40 finish tutorial (#41)

* feat: finish tutorial * chore: checkpoint * feat: base for demo backend * chore: update instanciator docker compose * fix: update nginx container network mode * fix: editable controller issues * feat: add editable and non editable mode for ribot-controller backenc * fix: wrong raise in manage.py * chore: update nginx conf * feat: add demo * chore: remote router from instanciator docker compose * chore: fix outdted free port function * fix: ch docker-compose to docker compose * fix: ch docker-compose to docker compose * fix: another bad docker compose * fix: cleanup ArmSimulation.jsx * fix: websocket port * fix: websocket port missing / * chore: update arm simulation * chore: update arm simulation * chore: update instance generator * chore: update broken instanciator docker compose file * feat: decrease cpu ussage * fix: linting issues * feat: update tutorial, improve actions play button * chore: fix linting * chore: update docker compose for instanciator * fix: instanciator healthcheck method * fix: instanciator healthcheck method * chore: update api url for base url * chore: isntanciator error on free instances * chore: udpate simulation css and settigns for instanciator * chore: update instance generator * feat: add gripper to unity simulation * feat: update instance scripto to properly support healthcheck * fix: update healthcheck endpoint to be get instead of post * fix: update instanciator * chore: isntanciator error on free instances * add prints to healthcech * chore: start refactor of instanciator * chore: isntanciator error on free instances * chore: isntanciator error on free instances * feat: finish refactor of instanciator and update location of arm in simulation * chore: update simulation * chore: update simulation * chore: update simulation * feat: add token access to instanciator * feat: add token access to instanciator * feat: complete instanciator
alberto-abarzua · Nov 19, 2023 · 64e7a33 · 64e7a33 · vercel · Nov 19, 2023
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diff --git a/.env.template b/.env.template
@@ -1,30 +1,40 @@
 # ESP32
-export ESP_WIFI_SSID=ssid
-export ESP_WIFI_PASSWORD=password
+export ESP_WIFI_SSID=PALVI
+export ESP_WIFI_PASSWORD=Palvi.1400
 export ESP_CONTROLLER_SERVER_HOST=backend
 export ESP_CONTROLLER_SERVER_PORT=8500
-export ESP_FLASH_PORT=
 
 # CONTROLLER DEFAULT SETTINGS
 CONTROLLER_WEBSOCKET_PORT=8600
 CONTROLLER_SERVER_PORT=8500
-
+CONTROLLER_PRINT_STATUS=false
 
 # ---PDM CONTROLLER PUBLISH SETTINGS
 CONTROLLER_PDM_PUBLISH_USERNAME=__token__
-CONTROLLER_PDM_PUBLISH_PASSWORD=token_here
+CONTROLLER_PDM_PUBLISH_PASSWORD=tokenhere!
+CONTROLLER_PDM_OVERRIDE_VERSION=None
+CONTROLLER_PDM_INCREMENT_VERSION=false
 
-# BACKEND
-BACKEND_HTTP_PORT=8000
 
 
+# BACKEND
+BACKEND_HTTP_PORT=5000
+BACKEND_UPDATE_RIBOT_CONTROLLER=false
+
 # FRONT
-VITE_BACKEND_URL=http://localhost:8000
+VITE_BACKEND_URL=http://localhost:5000
 VITE_ARM_SIMULATION_WEBSOCKET_PORT=8600
 VITE_ARM_SIMULATION_WEBSOCKET_HOST=localhost
 VITE_ARM_SIMULATION_URL=http://localhost:8080
 
 
+
 # ARM_SIMULATION
 ARM_SIMULATION_PORT=8080
 
+# Docker compose debug buid
+export COMPOSE_DOCKER_CLI_BUILD=1
+export DOCKER_BUILDKIT=1
+
+
+
diff --git a/.github/workflows/backend-ci.yaml b/.github/workflows/backend-ci.yaml
@@ -26,7 +26,7 @@ jobs:
       - name: Set Env File
         run: printenv | grep -v "^\(PWD\|SHLVL\|HOME\)" > .env
       - name: Build backend container
-        run: ./manage.py build --container backend
+        run: ./manage.py build --container backend --no-editable
 
       - name: Lint Backend
         run: ./manage.py lint --container backend

diff --git a/README.md b/README.md
@@ -4,3 +4,4 @@
 
 Needs to be updated!
 `
+:
diff --git a/backend/.gitignore b/backend/.gitignore
@@ -1 +1,2 @@
 .pdm-python
+controller
diff --git a/backend/Dockerfile b/backend/Dockerfile
@@ -1,32 +1,39 @@
 FROM python:3.11-slim-buster
 
+ARG EDITABLE_PACKAGES
+ENV EDITABLE_PACKAGES=${EDITABLE_PACKAGES}
+
 WORKDIR /app
 
 # hadolint ignore=DL3008
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    build-essential && \
+    build-essential coreutils && \
     rm -rf /var/lib/apt/lists/*
 
 ENV PYTHONDONTWRITEBYTECODE 1
 ENV PYTHONUNBUFFERED 1
 
 ENV PYTHONPATH=/app/src
 
-
-RUN pip install --no-cache-dir pdm==2.10
+RUN pip install --no-cache-dir pdm==2.10.3
 
 COPY ./pyproject.toml ./pyproject.toml
 COPY ./pdm.lock ./pdm.lock
 
-
 COPY . .
 
-RUN pdm install
+RUN pdm remove ribot-controller || true && \
+    pdm remove ribot-controller --dev || true
 
-RUN chmod +x ./entrypoint.sh
+RUN if [ "$EDITABLE_PACKAGES" = "true" ]; then \
+        echo "Installing editable packages"; \
+        pdm add -e ./controller --dev; \
+    else \
+        echo "Installing non-editable packages"; \
+        pdm add ribot-controller; \
+    fi
 
-EXPOSE 8000
-
-ENTRYPOINT ["/app/entrypoint.sh"]
+RUN pdm install
 
 CMD ["pdm","run","start"]
+
diff --git a/backend/entrypoint.sh b/backend/entrypoint.sh
diff --git a/backend/pdm.lock b/backend/pdm.lock
diff --git a/backend/pyproject.toml b/backend/pyproject.toml
@@ -3,7 +3,6 @@ dependencies = [
     "fastapi>=0.101.1",
     "uvicorn>=0.23.2",
     "numpy>=1.20",
-    "ribot-controller>=0.3.4",
 ]
 requires-python = ">=3.11"
 
@@ -14,11 +13,12 @@ dev = [
     "flake8>=6.0.0",
     "flake8-annotations>=3.0.1",
     "mypy>=1.4.1",
+    "-e file:///${PROJECT_ROOT}/controller#egg=ribot-controller",
 ]
 
 
 [tool.pdm.scripts]
-start = "pdm run uvicorn src.main:app  --host 0.0.0.0"
+start = "pdm run uvicorn src.main:app  --host 0.0.0.0 --port ${BACKEND_HTTP_PORT}"
 isort = "isort src"
 black = "black src"
 pure_lint = "flake8 src"

diff --git a/backend/src/routers/settings.py b/backend/src/routers/settings.py
@@ -109,3 +109,12 @@ def config_from_file(
 def list_configs() -> Dict[Any, Any]:
     CONFIG_PATH = Path(__file__).parent.parent / "config"
     return {"configs": [str(f) for f in CONFIG_PATH.iterdir() if f.is_file()]}
+
+
+@router.get("/websocket_info/")
+def websocket_info(
+    controller: ArmController = controller_dependency,
+) -> Dict[Any, Any]:
+    return {
+        "websocket_port": controller.websocket_port,
+    }
diff --git a/controller/Dockerfile b/controller/Dockerfile
@@ -5,7 +5,7 @@ WORKDIR /app
 ENV PYTHONDONTWRITEBYTECODE 1
 ENV PYTHONUNBUFFERED 1
 
-RUN pip install --no-cache-dir pdm==2.10.1
+RUN pip install --no-cache-dir pdm==2.10.3
 
 ENV PYTHONPATH "${PYTHONPATH}:/app/src"
 

diff --git a/controller/src/ribot/control/controller_servers.py b/controller/src/ribot/control/controller_servers.py
@@ -55,7 +55,7 @@ def __init__(self, controller: Any, port: int) -> None:
         self._connection_mutex: FIFOLock = FIFOLock()
         self.stop_event = controller.stop_event
 
-        self.status_time_interval: float = 1 / 30  # 30 Hz
+        self.status_time_interval: float = 1 / 15
 
     @property
     def connection_mutex(self) -> FIFOLock:
@@ -202,6 +202,8 @@ def handle_controller_connection(self) -> None:
                 handler = self.controller.message_op_handlers[msg.op]
                 handler(msg)
 
+            self.stop_event.wait(0.05)
+
 
 # -----------------
 # WebsocketServer
@@ -221,8 +223,8 @@ def __init__(self, controller: Any, port: int) -> None:
     async def handler(self, websocket: Any, _: str) -> None:
         async for message in websocket:
             if message.strip() == "get_angles":
-                angles = self.controller.current_angles
-                response = Message(MessageOp.STATUS, 0, angles)
+                angles_tool = list(self.controller.current_angles) + [self.controller.tool_value]
+                response = Message(MessageOp.STATUS, 0, angles_tool)
                 await websocket.send(response.encode())
 
     def _start(self) -> None:

diff --git a/controller/src/ribot/controller.py b/controller/src/ribot/controller.py
@@ -74,6 +74,7 @@ def __init__(
 
         self.controller_server: ControllerServer = ControllerServer(self, server_port)
         self.websocket_server: Optional[WebsocketServer] = WebsocketServer(self, websocket_port)
+        self.websocket_port = websocket_port
         self.file_reload_thread: Optional[threading.Thread] = None
 
         self.message_op_handlers: Dict[MessageOp, Callable[[Message], None]] = {
@@ -124,7 +125,7 @@ def start(self, wait: bool = False, websocket_server: bool = True) -> None:
         start_time = time.time()
         if wait:
             while not self.is_ready and not self.stop_event.is_set():
-                time.sleep(0.1)
+                time.sleep(2)
                 if time.time() - start_time > connection_controller_timeout:
                     raise TimeoutError("Controller took too long to start, check arm client")
 

diff --git a/controller/src/ribot/tests/test_controller.py b/controller/src/ribot/tests/test_controller.py
@@ -32,7 +32,14 @@ def setUpClass(cls) -> None:
         arm_params.a5x = 64.1
         arm_params.a6x = 169
 
-        cls.controller = ArmController(arm_parameters=arm_params)
+        controler_server_port = int(os.environ.get("CONTROLLER_SERVER_PORT", 8500))
+        controller_websocket_port = int(os.environ.get("CONTROLLER_WEBSOCKET_PORT", 8430))
+        print("controller_websocket_port", controller_websocket_port)
+        print("controller_server_port", controler_server_port)
+
+        cls.controller = ArmController(
+            arm_parameters=arm_params, server_port=controler_server_port, websocket_port=controller_websocket_port
+        )
         cls.controller.start(websocket_server=False, wait=True)
 
         cls.controller.print_status = os.environ.get("CONTROLLER_PRINT_STATUS", "False").upper() == "TRUE"

diff --git a/docker_services/backend.yaml b/docker_services/backend.yaml
@@ -4,10 +4,13 @@ services:
     build:
       context: "../backend"
       dockerfile: "Dockerfile"
+      args:
+        - EDITABLE_PACKAGES=$BACKEND_EDITABLE_PACKAGES
     image: "uintuser/ribot-backend"
     volumes:
       - ../backend/src:/app/src
       - ../backend/pyproject.toml:/app/pyproject.toml
+      - ../backend/src/config/main_arm.toml:/app/src/config/main_arm.toml
       - ../backend/pdm.lock:/app/pdm.lock
       - ../controller:/app/controller
     ports:
@@ -17,8 +20,5 @@ services:
     environment:
       - BACKEND_HTTP_PORT
       - CONTROLLER_WEBSOCKET_PORT
-      - BACKEND_UPDATE_RIBOT_CONTROLLER
       - CONTROLLER_SERVER_PORT
 
-volumes:
-  pdm_cache:
diff --git a/docker_services/controller.yaml b/docker_services/controller.yaml
@@ -22,3 +22,6 @@ services:
       - PDM_OVERRIDE_VERSION=$CONTROLLER_PDM_OVERRIDE_VERSION
       - PDM_INCREMENT_VERSION=$CONTROLLER_PDM_INCREMENT_VERSION
       - CONTROLLER_PRINT_STATUS
+      - CONTROLLER_WEBSOCKET_PORT
+      - CONTROLLER_SERVER_PORT
+
diff --git a/docker_services/frontend.yaml b/docker_services/frontend.yaml
@@ -18,3 +18,4 @@ services:
       - VITE_ARM_SIMULATION_WEBSOCKET_PORT
       - VITE_ARM_SIMULATION_WEBSOCKET_HOST
       - VITE_ARM_SIMULATION_URL
+      - VITE_INSTANCIATOR_URL
diff --git a/firmware/app b/firmware/app
diff --git a/firmware/components/controller/controller.cpp b/firmware/components/controller/controller.cpp
@@ -162,7 +162,7 @@ bool Controller::start() {
     if (succesful_setup != ArmClientCode::SUCCESS) {
         std::cout << "Failed to setup arm client, retrying in 3 seconds"
                   << std::endl;
-        run_delay(2000);
+        run_delay(3000);
         return false;
     }
     this->run_step_task();
@@ -566,6 +566,7 @@ void Controller::message_handler_config(Message *message) {
 
             EndStop *end_stop = new DummyEndStop(
                 0, new_movement_driver->get_current_angle_ptr());
+
             this->joints[joint_idx]->set_movement_driver(new_movement_driver);
             this->joints[joint_idx]->register_end_stop(end_stop);
             new_movement_driver->hardware_setup();
@@ -711,9 +712,22 @@ void Controller::stop_step_task() {}
 #else
 
 void Controller::step_target_fun() {
+    task_add();
+
+    uint64_t iter = 0;
+    uint64_t iter_delay = 500;
+
     while (this->stop_flag == false) {
+        if (iter > iter_delay) {
+            task_feed();
+            run_delay(10);
+            iter = 0;
+        }
+
         this->step();
+        iter++;
     }
+    task_end();
 }
 
 void Controller::run_step_task() {

diff --git a/firmware/components/movement/movement.cpp b/firmware/components/movement/movement.cpp
@@ -107,39 +107,7 @@ uint32_t MovementDriver::steps_to_take(uint64_t current_time) {
                  this->angle_to_steps(this->current_angle));
     return std::min(steps, steps_to_target);
 }
-// bool MovementDriver::step() {
-//     uint64_t current_time = get_current_time_microseconds();
-//     uint32_t steps_to_take = this->steps_to_take(current_time);
-
-//     if (steps_to_take > 0) {
-
-//         int8_t step_dir = this->target_angle > this->current_angle ? 1 : -1;
-
-//         for (uint16_t i = 0; i < steps_to_take; i++) {
-//             this->current_steps += step_dir;
-
-//             this->hardware_step(step_dir > 0 ? 1 : 0);
-
-//             if (!this->homed && this->end_stop != nullptr) {
-//                 this->current_angle =
-//                 this->steps_to_angle(this->current_steps); if
-//                 (this->end_stop->hardware_read_state()) {
-//                     this->set_home();
-//                     this->last_step_time = get_current_time_microseconds();
-//                     return false;
-//                 }
-//                 run_delay_microseconds(10);
-//             } else {
-//                 run_delay_microseconds(30);
-//             }
-//         }
-
-//         this->last_step_time = get_current_time_microseconds();
-//         this->current_angle = this->steps_to_angle(this->current_steps);
-//         return true;
-//     }
-//     return false;
-// }
+
 bool MovementDriver::step() {
     uint64_t current_time = get_current_time_microseconds();
     uint32_t steps_to_take = this->steps_to_take(current_time);