+// TODO: just remove this, security is done by nginx.
 const authMiddleware = (req, res, next) => {
   if (req.isAuthenticated() || getLocalIP() == "192.168.42.1" || getLocalIP() == "192.168.43.1" || getLocalIP() == "192.168.44.1") {
     return next()
@@ -239,21 +241,21 @@ app.post('/api/settings', (req, res) => {
     var source = req.body
 
     const fs = require('fs');
-    fs.writeFile("/home/mirte/mirte_ws/src/mirte-ros-packages/mirte_telemetrix/config/mirte_user_config.yaml", source, (err) => {
+    fs.writeFile(mirte_user_config_file, source, (err) => {
         if(err) {
             console.log(err);
             res.end("something went wrong writing the file");
         }
         const exec = require('child_process').execFile;
-        const stdout = exec("/usr/local/src/mirte/mirte-web-interface/nodejs-backend/reload_params.sh");
+        const stdout = exec(`${__dirname}/reload_params.sh`);
         res.end("done");
     });
 });
 
 
 // catch robot settings (ROS params) from the web interface and save them
 app.get('/api/settings', (req, res) => {
-    res.download("/home/mirte/mirte_ws/src/mirte-ros-packages/mirte_telemetrix/config/mirte_user_settings.yaml");
+    res.download(mirte_user_config_file);
 /*
     const fs = require('fs');
     fs.readFile("/home/mirte/mirte_ws/src/mirte_ros_package/config/mirte_user_settings.yaml", function read(err, data) {

vue-frontend/babel.config.js

@@ -0,0 +1,6 @@
+module.exports = {
+    plugins: [
+        ['@babel/plugin-proposal-nullish-coalescing-operator'],
+        ['@babel/plugin-proposal-optional-chaining']
+    ]
+}

vue-frontend/locales/en.json

@@ -16,7 +16,7 @@
     "upload": "upload",
     "upload_confirm": "Are you sure you want to upload to the microcontroller?",
     "save": "save",
-    "save_confirm": "Are you sure you want to update the hardware settings?",
+    "save_confirm": "Are you sure you want to update the hardware settings? The changes will be visible after 10 seconds.",
     "name": "name",
     "pin": "pin",
     "add": "add",
@@ -53,7 +53,7 @@
     "open": "open"
   },
   "peripherals": {
-    "ultrasonic_sensor": "Distance sensor",
+    "ultrasonic_sensor": "Distance sensor (m)",
     "ir_sensor": "IR sensor",
     "color_sensor": "Color sensor",
     "keypad_sensor": "Keypad",
@@ -100,10 +100,20 @@
     "SET_MOTOR_CONTROL": "%1 motor control",
     "STOP_MOTOR": "stop motor %1",
     "SET_SERVO_ANGLE": "set servo %1 to angle %2",
-    "SET_OLED": "show the %2 %3 on screen %1",
+    "SET_OLED": "show %2 on screen %1",
     "GET_ANALOG_PIN_VALUE": "analog value of pin %1",
     "GET_DIGITAL_PIN_VALUE": "digital value of pin %1",
     "WAIT": "wait %1 second(s)",
-    "WAIT_UNTIL": "wait until %1"
+    "WAIT_UNTIL": "wait until %1",
+    "COLOR_SENSOR_TB": "Color sensor",
+    "ULTRASONIC_SENSOR_TB": "Distance sensor (m)",
+    "IR_SENSOR_TB": "IR sensor",
+    "KEYPAD_SENSOR_TB": "Keypad",
+    "WHEEL_ENCODER_TB": "Wheel encoder",
+    "PP_MOTOR_TB": "Motor (pp)",
+    "DP_MOTOR_TB": "Motor (dp)",
+    "DDP_MOTOR_TB": "Motor (ddp)",
+    "SERVO_TB": "Servo",
+    "OLED_TB": "OLED Screen"
   }
 }

vue-frontend/locales/nl.json

@@ -14,7 +14,7 @@
     "wiring": "Bekabeling",
     "microcontroller": "Microcontroller",
     "upload": "upload",
-    "upload_confirm": "Weet je zeker dat je de microcontroller wilt uploaden?",
+    "upload_confirm": "Weet je zeker dat je de microcontroller wilt uploaden? Na ongeveer 10 seconden zal de verandering zichtbaar zijn.",
     "save": "opslaan",
     "save_confirm": "Weet je zeker dat je de hardware instellingen wilt opslaan?",
     "name": "naam",
@@ -53,7 +53,7 @@
     "open": "openen"
   },
   "peripherals": {
-    "ultrasonic_sensor": "Afstand sensor",
+    "ultrasonic_sensor": "Afstand sensor (m)",
     "ir_sensor": "IR sensor",
     "color_sensor": "Kleuren sensor",
     "keypad_sensor": "Toetsen",
@@ -100,10 +100,20 @@
     "SET_MOTOR_CONTROL": "%1 motor control",
     "STOP_MOTOR": "stop motor %1",
     "SET_SERVO_ANGLE": "zet servo %1 op hoek %2",
-    "SET_OLED": "laat de %2 %3 op scherm %1 zien",
+    "SET_OLED": "laat %2 op scherm %1 zien",
     "GET_ANALOG_PIN_VALUE": "analoge waarde van pin %1",
     "GET_DIGITAL_PIN_VALUE": "digitale waarde van pin %1",
     "WAIT": "wacht %1 seconde(n)",
-    "WAIT_UNTIL": "wacht totdat %1"
+    "WAIT_UNTIL": "wacht totdat %1",
+    "COLOR_SENSOR_TB": "Kleuren sensor",
+    "ULTRASONIC_SENSOR_TB": "Afstand sensor (m)",
+    "IR_SENSOR_TB": "IR sensor",
+    "KEYPAD_SENSOR_TB": "Toetsen",
+    "WHEEL_ENCODER_TB": "Encoder",
+    "PP_MOTOR_TB": "Motor (pp)",
+    "DP_MOTOR_TB": "Motor (dp)",
+    "DDP_MOTOR_TB": "Motor (ddp)",
+    "SERVO_TB": "Servo",
+    "OLED_TB": "OLED Scherm"
   }
 }