From f8e7f17e74931e270e1b1d778ee06952ab530975 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 13:09:20 -0700 Subject: [PATCH 01/37] Apply TrickFire brand colors and fonts (Barlow Condensed / Overpass) --- index.html | 6 ++ src/assets/global.scss | 167 ++++++++++++++++++++++++++++++++++------- 2 files changed, 145 insertions(+), 28 deletions(-) diff --git a/index.html b/index.html index 3f4e04e..d4b690a 100644 --- a/index.html +++ b/index.html @@ -9,6 +9,12 @@ TFR Mission Control + + +
diff --git a/src/assets/global.scss b/src/assets/global.scss index a8caca5..dd1557d 100644 --- a/src/assets/global.scss +++ b/src/assets/global.scss @@ -1,17 +1,33 @@ :root { --nav-bar-size: 4.5rem; + + // ── TrickFire Brand Colors ────────────────────────────── + --tf-green: #00fe00; + --tf-green-dim: rgba(0, 254, 0, 0.1); + --tf-green-mid: rgba(0, 254, 0, 0.35); + --accent-pink: #e93cac; + --eerie-black: #222222; + --white: #ffffff; + --dark-white: #cccccc; + --pure-black: #000000; + + // ── UI Surface Colors ─────────────────────────────────── + --app-background: #191919; + --component-background: #232323; --black: #000000; - --dark-grey: #212121; - --accent-color: hsl(240, 20%, 20%); - --grey: #303030; - --light-grey: #424242; + --dark-grey: #222222; + --grey: #2c2c2c; + --light-grey: #3a3a3a; + --purple: #1e1e2e; // kept for legacy use + + // ── Status Colors ─────────────────────────────────────── --error: #e50000; - --correct: #30b630; - --white: #fafafa; - --purple: #29293d; - --component-background: #252527; - --app-background: #141415; + --correct: #00fe00; + + // ── Legacy ────────────────────────────────────────────── + --accent-color: var(--tf-green); } + *, ::before, ::after { @@ -29,17 +45,19 @@ color: inherit; } } + a { color: inherit; } + html, body { min-height: 100vh; - color: var(--white); + color: var(--dark-white); background: var(--app-background); - transition: color 0.5s, background-color 0.5s; + transition: color 0.3s, background-color 0.3s; line-height: 1.6; - font-family: Inter, -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen, Ubuntu, + font-family: 'Overpass', -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen, Ubuntu, Cantarell, 'Fira Sans', 'Droid Sans', 'Helvetica Neue', sans-serif; font-size: 15px; text-rendering: optimizeLegibility; @@ -47,31 +65,64 @@ body { -moz-osx-font-smoothing: grayscale; height: 100%; } + +// Brand font for all headings +h1, +h2, +h3, +h4, +h5, +h6 { + font-family: 'Barlow Condensed', 'Overpass', sans-serif; + font-weight: 600; + text-transform: uppercase; + letter-spacing: 0.05em; + color: var(--white); +} + button { - background-color: var(--white); - padding: 8px; - font-size: 16px; + background-color: var(--tf-green); + padding: 7px 14px; + font-size: 14px; + font-family: 'Barlow Condensed', sans-serif; + font-weight: 600; + text-transform: uppercase; + letter-spacing: 0.06em; border: none; - border-radius: 10px; - color: var(--black); + border-radius: 4px; + color: var(--pure-black); + &:hover { - background-image: linear-gradient(rgb(0 0 0/40%) 0 0); + background-color: #00d400; cursor: pointer; } + &:active { - color: var(--white); - background-color: var(--black); + background-color: #009900; + color: var(--pure-black); cursor: default; } } + .button { + &-secondary { + background-color: transparent; + border: 1px solid var(--tf-green); + color: var(--tf-green); + + &:hover { + background-color: var(--tf-green-dim); + } + } + &-toggle { - // double -- because it is a modifier &--on { background-color: var(--correct); + color: var(--pure-black); } &--off { background-color: var(--error); + color: var(--white); } } } @@ -79,10 +130,35 @@ button { .dialogue-box { padding: 10px; border: 1px solid var(--light-grey); - border-radius: 5px; + border-radius: 4px; background-color: var(--dark-grey); - color: var(--white); + color: var(--dark-white); width: 100%; + font-family: 'Overpass', sans-serif; +} + +select, +input[type='text'], +input[type='number'], +input[type='url'] { + background-color: var(--dark-grey); + border: 1px solid var(--light-grey); + border-radius: 4px; + color: var(--dark-white); + padding: 6px 10px; + font-family: 'Overpass', sans-serif; + font-size: 14px; + + &:focus { + outline: none; + border-color: var(--tf-green); + box-shadow: 0 0 0 2px var(--tf-green-dim); + } + + option { + background-color: var(--dark-grey); + color: var(--dark-white); + } } // Page Styles @@ -94,14 +170,49 @@ button { grid-template-rows: 1fr 1fr; grid-template-columns: 1fr 1fr 1fr; padding: 0.5rem; + > * { overflow: hidden; background-color: var(--component-background); - padding: 5px; - border-radius: 0.25em; - margin: 0.6rem; padding: 1rem; - box-shadow: rgba(0, 0, 0, 0.16) 0px 1px 4px; - border: 0.1vw solid var(--light-grey); + border-radius: 4px; + margin: 0.4rem; + box-shadow: 0 2px 12px rgba(0, 0, 0, 0.5); + border: 1px solid var(--light-grey); + border-top: 2px solid var(--tf-green-mid); + } +} + +// Shared placeholder panel used across pages for unbuilt sections +.placeholder-panel { + display: flex; + flex-direction: column; + align-items: center; + justify-content: center; + gap: 0.6rem; + height: 100%; + opacity: 0.55; + user-select: none; + + .placeholder-icon { + color: var(--tf-green); + transform: scale(2.4); + margin-bottom: 1rem; + } + + h2 { + color: var(--tf-green); + font-size: 1.1rem; + } + + .placeholder-desc { + color: var(--dark-white); + text-align: center; + max-width: 75%; + font-size: 0.85rem; + line-height: 1.5; + text-transform: none; + font-family: 'Overpass', sans-serif; + font-weight: 400; } } From bb0289896cb218a3beb55f236a46390d2fcecd23 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 13:09:26 -0700 Subject: [PATCH 02/37] Retheme navbar with brand green accents and show rover host in status bar --- src/components/Navbar.vue | 220 ++++++++++++++++++++++++++------------ 1 file changed, 154 insertions(+), 66 deletions(-) diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index cfe7267..e3d5af7 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -1,7 +1,7 @@ + diff --git a/src/components/settings/ConnectionSettings.vue b/src/components/settings/ConnectionSettings.vue index 90d8831..5043c56 100644 --- a/src/components/settings/ConnectionSettings.vue +++ b/src/components/settings/ConnectionSettings.vue @@ -205,7 +205,6 @@ async function scanForRover() {

-

Connection address is saved automatically and restored on next launch.

@@ -361,13 +360,4 @@ input[type='url'] { color: var(--error); } } - -.persist-note { - font-size: 0.75rem; - color: var(--dark-white); - opacity: 0.5; - font-style: italic; - margin-top: auto; - font-family: 'Overpass', sans-serif; -} From fb5f303a55a95d0556db8b203f5e3ac1a9f8ed8e Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 13:23:12 -0700 Subject: [PATCH 07/37] Redesign nav tabs as rounded pill chips with solid green active state --- src/components/Navbar.vue | 47 +++++++++++++++++++++++---------------- 1 file changed, 28 insertions(+), 19 deletions(-) diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index 987acd8..f8178a4 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -209,13 +209,14 @@ nav { #page-section { display: flex; flex: 1; + align-items: center; + gap: 0.25rem; + padding: 0 0.6rem; overflow-x: auto; overflow-y: hidden; scrollbar-width: none; - &::-webkit-scrollbar { - display: none; - } + &::-webkit-scrollbar { display: none; } } .nav-tab { @@ -223,23 +224,27 @@ nav { flex-direction: column; align-items: center; justify-content: center; - gap: 3px; - height: 100%; - padding: 0 1rem; + gap: 4px; + // Pill height: about 78% of navbar so there's visible breathing room above/below + height: 3.2rem; + padding: 0 1.05rem; min-width: 5rem; flex-shrink: 0; - border-bottom: 3px solid transparent; - transition: background-color 0.12s; + border-radius: 10px; + // Inactive chips have a faint surface so they look like buttons, not dead text + background-color: rgba(255, 255, 255, 0.05); + border: 1px solid rgba(255, 255, 255, 0.07); + transition: background-color 0.12s, border-color 0.12s; cursor: pointer; &__icon { color: var(--dark-white); - transition: color 0.12s; + opacity: 0.7; + transition: color 0.12s, opacity 0.12s; - // Override fixed SVG dimensions from vue-material-design-icons :deep(svg) { - width: 1.45rem; - height: 1.45rem; + width: 1.35rem; + height: 1.35rem; } } @@ -250,28 +255,32 @@ nav { text-transform: uppercase; letter-spacing: 0.07em; color: var(--dark-white); + opacity: 0.7; white-space: nowrap; - transition: color 0.12s; + transition: color 0.12s, opacity 0.12s; } - // Hover (non-active) + // Hover — brighter, border becomes visible &:not(.nav-tab--active):hover { - background-color: rgba(255, 255, 255, 0.06); + background-color: rgba(255, 255, 255, 0.11); + border-color: rgba(255, 255, 255, 0.18); .nav-tab__icon, .nav-tab__label { color: var(--white); + opacity: 1; } } - // Active + // Active — solid TF green chip, black text (style-guide-recommended contrast) &--active { - border-bottom-color: var(--tf-green); - background-color: var(--tf-green-dim); + background-color: var(--tf-green); + border-color: var(--tf-green); .nav-tab__icon, .nav-tab__label { - color: var(--tf-green); + color: var(--pure-black); + opacity: 1; } } } From 8f42ca1125fb9076d1a78ceae8e9c0b92d55d263 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 13:40:56 -0700 Subject: [PATCH 08/37] Fixed navbar --- src/components/Navbar.vue | 44 +++++++++++++++++++++------------------ 1 file changed, 24 insertions(+), 20 deletions(-) diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index f8178a4..bce8f48 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -187,7 +187,8 @@ nav { flex-shrink: 0; gap: 0.85rem; padding: 0 1.25rem; - border-right: 2px solid var(--tf-green); + // Subtle neutral divider — no green border + border-right: 1px solid rgba(255, 255, 255, 0.1); #logo { height: 2.4rem; @@ -210,8 +211,8 @@ nav { display: flex; flex: 1; align-items: center; - gap: 0.25rem; - padding: 0 0.6rem; + gap: 0.55rem; + padding: 0 0.75rem; overflow-x: auto; overflow-y: hidden; scrollbar-width: none; @@ -224,46 +225,49 @@ nav { flex-direction: column; align-items: center; justify-content: center; - gap: 4px; - // Pill height: about 78% of navbar so there's visible breathing room above/below - height: 3.2rem; - padding: 0 1.05rem; - min-width: 5rem; + // Increase vertical breathing room and keep the icon/label visually centered + gap: 0.25rem; + padding: 0.42rem 0.85rem; + min-width: 4.9rem; + height: 3rem; flex-shrink: 0; border-radius: 10px; - // Inactive chips have a faint surface so they look like buttons, not dead text background-color: rgba(255, 255, 255, 0.05); - border: 1px solid rgba(255, 255, 255, 0.07); + border: 1px solid rgba(255, 255, 255, 0.08); transition: background-color 0.12s, border-color 0.12s; cursor: pointer; &__icon { + display: grid; + place-items: center; color: var(--dark-white); - opacity: 0.7; + opacity: 0.65; transition: color 0.12s, opacity 0.12s; :deep(svg) { - width: 1.35rem; - height: 1.35rem; + // Slightly smaller icon gives label more visual weight + width: 1.25rem; + height: 1.25rem; } } &__label { font-family: 'Barlow Condensed', sans-serif; font-weight: 600; - font-size: 0.6rem; + font-size: 0.7rem; text-transform: uppercase; letter-spacing: 0.07em; + line-height: 1; color: var(--dark-white); - opacity: 0.7; + opacity: 0.65; white-space: nowrap; transition: color 0.12s, opacity 0.12s; } - // Hover — brighter, border becomes visible + // Hover — brighter chip &:not(.nav-tab--active):hover { - background-color: rgba(255, 255, 255, 0.11); - border-color: rgba(255, 255, 255, 0.18); + background-color: rgba(255, 255, 255, 0.12); + border-color: rgba(255, 255, 255, 0.2); .nav-tab__icon, .nav-tab__label { @@ -272,7 +276,7 @@ nav { } } - // Active — solid TF green chip, black text (style-guide-recommended contrast) + // Active — solid TF green, black text (highest contrast per style guide) &--active { background-color: var(--tf-green); border-color: var(--tf-green); @@ -292,7 +296,7 @@ nav { gap: 0; flex-shrink: 0; padding: 0 0.75rem; - border-left: 2px solid var(--tf-green); + border-left: 1px solid rgba(255, 255, 255, 0.1); } .status-divider { From 7acacdd49cf04b38b25818703948cc4b8381ee39 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 13:59:49 -0700 Subject: [PATCH 09/37] Redid formatting workflow, added vscode format on save to ensure consistent formatting, added way more checks than the src folder --- .gitignore | 4 +- .prettierignore | 14 +++ .vscode/settings.json | 22 ++++ package.json | 4 +- src/components/Navbar.vue | 104 +++++++++++---- .../settings/ConnectionSettings.vue | 20 ++- src/pages/Help.vue | 17 ++- src/pages/Map.vue | 2 +- src/pages/Telemetry.vue | 2 +- src/types.ts | 118 ++++++++++++++++-- src/vue-material-design-icons.d.ts | 11 ++ 11 files changed, 271 insertions(+), 47 deletions(-) create mode 100644 .prettierignore create mode 100644 .vscode/settings.json create mode 100644 src/vue-material-design-icons.d.ts diff --git a/.gitignore b/.gitignore index f3432ba..8a4b95f 100644 --- a/.gitignore +++ b/.gitignore @@ -7,6 +7,7 @@ yarn-error.log* pnpm-debug.log* lerna-debug.log* +# Web node_modules .DS_Store dist @@ -20,10 +21,11 @@ coverage # Editor directories and files .vscode/* !.vscode/extensions.json +!.vscode/settings.json .idea *.suo *.ntvs* *.njsproj *.sln *.sw? -.lens/* \ No newline at end of file +.lens/* diff --git a/.prettierignore b/.prettierignore new file mode 100644 index 0000000..0b3194b --- /dev/null +++ b/.prettierignore @@ -0,0 +1,14 @@ +node_modules +dist +dist-ssr +coverage +.vite + +/cypress/videos/ +/cypress/screenshots/ + +.DS_Store +.idea +.vscode + +public/site.webmanifest diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..1079898 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,22 @@ +{ + "[vue]": { + "editor.formatOnSave": true, + "editor.defaultFormatter": "esbenp.prettier-vscode" + }, + "[typescript]": { + "editor.formatOnSave": true, + "editor.defaultFormatter": "esbenp.prettier-vscode" + }, + "[json]": { + "editor.formatOnSave": true, + "editor.defaultFormatter": "esbenp.prettier-vscode" + }, + "[jsonc]": { + "editor.formatOnSave": true, + "editor.defaultFormatter": "esbenp.prettier-vscode" + }, + "[scss]": { + "editor.formatOnSave": true, + "editor.defaultFormatter": "esbenp.prettier-vscode" + } +} diff --git a/package.json b/package.json index 568613b..122c6bb 100644 --- a/package.json +++ b/package.json @@ -10,8 +10,8 @@ "build-only": "vite build", "type-check": "vue-tsc --noEmit", "lint": "eslint --fix .", - "format": "prettier --write src/", - "lint-check": "prettier --check src/ && eslint ." + "format": "prettier --write .", + "lint-check": "prettier --check . && eslint ." }, "dependencies": { "@maptiler/sdk": "^2.4.1", diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index bce8f48..c2a2cdb 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -51,15 +51,47 @@ onUnmounted(() => { type PageIcon = { icon: object; label: string; helperText: string }[]; const pageIconArr: PageIcon = [ - { icon: HomeIcon, label: 'Home', helperText: 'Dashboard — cameras, telemetry, operation mode, motor status, battery, and map' }, - { icon: CameraIcon, label: 'Cameras', helperText: 'All camera feeds — select which cameras to display' }, - { icon: MapIcon, label: 'Map', helperText: 'Interactive map — rover GPS position, target waypoint, and planned path' }, - { icon: RobotIndustrialIcon, label: 'Arm', helperText: '3D arm model, camera arms, and all arm-related controls' }, - { icon: FlaskIcon, label: 'Science', helperText: 'Life detection instruments, soil sample analysis, and spectroscopy data' }, - { icon: HelpCircleIcon, label: 'Help', helperText: 'Controls layout and keybindings reference' }, - { icon: InformationIcon, label: 'Telemetry',helperText: 'Motor speeds, positions, temperatures — record and export to CSV' }, - { icon: TuneIcon, label: 'Settings', helperText: 'Rover connection, input device, and controller bindings' }, - { icon: BugIcon, label: 'Dev-Tab', helperText: 'Experimental module testing and developer tools' }, + { + icon: HomeIcon, + label: 'Home', + helperText: 'Dashboard — cameras, telemetry, operation mode, motor status, battery, and map', + }, + { + icon: CameraIcon, + label: 'Cameras', + helperText: 'All camera feeds — select which cameras to display', + }, + { + icon: MapIcon, + label: 'Map', + helperText: 'Interactive map — rover GPS position, target waypoint, and planned path', + }, + { + icon: RobotIndustrialIcon, + label: 'Arm', + helperText: '3D arm model, camera arms, and all arm-related controls', + }, + { + icon: FlaskIcon, + label: 'Science', + helperText: 'Life detection instruments, soil sample analysis, and spectroscopy data', + }, + { icon: HelpCircleIcon, label: 'Help', helperText: 'Controls layout and keybindings reference' }, + { + icon: InformationIcon, + label: 'Telemetry', + helperText: 'Motor speeds, positions, temperatures — record and export to CSV', + }, + { + icon: TuneIcon, + label: 'Settings', + helperText: 'Rover connection, input device, and controller bindings', + }, + { + icon: BugIcon, + label: 'Dev-Tab', + helperText: 'Experimental module testing and developer tools', + }, ]; @@ -96,19 +128,25 @@ const pageIconArr: PageIcon = [ title="Disable all rover motion" :class="{ 'op-btn--active': operation.getOperationState() === 'disabled' }" @click="operation.setOperationState({ data: 'disabled' })" - >Disable + > + Disable + + > + TeleOp + + > + Auto +
@@ -117,7 +155,9 @@ const pageIconArr: PageIcon = [ ROVER {{ roverHostDisplay }} + >{{ roverHostDisplay }} @@ -217,7 +258,9 @@ nav { overflow-y: hidden; scrollbar-width: none; - &::-webkit-scrollbar { display: none; } + &::-webkit-scrollbar { + display: none; + } } .nav-tab { @@ -335,9 +378,18 @@ nav { } } - #btn-disable.op-btn--active { background-color: hsl(0, 80%, 26%); color: #ffaaaa; } - #btn-teleop.op-btn--active { background-color: hsl(120, 80%, 16%); color: var(--tf-green); } - #btn-auto.op-btn--active { background-color: #6b0059; color: #f9aaee; } + #btn-disable.op-btn--active { + background-color: hsl(0, 80%, 26%); + color: #ffaaaa; + } + #btn-teleop.op-btn--active { + background-color: hsl(120, 80%, 16%); + color: var(--tf-green); + } + #btn-auto.op-btn--active { + background-color: #6b0059; + color: #f9aaee; + } } // Individual status indicator @@ -390,8 +442,16 @@ nav { } // ── Colour utilities ───────────────────────────────────────────────────────── -.icon--green { color: var(--tf-green); } -.icon--red { color: var(--error); } -.text--green { color: var(--tf-green); } -.text--red { color: var(--error); } +.icon--green { + color: var(--tf-green); +} +.icon--red { + color: var(--error); +} +.text--green { + color: var(--tf-green); +} +.text--red { + color: var(--error); +} diff --git a/src/components/settings/ConnectionSettings.vue b/src/components/settings/ConnectionSettings.vue index 5043c56..743d778 100644 --- a/src/components/settings/ConnectionSettings.vue +++ b/src/components/settings/ConnectionSettings.vue @@ -69,7 +69,9 @@ function tryConnect(url: string, timeoutMs: number): Promise { settled = true; try { ws.close(); - } catch {} + } catch (error) { + void error; + } resolve(false); } }, timeoutMs); @@ -80,7 +82,9 @@ function tryConnect(url: string, timeoutMs: number): Promise { clearTimeout(timer); try { ws.close(); - } catch {} + } catch (error) { + void error; + } resolve(true); } }; @@ -156,7 +160,11 @@ async function scanForRover() {
-
-
diff --git a/src/pages/Help.vue b/src/pages/Help.vue index f66109a..0eb39f9 100644 --- a/src/pages/Help.vue +++ b/src/pages/Help.vue @@ -90,9 +90,14 @@

Navigation Tips

    -
  • The Home page shows velocity, system status, and rover connection at a glance.
    • +
  • + The Home page shows velocity, system status, and rover connection at a + glance. +
  • Use Cameras to monitor all live video feeds.
    • -
  • The Map page lets you place GPS waypoints for autonomous navigation.
    • +
  • + The Map page lets you place GPS waypoints for autonomous navigation. +
  • Telemetry shows per-motor data — use the record function to export a CSV for post-run analysis. @@ -135,7 +140,9 @@
    • ROVER indicator red — check that the rover is powered on and the - rosbridge server is running (ros2 launch rosbridge_server rosbridge_websocket_launch.xml). + rosbridge server is running (ros2 launch rosbridge_server rosbridge_websocket_launch.xml).
    • High ping / timeouts — ensure you're on the same network segment as the @@ -146,8 +153,8 @@ check the CTRL indicator in the navbar.
    • - Camera feed blank — verify the camera topics are being published - on the rover. + Camera feed blank — verify the camera topics are being published on the + rover.
diff --git a/src/pages/Map.vue b/src/pages/Map.vue index 7c42b2a..86eb3a6 100644 --- a/src/pages/Map.vue +++ b/src/pages/Map.vue @@ -10,7 +10,7 @@ import InteractiveMap from '@/components/map/InteractiveMap.vue'; diff --git a/src/pages/Telemetry.vue b/src/pages/Telemetry.vue index e08d145..f6ea337 100644 --- a/src/pages/Telemetry.vue +++ b/src/pages/Telemetry.vue @@ -126,7 +126,7 @@ function getMoteusStateProxy( -
+
; +import type { DefineComponent } from 'vue'; + +type IconComponent = DefineComponent<{ + /// `size` defaults to 24 + size?: number; + /// `fillColor` defaults to 'currentColor' + fillColor?: string; + title?: string; +}>; + +declare module 'vue-material-design-icons/Map.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Information.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/RobotIndustrial.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/HelpCircle.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Flask.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Home.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Camera.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Tune.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Bug.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/PowerPlug.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/PowerPlugOff.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/ControllerClassic.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Keyboard.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Microscope.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/ChartLine.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Thermometer.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Earth.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Image.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Flash.vue' { + const component: IconComponent; + export default component; +} + +declare module 'vue-material-design-icons/Battery.vue' { + const component: IconComponent; + export default component; } diff --git a/src/vue-material-design-icons.d.ts b/src/vue-material-design-icons.d.ts new file mode 100644 index 0000000..9d1ed57 --- /dev/null +++ b/src/vue-material-design-icons.d.ts @@ -0,0 +1,11 @@ +declare module 'vue-material-design-icons/*.vue' { + import type { DefineComponent } from 'vue'; + + const component: DefineComponent<{ + size?: number; + fillColor?: string; + title?: string; + }>; + + export default component; +} From 05c8389092dd98b05d9b4717ca029c1f6512bf76 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:00:05 -0700 Subject: [PATCH 10/37] Fixed depracated and removed things from typescript configs --- tsconfig.json | 25 +++++++++++++++---------- tsconfig.node.json | 16 ++++++++++++---- 2 files changed, 27 insertions(+), 14 deletions(-) diff --git a/tsconfig.json b/tsconfig.json index fe460f5..225401d 100644 --- a/tsconfig.json +++ b/tsconfig.json @@ -1,21 +1,26 @@ { - "extends": "@vue/tsconfig/tsconfig.web.json", - "include": ["env.d.ts", "src/**/*", "src/**/*.vue", "package"], "compilerOptions": { - "importsNotUsedAsValues": "remove", - "isolatedModules": false, - "noImplicitAny": true, + "target": "ES2022", + "module": "ESNext", + "moduleResolution": "Bundler", + "lib": ["ES2022", "DOM", "DOM.Iterable"], + "useDefineForClassFields": true, + "allowJs": false, + "skipLibCheck": true, "strict": true, + "noImplicitAny": true, + "isolatedModules": true, + "moduleDetection": "force", + "resolveJsonModule": true, + "esModuleInterop": true, "baseUrl": ".", "paths": { "@/*": ["./src/*"] }, - // Added to allow Object.hasOwn(). We are targeting the latest versions of javascript. - "target": "ES2022", - // Added "DOM" to tell Typescript that we have access to window - "lib": ["ES2022", "DOM"] + "jsx": "preserve", + "verbatimModuleSyntax": true }, - + "include": ["env.d.ts", "src/**/*", "src/**/*.vue"], "references": [ { "path": "./tsconfig.node.json" diff --git a/tsconfig.node.json b/tsconfig.node.json index 138d3a0..8729b75 100644 --- a/tsconfig.node.json +++ b/tsconfig.node.json @@ -1,7 +1,15 @@ { - "extends": "@vue/tsconfig/tsconfig.node.json", - "include": ["vite.config.*", "vitest.config.*", "cypress.config.*", "playwright.config.*"], "compilerOptions": { - "composite": true - } + "composite": true, + "target": "ES2022", + "module": "ESNext", + "moduleResolution": "Node", + "lib": ["ES2022"], + "types": ["node"], + "skipLibCheck": true, + "strict": true, + "isolatedModules": true, + "verbatimModuleSyntax": true + }, + "include": ["vite.config.*", "vitest.config.*", "cypress.config.*", "playwright.config.*"] } From 45b3a749df97af1872bbda5f3f6141ff4db3e624 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:01:20 -0700 Subject: [PATCH 11/37] Added excludes to cleanup vscode search and tree --- .vscode/settings.json | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/.vscode/settings.json b/.vscode/settings.json index 1079898..2ab8378 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,4 +1,11 @@ { + // SETTINGS + "files.exclude": { + "dist/": true, + "node_modules/": true, + }, + + // FORMATTING "[vue]": { "editor.formatOnSave": true, "editor.defaultFormatter": "esbenp.prettier-vscode" From 28d74b2209a2baba88fd449c1bf6deb8e357f999 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:13:27 -0700 Subject: [PATCH 12/37] Updated packages to reduce security vulnelabirities --- package-lock.json | 2920 ++++++++++++++++++++++++-------------------- package.json | 10 +- src/mdi.d.ts | 15 + src/types.ts | 111 +- tsconfig.node.json | 2 +- 5 files changed, 1642 insertions(+), 1416 deletions(-) create mode 100644 src/mdi.d.ts diff --git a/package-lock.json b/package-lock.json index d7c074b..24b8047 100644 --- a/package-lock.json +++ b/package-lock.json @@ -25,7 +25,7 @@ "@types/leaflet": "^1.9.16", "@types/roslib": "^1.3.5", "@types/three": "^0.170.0", - "@vitejs/plugin-vue": "^4.6.2", + "@vitejs/plugin-vue": "^6.0.6", "@vue/tsconfig": "^0.1.3", "cross-env": "^7.0.3", "eslint": "^9.14.0", @@ -35,11 +35,11 @@ "prettier": "^2.8.8", "sass": "^1.80.5", "sass-loader": "^10.5.2", - "typescript": "~4.8.4", + "typescript": "^5.7.3", "typescript-eslint": "^8.12.2", - "vite": "^4.5.5", - "vite-plugin-vue-devtools": "^7.6.7", - "vue-tsc": "^1.8.27", + "vite": "^6.4.2", + "vite-plugin-vue-devtools": "^8.1.1", + "vue-tsc": "^3.2.7", "webpack": "^5.95.0" } }, @@ -48,49 +48,25 @@ "resolved": "https://registry.npmjs.org/@alvarosabu/utils/-/utils-3.2.0.tgz", "integrity": 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"https://registry.npmjs.org/wsl-utils/-/wsl-utils-0.1.0.tgz", + "integrity": "sha512-h3Fbisa2nKGPxCpm89Hk33lBLsnaGBvctQopaBSOW/uIs6FTe1ATyAnKFJrzVs9vpGdsTe73WF3V4lIsk4Gacw==", + "dev": true, + "license": "MIT", + "dependencies": { + "is-wsl": "^3.1.0" + }, + "engines": { + "node": ">=18" + }, + "funding": { + "url": "https://github.com/sponsors/sindresorhus" + } + }, "node_modules/xml-name-validator": { "version": "4.0.0", "resolved": "https://registry.npmjs.org/xml-name-validator/-/xml-name-validator-4.0.0.tgz", @@ -8664,19 +8997,6 @@ "funding": { "url": "https://github.com/sponsors/sindresorhus" } - }, - "node_modules/yoctocolors": { - "version": "2.1.1", - "resolved": "https://registry.npmjs.org/yoctocolors/-/yoctocolors-2.1.1.tgz", - "integrity": "sha512-GQHQqAopRhwU8Kt1DDM8NjibDXHC8eoh1erhGAJPEyveY9qqVeXvVikNKrDz69sHowPMorbPUrH/mx8c50eiBQ==", - "dev": true, - "license": "MIT", - "engines": { - "node": ">=18" - }, - "funding": { - "url": "https://github.com/sponsors/sindresorhus" - } } } } diff --git a/package.json b/package.json index 122c6bb..3af1ec4 100644 --- a/package.json +++ b/package.json @@ -31,7 +31,7 @@ "@types/leaflet": "^1.9.16", "@types/roslib": "^1.3.5", "@types/three": "^0.170.0", - "@vitejs/plugin-vue": "^4.6.2", + "@vitejs/plugin-vue": "^6.0.6", "@vue/tsconfig": "^0.1.3", "cross-env": "^7.0.3", "eslint": "^9.14.0", @@ -41,11 +41,11 @@ "prettier": "^2.8.8", "sass": "^1.80.5", "sass-loader": "^10.5.2", - "typescript": "~4.8.4", + "typescript": "^5.7.3", "typescript-eslint": "^8.12.2", - "vite": "^4.5.5", - "vite-plugin-vue-devtools": "^7.6.7", - "vue-tsc": "^1.8.27", + "vite": "^6.4.2", + "vite-plugin-vue-devtools": "^8.1.1", + "vue-tsc": "^3.2.7", "webpack": "^5.95.0" } } diff --git a/src/mdi.d.ts b/src/mdi.d.ts new file mode 100644 index 0000000..570e7fe --- /dev/null +++ b/src/mdi.d.ts @@ -0,0 +1,15 @@ +// Ambient type declarations for vue-material-design-icons. +// A single wildcard covers every *.vue icon import from the package. +// This file is intentionally a .d.ts (not .ts) so it stays ambient even +// under "moduleDetection": "force" in tsconfig.json. +declare module 'vue-material-design-icons/*.vue' { + import type { DefineComponent } from 'vue'; + const component: DefineComponent<{ + /** Icon size in px. Defaults to 24. */ + size?: number; + /** Fill colour. Defaults to 'currentColor'. */ + fillColor?: string; + title?: string; + }>; + export const icon: typeof component; +} diff --git a/src/types.ts b/src/types.ts index d25c713..2ee802f 100644 --- a/src/types.ts +++ b/src/types.ts @@ -1,110 +1 @@ -// Any Global Types go here -import type { DefineComponent } from 'vue'; - -type IconComponent = DefineComponent<{ - /// `size` defaults to 24 - size?: number; - /// `fillColor` defaults to 'currentColor' - fillColor?: string; - title?: string; -}>; - -declare module 'vue-material-design-icons/Map.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Information.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/RobotIndustrial.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/HelpCircle.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Flask.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Home.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Camera.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Tune.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Bug.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/PowerPlug.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/PowerPlugOff.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/ControllerClassic.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Keyboard.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Microscope.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/ChartLine.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Thermometer.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Earth.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Image.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Flash.vue' { - const component: IconComponent; - export default component; -} - -declare module 'vue-material-design-icons/Battery.vue' { - const component: IconComponent; - export default component; -} +// Global type definitions diff --git a/tsconfig.node.json b/tsconfig.node.json index 8729b75..5d42d91 100644 --- a/tsconfig.node.json +++ b/tsconfig.node.json @@ -3,7 +3,7 @@ "composite": true, "target": "ES2022", "module": "ESNext", - "moduleResolution": "Node", + "moduleResolution": "Bundler", "lib": ["ES2022"], "types": ["node"], "skipLibCheck": true, From 26afd363ab9338b0d5e56c8c1434ac6e43a5d485 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:30:23 -0700 Subject: [PATCH 13/37] Add persistent tank-drive block-horizontal setting Adds ControllerConfig with tankDriveBlockHorizontal flag to settingsStore (deep-merged on load for backward compat). Applies the setting in ControllerState.updateState to zero out left/right stick X axes (indices 0 & 2) when enabled. --- src/lib/controller/controllerState.ts | 11 ++++++-- src/store/settingsStore.ts | 36 +++++++++++++++++++++------ 2 files changed, 37 insertions(+), 10 deletions(-) diff --git a/src/lib/controller/controllerState.ts b/src/lib/controller/controllerState.ts index 65051c7..4dc0360 100644 --- a/src/lib/controller/controllerState.ts +++ b/src/lib/controller/controllerState.ts @@ -1,5 +1,6 @@ import { createPublisher } from '../roslibUtils/createPublisher'; import { gamepadNames, joystickNames } from './controllerBindings'; +import { useSettingsStore } from '@/store/settingsStore'; /* This stores controller data for each controller connected to the system. * Button data are always sent, no matter what. @@ -78,12 +79,18 @@ export class ControllerState { } } + const blockHorizontal = + useSettingsStore().settings.controller.tankDriveBlockHorizontal; + for (let i: number = 0; i < joystickArray.length; i++) { const friendlyName = joystickNames[i]; const currentValue = this.friendlyNameToCurrentValue.get(friendlyName); if (currentValue != null) { - this.friendlyNameToDelta.set(friendlyName, currentValue - joystickArray[i].valueOf()); - this.friendlyNameToCurrentValue.set(friendlyName, joystickArray[i].valueOf()); + // Axes 0 and 2 are the left/right stick X axes. + // When tank-drive blocking is on, treat them as always zero. + const rawValue = blockHorizontal && (i === 0 || i === 2) ? 0 : joystickArray[i].valueOf(); + this.friendlyNameToDelta.set(friendlyName, currentValue - rawValue); + this.friendlyNameToCurrentValue.set(friendlyName, rawValue); } } diff --git a/src/store/settingsStore.ts b/src/store/settingsStore.ts index 39ab167..fe69022 100644 --- a/src/store/settingsStore.ts +++ b/src/store/settingsStore.ts @@ -1,22 +1,39 @@ import { defineStore } from 'pinia'; import { ref } from 'vue'; +export interface ControllerConfig { + /** Zero out horizontal stick axes (X) when in tank-drive mode. */ + tankDriveBlockHorizontal: boolean; +} + export interface Settings { websocketAddress: string; + controller: ControllerConfig; } function defaultSettings(): Settings { return { websocketAddress: 'ws://192.168.0.145:9090', + controller: { + tankDriveBlockHorizontal: false, + }, }; } function getStoredSettings(): Settings { - const settings = localStorage.getItem('settings'); - if (settings) { - return JSON.parse(settings); + const stored = localStorage.getItem('settings'); + if (stored) { + const parsed: Partial = JSON.parse(stored); + // Deep-merge so new keys always have a default even on old stored data. + return { + ...defaultSettings(), + ...parsed, + controller: { + ...defaultSettings().controller, + ...(parsed.controller ?? {}), + }, + }; } - return defaultSettings(); } @@ -24,19 +41,22 @@ export const useSettingsStore = defineStore('settings', () => { const settings = ref(getStoredSettings()); function updateSettings(newSettings: Partial) { + settings.value = { ...settings.value, ...newSettings }; + localStorage.setItem('settings', JSON.stringify(settings.value)); + } + + function updateControllerSettings(newCtrl: Partial) { settings.value = { ...settings.value, - ...newSettings, + controller: { ...settings.value.controller, ...newCtrl }, }; - localStorage.setItem('settings', JSON.stringify(settings.value)); } function resetSettings() { settings.value = defaultSettings(); - localStorage.setItem('settings', JSON.stringify(settings.value)); } - return { settings, updateSettings, resetSettings }; + return { settings, updateSettings, updateControllerSettings, resetSettings }; }); From 8f6ace1a81ad6e3821c8f5a9e797e2f7bb6a4fb6 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:30:30 -0700 Subject: [PATCH 14/37] Add controller settings components ControllerConfig: shows connected gamepad name, connected/disconnected badge, and toggle for tank-drive block-horizontal. ControllerMonitor: compact controller visualiser with trigger bars (with Xbox 0.5-at-rest initialisation fix), bumpers, face buttons, D-pad, stick pads with live dot, and a bindings table with live value bars. --- src/components/settings/ControllerConfig.vue | 216 ++++++ src/components/settings/ControllerMonitor.vue | 632 ++++++++++++++++++ 2 files changed, 848 insertions(+) create mode 100644 src/components/settings/ControllerConfig.vue create mode 100644 src/components/settings/ControllerMonitor.vue diff --git a/src/components/settings/ControllerConfig.vue b/src/components/settings/ControllerConfig.vue new file mode 100644 index 0000000..2e75537 --- /dev/null +++ b/src/components/settings/ControllerConfig.vue @@ -0,0 +1,216 @@ + + + + + diff --git a/src/components/settings/ControllerMonitor.vue b/src/components/settings/ControllerMonitor.vue new file mode 100644 index 0000000..d58cb0a --- /dev/null +++ b/src/components/settings/ControllerMonitor.vue @@ -0,0 +1,632 @@ + + + + + From 5eafa308a3292ccd782e24249bb530496bc87647 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:30:35 -0700 Subject: [PATCH 15/37] Restructure Settings page layout Two-column top row (connection | controller config) with full-width controller monitor below that fills remaining vertical space. --- src/pages/Settings.vue | 64 +++++++++++++++--------------------------- 1 file changed, 22 insertions(+), 42 deletions(-) diff --git a/src/pages/Settings.vue b/src/pages/Settings.vue index 7ef92f5..8f1221b 100644 --- a/src/pages/Settings.vue +++ b/src/pages/Settings.vue @@ -1,45 +1,28 @@ @@ -49,28 +32,21 @@ import KeyboardIcon from 'vue-material-design-icons/Keyboard.vue'; display: flex; flex-direction: column; overflow-y: auto; - padding: 1.5rem 2rem; - gap: 1.5rem; + padding: 1rem 1.5rem; + gap: 0.75rem; } .settings-header { h1 { - font-size: 2rem; + font-size: 1.6rem; color: var(--white); - margin-bottom: 0.25rem; - } - - p { - color: var(--dark-white); - font-size: 0.95rem; } } -.settings-grid { +.top-row { display: grid; - grid-template-columns: 22rem 1fr 1fr; - grid-template-rows: auto; - gap: 1rem; + grid-template-columns: 22rem 1fr; + gap: 0.75rem; align-items: start; } @@ -80,11 +56,15 @@ import KeyboardIcon from 'vue-material-design-icons/Keyboard.vue'; border-top: 2px solid var(--tf-green-mid); border-radius: 4px; padding: 1.25rem 1.5rem; - min-height: 18rem; - &--primary { - // Connection card gets a slightly more prominent border + &--connection { border-top-color: var(--tf-green); } + + &--monitor { + flex: 1; // take remaining vertical space + min-height: 0; + overflow-y: auto; + } } From 3ee584e2eb173ec1889c67c1c3d7b6ee3866f660 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:37:42 -0700 Subject: [PATCH 16/37] Add dedicated Controller page between Telemetry and Settings Two-column no-scroll layout: left col has device info, compact gamepad visualiser, and drive options; right col has the full bindings table. Moves controller content out of Settings. --- src/components/Navbar.vue | 7 +- src/main.ts | 2 + src/pages/Controller.vue | 900 ++++++++++++++++++++++++++++++++++++++ src/pages/Settings.vue | 34 +- 4 files changed, 913 insertions(+), 30 deletions(-) create mode 100644 src/pages/Controller.vue diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index c2a2cdb..0edb33f 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -82,10 +82,15 @@ const pageIconArr: PageIcon = [ label: 'Telemetry', helperText: 'Motor speeds, positions, temperatures — record and export to CSV', }, + { + icon: ControllerIcon, + label: 'Controller', + helperText: 'Live gamepad input, axis visualiser, and controller bindings', + }, { icon: TuneIcon, label: 'Settings', - helperText: 'Rover connection, input device, and controller bindings', + helperText: 'Rover connection and app configuration', }, { icon: BugIcon, diff --git a/src/main.ts b/src/main.ts index 2be2558..1570807 100644 --- a/src/main.ts +++ b/src/main.ts @@ -8,6 +8,7 @@ import DevTab from './pages/DevTab.vue'; import Arm from './pages/Arm.vue'; import Science from './pages/Science.vue'; import Telemetry from './pages/Telemetry.vue'; +import Controller from './pages/Controller.vue'; import Settings from './pages/Settings.vue'; import Help from './pages/Help.vue'; import { createPinia } from 'pinia'; @@ -20,6 +21,7 @@ const routes = [ { path: '/Science', component: Science }, { path: '/Help', component: Help }, { path: '/Telemetry', component: Telemetry }, + { path: '/Controller', component: Controller }, { path: '/Map', component: Map }, { path: '/Settings', component: Settings }, { path: '/Dev-tab', component: DevTab }, diff --git a/src/pages/Controller.vue b/src/pages/Controller.vue new file mode 100644 index 0000000..f01ac84 --- /dev/null +++ b/src/pages/Controller.vue @@ -0,0 +1,900 @@ + + + + + diff --git a/src/pages/Settings.vue b/src/pages/Settings.vue index 8f1221b..b8535b9 100644 --- a/src/pages/Settings.vue +++ b/src/pages/Settings.vue @@ -1,8 +1,6 @@ - + @@ -32,24 +21,17 @@ import ControllerMonitor from '@/components/settings/ControllerMonitor.vue'; display: flex; flex-direction: column; overflow-y: auto; - padding: 1rem 1.5rem; + padding: 0.85rem 1.25rem; gap: 0.75rem; } .settings-header { h1 { - font-size: 1.6rem; + font-size: 1.5rem; color: var(--white); } } -.top-row { - display: grid; - grid-template-columns: 22rem 1fr; - gap: 0.75rem; - align-items: start; -} - .settings-card { background-color: var(--component-background); border: 1px solid var(--light-grey); @@ -60,11 +42,5 @@ import ControllerMonitor from '@/components/settings/ControllerMonitor.vue'; &--connection { border-top-color: var(--tf-green); } - - &--monitor { - flex: 1; // take remaining vertical space - min-height: 0; - overflow-y: auto; - } } From 6991cc02caefbb07187b70bf28005ae3018038f1 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 14:40:45 -0700 Subject: [PATCH 17/37] Fix controller viz overflowing card width --- src/pages/Controller.vue | 31 ++++++++++++++++--------------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/src/pages/Controller.vue b/src/pages/Controller.vue index f01ac84..ec1bf82 100644 --- a/src/pages/Controller.vue +++ b/src/pages/Controller.vue @@ -363,6 +363,7 @@ const bindingRows = computed(() => &--viz { h2 { margin-bottom: 0.5rem; } + overflow: hidden; } &--bindings { @@ -562,7 +563,7 @@ const bindingRows = computed(() => display: flex; align-items: center; justify-content: space-between; - gap: 0.5rem; + gap: 0.3rem; } // Stick @@ -574,8 +575,8 @@ const bindingRows = computed(() => } .stick-pad { - width: 5rem; - height: 5rem; + width: 4rem; + height: 4rem; border-radius: 50%; background-color: #1a1a1a; border: 2px solid var(--light-grey); @@ -602,8 +603,8 @@ const bindingRows = computed(() => .stick-dot { position: absolute; - width: 1rem; - height: 1rem; + width: 0.85rem; + height: 0.85rem; border-radius: 50%; background-color: var(--tf-green); transform: translate(-50%, -50%); @@ -642,15 +643,15 @@ const bindingRows = computed(() => .dpad-btn { @extend %btn; - width: 1.55rem; - height: 1.55rem; + width: 1.3rem; + height: 1.3rem; border-radius: 3px; - font-size: 0.65rem; + font-size: 0.6rem; } .dpad-gap { - width: 1.55rem; - height: 1.55rem; + width: 1.3rem; + height: 1.3rem; } // L3 / R3 @@ -684,15 +685,15 @@ const bindingRows = computed(() => .face-btn { @extend %btn; - width: 1.55rem; - height: 1.55rem; + width: 1.3rem; + height: 1.3rem; border-radius: 50%; - font-size: 0.6rem; + font-size: 0.58rem; } .face-gap { - width: 1.55rem; - height: 1.55rem; + width: 1.3rem; + height: 1.3rem; } // ── Drive settings ───────────────────────────────────────────────────────────── From 712de502991c0886dba77dc28ee50589dfbb5e95 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 15:15:32 -0700 Subject: [PATCH 18/37] Fixed styling issues --- src/components/Navbar.vue | 12 ++-- src/lib/roslibUtils/roslibManager.ts | 4 ++ src/pages/Controller.vue | 93 +++++++++++++++++++--------- 3 files changed, 74 insertions(+), 35 deletions(-) diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index 0edb33f..af66606 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -170,11 +170,6 @@ const pageIconArr: PageIcon = [ class="status-pill__icon" :class="roslib.isWebSocketConnected ? 'icon--green' : 'icon--red'" /> - {{ roverHostDisplay }} @@ -443,6 +438,13 @@ nav { font-weight: 400; color: var(--dark-white); white-space: nowrap; + /* occupy same vertical space as icon and avoid width-driven reflow */ + height: 1.2rem; + display: inline-flex; + align-items: center; + justify-content: center; + min-width: 3rem; + text-align: right; } } diff --git a/src/lib/roslibUtils/roslibManager.ts b/src/lib/roslibUtils/roslibManager.ts index c83882a..059750d 100644 --- a/src/lib/roslibUtils/roslibManager.ts +++ b/src/lib/roslibUtils/roslibManager.ts @@ -154,6 +154,8 @@ export function roslibManager(): RoslibManager { * @param address - is the new address to connect to. */ function connect(address: string) { + // reset latency while (re)connecting so UI doesn't show stale value + latency.value = 0; // Give the reconnection extra time so that it doesn't // immediately get killed. heartbeatTime = Date.now() + RECONNECTION_GRACE_SECONDS * SECONDS_TO_TIMESTAMP; @@ -198,11 +200,13 @@ export function roslibManager(): RoslibManager { ros.on('error', (error) => { isWebSocketConnected.value = false; + latency.value = 0; console.error(error); }); ros.on('close', () => { isWebSocketConnected.value = false; + latency.value = 0; }); // Reconnect if the websocket address changes. diff --git a/src/pages/Controller.vue b/src/pages/Controller.vue index ec1bf82..2ddc28d 100644 --- a/src/pages/Controller.vue +++ b/src/pages/Controller.vue @@ -108,15 +108,11 @@ const bindingRows = computed(() =>
-

Input Device

- + {{ controller.isGamepadConnected ? 'Connected' : 'Not Connected' }}
@@ -124,15 +120,12 @@ const bindingRows = computed(() => Gamepad {{ snapshot.id }}
-

- No gamepad detected. Press any button to wake it up. -

+

No gamepad detected. Press any button to wake it up.

-
@@ -172,8 +165,12 @@ const bindingRows = computed(() =>
- X {{ fmt(axisValue(0)) }} - Y {{ fmt(axisValue(1)) }} + X {{ fmt(axisValue(0)) }} + Y {{ fmt(axisValue(1)) }}
@@ -204,28 +201,52 @@ const bindingRows = computed(() =>
Y
+ :style=" + btnPressed(3) + ? { background: '#f5d142', color: '#000', borderColor: '#f5d142' } + : {} + " + > + Y +
X
+ :style=" + btnPressed(2) + ? { background: '#5b9bd5', color: '#000', borderColor: '#5b9bd5' } + : {} + " + > + X +
B
+ :style=" + btnPressed(1) + ? { background: '#e8514a', color: '#fff', borderColor: '#e8514a' } + : {} + " + > + B +
A
+ :style=" + btnPressed(0) + ? { background: '#4cce6e', color: '#000', borderColor: '#4cce6e' } + : {} + " + > + A +
@@ -237,16 +258,18 @@ const bindingRows = computed(() =>
- X {{ fmt(axisValue(2)) }} - Y {{ fmt(axisValue(3)) }} + X {{ fmt(axisValue(2)) }} + Y {{ fmt(axisValue(3)) }}
-

- Press any button on your controller to activate it. -

+

Press any button on your controller to activate it.

@@ -362,7 +385,9 @@ const bindingRows = computed(() => } &--viz { - h2 { margin-bottom: 0.5rem; } + h2 { + margin-bottom: 0.5rem; + } overflow: hidden; } @@ -382,7 +407,9 @@ const bindingRows = computed(() => gap: 0.6rem; margin-bottom: 0.6rem; - h2 { margin-bottom: 0; } + h2 { + margin-bottom: 0; + } } .badge { @@ -455,10 +482,7 @@ const bindingRows = computed(() => display: flex; align-items: center; justify-content: center; - transition: - background-color 0.05s, - color 0.05s, - border-color 0.05s; + transition: background-color 0.05s, color 0.05s, border-color 0.05s; user-select: none; &.active { @@ -480,6 +504,7 @@ const bindingRows = computed(() => display: flex; align-items: center; gap: 0.4rem; + position: relative; } .trigger-group { @@ -542,6 +567,10 @@ const bindingRows = computed(() => display: flex; gap: 0.25rem; flex-shrink: 0; + position: absolute; + left: 50%; + top: 50%; + transform: translate(-50%, -50%); } .centre-btn { @@ -620,6 +649,10 @@ const bindingRows = computed(() => color: var(--dark-white); opacity: 0.55; + span { + white-space: nowrap; + } + em { font-style: normal; color: var(--white); From a9a851eb6c1f76af88adf85df64ef1bd723bb312 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 20:16:19 -0700 Subject: [PATCH 19/37] Replace auto-discovery with a retry connection button Exposes reconnect() on roslibManager/roslibStore. ConnectionSettings now has a single Retry Connection button that triggers it; the button is visually disabled and non-interactive when already connected. --- .../settings/ConnectionSettings.vue | 191 ++---------------- src/lib/roslibUtils/roslibManager.ts | 4 + 2 files changed, 25 insertions(+), 170 deletions(-) diff --git a/src/components/settings/ConnectionSettings.vue b/src/components/settings/ConnectionSettings.vue index 743d778..de5b3c7 100644 --- a/src/components/settings/ConnectionSettings.vue +++ b/src/components/settings/ConnectionSettings.vue @@ -1,5 +1,5 @@ @@ -318,56 +206,19 @@ input[type='url'] { } } -.discovery-section { - display: flex; - flex-direction: column; - gap: 0.5rem; -} - -.discover-btn { - display: flex; - align-items: center; - gap: 0.5rem; +.retry-btn { width: 100%; - justify-content: center; padding: 9px 14px; - &:disabled { - opacity: 0.6; - cursor: not-allowed; + &--connected { + // Visually muted — clearly not interactive + opacity: 0.35; + cursor: default; pointer-events: none; - } -} - -.spinner { - display: inline-block; - width: 12px; - height: 12px; - border: 2px solid var(--pure-black); - border-top-color: transparent; - border-radius: 50%; - animation: spin 0.7s linear infinite; -} - -@keyframes spin { - to { - transform: rotate(360deg); - } -} - -.scan-status { - font-size: 0.82rem; - text-align: center; - color: var(--dark-white); - font-family: 'Overpass', sans-serif; - padding: 0.25rem; - - &.scan-success { - color: var(--tf-green); - } - - &.scan-fail { - color: var(--error); + // Override the global green button style with a neutral look + background-color: var(--light-grey) !important; + color: var(--dark-white) !important; + border-color: transparent !important; } } diff --git a/src/lib/roslibUtils/roslibManager.ts b/src/lib/roslibUtils/roslibManager.ts index 059750d..db44851 100644 --- a/src/lib/roslibUtils/roslibManager.ts +++ b/src/lib/roslibUtils/roslibManager.ts @@ -21,6 +21,7 @@ export interface RoslibManager { isWebSocketConnected: Ref; latency: Ref; getTopic: (name: string, type: string) => ROSLIB.Topic; + reconnect: () => void; } /** @@ -235,5 +236,8 @@ export function roslibManager(): RoslibManager { stop, getTopic, isWebSocketConnected, + reconnect: () => { + if (serverHost) connect(serverHost); + }, }; } From ae07e9d485e621b2e5ce7e601da4d4f131bdb234 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 20:22:08 -0700 Subject: [PATCH 20/37] Cleaned up my changes, removed unused or not working content --- src/assets/global.scss | 17 +- src/components/Navbar.vue | 34 ++-- src/components/settings/ControllerConfig.vue | 24 ++- src/components/settings/ControllerMonitor.vue | 192 ++++++++++++------ src/pages/Controller.vue | 34 ++-- src/pages/Help.vue | 22 +- src/pages/Home.vue | 4 +- src/vue-material-design-icons.d.ts | 11 - 8 files changed, 202 insertions(+), 136 deletions(-) delete mode 100644 src/vue-material-design-icons.d.ts diff --git a/src/assets/global.scss b/src/assets/global.scss index cf9743c..3b83844 100644 --- a/src/assets/global.scss +++ b/src/assets/global.scss @@ -1,7 +1,7 @@ :root { --nav-bar-size: 4.5rem; - // ── TrickFire Brand Colors ────────────────────────────── + // TrickFire Brand Colors --tf-green: #00fe00; --tf-green-dim: rgba(0, 254, 0, 0.1); --tf-green-mid: rgba(0, 254, 0, 0.35); @@ -11,21 +11,21 @@ --dark-white: #cccccc; --pure-black: #000000; - // ── UI Surface Colors ─────────────────────────────────── + // UI Surface Colors --app-background: #191919; --component-background: #232323; --black: #000000; --dark-grey: #222222; --grey: #2c2c2c; --light-grey: #3a3a3a; - --purple: #1e1e2e; // kept for legacy use - // ── Status Colors ─────────────────────────────────────── + // Status Colors --error: #e50000; --correct: #00fe00; - // ── Legacy ────────────────────────────────────────────── + // Legacy --accent-color: var(--tf-green); + --purple: #1e1e2e; } *, @@ -66,7 +66,6 @@ body { height: 100%; } -// Brand font for all headings h1, h2, h3, @@ -161,7 +160,6 @@ input[type='url'] { } } -// Page Styles .two-by-three-grid-page { display: grid; box-sizing: border-box; @@ -180,11 +178,10 @@ input[type='url'] { box-shadow: 0 2px 12px rgba(0, 0, 0, 0.5); border: 1px solid var(--light-grey); border-top: 2px solid var(--tf-green-mid); - min-height: 0; // prevents grid blowout + min-height: 0; } } -// Shared placeholder panel used across pages for unbuilt sections .placeholder-panel { display: flex; flex-direction: column; @@ -198,8 +195,6 @@ input[type='url'] { .placeholder-icon { color: var(--tf-green); margin-bottom: 0.25rem; - - // MDI icons render a . Override the fixed SVG dimensions globally. svg { width: 2.8rem; height: 2.8rem; diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index af66606..8a92399 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -27,7 +27,7 @@ const settings = useSettingsStore(); const currentTab = ref(0); const router = useRouter(); -/** Strip ws:// prefix and any path — show just host:port. */ +/** Strip ws:// prefix and any path - show just host:port. */ const roverHostDisplay = computed(() => settings.settings.websocketAddress.replace(/^wss?:\/\//, '').replace(/\/.*$/, ''), ); @@ -54,17 +54,17 @@ const pageIconArr: PageIcon = [ { icon: HomeIcon, label: 'Home', - helperText: 'Dashboard — cameras, telemetry, operation mode, motor status, battery, and map', + helperText: 'Dashboard - cameras, telemetry, operation mode, motor status, battery, and map', }, { icon: CameraIcon, label: 'Cameras', - helperText: 'All camera feeds — select which cameras to display', + helperText: 'All camera feeds - select which cameras to display', }, { icon: MapIcon, label: 'Map', - helperText: 'Interactive map — rover GPS position, target waypoint, and planned path', + helperText: 'Interactive map - rover GPS position, target waypoint, and planned path', }, { icon: RobotIndustrialIcon, @@ -80,7 +80,7 @@ const pageIconArr: PageIcon = [ { icon: InformationIcon, label: 'Telemetry', - helperText: 'Motor speeds, positions, temperatures — record and export to CSV', + helperText: 'Motor speeds, positions, temperatures - record and export to CSV', }, { icon: ControllerIcon, @@ -160,7 +160,7 @@ const pageIconArr: PageIcon = [ @@ -175,7 +175,7 @@ const pageIconArr: PageIcon = [
CAM
CTRL - {{ roslib.latency ? Math.round(roslib.latency) + ' ms' : '— ms' }} + {{ roslib.latency ? Math.round(roslib.latency) + ' ms' : '- ms' }}
@@ -213,7 +213,7 @@ const pageIconArr: PageIcon = [ diff --git a/src/pages/Science.vue b/src/pages/Science.vue index 810c9b1..5f3473b 100644 --- a/src/pages/Science.vue +++ b/src/pages/Science.vue @@ -1,63 +1,38 @@ - - + - + From 60deafc0167d1a33a5290bb27ad13efd858edad0 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 21:00:23 -0700 Subject: [PATCH 23/37] Fix settings websocket box width --- src/pages/Settings.vue | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/pages/Settings.vue b/src/pages/Settings.vue index b8535b9..bf64c76 100644 --- a/src/pages/Settings.vue +++ b/src/pages/Settings.vue @@ -41,6 +41,8 @@ import ConnectionSettings from '@/components/settings/ConnectionSettings.vue'; &--connection { border-top-color: var(--tf-green); + width: min(100%, 48rem); + align-self: flex-start; } } From 1267729e2b2443bc8d1aeec3458b25cb38d46f61 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Mon, 27 Apr 2026 21:05:43 -0700 Subject: [PATCH 24/37] Fixed nav dividers --- src/components/Navbar.vue | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue index 8a92399..e6a6776 100644 --- a/src/components/Navbar.vue +++ b/src/components/Navbar.vue @@ -108,6 +108,8 @@ const pageIconArr: PageIcon = [ Mission Control + diff --git a/src/store/settingsStore.ts b/src/store/settingsStore.ts index fe69022..201699b 100644 --- a/src/store/settingsStore.ts +++ b/src/store/settingsStore.ts @@ -4,6 +4,10 @@ import { ref } from 'vue'; export interface ControllerConfig { /** Zero out horizontal stick axes (X) when in tank-drive mode. */ tankDriveBlockHorizontal: boolean; + /** Invert the X axis (left/right) on both joysticks. */ + invertX: boolean; + /** Invert the Y axis (forward/back) on both joysticks. */ + invertY: boolean; } export interface Settings { @@ -16,6 +20,8 @@ function defaultSettings(): Settings { websocketAddress: 'ws://192.168.0.145:9090', controller: { tankDriveBlockHorizontal: false, + invertX: false, + invertY: false, }, }; } From 31c940c4a05a8bc7c67264a1576576b246b972f1 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Tue, 28 Apr 2026 10:26:29 -0700 Subject: [PATCH 29/37] Fixed flashing reconnect button --- .../settings/ConnectionSettings.vue | 35 ++++++++++++++++--- 1 file changed, 31 insertions(+), 4 deletions(-) diff --git a/src/components/settings/ConnectionSettings.vue b/src/components/settings/ConnectionSettings.vue index de5b3c7..0ff60ee 100644 --- a/src/components/settings/ConnectionSettings.vue +++ b/src/components/settings/ConnectionSettings.vue @@ -1,11 +1,38 @@ @@ -192,6 +217,44 @@ onUnmounted(() => { } } +.slider-row { + display: flex; + flex-direction: column; + gap: 0.35rem; + padding: 0.4rem 0; +} + +.slider-header { + display: flex; + align-items: center; + justify-content: space-between; +} + +.slider-value { + font-family: 'Overpass Mono', 'Overpass', monospace; + font-size: 0.85rem; + font-weight: 700; + color: var(--tf-green); + min-width: 2.5rem; + text-align: right; +} + +.slider-labels { + display: flex; + justify-content: space-between; + font-family: 'Barlow Condensed', sans-serif; + font-size: 0.65rem; + color: var(--dark-white); + opacity: 0.5; +} + +.deadzone-slider { + width: 100%; + accent-color: var(--tf-green); + cursor: pointer; + height: 4px; +} + // Toggle switch .toggle-switch { flex-shrink: 0; diff --git a/src/lib/controller/controllerState.ts b/src/lib/controller/controllerState.ts index 99d4bd7..c9425e3 100644 --- a/src/lib/controller/controllerState.ts +++ b/src/lib/controller/controllerState.ts @@ -19,6 +19,10 @@ export class ControllerState { bindingEntryToPublisher = new Map(); friendlyNameToCurrentValue: Map = new Map(); friendlyNameToDelta: Map = new Map(); + // Tracks the last value that was actually published to ROS so we can + // detect when we need to force-send a zero even if the rate limiter would + // otherwise drop it (e.g. trigger released <100 ms after last command) + friendlyNameToLastPublished: Map = new Map(); maxPublishRateHz: number | undefined = undefined; @@ -31,6 +35,7 @@ export class ControllerState { for (const friendlyName of Object.values(gamepadNames).concat(Object.values(joystickNames))) { this.friendlyNameToCurrentValue.set(friendlyName, 0); this.friendlyNameToDelta.set(friendlyName, 0); + this.friendlyNameToLastPublished.set(friendlyName, 0); } fetch(jsonControllerBinding) @@ -79,35 +84,46 @@ export class ControllerState { } } - const { tankDriveBlockHorizontal, invertX, invertY } = + const { tankDriveBlockHorizontal, invertX, invertY, deadzone } = useSettingsStore().settings.controller; for (let i: number = 0; i < joystickArray.length; i++) { const friendlyName = joystickNames[i]; const currentValue = this.friendlyNameToCurrentValue.get(friendlyName); if (currentValue != null) { - // Axes 0 and 2 are X axes; axes 1 and 3 are Y axes. + // Axes 0 and 2 are X axes; axes 1 and 3 are Y axes const isXAxis = i === 0 || i === 2; const isYAxis = i === 1 || i === 3; - // When tank-drive blocking is on, treat X axes as always zero. + // When tank-drive blocking is on, treat X axes as always zero let rawValue = tankDriveBlockHorizontal && isXAxis ? 0 : joystickArray[i].valueOf(); - // Apply invert settings. + // Apply invert settings if (invertX && isXAxis) rawValue = -rawValue; if (invertY && isYAxis) rawValue = -rawValue; - this.friendlyNameToDelta.set(friendlyName, currentValue - rawValue); + // Apply deadzone: clamp values near centre to exactly zero so we + // don't spam the ROS network with tiny drift commands + if (Math.abs(rawValue) < deadzone) rawValue = 0; + + this.friendlyNameToDelta.set(friendlyName, rawValue - currentValue); this.friendlyNameToCurrentValue.set(friendlyName, rawValue); } } for (const [entry, publisher] of this.bindingEntryToPublisher) { - if (this.friendlyNameToDelta.get(entry.name)) { - publisher.publish( - { data: this.friendlyNameToCurrentValue.get(entry.name) }, - { isDebugging: true }, - ); + const currentValue = this.friendlyNameToCurrentValue.get(entry.name) ?? 0; + const lastPublished = this.friendlyNameToLastPublished.get(entry.name) ?? 0; + const delta = this.friendlyNameToDelta.get(entry.name); + + // Force-publish zero when transitioning to zero so the robot always + // receives a stop command, even if the rate limiter would otherwise + // drop the call (e.g. trigger released within the 100 ms rate window) + const stoppingNow = currentValue === 0 && lastPublished !== 0; + + if (delta || stoppingNow) { + publisher.publish({ data: currentValue }, { isDebugging: true, force: stoppingNow }); + this.friendlyNameToLastPublished.set(entry.name, currentValue); } } } diff --git a/src/lib/motorConfig.ts b/src/lib/motorConfig.ts index 5c31072..7f0b326 100644 --- a/src/lib/motorConfig.ts +++ b/src/lib/motorConfig.ts @@ -29,27 +29,53 @@ export interface MotorConfig { // --------------------------------------------------------------------------- export const motorConfigs: MotorConfig[] = [ - // Drivetrain --------------------------------------------------------------- // Drivetrain — RMDx8 ------------------------------------------------------- - { displayName: 'Front Left Drive', canfdID: 25, controller: DRIVE_CONTROLLER, group: 'drivetrain' }, - { displayName: 'Mid Left Drive', canfdID: 24, controller: DRIVE_CONTROLLER, group: 'drivetrain' }, - { displayName: 'Back Left Drive', canfdID: 23, controller: DRIVE_CONTROLLER, group: 'drivetrain' }, - { displayName: 'Front Right Drive', canfdID: 22, controller: DRIVE_CONTROLLER, group: 'drivetrain' }, - { displayName: 'Mid Right Drive', canfdID: 21, controller: DRIVE_CONTROLLER, group: 'drivetrain' }, - { displayName: 'Back Right Drive', canfdID: 20, controller: DRIVE_CONTROLLER, group: 'drivetrain' }, + { + displayName: 'Back Left Drive', + canfdID: 26, + controller: DRIVE_CONTROLLER, + group: 'drivetrain', + }, + { + displayName: 'Back Right Drive', + canfdID: 25, + controller: DRIVE_CONTROLLER, + group: 'drivetrain', + }, + { + displayName: 'Middle Left Drive', + canfdID: 24, + controller: DRIVE_CONTROLLER, + group: 'drivetrain', + }, + { + displayName: 'Middle Right Drive', + canfdID: 23, + controller: DRIVE_CONTROLLER, + group: 'drivetrain', + }, + { + displayName: 'Front Left Drive', + canfdID: 22, + controller: DRIVE_CONTROLLER, + group: 'drivetrain', + }, + { + displayName: 'Front Right Drive', + canfdID: 21, + controller: DRIVE_CONTROLLER, + group: 'drivetrain', + }, // Arm — Moteus ------------------------------------------------------------- - { displayName: 'Arm Shoulder', canfdID: 1, controller: ARM_CONTROLLER_SHOULDER, group: 'arm' }, - { displayName: 'Arm Elbow', canfdID: 2, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, - { displayName: 'Arm Left Wrist', canfdID: 3, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, - { displayName: 'Arm Right Wrist', canfdID: 4, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, - { displayName: 'Arm Turntable', canfdID: 5, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, + { displayName: 'Arm Shoulder', canfdID: 1, controller: ARM_CONTROLLER_SHOULDER, group: 'arm' }, + { displayName: 'Arm Elbow', canfdID: 2, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, + { displayName: 'Arm Left Wrist', canfdID: 3, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, + { displayName: 'Arm Right Wrist', canfdID: 4, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, + { displayName: 'Arm Turntable', canfdID: 5, controller: ARM_CONTROLLER_DEFAULT, group: 'arm' }, ]; -/** Convenience filter - drivetrain motors only. */ export const drivetrainMotors = motorConfigs.filter((m) => m.group === 'drivetrain'); - -/** Convenience filter - arm motors only. */ export const armMotors = motorConfigs.filter((m) => m.group === 'arm'); // --------------------------------------------------------------------------- @@ -75,7 +101,7 @@ export enum CanBusID { } // --------------------------------------------------------------------------- -// CAN ID → camelCase name map (used by useTelemetryData) +// CAN ID → camelCase name map // --------------------------------------------------------------------------- export const canBusNameMap = { diff --git a/src/lib/roslibUtils/createPublisher.ts b/src/lib/roslibUtils/createPublisher.ts index eb38c36..6a600e3 100644 --- a/src/lib/roslibUtils/createPublisher.ts +++ b/src/lib/roslibUtils/createPublisher.ts @@ -11,8 +11,9 @@ export interface Publisher { * @param data - is the data to publish. * @param options - are the options to use during this publish. * @param options.isDebugging - should debug output be displayed? + * @param options.force - bypass the rate limiter (use for critical stop/zero commands) */ - publish: (data: TopicTypeMap[T], options?: { isDebugging?: boolean }) => void; + publish: (data: TopicTypeMap[T], options?: { isDebugging?: boolean; force?: boolean }) => void; } /** @@ -48,17 +49,17 @@ export function createPublisherForRos( let lastPublishTime = 0; const publish: Publisher['publish'] = (data, options) => { - if (minIntervalMs > 0) { + const { isDebugging, force } = options || {}; + if (!force && minIntervalMs > 0) { const now = Date.now(); if (now - lastPublishTime < minIntervalMs) { return; } lastPublishTime = now; } - const { isDebugging } = options || {}; topic.publish(data); if (isDebugging) { - console.log(`[${topicName}] Publishing:`, data); + console.log(`[${topicName}] Publishing${force ? ' (forced)' : ''}:`, data); } }; diff --git a/src/store/settingsStore.ts b/src/store/settingsStore.ts index 201699b..c3ffa24 100644 --- a/src/store/settingsStore.ts +++ b/src/store/settingsStore.ts @@ -8,6 +8,12 @@ export interface ControllerConfig { invertX: boolean; /** Invert the Y axis (forward/back) on both joysticks. */ invertY: boolean; + /** + * Joystick deadzone radius (0–0.5). Axis values whose absolute value is + * below this threshold are treated as exactly zero, preventing jitter + * commands when the stick rests near centre. + */ + deadzone: number; } export interface Settings { @@ -22,6 +28,7 @@ function defaultSettings(): Settings { tankDriveBlockHorizontal: false, invertX: false, invertY: false, + deadzone: 0.4, }, }; } From fb406fb0116c732382bca5045c395c801e64d346 Mon Sep 17 00:00:00 2001 From: Matej Stastny Date: Wed, 29 Apr 2026 22:17:07 -0700 Subject: [PATCH 37/37] Improved telemetry page NOT FINAL --- .../telemetry/drive/DriveMotorCard.vue | 515 +++++++++++++++ src/components/telemetry/drive/Sparkline.vue | 68 ++ src/pages/Telemetry.vue | 616 ++++++++++++++++-- 3 files changed, 1153 insertions(+), 46 deletions(-) create mode 100644 src/components/telemetry/drive/DriveMotorCard.vue create mode 100644 src/components/telemetry/drive/Sparkline.vue diff --git a/src/components/telemetry/drive/DriveMotorCard.vue b/src/components/telemetry/drive/DriveMotorCard.vue new file mode 100644 index 0000000..16059c0 --- /dev/null +++ b/src/components/telemetry/drive/DriveMotorCard.vue @@ -0,0 +1,515 @@ + + + + + diff --git a/src/components/telemetry/drive/Sparkline.vue b/src/components/telemetry/drive/Sparkline.vue new file mode 100644 index 0000000..1b86e63 --- /dev/null +++ b/src/components/telemetry/drive/Sparkline.vue @@ -0,0 +1,68 @@ + + + + + diff --git a/src/pages/Telemetry.vue b/src/pages/Telemetry.vue index 076d09d..02629d7 100644 --- a/src/pages/Telemetry.vue +++ b/src/pages/Telemetry.vue @@ -1,6 +1,7 @@