diff --git a/.gitignore b/.gitignore index c440836..eb6994f 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,16 @@ node_modules/ +node_modules dist/ *.tsbuildinfo __pycache__/ *.py[cod] + +# Trail-code's graft map is regenerable local state (run `trail build`). +/graft/ + +# Local agent state and notes. +/.codex/ +/.agent +/.agents/ +/.trail/ +/.ignore diff --git a/autonomous-grid-search/README.md b/autonomous-grid-search/README.md new file mode 100644 index 0000000..9040e4d --- /dev/null +++ b/autonomous-grid-search/README.md @@ -0,0 +1,63 @@ +# Autonomous Grid Search + +The Pi companion API plans square-cell camera surveys, and the standalone web app previews routes, battery sorties, and simulation. Live Pixhawk mission execution remains locked. + +## Auto-grid survey planner + +Start the companion API on the Pi, or run the simulator locally from the repository root: + +```bash +cd telemetry/handheld-nrf-monitor/pi-code +python -m pip install -r ../../../autonomous-grid-search/backend/requirements.txt +python main.py --simulate --no-radio +``` + +In a second terminal, start the standalone webpage from the repository root: + +```bash +cd autonomous-grid-search/web +npm ci +npm run dev +``` + +Open `http://127.0.0.1:5174/` and enter the Pi address and port 8765 in **Companion API**. The Python companion runs separately and must be reachable from the browser. Use a trusted network; the planning/simulation API has no authentication. + +1. Click the map to select the **search centre**. Coordinate entry is available under **Connection & coordinate entry** for keyboard use. +2. Enter **centre to edge in metres**, then select **Generate survey on Pi**. The search area is a square: 50 m centre-to-edge means a 100 × 100 m square. +3. The browser sends only `search_area: {center: {latitude, longitude}, radius_m}`; the existing API field `radius_m` now represents square half-side. The Pi reads `survey_config.json`, gets launch/home from fresh 3D vehicle GPS, divides a square in a local metric projection into equal square cells, and computes a complete camera grid in every cell. The vehicle must be disarmed. Without usable GPS, the Pi previews coverage but blocks export and simulation. +4. Review the returned route. Select a sortie and **Export to Mission Planner** to download `sentinelblue_survey_N.waypoints` (QGC WPL 110). In Mission Planner use **PLAN → Load WP File**. Export each battery sortie separately. Changes to the point or radius invalidate the old plan. +5. **Play swarm preview** animates the Pi-generated assignments and timelines for virtual drones. Pause, reset or change playback speed; the display tracks completed cells and each drone's phase. This visual preview sends no vehicle commands. **Run single-drone simulator** executes the selected cached sortie after acknowledgement. Plans expire after 10 minutes or API restart. The API rejects replacement while the simulator is armed and rejects all live execution. + +### Configure the aircraft once on the Pi + +Edit `autonomous-grid-search/backend/survey_config.json` on the companion computer. Defaults are 5 m height, 2 m/s, 78° × 60° FOV, 70% side overlap, 75% forward overlap, 20 minute endurance and 20% reserve. These are starting values, not measured specifications for your hardware. Calibrate the camera, endurance and trigger interval for the actual aircraft before flight validation. The file is loaded for each planning request; the browser cannot override it through a point/radius request. Existing reviewed plans retain their original settings. + +`max_cell_side_m` defaults to **50 m**, `swarm_drone_count` to **4**, `square_grid_angle_deg` to **0°** (north/south tracks), and `battery_swap_seconds` to **120 s** between a virtual drone's sorties. These values are configured on the Pi. Cell count per axis is `ceil(square_side / max_cell_side_m)`; the entire area is tiled by equal cells no larger than the maximum. For example, a 120 m square becomes nine 40 × 40 m cells, with no uncovered remainder strip. + +The Pi calculates camera spacing and produces alternating parallel tracks within each cell. It assigns whole cells to the least-loaded virtual drone by accumulated estimated flight time. Every cell has one owner; its complete lines are split into battery sorties capped at 500 commands and the configured battery budget. Every sortie contains takeoff, speed, survey/camera commands, return and land. Planning is capped at 100 cells, 100 sorties and 10,000 lines; oversized requests return an error instead of dropping coverage. + +**Swarm preview is a planning visualization, not live swarm control.** Timelines include takeoff/landing allowances, survey, transfers, turns and battery changes. Virtual drones share the same launch/home position. Shared launch and transit paths are not collision-deconflicted. Real simultaneous multi-drone flight remains disabled; this does not implement multi-vehicle MAVLink connections or formation control. + +The geometry engine retains its polygon API for integration; the operator-facing screen uses only a centre and square extent. Exports remain separate by cell/drone/sortie, with the selected assignment shown in the sortie picker. + +### Camera and flight assumptions + +Footprint = `2 × height × tan(FOV / 2)`. Maximum line gap = cross-track footprint × `(1 − side overlap)`. Trigger distance = along-track footprint × `(1 − forward overlap)`. Spacing tightens to fit the polygon extent. Crosshatch passes can have slightly different actual gaps; the displayed gap is the first pass. Modelled coverage uses flat, nadir, aligned footprints with distance-triggered photos. At least 99.5% modelled coverage is required to export; this is not measured image coverage. + +A camera-rate check blocks intervals shorter than the entered camera minimum. Export includes `DO_CHANGE_SPEED` and `DO_SET_CAM_TRIGG_DIST`; configure and test the actual camera interface and yaw behaviour in ArduPilot before flight. The simulator models route, commanded speed and waypoint dwell; it does not simulate actual photos, wind, vehicle dynamics or camera latency. + +For ArduCopter, configure face-next-waypoint yaw and a waypoint radius smaller than the line gap, and validate the route in ArduPilot SITL. Per-waypoint yaw and acceptance-radius fields do not configure these behaviours in Copter; see the [official mission command reference](https://docs.ardupilot.org/copter/docs/mission-command-list.html). The built-in simulator is not ArduPilot SITL. + +Each line has a one-second dwell at each end. Estimates add the entered turn allowance per line and two minutes for takeoff/landing. They do not measure battery capacity, wind or power consumption. A line that cannot fit one sortie is blocked rather than truncated. + +**Altitude is relative to home, not terrain-following.** Coverage assumes a flat surface at home elevation. A 5 m mission over water requires a validated downward sensor and flight-controller configuration; this planner does not configure them. DEM data is not water clearance. Run-outs and straight transfers may leave the boundary; the boundary is not a geofence. The planner does not provide obstacle avoidance, airspace checks or industrial flight certification. + +### Maps and terrain + +The default map uses OpenStreetMap raster tiles and MapLibre demo hillshade. Set `VITE_MAPTILER_KEY` at build time for MapTiler hybrid imagery. The map stays top-down for boundary accuracy. + +Optional terrain context samples home, centre and boundary corners using OpenTopoData SRTM90m. Set `TERRAIN_API_URL` to another compatible endpoint. Missing tiles or terrain data do not change mission altitude. Coordinates remain editable when imagery is unavailable. + +### Verification + +Run `python -m unittest discover -s tests -v` from `autonomous-grid-search/backend` and `npm run check` from `autonomous-grid-search/web`. Tests cover camera axes, sensor dimensions, coverage, invalid polygons, rotation, reverse entry, concave boundaries, crosshatch, camera rate, sortie limits, exact-plan execution, expiry, confirmation, live/armed guards, WPL coordinate frames and boundary parsing. diff --git a/autonomous-grid-search/backend/auto_grid_planner.py b/autonomous-grid-search/backend/auto_grid_planner.py new file mode 100644 index 0000000..2b89f47 --- /dev/null +++ b/autonomous-grid-search/backend/auto_grid_planner.py @@ -0,0 +1,490 @@ +"""Polygon camera surveys in a local metric projection; review/simulation only. + +Tracks are clipped to the survey polygon. Transit legs and optional run-outs +are displayed explicitly and are NOT obstacle/geofence avoidance routes. +""" + +from dataclasses import dataclass +import math +import json +import pathlib +import time +from typing import Any, Dict + +from pyproj import CRS, Transformer +from shapely import affinity +from shapely.geometry import LineString, Polygon, box +from shapely.ops import unary_union +from shapely.validation import explain_validity + +from search_mission_planner import _bounded_number, _navigation_item, _camera_trigger_item + +MAX_LINES = 10000 +MAX_ITEMS = 500 +MAX_SORTIES = 100 + + +def build_radius_survey(payload, telemetry): + """The browser supplies an area only; all flight settings belong to the Pi.""" + area = payload.get("search_area") + if not isinstance(area, dict): + raise ValueError("search_area must contain center and radius_m") + center = position(area.get("center"), "search center") + radius = number(area, "radius_m", None, 2, 10000) + if telemetry.get("armed"): + raise ValueError("Finish the current flight before planning from a new launch position") + try: + config = json.loads(pathlib.Path(__file__).with_name("survey_config.json").read_text(encoding="utf-8")) + except (OSError, json.JSONDecodeError) as exc: + raise ValueError("Pi survey_config.json is missing or invalid; check the aircraft configuration") from exc + if not isinstance(config, dict) or not isinstance(config.get("survey_options"), dict): + raise ValueError("Pi survey_config.json must include survey_options") + source = dict(telemetry) + try: + fresh = all(0 <= time.time() - float(source.get(key, 0)) <= 5 + for key in ("last_position_timestamp", "last_gps_timestamp")) + except (TypeError, ValueError): + fresh = False + if not fresh or source.get("gps_fix_type") not in ("3D FIX", "DGPS", "RTK FLT", "RTK FIX"): + source["connected"] = False + plan = build_cell_survey(config, center, radius, source) + plan.data["search_area"] = {"center": center, "radius_m": radius, "shape": "square", "side_m": radius * 2} + plan.data["profile_name"] = str(config.get("profile_name", "pi_survey_profile")) + plan.data["terrain_enabled"] = config.get("terrain_enabled") is True + plan.data["surface_type"] = config.get("surface_type", "water") + if plan.data["home_source"] == "area_preview_only": + reason = "Pi needs fresh 3D GPS from the disarmed vehicle to determine launch/home" + plan.data["estimate"]["blocking_reasons"] = [reason] + plan.data["estimate"]["blocking_reasons"][1:] + for sortie in plan.data["sorties"]: + sortie["blocking_reasons"][0] = reason + return plan + + +def build_cell_survey(config, center, half_side, telemetry): + """Partition a metric square; every cell gets a full coverage mission. + + Drone assignments and timelines are for visual simulation only. Shared + launch/transit paths are not deconflicted for simultaneous real flight. + """ + maximum = number(config, "max_cell_side_m", 50, 5, 1000) + drone_count = number(config, "swarm_drone_count", 4, 1, 8) + battery_swap = number(config, "battery_swap_seconds", 120, 0, 3600) + if not drone_count.is_integer(): + raise ValueError("swarm_drone_count must be an integer") + count = math.ceil(2 * half_side / maximum) + if count * count > 100: + raise ValueError("Search exceeds 100 square cells; reduce the search extent or adjust the Pi cell size") + cell_side = 2 * half_side / count + local = CRS.from_proj4(f"+proj=aeqd +lat_0={center['latitude']} +lon_0={center['longitude']} +datum=WGS84 +units=m") + to_geo = Transformer.from_crs(local, "EPSG:4326", always_xy=True) + to_local = Transformer.from_crs("EPSG:4326", local, always_xy=True) + + def geo(x, y): + lon, lat = to_geo.transform(x, y) + return {"latitude": lat, "longitude": lon} + + def corners(west, south, east, north): + return [geo(west, south), geo(east, south), geo(east, north), geo(west, north)] + + home = position(telemetry, "vehicle position") if telemetry.get("connected") else center + home_source = "vehicle_position" if telemetry.get("connected") else "area_preview_only" + drones = [{"drone_id": index + 1, "cell_ids": [], "sortie_ids": [], "duration_s": 0.0, "segments": []} + for index in range(min(int(drone_count), count * count))] + cells, sorties, lines, components = [], [], [], [] + options = {**config["survey_options"], "angle_mode": "manual", + "grid_angle_deg": number(config, "square_grid_angle_deg", 0, 0, 179.99)} + + for row in range(count): + for col in (range(count) if row % 2 == 0 else reversed(range(count))): + cell_id = row * count + col + 1 + west, south = -half_side + col * cell_side, -half_side + row * cell_side + boundary = corners(west, south, west + cell_side, south + cell_side) + data = build_auto_grid_mission({**config, "survey_options": options, "home": home, "boundary": boundary}, {}).to_dict() + drone = min(drones, key=lambda entry: (entry["duration_s"], entry["drone_id"])) + drone["cell_ids"].append(cell_id) + cell_sorties = [] + for sortie in data["sorties"]: + original_id = sortie["sortie_id"] + sortie_id = len(sorties) + 1 + sortie.update(sortie_id=sortie_id, cell_id=cell_id, drone_id=drone["drone_id"]) + if home_source == "area_preview_only": + sortie["ready"] = False + sortie["mission_items"] = [] + sortie["blocking_reasons"].insert(0, "Pi needs fresh 3D GPS from the disarmed vehicle to determine launch/home") + sorties.append(sortie) + cell_sorties.append(sortie_id) + drone["sortie_ids"].append(sortie_id) + for track in data["survey_lines"]: + if track["sortie_id"] == original_id: + # Copy: original local IDs are needed for subsequent sorties. + lines.append({**track, "cell_id": cell_id, "drone_id": drone["drone_id"], + "sortie_id": sortie_id, "line_index": len(lines) + 1}) + start_time = drone["duration_s"] + + def segment(start, end, duration, phase): + begin = drone["duration_s"] + drone["segments"].append({"start_s": round(begin, 3), "end_s": round(begin + duration, 3), + "start": start, "end": end, "phase": phase, + "cell_id": cell_id, "sortie_id": sortie_id}) + drone["duration_s"] += duration + + if len(drone["sortie_ids"]) > 1: + segment(home, home, battery_swap, "battery_swap") + segment(home, home, 60, "takeoff") + route = sortie["route"] + for index, (a, b) in enumerate(zip(route, route[1:])): + distance = math.dist(to_local.transform(a["longitude"], a["latitude"]), to_local.transform(b["longitude"], b["latitude"])) + survey = index % 2 == 1 + segment(a, b, max(.001, distance / data["cruise_speed_m_s"]), "survey" if survey else "transit") + if survey: + segment(b, b, 2 + number(options, "turn_seconds", 3, 0, 30), "turn") + segment(home, home, 60, "landing") + sortie["scheduled_start_s"] = round(start_time, 3) + sortie["scheduled_end_s"] = round(drone["duration_s"], 3) + cells.append({"cell_id": cell_id, "row": row + 1, "column": col + 1, "side_m": cell_side, + "boundary": boundary, "center": geo(west + cell_side / 2, south + cell_side / 2), + "drone_id": drone["drone_id"], "sortie_ids": cell_sorties, + "coverage_percent": data["coverage_percent"], "line_count": len(data["survey_lines"])}) + components.append(data) + if len(sorties) > MAX_SORTIES or len(lines) > MAX_LINES: + raise ValueError("Search exceeds 100 sorties or 10000 lines; reduce the search extent") + for drone in drones: + drone["duration_s"] = round(drone["duration_s"], 3) + result = dict(components[0]) + result.update(center=center, home=home, home_source=home_source, boundary=corners(-half_side, -half_side, half_side, half_side), + cells=sorted(cells, key=lambda cell: cell["cell_id"]), cell_count=len(cells), + max_cell_side_m=maximum, cell_side_m=cell_side, rows=count, columns=count, + area_m2=round((2 * half_side) ** 2, 1), sorties=sorties, survey_lines=lines, + coverage_percent=round(sum(item["coverage_percent"] for item in components) / len(components), 2), + swarm={"simulation_only": True, "drone_count": len(drones), "drones": drones, + "duration_s": max(drone["duration_s"] for drone in drones), + "warning": "Visual swarm simulation only. Shared home and transit paths are not collision-deconflicted; real multi-drone launch is disabled."}) + result["estimate"] = {**components[0]["estimate"], "survey_line_count": len(lines), "recommended_sorties": len(sorties), + "total_distance_m": round(sum(s["distance_m"] for s in sorties), 1), + "estimated_minutes": round(sum(s["estimated_minutes"] for s in sorties), 1), + "estimated_photos": sum(s["estimated_photos"] for s in sorties), + "simulation_ready": all(s["ready"] for s in sorties), + "blocking_reasons": list(dict.fromkeys(reason for s in sorties for reason in s["blocking_reasons"]))} + return AutoGridPlan(result) + + +def number(data, key, default, minimum, maximum): + value = data.get(key, default) + if isinstance(value, bool): + raise ValueError(f"{key} must be a number") + return _bounded_number(key, value, minimum, maximum) + + +def choice(data, key, default, options): + value = data.get(key, default) + if value not in options: + raise ValueError(f"{key} must be one of {', '.join(options)}") + return value + + +def position(value, name): + if not isinstance(value, dict): + raise ValueError(f"{name} must contain latitude and longitude") + return { + "latitude": number(value, "latitude", None, -85, 85), + "longitude": number(value, "longitude", None, -180, 180), + } + + +@dataclass +class AutoGridPlan: + data: Dict[str, Any] + + @property + def altitude_m(self): + return self.data["altitude_m"] + + @property + def home_latitude(self): + return self.data["home"]["latitude"] + + @property + def home_longitude(self): + return self.data["home"]["longitude"] + + @property + def center_latitude(self): + return self.data["center"]["latitude"] + + @property + def center_longitude(self): + return self.data["center"]["longitude"] + + @property + def cells(self): + return () + + def to_dict(self): + return self.data + + +def build_auto_grid_mission(payload, telemetry): + options = payload.get("survey_options") + if not isinstance(options, dict): + raise ValueError("survey_options must be an object") + raw_boundary = payload.get("boundary") + if not isinstance(raw_boundary, list) or not 3 <= len(raw_boundary) <= 64: + raise ValueError("Draw a closed boundary with 3 to 64 vertices") + boundary = [position(point, "boundary vertex") for point in raw_boundary] + if boundary[0] == boundary[-1]: + boundary.pop() + if len({(p['latitude'], p['longitude']) for p in boundary}) != len(boundary): + raise ValueError("Boundary contains duplicate vertices; remove repeated points") + if len(boundary) < 3: + raise ValueError("Boundary needs at least 3 distinct vertices") + lat = sum(p["latitude"] for p in boundary) / len(boundary) + lon = sum(p["longitude"] for p in boundary) / len(boundary) + local_crs = CRS.from_proj4(f"+proj=aeqd +lat_0={lat} +lon_0={lon} +datum=WGS84 +units=m") + to_local = Transformer.from_crs("EPSG:4326", local_crs, always_xy=True) + to_geo = Transformer.from_crs(local_crs, "EPSG:4326", always_xy=True) + polygon = Polygon([to_local.transform(p["longitude"], p["latitude"]) for p in boundary]) + if not polygon.is_valid: + raise ValueError(f"Invalid boundary: {explain_validity(polygon)}. Redraw without crossing edges") + if polygon.area < 4: + raise ValueError("Survey area must be at least 4 square metres") + x0, y0, x1, y1 = polygon.bounds + if max(x1 - x0, y1 - y0) > 20000: + raise ValueError("Survey boundary must fit within a 20 km extent; divide the area") + + def geo(point): + longitude, latitude = to_geo.transform(*point) + return {"latitude": round(latitude, 7), "longitude": round(longitude, 7)} + + home_source = "manual" + if payload.get("home") is not None: + home = position(payload["home"], "home") + elif telemetry.get("connected") and telemetry.get("latitude") is not None and telemetry.get("longitude") is not None: + home = position(telemetry, "telemetry position") + home_source = "vehicle_position" + else: + home = geo(polygon.representative_point().coords[0]) + home_source = "area_preview_only" + home_xy = to_local.transform(home["longitude"], home["latitude"]) + if math.hypot(*home_xy) > 30000: + raise ValueError("Home is more than 30 km from the area; set a nearby launch position") + + altitude = number(payload, "altitude_m", 5, 5, 120) + speed = number(payload, "cruise_speed_m_s", 2, 0.5, 15) + side = number(payload, "side_overlap_percent", 70, 0, 95) + forward = number(payload, "forward_overlap_percent", 75, 0, 95) + model = choice(options, "camera_model", "fov", ("fov", "sensor")) + if model == "sensor": + sensor_width = number(options, "sensor_width_mm", 6.17, 1, 60) + sensor_height = number(options, "sensor_height_mm", 4.55, 1, 60) + focal = number(options, "focal_length_mm", 4.5, 1, 300) + hfov = math.degrees(2 * math.atan(sensor_width / (2 * focal))) + vfov = math.degrees(2 * math.atan(sensor_height / (2 * focal))) + else: + hfov = number(payload, "camera_horizontal_fov_deg", 78, 10, 150) + vfov = number(payload, "camera_vertical_fov_deg", 60, 10, 150) + width = 2 * altitude * math.tan(math.radians(hfov / 2)) + height = 2 * altitude * math.tan(math.radians(vfov / 2)) + image_width = number(options, "image_width_px", 4000, 100, 30000) + image_height = number(options, "image_height_px", 3000, 100, 30000) + orientation = choice(options, "camera_orientation", "landscape", ("landscape", "portrait")) + across, along = (width, height) if orientation == "landscape" else (height, width) + automatic_spacing = across * (1 - side / 100) + trigger = round(along * (1 - forward / 100), 6) + spacing_mode = choice(options, "spacing_mode", "camera", ("camera", "manual")) + spacing = automatic_spacing if spacing_mode == "camera" else number(options, "line_spacing_m", 2, 0.25, 1000) + if min(spacing, trigger) < 0.25: + raise ValueError("Spacing below 0.25 m is unsupported; adjust altitude or overlap") + min_interval = number(options, "minimum_trigger_interval_s", 0.5, 0.1, 60) + overshoot = number(options, "overshoot_m", 0, 0, 50) + endurance = number(options, "endurance_minutes", 20, 3, 120) + reserve = number(options, "reserve_percent", 20, 10, 50) + budget = endurance * (1 - reserve / 100) + turn_seconds = 2 + number(options, "turn_seconds", 3, 0, 30) + angle_mode = choice(options, "angle_mode", "auto", ("auto", "manual")) + requested_angle = number(options, "grid_angle_deg", 90, 0, 179.99) + entry = choice(options, "entry", "nearest", ("nearest", "reverse")) + pattern = choice(options, "pattern", "single", ("single", "crosshatch")) + + def make_tracks(heading): + # Rotated x is along flight; y is across flight. Bearing is clockwise from north. + rotation = heading - 90 + rotated = affinity.rotate(polygon, rotation, origin=(0, 0)) + left, bottom, right, top = rotated.bounds + count = max(1, math.ceil((top - bottom) / spacing)) + if count > MAX_LINES: + raise ValueError("Grid exceeds 10000 lines; reduce the area or increase spacing") + actual = (top - bottom) / count + tracks = [] + for row in range(count): + y = bottom + (row + 0.5) * actual + cut = rotated.intersection(LineString([(left - 1, y), (right + 1, y)])) + pieces = [cut] if cut.geom_type == "LineString" else list(getattr(cut, "geoms", [])) + pieces = sorted((p for p in pieces if p.geom_type == "LineString" and p.length > 0.01), key=lambda p: p.bounds[0]) + if row % 2: + pieces.reverse() + for piece in pieces: + start, end = (piece.bounds[0] - overshoot, y), (piece.bounds[2] + overshoot, y) + if row % 2: + start, end = end, start + line = affinity.rotate(LineString([start, end]), -rotation, origin=(0, 0)) + tracks.append((tuple(line.coords[0]), tuple(line.coords[-1]), heading)) + if len(tracks) > MAX_LINES: + raise ValueError("Grid exceeds 10000 line segments; divide the boundary") + return tracks, actual + + def duration(tracks): + distance = 0.0 + previous = home_xy + for start, end, _ in tracks: + distance += math.dist(previous, start) + math.dist(start, end) + previous = end + distance += math.dist(previous, home_xy) + return distance, (distance / speed + 120 + turn_seconds * len(tracks)) / 60 + + if angle_mode == "auto": + # Bounded candidate search, not a claim of a globally optimal route. + candidates = list(range(0, 180, 15)) + edge = max(zip(polygon.exterior.coords, list(polygon.exterior.coords)[1:]), key=lambda p: math.dist(*p)) + candidates.append(math.degrees(math.atan2(edge[1][0] - edge[0][0], edge[1][1] - edge[0][1])) % 180) + choices = [] + for candidate in candidates: + try: + tracks, _ = make_tracks(candidate) + if tracks: + choices.append((duration(tracks)[1], candidate)) + except ValueError: + continue + if not choices: + raise ValueError("No grid within the 10000 line limit; divide the survey area") + angle = min(choices)[1] + else: + angle = requested_angle + tracks, actual_spacing = make_tracks(angle) + if pattern == "crosshatch": + second, _ = make_tracks((angle + 90) % 180) + tracks += second + if not tracks or len(tracks) > MAX_LINES: + raise ValueError("Grid must contain between 1 and 10000 line segments") + if math.dist(home_xy, tracks[-1][1]) < math.dist(home_xy, tracks[0][0]): + tracks = [(end, start, heading) for start, end, heading in reversed(tracks)] + if entry == "reverse": + tracks = [(end, start, heading) for start, end, heading in reversed(tracks)] + + footprints = [] + for start, end, heading in tracks: + rotation = heading - 90 + line = affinity.rotate(LineString([start, end]), rotation, origin=(0, 0)) + left, y, right, _ = line.bounds + # Continuous footprint union, conservative for discrete triggering when + # the final photograph is up to one trigger distance short of the end. + if line.coords[0][0] <= line.coords[-1][0]: + right = left + math.floor((right - left) / trigger) * trigger + else: + left = right - math.floor((right - left) / trigger) * trigger + footprints.append(affinity.rotate(box(left - along / 2, y - across / 2, right + along / 2, y + across / 2), -rotation, origin=(0, 0))) + covered = unary_union(footprints) + coverage = min(100, covered.intersection(polygon).area / polygon.area * 100) + blockers = [] + warnings = ["Flat-surface, nadir-camera model; terrain samples do not change mission altitudes.", + "Transit legs are straight connections, not obstacle or geofence avoidance.", + "ArduCopter setup: validate face-next-waypoint yaw, waypoint radius smaller than the line gap, and the camera trigger interface in SITL. Waypoint yaw/radius fields do not configure these settings."] + if home_source == "area_preview_only": + blockers.append("Set a launch/home position before export or simulation") + if coverage < 99.5: + blockers.append(f"Predicted footprint covers {coverage:.2f}% of the boundary; increase overlap or change grid angle") + if spacing > automatic_spacing + 0.001: + blockers.append("Manual line spacing exceeds the requested side-overlap spacing") + if trigger / speed < min_interval - 1e-9: + blockers.append(f"Camera cannot keep up: reduce speed to {trigger / min_interval:.2f} m/s or change forward overlap") + if altitude <= 15: + warnings.append("Low-altitude water clearance requires a validated sensor and autopilot setup; this planner does not configure surface following.") + + groups = [] + group = [] + group_distance = 0.0 + for track in tracks: + start, end, _ = track + previous = group[-1][1] if group else home_xy + candidate_distance = group_distance + math.dist(previous, start) + math.dist(start, end) + candidate_minutes = ((candidate_distance + math.dist(end, home_xy)) / speed + 120 + turn_seconds * (len(group) + 1)) / 60 + if group and (5 + 4 * (len(group) + 1) > MAX_ITEMS or candidate_minutes > budget): + groups.append(group) + group = [] + candidate_distance = math.dist(home_xy, start) + math.dist(start, end) + group.append(track) + group_distance = candidate_distance + if group: + groups.append(group) + if len(groups) > MAX_SORTIES: + raise ValueError("Survey needs more than 100 sorties; divide it into smaller areas") + + sorties, survey_lines = [], [] + # A centimetre tolerance avoids classifying coincident boundary transfers + # as outside because of floating-point intersection coordinates. + boundary_tolerance = polygon.buffer(0.01) + for group_index, group in enumerate(groups): + distance, minutes = duration(group) + items = [_navigation_item(0, 16, home["latitude"], home["longitude"], 0, current=1), + _navigation_item(1, 22, home["latitude"], home["longitude"], altitude)] + speed_item = _camera_trigger_item(2, 0) + speed_item.update(command=178, param1=1, param2=speed, param3=-1) + items.append(speed_item) + photo_count = 0 + path = [home] + outside = 0.0 + previous = home_xy + for start, end, heading in group: + start_geo, end_geo = geo(start), geo(end) + length = math.dist(start, end) + for point, before in ((start_geo, True), (end_geo, False)): + item = _navigation_item(len(items), 16, point["latitude"], point["longitude"], altitude) + # Copter uses its configured yaw behaviour and waypoint radius; + # it does not implement per-waypoint yaw/acceptance parameters. + item.update(param1=1.0, param2=0.0, param4=0.0) + items.append(item) + trigger_item = _camera_trigger_item(len(items), trigger if before else 0) + trigger_item["param1"] = trigger if before else 0 + items.append(trigger_item) + photo_count += math.floor(length / trigger) + 1 + outside += LineString([previous, start]).difference(boundary_tolerance).length + outside += LineString([start, end]).difference(boundary_tolerance).length + path.extend([start_geo, end_geo]) + survey_lines.append({"cell_id": 1, "line_index": len(survey_lines) + 1, + "sortie_id": group_index + 1, "start_latitude": start_geo["latitude"], + "start_longitude": start_geo["longitude"], "end_latitude": end_geo["latitude"], + "end_longitude": end_geo["longitude"], "length_m": round(length, 2)}) + previous = end + outside += LineString([previous, home_xy]).difference(boundary_tolerance).length + path.append(home) + items.append(_navigation_item(len(items), 16, home["latitude"], home["longitude"], altitude)) + items.append(_navigation_item(len(items), 21, home["latitude"], home["longitude"], 0)) + local_blockers = list(blockers) + if minutes > budget: + local_blockers.append("A single line plus home transit exceeds the sortie budget; reduce the area or move home") + sorties.append({"sortie_id": group_index + 1, "line_count": len(group), "route": path, + "distance_m": round(distance, 1), "estimated_minutes": round(minutes, 1), + "estimated_photos": photo_count, "outside_boundary_m": round(outside, 1), + "mission_item_count": len(items), "ready": not local_blockers, + "blocking_reasons": local_blockers, "mission_items": items if not local_blockers else []}) + + camera = {"horizontal_fov_deg": round(hfov, 2), "vertical_fov_deg": round(vfov, 2), + "footprint_width_m": round(width, 3), "footprint_height_m": round(height, 3), + "cross_track_m": round(across, 3), "along_track_m": round(along, 3), + "line_spacing_m": round(actual_spacing, 3), "requested_line_spacing_m": round(spacing, 3), + "trigger_distance_m": round(trigger, 3), "trigger_interval_s": round(trigger / speed, 3), + "effective_side_overlap_percent": round(100 * (1 - actual_spacing / across), 2), + "gsd_width_cm": round(width / image_width * 100, 3), + "gsd_height_cm": round(height / image_height * 100, 3)} + return AutoGridPlan({"schema_version": 2, "center": geo(polygon.centroid.coords[0]), "home": home, + "home_source": home_source, "boundary": boundary, "altitude_m": altitude, + "altitude_reference": "relative_home", "camera": camera, + "cruise_speed_m_s": speed, "survey_lines": survey_lines, "sorties": sorties, + "grid_angle_deg": round(angle, 2), "pattern": pattern, "area_m2": round(polygon.area, 1), + "coverage_percent": round(coverage, 2), "sortie_budget_minutes": round(budget, 2), + "estimate": {"survey_line_count": len(tracks), "recommended_sorties": len(sorties), + "total_distance_m": round(sum(s["distance_m"] for s in sorties), 1), + "estimated_minutes": round(sum(s["estimated_minutes"] for s in sorties), 1), + "estimated_photos": sum(s["estimated_photos"] for s in sorties), + "simulation_ready": all(s["ready"] for s in sorties), + "blocking_reasons": list(dict.fromkeys(r for s in sorties for r in s["blocking_reasons"])), + "warnings": warnings}}) diff --git a/autonomous-grid-search/backend/companion_api.py b/autonomous-grid-search/backend/companion_api.py new file mode 100644 index 0000000..946035c --- /dev/null +++ b/autonomous-grid-search/backend/companion_api.py @@ -0,0 +1,262 @@ +#!/usr/bin/env python3 +"""HTTP API for mission preview and simulation-only execution.""" + +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +import json +import threading +import time +import uuid +from typing import Any, Dict, Optional +from urllib.parse import urlparse + +from search_mission_planner import build_search_mission +from terrain_provider import sample_plan_terrain + + +MAX_REQUEST_BYTES = 64 * 1024 + + +class CompanionAPIServer: + def __init__(self, mav_manager, host: str = "0.0.0.0", port: int = 8765): + self.mav_manager = mav_manager + self.host = host + self.port = port + self.server: Optional[ThreadingHTTPServer] = None + self.thread: Optional[threading.Thread] = None + + def start(self) -> None: + if self.server: + return + handler = _handler_for(self.mav_manager) + self.server = ThreadingHTTPServer((self.host, self.port), handler) + self.thread = threading.Thread(target=self.server.serve_forever, daemon=True) + self.thread.start() + bound_port = self.server.server_address[1] + print(f"[OK] Companion API: http://{self.host}:{bound_port} (live execution locked)") + + def stop(self) -> None: + if not self.server: + return + self.server.shutdown() + self.server.server_close() + if self.thread and self.thread.is_alive(): + self.thread.join(timeout=1.0) + self.server = None + self.thread = None + + +def _handler_for(mav_manager): + mission_lock = threading.Lock() + plan_lock = threading.Lock() + plans = {} + + class CompanionRequestHandler(BaseHTTPRequestHandler): + def do_OPTIONS(self) -> None: + self.send_response(204) + self._cors_headers() + self.end_headers() + + def do_GET(self) -> None: + path = urlparse(self.path).path + if path == "/api/health": + telemetry = mav_manager.get_telemetry_snapshot() + self._send_json(200, { + "status": "ok", + "simulation": bool(mav_manager.simulate), + "connected": bool(telemetry.get("connected", False)), + "live_execution_enabled": False, + "armed": bool(telemetry.get("armed", False)), + "mission_state": telemetry.get("mission_state", "idle"), + }) + return + self._send_json(404, {"error": "endpoint not found"}) + + def do_POST(self) -> None: + path = urlparse(self.path).path + if path not in {"/api/mission/plan", "/api/mission/simulate"}: + self._send_json(404, {"error": "endpoint not found"}) + return + try: + payload = self._read_json() + if path.endswith("simulate") and not mav_manager.simulate: + self._send_json(403, {"error": "live Pixhawk execution is locked"}) + return + if "plan_id" in payload: + self._start_reviewed_plan(payload) + return + plan = _plan_from_payload(payload, mav_manager.get_telemetry_snapshot()) + settings = plan.to_dict() if "search_area" in payload else payload + terrain = ( + sample_plan_terrain(plan, str(settings.get("surface_type", "water"))) + if settings.get("terrain_enabled", False) + else {"status": "disabled", "used_for_clearance": False} + ) + except (ValueError, UnicodeError, json.JSONDecodeError) as exc: + self._send_json(400, {"error": str(exc)}) + return + except ImportError: + self._send_json(503, {"error": "Install the Pi requirements.txt to enable polygon surveys"}) + return + + if path == "/api/mission/plan": + plan_payload = plan.to_dict() + plan_payload["terrain"] = terrain + if plan_payload.get("schema_version") == 2: + plan_payload["plan_id"] = uuid.uuid4().hex + with plan_lock: + expired = [key for key, (created, _) in plans.items() if time.monotonic() - created > 600] + for key in expired: + del plans[key] + while len(plans) >= 16: + del plans[next(iter(plans))] + plans[plan_payload["plan_id"]] = (time.monotonic(), plan_payload) + self._send_json(200, {"status": "planned", "plan": plan_payload}) + return + + if "survey_options" in payload or "search_area" in payload: + self._send_json(400, {"error": "Generate and review a plan, then submit its plan_id and sortie_id"}) + return + + if not mav_manager.simulate: + self._send_json(403, { + "error": "live Pixhawk execution is locked; validate this mission in simulation first" + }) + return + + if not plan.estimate.simulation_ready: + self._send_json(422, { + "error": "mission exceeds single-sortie limits", + "reasons": list(plan.estimate.blocking_reasons), + }) + return + + if not mission_lock.acquire(blocking=False): + self._send_json(409, {"error": "another mission operation is in progress"}) + return + try: + if mav_manager.get_telemetry_snapshot().get("armed"): + self._send_json(409, {"error": "Simulator is armed; finish the current flight first"}) + return + if not mav_manager.clear_all_missions(): + self._send_json(500, {"error": "could not clear the simulated mission"}) + return + if not mav_manager.upload_mission_items(list(plan.mission_items)): + self._send_json(500, {"error": "could not load the simulated mission"}) + return + if not mav_manager.set_arm(True) or not mav_manager.set_flight_mode("AUTO"): + self._send_json(500, {"error": "could not start the simulated mission"}) + return + plan_payload = plan.to_dict() + plan_payload["terrain"] = terrain + self._send_json(202, {"status": "simulation_started", "plan": plan_payload}) + finally: + mission_lock.release() + + def _start_reviewed_plan(self, payload): + if urlparse(self.path).path != "/api/mission/simulate": + raise ValueError("plan_id is only accepted for simulation") + if not isinstance(payload["plan_id"], str): + raise ValueError("plan_id must be a string") + with plan_lock: + cached = plans.get(payload["plan_id"]) + if not cached or time.monotonic() - cached[0] > 600: + self._send_json(409, {"error": "Plan expired or API restarted; generate and review it again"}) + return + plan = cached[1] + sortie = next((s for s in plan["sorties"] if s["sortie_id"] == payload.get("sortie_id")), None) + if not sortie: + raise ValueError("Select a valid sortie_id") + if not sortie["ready"]: + self._send_json(422, {"error": "Resolve the survey checks", "reasons": sortie["blocking_reasons"]}) + return + if payload.get("review_confirmed") is not True: + raise ValueError("Confirm the selected route and relative-home altitude before simulation") + if not mission_lock.acquire(blocking=False): + self._send_json(409, {"error": "Another mission operation is in progress"}) + return + try: + if mav_manager.get_telemetry_snapshot().get("armed"): + self._send_json(409, {"error": "Simulator is armed; finish the current flight first"}) + return + if not mav_manager.clear_all_missions() or not mav_manager.upload_mission_items(sortie["mission_items"]): + self._send_json(500, {"error": "Could not load the simulated mission"}) + return + if not mav_manager.set_arm(True) or not mav_manager.set_flight_mode("AUTO"): + self._send_json(500, {"error": "Could not start the simulated mission"}) + return + self._send_json(202, {"status": "simulation_started", "plan": plan, "sortie_id": sortie["sortie_id"]}) + finally: + mission_lock.release() + + def _read_json(self) -> Dict[str, Any]: + try: + content_length = int(self.headers.get("Content-Length", "0")) + except ValueError as exc: + raise ValueError("invalid Content-Length") from exc + if content_length <= 0 or content_length > MAX_REQUEST_BYTES: + raise ValueError("request body must be between 1 byte and 64 KiB") + body = self.rfile.read(content_length) + payload = json.loads(body.decode("utf-8")) + if not isinstance(payload, dict): + raise ValueError("request body must be a JSON object") + return payload + + def _send_json(self, status: int, payload: Dict[str, Any]) -> None: + body = json.dumps(payload, allow_nan=False).encode("utf-8") + self.send_response(status) + self._cors_headers() + self.send_header("Content-Type", "application/json; charset=utf-8") + self.send_header("Content-Length", str(len(body))) + self.end_headers() + self.wfile.write(body) + + def _cors_headers(self) -> None: + self.send_header("Access-Control-Allow-Origin", "*") + self.send_header("Access-Control-Allow-Methods", "GET, POST, OPTIONS") + self.send_header("Access-Control-Allow-Headers", "Content-Type") + + def log_message(self, format_string: str, *args) -> None: + print(f"[companion-api] {self.address_string()} {format_string % args}") + + return CompanionRequestHandler + + +def _plan_from_payload(payload: Dict[str, Any], telemetry: Dict[str, Any]): + if "search_area" in payload: + from auto_grid_planner import build_radius_survey + return build_radius_survey(payload, telemetry) + if "survey_options" in payload: + from auto_grid_planner import build_auto_grid_mission + return build_auto_grid_mission(payload, telemetry) + center = payload.get("center") + if not isinstance(center, dict): + raise ValueError("center must contain latitude and longitude") + + home_latitude = telemetry.get("latitude") + home_longitude = telemetry.get("longitude") + if not _valid_position(home_latitude, home_longitude): + home_latitude = center.get("latitude") + home_longitude = center.get("longitude") + + return build_search_mission( + center_latitude=center.get("latitude"), + center_longitude=center.get("longitude"), + radius_km=payload.get("radius_km"), + altitude_m=payload.get("altitude_m"), + home_latitude=home_latitude, + home_longitude=home_longitude, + camera_horizontal_fov_deg=payload.get("camera_horizontal_fov_deg", 78.0), + camera_vertical_fov_deg=payload.get("camera_vertical_fov_deg", 60.0), + side_overlap_percent=payload.get("side_overlap_percent", 70.0), + forward_overlap_percent=payload.get("forward_overlap_percent", 75.0), + cruise_speed_m_s=payload.get("cruise_speed_m_s", 3.0), + ) + + +def _valid_position(latitude: Any, longitude: Any) -> bool: + try: + return -90 <= float(latitude) <= 90 and -180 <= float(longitude) <= 180 and not ( + float(latitude) == 0 and float(longitude) == 0 + ) + except (TypeError, ValueError): + return False diff --git a/autonomous-grid-search/backend/requirements.txt b/autonomous-grid-search/backend/requirements.txt new file mode 100644 index 0000000..92c7178 --- /dev/null +++ b/autonomous-grid-search/backend/requirements.txt @@ -0,0 +1,3 @@ +shapely>=2.0,<3 +pyproj>=3.6,<4 +pymavlink>=2.4,<3 diff --git a/autonomous-grid-search/backend/search_mission_planner.py b/autonomous-grid-search/backend/search_mission_planner.py new file mode 100644 index 0000000..66af839 --- /dev/null +++ b/autonomous-grid-search/backend/search_mission_planner.py @@ -0,0 +1,399 @@ +#!/usr/bin/env python3 +"""Generate camera-aware square-grid search missions for simulation review.""" + +from dataclasses import asdict, dataclass +import math +from typing import Any, Dict, List, Optional, Tuple + + +METRES_PER_LATITUDE_DEGREE = 111_320.0 +MAV_CMD_NAV_WAYPOINT = 16 +MAV_CMD_NAV_LAND = 21 +MAV_CMD_NAV_TAKEOFF = 22 +MAV_CMD_DO_SET_CAM_TRIGG_DIST = 206 +MAX_MISSION_ITEMS = 500 +MAX_SORTIE_MINUTES = 20.0 +MAX_SURVEY_LINES = 10_000 + + +@dataclass(frozen=True) +class SearchCell: + cell_id: int + row: int + column: int + north_m: float + east_m: float + south_m: float + west_m: float + center_latitude: float + center_longitude: float + + +@dataclass(frozen=True) +class SurveyLine: + cell_id: int + line_index: int + start_latitude: float + start_longitude: float + end_latitude: float + end_longitude: float + length_m: float + + +@dataclass(frozen=True) +class CameraCoverage: + horizontal_fov_deg: float + vertical_fov_deg: float + side_overlap_percent: float + forward_overlap_percent: float + footprint_width_m: float + footprint_height_m: float + line_spacing_m: float + trigger_distance_m: float + + +@dataclass(frozen=True) +class MissionEstimate: + survey_line_count: int + survey_distance_m: float + total_distance_m: float + estimated_minutes: float + estimated_photos: int + mission_item_count: int + recommended_sorties: int + simulation_ready: bool + blocking_reasons: Tuple[str, ...] + warnings: Tuple[str, ...] + + +@dataclass(frozen=True) +class SearchMissionPlan: + center_latitude: float + center_longitude: float + home_latitude: float + home_longitude: float + radius_km: float + altitude_m: float + cruise_speed_m_s: float + cell_count: int + rows: int + columns: int + cells: Tuple[SearchCell, ...] + route_cell_ids: Tuple[int, ...] + survey_lines: Tuple[SurveyLine, ...] + camera: CameraCoverage + estimate: MissionEstimate + mission_items: Tuple[Dict[str, Any], ...] + + def to_dict(self) -> Dict[str, Any]: + browser_mission_items = list(self.mission_items) if self.estimate.simulation_ready else [] + return { + "center": {"latitude": self.center_latitude, "longitude": self.center_longitude}, + "home": {"latitude": self.home_latitude, "longitude": self.home_longitude}, + "radius_km": self.radius_km, + "altitude_m": self.altitude_m, + "cruise_speed_m_s": self.cruise_speed_m_s, + "cell_count": self.cell_count, + "rows": self.rows, + "columns": self.columns, + "cells": [asdict(cell) for cell in self.cells], + "route_cell_ids": list(self.route_cell_ids), + "survey_lines": [asdict(line) for line in self.survey_lines], + "camera": asdict(self.camera), + "estimate": asdict(self.estimate), + "surface_tracking": { + "required": self.altitude_m <= 15.0, + "source": "downward_rangefinder", + "terrain_database_is_clearance_source": False, + }, + "phases": ["takeoff", "camera_grid_survey", "return_home", "land"], + "mission_items": browser_mission_items, + } + + +def build_search_mission( + center_latitude: float, + center_longitude: float, + radius_km: float, + altitude_m: float, + home_latitude: Optional[float] = None, + home_longitude: Optional[float] = None, + camera_horizontal_fov_deg: float = 78.0, + camera_vertical_fov_deg: float = 60.0, + side_overlap_percent: float = 70.0, + forward_overlap_percent: float = 75.0, + cruise_speed_m_s: float = 3.0, +) -> SearchMissionPlan: + """Build a camera survey with parallel flight lines inside every cell.""" + center_latitude = _bounded_number("center_latitude", center_latitude, -85.0, 85.0) + center_longitude = _bounded_number("center_longitude", center_longitude, -180.0, 180.0) + radius_km = _bounded_number("radius_km", radius_km, 0.01, 10.0) + altitude_m = _bounded_number("altitude_m", altitude_m, 5.0, 120.0) + home_latitude = center_latitude if home_latitude is None else _bounded_number( + "home_latitude", home_latitude, -85.0, 85.0 + ) + home_longitude = center_longitude if home_longitude is None else _bounded_number( + "home_longitude", home_longitude, -180.0, 180.0 + ) + horizontal_fov = _bounded_number("camera_horizontal_fov_deg", camera_horizontal_fov_deg, 10.0, 170.0) + vertical_fov = _bounded_number("camera_vertical_fov_deg", camera_vertical_fov_deg, 10.0, 170.0) + side_overlap = _bounded_number("side_overlap_percent", side_overlap_percent, 0.0, 95.0) + forward_overlap = _bounded_number("forward_overlap_percent", forward_overlap_percent, 0.0, 95.0) + cruise_speed = _bounded_number("cruise_speed_m_s", cruise_speed_m_s, 0.5, 15.0) + + footprint_width = 2.0 * altitude_m * math.tan(math.radians(horizontal_fov / 2.0)) + footprint_height = 2.0 * altitude_m * math.tan(math.radians(vertical_fov / 2.0)) + line_spacing = footprint_height * (1.0 - side_overlap / 100.0) + trigger_distance = footprint_width * (1.0 - forward_overlap / 100.0) + if line_spacing < 0.25 or trigger_distance < 0.25: + raise ValueError("camera overlap creates spacing below the 0.25 m planning limit") + + camera = CameraCoverage( + horizontal_fov_deg=horizontal_fov, + vertical_fov_deg=vertical_fov, + side_overlap_percent=side_overlap, + forward_overlap_percent=forward_overlap, + footprint_width_m=round(footprint_width, 2), + footprint_height_m=round(footprint_height, 2), + line_spacing_m=round(line_spacing, 2), + trigger_distance_m=round(trigger_distance, 2), + ) + + cell_count = max(1, int(math.ceil(radius_km * 4.0))) + rows, columns = _closest_factors(cell_count) + radius_m = radius_km * 1000.0 + cell_height_m = (radius_m * 2.0) / rows + cell_width_m = (radius_m * 2.0) / columns + cell_line_count = max(1, int(math.ceil(cell_height_m / line_spacing))) + predicted_line_count = cell_count * cell_line_count + if predicted_line_count > MAX_SURVEY_LINES: + raise ValueError( + f"survey requires {predicted_line_count} flight lines; reduce the area or overlap, " + f"or increase altitude (planning limit {MAX_SURVEY_LINES} lines)" + ) + + cells: List[SearchCell] = [] + for row in range(rows): + north_m = radius_m - row * cell_height_m + south_m = north_m - cell_height_m + for column in range(columns): + cell_id = row * columns + column + 1 + east_m = -radius_m + (column + 1) * cell_width_m + west_m = east_m - cell_width_m + latitude, longitude = _offset_coordinate( + center_latitude, + center_longitude, + (north_m + south_m) / 2.0, + (east_m + west_m) / 2.0, + ) + cells.append(SearchCell( + cell_id=cell_id, + row=row, + column=column, + north_m=round(north_m, 2), + east_m=round(east_m, 2), + south_m=round(south_m, 2), + west_m=round(west_m, 2), + center_latitude=round(latitude, 7), + center_longitude=round(longitude, 7), + )) + + route_cells: List[SearchCell] = [] + for row in range(rows): + row_cells = [cell for cell in cells if cell.row == row] + route_cells.extend(row_cells if row % 2 == 0 else reversed(row_cells)) + + survey_lines: List[SurveyLine] = [] + route_offsets: List[Tuple[float, float]] = [] + survey_distance_m = 0.0 + for cell_order, cell in enumerate(route_cells): + actual_spacing = cell_height_m / cell_line_count + for line_index in range(cell_line_count): + north_m = cell.north_m - actual_spacing * (line_index + 0.5) + forward = (cell_order + line_index) % 2 == 0 + start_east_m = cell.west_m if forward else cell.east_m + end_east_m = cell.east_m if forward else cell.west_m + start_latitude, start_longitude = _offset_coordinate( + center_latitude, center_longitude, north_m, start_east_m + ) + end_latitude, end_longitude = _offset_coordinate( + center_latitude, center_longitude, north_m, end_east_m + ) + survey_lines.append(SurveyLine( + cell_id=cell.cell_id, + line_index=line_index + 1, + start_latitude=round(start_latitude, 7), + start_longitude=round(start_longitude, 7), + end_latitude=round(end_latitude, 7), + end_longitude=round(end_longitude, 7), + length_m=round(cell_width_m, 2), + )) + route_offsets.extend([(north_m, start_east_m), (north_m, end_east_m)]) + survey_distance_m += cell_width_m + + home_offset = _coordinate_offset_metres( + center_latitude, center_longitude, home_latitude, home_longitude + ) + total_distance_m = _polyline_distance([home_offset] + route_offsets + [home_offset]) + mission_item_count = 6 + len(route_offsets) + estimated_minutes = (total_distance_m / cruise_speed + 120.0) / 60.0 + estimated_photos = int(math.ceil(survey_distance_m / trigger_distance)) + recommended_sorties = max( + 1, + int(math.ceil(mission_item_count / MAX_MISSION_ITEMS)), + int(math.ceil(estimated_minutes / MAX_SORTIE_MINUTES)), + ) + + blocking_reasons: List[str] = [] + if mission_item_count > MAX_MISSION_ITEMS: + blocking_reasons.append( + f"mission has {mission_item_count} items; split it below {MAX_MISSION_ITEMS} items per sortie" + ) + if estimated_minutes > MAX_SORTIE_MINUTES: + blocking_reasons.append( + f"estimated flight time is {estimated_minutes:.1f} minutes; split it below {MAX_SORTIE_MINUTES:.0f} minutes per sortie" + ) + warnings: List[str] = [] + if altitude_m <= 15.0: + warnings.append("low-altitude flight requires a healthy downward rangefinder; terrain elevation is not a clearance sensor") + if radius_km >= 1.0 and altitude_m <= 10.0: + warnings.append("this area is extremely large for low-altitude camera coverage") + + estimate = MissionEstimate( + survey_line_count=len(survey_lines), + survey_distance_m=round(survey_distance_m, 1), + total_distance_m=round(total_distance_m, 1), + estimated_minutes=round(estimated_minutes, 1), + estimated_photos=estimated_photos, + mission_item_count=mission_item_count, + recommended_sorties=recommended_sorties, + simulation_ready=not blocking_reasons, + blocking_reasons=tuple(blocking_reasons), + warnings=tuple(warnings), + ) + + mission_items: List[Dict[str, Any]] = [ + _navigation_item(0, MAV_CMD_NAV_WAYPOINT, home_latitude, home_longitude, 0.0, current=1), + _navigation_item(1, MAV_CMD_NAV_TAKEOFF, home_latitude, home_longitude, altitude_m), + _camera_trigger_item(2, trigger_distance), + ] + for line in survey_lines: + mission_items.append(_navigation_item( + len(mission_items), MAV_CMD_NAV_WAYPOINT, + line.start_latitude, line.start_longitude, altitude_m, + )) + mission_items.append(_navigation_item( + len(mission_items), MAV_CMD_NAV_WAYPOINT, + line.end_latitude, line.end_longitude, altitude_m, + )) + mission_items.append(_camera_trigger_item(len(mission_items), 0.0)) + mission_items.append(_navigation_item( + len(mission_items), MAV_CMD_NAV_WAYPOINT, + home_latitude, home_longitude, altitude_m, + )) + mission_items.append(_navigation_item( + len(mission_items), MAV_CMD_NAV_LAND, + home_latitude, home_longitude, 0.0, + )) + + return SearchMissionPlan( + center_latitude=center_latitude, + center_longitude=center_longitude, + home_latitude=home_latitude, + home_longitude=home_longitude, + radius_km=radius_km, + altitude_m=altitude_m, + cruise_speed_m_s=cruise_speed, + cell_count=cell_count, + rows=rows, + columns=columns, + cells=tuple(cells), + route_cell_ids=tuple(cell.cell_id for cell in route_cells), + survey_lines=tuple(survey_lines), + camera=camera, + estimate=estimate, + mission_items=tuple(mission_items), + ) + + +def _closest_factors(value: int) -> Tuple[int, int]: + rows = int(math.sqrt(value)) + while rows > 1 and value % rows != 0: + rows -= 1 + return rows, value // rows + + +def _offset_coordinate(latitude: float, longitude: float, north_m: float, east_m: float) -> Tuple[float, float]: + latitude_offset = north_m / METRES_PER_LATITUDE_DEGREE + longitude_scale = METRES_PER_LATITUDE_DEGREE * max(0.01, math.cos(math.radians(latitude))) + return latitude + latitude_offset, longitude + east_m / longitude_scale + + +def _coordinate_offset_metres( + origin_latitude: float, + origin_longitude: float, + latitude: float, + longitude: float, +) -> Tuple[float, float]: + north_m = (latitude - origin_latitude) * METRES_PER_LATITUDE_DEGREE + longitude_scale = METRES_PER_LATITUDE_DEGREE * max(0.01, math.cos(math.radians(origin_latitude))) + east_m = (longitude - origin_longitude) * longitude_scale + return north_m, east_m + + +def _polyline_distance(points: List[Tuple[float, float]]) -> float: + return sum( + math.hypot(current[0] - previous[0], current[1] - previous[1]) + for previous, current in zip(points, points[1:]) + ) + + +def _navigation_item( + seq: int, + command: int, + latitude: float, + longitude: float, + altitude_m: float, + current: int = 0, +) -> Dict[str, Any]: + return { + "seq": seq, + "frame": 6, + "command": command, + "current": current, + "autocontinue": 1, + "param1": 0.0, + "param2": 2.0, + "param3": 0.0, + "param4": 0.0, + "x": int(round(latitude * 1e7)), + "y": int(round(longitude * 1e7)), + "z": altitude_m, + } + + +def _camera_trigger_item(seq: int, trigger_distance_m: float) -> Dict[str, Any]: + return { + "seq": seq, + "frame": 2, + "command": MAV_CMD_DO_SET_CAM_TRIGG_DIST, + "current": 0, + "autocontinue": 1, + "param1": round(trigger_distance_m, 2), + "param2": 0.0, + "param3": 1.0 if trigger_distance_m > 0 else 0.0, + "param4": 0.0, + "x": 0, + "y": 0, + "z": 0.0, + } + + +def _bounded_number(name: str, value: Any, minimum: float, maximum: float) -> float: + try: + number = float(value) + except (TypeError, ValueError) as exc: + raise ValueError(f"{name} must be a number") from exc + if not math.isfinite(number) or number < minimum or number > maximum: + raise ValueError(f"{name} must be between {minimum:g} and {maximum:g}") + return number diff --git a/autonomous-grid-search/backend/survey_config.json b/autonomous-grid-search/backend/survey_config.json new file mode 100644 index 0000000..619ba70 --- /dev/null +++ b/autonomous-grid-search/backend/survey_config.json @@ -0,0 +1,30 @@ +{ + "profile_name": "downward_water_camera", + "altitude_m": 5, + "cruise_speed_m_s": 2, + "camera_horizontal_fov_deg": 78, + "camera_vertical_fov_deg": 60, + "side_overlap_percent": 70, + "forward_overlap_percent": 75, + "surface_type": "water", + "terrain_enabled": false, + "max_cell_side_m": 50, + "swarm_drone_count": 4, + "battery_swap_seconds": 120, + "square_grid_angle_deg": 0, + "survey_options": { + "camera_model": "fov", + "camera_orientation": "landscape", + "image_width_px": 4000, + "image_height_px": 3000, + "minimum_trigger_interval_s": 0.5, + "spacing_mode": "camera", + "angle_mode": "auto", + "entry": "nearest", + "pattern": "single", + "overshoot_m": 0, + "endurance_minutes": 20, + "reserve_percent": 20, + "turn_seconds": 3 + } +} diff --git a/autonomous-grid-search/backend/terrain_provider.py b/autonomous-grid-search/backend/terrain_provider.py new file mode 100644 index 0000000..f27e8f1 --- /dev/null +++ b/autonomous-grid-search/backend/terrain_provider.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +"""Optional terrain elevation sampling for mission planning context.""" + +import json +import os +from typing import Any, Dict, Iterable, Tuple +from urllib.request import Request, urlopen + + +DEFAULT_TERRAIN_API_URL = "https://api.opentopodata.org/v1/srtm90m" + + +def sample_plan_terrain(plan, surface_type: str = "water") -> Dict[str, Any]: + """Sample home, centre, and cell centres without using DEM as clearance data.""" + points = [ + (plan.home_latitude, plan.home_longitude), + (plan.center_latitude, plan.center_longitude), + ] + points.extend((cell.center_latitude, cell.center_longitude) for cell in plan.cells) + points.extend((point["latitude"], point["longitude"]) for point in plan.to_dict().get("boundary", [])) + result = sample_elevations(points) + result["surface_type"] = surface_type + result["used_for_clearance"] = False + result["clearance_source"] = "downward_rangefinder" if surface_type == "water" else "rangefinder_or_validated_terrain" + return result + + +def sample_elevations(points: Iterable[Tuple[float, float]]) -> Dict[str, Any]: + point_list = list(points) + api_url = os.environ.get("TERRAIN_API_URL", DEFAULT_TERRAIN_API_URL).rstrip("/") + locations = "|".join(f"{latitude:.7f},{longitude:.7f}" for latitude, longitude in point_list) + request = Request( + api_url, + data=json.dumps({"locations": locations, "interpolation": "cubic"}).encode("utf-8"), + headers={"Content-Type": "application/json", "User-Agent": "SentinelBlue-Companion/1.0"}, + method="POST", + ) + try: + with urlopen(request, timeout=5) as response: + payload = json.load(response) + elevations = [ + float(item["elevation"]) + for item in payload.get("results", []) + if item.get("elevation") is not None + ] + if not elevations: + return { + "status": "unavailable", + "provider": api_url, + "sample_count": 0, + "message": "terrain service returned no elevations for this area", + } + return { + "status": "available", + "provider": api_url, + "sample_count": len(elevations), + "minimum_elevation_m": round(min(elevations), 1), + "maximum_elevation_m": round(max(elevations), 1), + "elevation_range_m": round(max(elevations) - min(elevations), 1), + } + except Exception as exc: + return { + "status": "unavailable", + "provider": api_url, + "sample_count": 0, + "message": f"terrain service unavailable: {type(exc).__name__}", + } diff --git a/autonomous-grid-search/backend/tests/test_auto_grid_planner.py b/autonomous-grid-search/backend/tests/test_auto_grid_planner.py new file mode 100644 index 0000000..10668c4 --- /dev/null +++ b/autonomous-grid-search/backend/tests/test_auto_grid_planner.py @@ -0,0 +1,204 @@ +import math +import pathlib +import sys +import unittest +import time +from unittest.mock import patch + +sys.path.insert(0, str(pathlib.Path(__file__).resolve().parents[1])) +sys.path.insert(0, str(pathlib.Path(__file__).resolve().parents[3] / "telemetry" / "handheld-nrf-monitor" / "pi-code")) +from auto_grid_planner import build_auto_grid_mission, build_radius_survey +from mavlink_manager import MAVLinkManager + + +def survey_payload(width=50, height=50): + lat, lon = 12.971598, 77.594562 + dx, dy = width / 111320 / math.cos(math.radians(lat)), height / 111320 + return {"boundary": [{"latitude": lat, "longitude": lon}, {"latitude": lat, "longitude": lon + dx}, + {"latitude": lat + dy, "longitude": lon + dx}, {"latitude": lat + dy, "longitude": lon}], + "home": {"latitude": lat, "longitude": lon}, "altitude_m": 5, "cruise_speed_m_s": 2, + "survey_options": {"angle_mode": "manual", "grid_angle_deg": 90}} + + +class AutoGridTests(unittest.TestCase): + def test_radius_request_uses_pi_settings_and_vehicle_home(self): + center = {"latitude": 12.971598, "longitude": 77.594562} + request = {"search_area": {"center": center, "radius_m": 25}, "altitude_m": 100, + "home": {"latitude": 0, "longitude": 0}, "survey_options": {"spacing_mode": "manual", "line_spacing_m": 100}} + telemetry = {**center, "connected": True, "armed": False, "gps_fix_type": "3D FIX", + "last_position_timestamp": time.time(), "last_gps_timestamp": time.time()} + plan = build_radius_survey(request, telemetry).to_dict() + self.assertEqual(5, plan["altitude_m"]) + self.assertEqual(center, plan["home"]) + self.assertEqual("vehicle_position", plan["home_source"]) + self.assertEqual(4, len(plan["boundary"])) + self.assertEqual(2500, plan["area_m2"]) + self.assertEqual("square", plan["search_area"]["shape"]) + self.assertLess(plan["camera"]["line_spacing_m"], 3) + self.assertTrue(all(sortie["ready"] for sortie in plan["sorties"])) + stale = build_radius_survey(request, {**telemetry, "last_gps_timestamp": 0}).to_dict() + self.assertFalse(stale["sorties"][0]["ready"]) + self.assertIn("fresh 3D GPS", stale["estimate"]["blocking_reasons"][0]) + with self.assertRaisesRegex(ValueError, "current flight"): + build_radius_survey(request, {**telemetry, "armed": True}) + + def test_square_cells_cover_area_once_and_assign_every_line(self): + from pyproj import CRS, Transformer + from shapely.geometry import Polygon + from shapely.ops import unary_union + center = {"latitude": 12.971598, "longitude": 77.594562} + telemetry = {**center, "connected": True, "gps_fix_type": "3D FIX", + "last_position_timestamp": time.time(), "last_gps_timestamp": time.time()} + for extent, count in [(50, 4), (60, 9)]: + plan = build_radius_survey({"search_area": {"center": center, "radius_m": extent}}, telemetry).to_dict() + self.assertEqual(count, plan["cell_count"]) + self.assertLessEqual(plan["cell_side_m"], 50) + crs = CRS.from_proj4("+proj=aeqd +lat_0=12.971598 +lon_0=77.594562 +datum=WGS84 +units=m") + projection = Transformer.from_crs("EPSG:4326", crs, always_xy=True) + polygons = [Polygon([projection.transform(p["longitude"], p["latitude"]) for p in cell["boundary"]]) for cell in plan["cells"]] + self.assertAlmostEqual(sum(p.area for p in polygons), (2 * extent) ** 2, places=2) + self.assertAlmostEqual(unary_union(polygons).area, (2 * extent) ** 2, places=2) + assignments = [cell for drone in plan["swarm"]["drones"] for cell in drone["cell_ids"]] + self.assertEqual(list(range(1, count + 1)), sorted(assignments)) + for cell in plan["cells"]: + tracks = [line for line in plan["survey_lines"] if line["cell_id"] == cell["cell_id"]] + self.assertEqual(cell["line_count"], len(tracks)) + self.assertGreater(len(tracks), 1) + self.assertGreaterEqual(cell["coverage_percent"], 99.5) + for track in tracks: + self.assertEqual(cell["drone_id"], track["drone_id"]) + self.assertIn(track["sortie_id"], cell["sortie_ids"]) + for drone in plan["swarm"]["drones"]: + segments = drone["segments"] + self.assertEqual("takeoff", segments[0]["phase"]) + self.assertEqual("landing", segments[-1]["phase"]) + self.assertEqual(plan["home"], segments[-1]["end"]) + for a, b in zip(segments, segments[1:]): + self.assertEqual(a["end_s"], b["start_s"]) + self.assertEqual(a["end"], b["start"]) + self.assertTrue(plan["swarm"]["simulation_only"]) + + def test_square_cell_limit_rejects_without_truncation(self): + with self.assertRaisesRegex(ValueError, "100 square cells"): + build_radius_survey({"search_area": {"center": {"latitude": 12, "longitude": 77}, "radius_m": 1000}}, {}) + + def plan(self, payload): + return build_auto_grid_mission(payload, {}).to_dict() + + def test_camera_axes_coverage_and_export_sequence(self): + plan = self.plan(survey_payload()) + camera = plan["camera"] + self.assertAlmostEqual(camera["cross_track_m"], 10 * math.tan(math.radians(39)), places=3) + self.assertAlmostEqual(camera["trigger_distance_m"], 10 * math.tan(math.radians(30)) * .25, places=3) + self.assertLessEqual(camera["line_spacing_m"], camera["cross_track_m"] * .3 + .001) + self.assertGreaterEqual(plan["coverage_percent"], 99.5) + for sortie in plan["sorties"]: + self.assertTrue(sortie["ready"], sortie["blocking_reasons"]) + self.assertLessEqual(sortie["outside_boundary_m"], .1) + items = sortie["mission_items"] + self.assertEqual([16, 22, 178], [item["command"] for item in items[:3]]) + self.assertEqual(2, items[2]["param2"]) + self.assertEqual([16, 206, 16, 206], [item["command"] for item in items[3:7]]) + self.assertGreater(items[4]["param1"], 0) + self.assertEqual(0, items[6]["param1"]) + self.assertEqual(21, items[-1]["command"]) + self.assertEqual(list(range(len(items))), [item["seq"] for item in items]) + self.assertEqual(items[0]["x"], items[-1]["x"]) + + def test_sensor_orientation_and_gsd(self): + payload = survey_payload() + payload["survey_options"].update(camera_model="sensor", sensor_width_mm=6, sensor_height_mm=4, + focal_length_mm=5, camera_orientation="portrait", minimum_trigger_interval_s=.1) + camera = self.plan(payload)["camera"] + self.assertEqual(4, camera["cross_track_m"]) + self.assertEqual(6, camera["along_track_m"]) + self.assertEqual(.15, camera["gsd_width_cm"]) + + def test_invalid_geometry_and_numeric_values(self): + payload = survey_payload() + payload["boundary"][1], payload["boundary"][2] = payload["boundary"][2], payload["boundary"][1] + with self.assertRaisesRegex(ValueError, "Invalid boundary"): + self.plan(payload) + for value in [float("nan"), float("inf"), True, -10]: + payload = survey_payload(); payload["altitude_m"] = value + with self.assertRaises(ValueError): + self.plan(payload) + + def test_camera_rate_manual_gaps_and_missing_home_block(self): + payload = survey_payload(); payload["cruise_speed_m_s"] = 15 + plan = self.plan(payload) + self.assertIn("Camera cannot keep up", " ".join(plan["estimate"]["blocking_reasons"])) + self.assertEqual([], plan["sorties"][0]["mission_items"]) + payload = survey_payload(); payload["survey_options"].update(spacing_mode="manual", line_spacing_m=20) + plan = self.plan(payload) + self.assertLess(plan["coverage_percent"], 99.5) + self.assertIn("Manual line spacing", " ".join(plan["estimate"]["blocking_reasons"])) + payload = survey_payload(); del payload["home"] + self.assertFalse(self.plan(payload)["sorties"][0]["ready"]) + + def test_split_keeps_every_line_and_limits_each_sortie(self): + plan = self.plan(survey_payload(150, 150)) + self.assertGreater(len(plan["sorties"]), 1) + self.assertEqual(len(plan["survey_lines"]), sum(sortie["line_count"] for sortie in plan["sorties"])) + for sortie in plan["sorties"]: + self.assertLessEqual(sortie["mission_item_count"], 500) + self.assertLessEqual(sortie["estimated_minutes"], plan["sortie_budget_minutes"] + .05) + self.assertTrue(sortie["ready"]) + + def test_rotation_reverse_crosshatch_and_concave_boundary(self): + payload = survey_payload(60, 30); payload["survey_options"]["grid_angle_deg"] = 35 + first = self.plan(payload) + payload["survey_options"]["entry"] = "reverse" + reversed_plan = self.plan(payload) + self.assertEqual(first["survey_lines"][0]["start_latitude"], reversed_plan["survey_lines"][-1]["end_latitude"]) + payload["survey_options"]["pattern"] = "crosshatch" + self.assertGreater(self.plan(payload)["estimate"]["survey_line_count"], first["estimate"]["survey_line_count"]) + payload = survey_payload(); a, b, c, d = payload["boundary"] + middle = {"latitude": (a["latitude"] + c["latitude"]) / 2, "longitude": (a["longitude"] + c["longitude"]) / 2} + payload["boundary"] = [a, b, middle, c, d] + plan = self.plan(payload) + self.assertGreater(plan["area_m2"], 1000) + self.assertTrue(plan["survey_lines"]) + payload["survey_options"]["angle_mode"] = "auto" + self.assertGreaterEqual(self.plan(payload)["grid_angle_deg"], 0) + + def test_indivisible_line_exceeding_budget_is_blocked(self): + payload = survey_payload(500, 10) + payload["survey_options"].update(endurance_minutes=3, reserve_percent=50) + plan = self.plan(payload) + self.assertFalse(plan["sorties"][0]["ready"]) + self.assertEqual([], plan["sorties"][0]["mission_items"]) + + def test_simulator_completes_at_home_and_stays_landed(self): + payload = survey_payload(5, 5) + plan = self.plan(payload) + manager = MAVLinkManager(simulate=True) + manager.running = True + ticks, snapshots = 0, [] + + def tick(_): + nonlocal ticks + ticks += 1 + if ticks == 1: + manager.upload_mission_items(plan["sorties"][0]["mission_items"]) + manager.set_arm(True) + manager.set_flight_mode("AUTO") + snapshots.append(manager.get_telemetry_snapshot()) + if ticks >= 600: + manager.running = False + + with patch("mavlink_manager.time.sleep", side_effect=tick): + manager._run_simulation() + final = manager.get_telemetry_snapshot() + self.assertEqual("MISSION COMPLETED", final["mission_state"]) + self.assertFalse(final["armed"]) + self.assertEqual(0, final["altitude_relative"]) + self.assertEqual(0, final["ground_speed"]) + self.assertEqual(100, final["mission_progress_percent"]) + self.assertAlmostEqual(payload["home"]["latitude"], final["latitude"], places=6) + self.assertTrue(any(1.9 <= item["ground_speed"] <= 2.1 for item in snapshots)) + self.assertEqual(0, snapshots[-50]["altitude_relative"]) + + +if __name__ == "__main__": + unittest.main() diff --git a/autonomous-grid-search/backend/tests/test_companion_api.py b/autonomous-grid-search/backend/tests/test_companion_api.py new file mode 100644 index 0000000..daae3af --- /dev/null +++ b/autonomous-grid-search/backend/tests/test_companion_api.py @@ -0,0 +1,145 @@ +import json +import pathlib +import sys +import unittest +import time +from unittest.mock import patch +from urllib.error import HTTPError +from urllib.request import Request, urlopen + + +PI_CODE = pathlib.Path(__file__).resolve().parents[1] +sys.path.insert(0, str(PI_CODE)) + +from companion_api import CompanionAPIServer # noqa: E402 +from test_auto_grid_planner import survey_payload + + +class FakeMAVLinkManager: + def __init__(self, simulate: bool): + self.simulate = simulate + self.calls = [] + self.armed = False + self.uploaded = [] + + def get_telemetry_snapshot(self): + return {"connected": True, "latitude": 12.9700, "longitude": 77.5900, "armed": self.armed, + "gps_fix_type": "3D FIX", "last_position_timestamp": time.time(), "last_gps_timestamp": time.time()} + + def clear_all_missions(self): + self.calls.append("clear") + return True + + def upload_mission_items(self, items): + self.calls.append(("upload", len(items))) + self.uploaded = items + return True + + def set_arm(self, arm): + self.calls.append(("arm", arm)) + self.armed = arm + return True + + def set_flight_mode(self, mode): + self.calls.append(("mode", mode)) + return True + + +class CompanionAPITests(unittest.TestCase): + def setUp(self): + self.payload = json.dumps({ + "center": {"latitude": 12.9716, "longitude": 77.5946}, + "radius_km": 0.01, + "altitude_m": 30, + }).encode("utf-8") + + def _start(self, simulate): + manager = FakeMAVLinkManager(simulate) + server = CompanionAPIServer(manager, host="127.0.0.1", port=0) + server.start() + self.addCleanup(server.stop) + return manager, server.server.server_address[1] + + def _post(self, port, path): + request = Request( + f"http://127.0.0.1:{port}{path}", + data=self.payload, + headers={"Content-Type": "application/json"}, + method="POST", + ) + return urlopen(request, timeout=2) + + def test_plan_endpoint_returns_generated_grid(self): + _, port = self._start(simulate=False) + + with self._post(port, "/api/mission/plan") as response: + body = json.load(response) + + self.assertEqual("planned", body["status"]) + self.assertEqual(1, body["plan"]["cell_count"]) + self.assertGreater(body["plan"]["estimate"]["survey_line_count"], 0) + + def test_radius_only_api_request_loads_pi_profile(self): + _, port = self._start(simulate=True) + self.payload = json.dumps({"search_area": {"center": {"latitude": 12.9700, "longitude": 77.5900}, "radius_m": 25}}).encode() + with self._post(port, "/api/mission/plan") as response: + plan = json.load(response)["plan"] + self.assertEqual(25, plan["search_area"]["radius_m"]) + self.assertEqual("downward_water_camera", plan["profile_name"]) + self.assertTrue(plan["plan_id"]) + self.assertEqual("disabled", plan["terrain"]["status"]) + + def test_live_execution_is_locked(self): + manager, port = self._start(simulate=False) + + with self.assertRaises(HTTPError) as raised: + self._post(port, "/api/mission/simulate") + + self.assertEqual(403, raised.exception.code) + self.assertEqual([], manager.calls) + + def test_simulation_execution_loads_and_starts_mission(self): + manager, port = self._start(simulate=True) + + with self._post(port, "/api/mission/simulate") as response: + body = json.load(response) + + self.assertEqual(202, response.status) + self.assertEqual("simulation_started", body["status"]) + self.assertEqual("clear", manager.calls[0]) + self.assertEqual("upload", manager.calls[1][0]) + self.assertGreater(manager.calls[1][1], 8) + self.assertEqual([("arm", True), ("mode", "AUTO")], manager.calls[2:]) + + def test_reviewed_sortie_runs_exact_cached_items_and_rejects_replacement(self): + manager, port = self._start(simulate=True) + self.payload = json.dumps(survey_payload()).encode() + with self._post(port, "/api/mission/plan") as response: + plan = json.load(response)["plan"] + self.payload = json.dumps({"plan_id": plan["plan_id"], "sortie_id": 1, "review_confirmed": True, + "altitude_m": 100}).encode() + with self._post(port, "/api/mission/simulate") as response: + self.assertEqual(202, response.status) + self.assertEqual(plan["sorties"][0]["mission_items"], manager.uploaded) + with self.assertRaises(HTTPError) as raised: + self._post(port, "/api/mission/simulate") + self.assertEqual(409, raised.exception.code) + + def test_cache_expiry_and_review_confirmation(self): + manager, port = self._start(simulate=True) + self.payload = json.dumps(survey_payload()).encode() + with self._post(port, "/api/mission/plan") as response: + plan = json.load(response)["plan"] + self.payload = json.dumps({"plan_id": plan["plan_id"], "sortie_id": 1}).encode() + with self.assertRaises(HTTPError) as raised: + self._post(port, "/api/mission/simulate") + self.assertEqual(400, raised.exception.code) + with patch("companion_api.time.monotonic", return_value=float("inf")): + with self.assertRaises(HTTPError) as raised: + self._post(port, "/api/mission/simulate") + self.assertEqual(409, raised.exception.code) + self.assertEqual([], manager.calls) + + +if __name__ == "__main__": + unittest.main() diff --git a/autonomous-grid-search/backend/tests/test_search_mission_planner.py b/autonomous-grid-search/backend/tests/test_search_mission_planner.py new file mode 100644 index 0000000..7ce82bd --- /dev/null +++ b/autonomous-grid-search/backend/tests/test_search_mission_planner.py @@ -0,0 +1,74 @@ +import pathlib +import sys +import unittest + + +PI_CODE = pathlib.Path(__file__).resolve().parents[1] +sys.path.insert(0, str(PI_CODE)) + +from search_mission_planner import build_search_mission # noqa: E402 + + +class SearchMissionPlannerTests(unittest.TestCase): + def test_one_kilometre_radius_creates_four_cells(self): + plan = build_search_mission(12.9716, 77.5946, 1, 5) + + self.assertEqual(4, plan.cell_count) + self.assertEqual((2, 2), (plan.rows, plan.columns)) + self.assertEqual((1, 2, 4, 3), plan.route_cell_ids) + self.assertGreater(plan.estimate.survey_line_count, 2_000) + self.assertFalse(plan.estimate.simulation_ready) + + def test_two_kilometre_radius_creates_eight_cells(self): + plan = build_search_mission(12.9716, 77.5946, 2, 40) + + self.assertEqual(8, plan.cell_count) + self.assertEqual((2, 4), (plan.rows, plan.columns)) + self.assertEqual((1, 2, 3, 4, 8, 7, 6, 5), plan.route_cell_ids) + + def test_mission_contains_takeoff_search_return_and_land(self): + plan = build_search_mission(12.9716, 77.5946, 0.01, 30, 12.9700, 77.5900) + commands = [item["command"] for item in plan.mission_items] + + self.assertEqual(16, commands[0]) + self.assertEqual(22, commands[1]) + self.assertEqual(206, commands[2]) + self.assertEqual(206, commands[-3]) + self.assertEqual(16, commands[-2]) + self.assertEqual(21, commands[-1]) + self.assertTrue(plan.estimate.simulation_ready) + + def test_camera_footprint_controls_line_and_photo_spacing(self): + plan = build_search_mission( + 12.9716, 77.5946, 0.01, 5, + camera_horizontal_fov_deg=78, + camera_vertical_fov_deg=60, + side_overlap_percent=70, + forward_overlap_percent=75, + ) + + self.assertAlmostEqual(8.1, plan.camera.footprint_width_m, places=1) + self.assertAlmostEqual(5.77, plan.camera.footprint_height_m, places=1) + self.assertAlmostEqual(1.73, plan.camera.line_spacing_m, places=1) + self.assertAlmostEqual(2.02, plan.camera.trigger_distance_m, places=1) + self.assertEqual(12, plan.estimate.survey_line_count) + + def test_rejects_unsafe_or_invalid_ranges(self): + invalid_values = [ + (91, 77, 1, 30), + (12, 181, 1, 30), + (12, 77, 0.001, 30), + (12, 77, 1, 121), + ] + for values in invalid_values: + with self.subTest(values=values): + with self.assertRaises(ValueError): + build_search_mission(*values) + + def test_rejects_plan_too_large_to_render_safely(self): + with self.assertRaisesRegex(ValueError, "planning limit 10000 lines"): + build_search_mission(12.9716, 77.5946, 10, 5) + + +if __name__ == "__main__": + unittest.main() diff --git a/autonomous-grid-search/web/eslint.config.js b/autonomous-grid-search/web/eslint.config.js new file mode 100644 index 0000000..041127d --- /dev/null +++ b/autonomous-grid-search/web/eslint.config.js @@ -0,0 +1,26 @@ +import js from "@eslint/js"; +import globals from "globals"; +import reactHooks from "eslint-plugin-react-hooks"; +import reactRefresh from "eslint-plugin-react-refresh"; +import tseslint from "typescript-eslint"; + +export default tseslint.config( + { ignores: ["dist"] }, + js.configs.recommended, + ...tseslint.configs.recommended, + { + files: ["**/*.{ts,tsx}"], + languageOptions: { + ecmaVersion: 2020, + globals: globals.browser + }, + plugins: { + "react-hooks": reactHooks, + "react-refresh": reactRefresh + }, + rules: { + ...reactHooks.configs.recommended.rules, + "react-refresh/only-export-components": ["warn", { allowConstantExport: true }] + } + } +); diff --git a/autonomous-grid-search/web/index.html b/autonomous-grid-search/web/index.html new file mode 100644 index 0000000..c01ed53 --- /dev/null +++ b/autonomous-grid-search/web/index.html @@ -0,0 +1,14 @@ + + + + + + + + SentinelBlue Autonomous Grid Search + + +
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">=16.8" + }, + "peerDependenciesMeta": { + "react": { + "optional": true + } + } + } + } +} diff --git a/autonomous-grid-search/web/package.json b/autonomous-grid-search/web/package.json new file mode 100644 index 0000000..13f50e4 --- /dev/null +++ b/autonomous-grid-search/web/package.json @@ -0,0 +1,41 @@ +{ + "name": "sentinelblue-autonomous-grid-search", + "version": "0.1.0", + "private": true, + "type": "module", + "scripts": { + "dev": "vite --host 0.0.0.0", + "build": "tsc -b && vite build", + "preview": "vite preview --host 0.0.0.0", + "lint": "eslint .", + "test": "vitest run", + "check": "npm run lint && npm run test && npm run build" + }, + "dependencies": { + "@react-three/fiber": "^8.17.10", + "lucide-react": "^0.468.0", + "maplibre-gl": "^6.14.0", + "react": "^18.3.1", + "react-dom": "^18.3.1", + "recharts": "^3.10.1", + "three": "^0.165.0" + }, + "devDependencies": { + "@eslint/js": "^9.39.5", + "@tailwindcss/postcss": "^4.3.3", + "@types/react": "^18.3.3", + "@types/react-dom": "^18.3.0", + "@types/three": "^0.165.0", + "@vitejs/plugin-react": "^6.1.2", + "eslint": "^9.39.5", + "eslint-plugin-react-hooks": "^5.2.0", + "eslint-plugin-react-refresh": "^0.4.26", + "globals": "^17.13.0", + "postcss": "^8.5.30", + "tailwindcss": "^4.3.3", + "typescript": "^5.5.3", + "typescript-eslint": "^8.71.2", + "vite": "^8.3.4", + "vitest": "^5.0.4" + } +} diff --git a/autonomous-grid-search/web/postcss.config.js b/autonomous-grid-search/web/postcss.config.js new file mode 100644 index 0000000..9b544e3 --- /dev/null +++ b/autonomous-grid-search/web/postcss.config.js @@ -0,0 +1,5 @@ +export default { + plugins: { + "@tailwindcss/postcss": {} + } +}; diff --git a/autonomous-grid-search/web/src/assets/JetBrainsMono-OFL.txt b/autonomous-grid-search/web/src/assets/JetBrainsMono-OFL.txt new file mode 100644 index 0000000..23a3dca --- /dev/null +++ b/autonomous-grid-search/web/src/assets/JetBrainsMono-OFL.txt @@ -0,0 +1,93 @@ +Copyright 2020 The JetBrains Mono Project Authors (https://github.com/JetBrains/JetBrainsMono) + +This Font Software is licensed under the SIL Open Font License, Version 1.1. +This license is copied below, and is also available with a FAQ at: +https://scripts.sil.org/OFL + + +----------------------------------------------------------- +SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007 +----------------------------------------------------------- + +PREAMBLE +The goals of the Open Font License (OFL) are to stimulate worldwide +development of collaborative font projects, to support the font creation +efforts of academic and linguistic communities, and to provide a free and +open framework in which fonts may be shared and improved in partnership +with others. + +The OFL allows the licensed fonts to be used, studied, modified and +redistributed freely as long as they are not sold by themselves. The +fonts, including any derivative works, can be bundled, embedded, +redistributed and/or sold with any software provided that any reserved +names are not used by derivative works. The fonts and derivatives, +however, cannot be released under any other type of license. The +requirement for fonts to remain under this license does not apply +to any document created using the fonts or their derivatives. + +DEFINITIONS +"Font Software" refers to the set of files released by the Copyright +Holder(s) under this license and clearly marked as such. This may +include source files, build scripts and documentation. + +"Reserved Font Name" refers to any names specified as such after the +copyright statement(s). + +"Original Version" refers to the collection of Font Software components as +distributed by the Copyright Holder(s). + +"Modified Version" refers to any derivative made by adding to, deleting, +or substituting -- in part or in whole -- any of the components of the +Original Version, by changing formats or by porting the Font Software to a +new environment. + +"Author" refers to any designer, engineer, programmer, technical +writer or other person who contributed to the Font Software. + +PERMISSION & CONDITIONS +Permission is hereby granted, free of charge, to any person obtaining +a copy of the Font Software, to use, study, copy, merge, embed, modify, +redistribute, and sell modified and unmodified copies of the Font +Software, subject to the following conditions: + +1) Neither the Font Software nor any of its individual components, +in Original or Modified Versions, may be sold by itself. + +2) Original or Modified Versions of the Font Software may be bundled, +redistributed and/or sold with any software, provided that each copy +contains the above copyright notice and this license. These can be +included either as stand-alone text files, human-readable headers or +in the appropriate machine-readable metadata fields within text or +binary files as long as those fields can be easily viewed by the user. + +3) No Modified Version of the Font Software may use the Reserved Font +Name(s) unless explicit written permission is granted by the corresponding +Copyright Holder. This restriction only applies to the primary font name as +presented to the users. + +4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font +Software shall not be used to promote, endorse or advertise any +Modified Version, except to acknowledge the contribution(s) of the +Copyright Holder(s) and the Author(s) or with their explicit written +permission. + +5) The Font Software, modified or unmodified, in part or in whole, +must be distributed entirely under this license, and must not be +distributed under any other license. The requirement for fonts to +remain under this license does not apply to any document created +using the Font Software. + +TERMINATION +This license becomes null and void if any of the above conditions are +not met. + +DISCLAIMER +THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT +OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE +COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL +DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM +OTHER DEALINGS IN THE FONT SOFTWARE. diff --git a/autonomous-grid-search/web/src/assets/JetBrainsMono-Regular.woff2 b/autonomous-grid-search/web/src/assets/JetBrainsMono-Regular.woff2 new file mode 100644 index 0000000..8a7726b Binary files /dev/null and b/autonomous-grid-search/web/src/assets/JetBrainsMono-Regular.woff2 differ diff --git a/autonomous-grid-search/web/src/assets/JetBrainsMono-SemiBold.woff2 b/autonomous-grid-search/web/src/assets/JetBrainsMono-SemiBold.woff2 new file mode 100644 index 0000000..18dbaf3 Binary files /dev/null and b/autonomous-grid-search/web/src/assets/JetBrainsMono-SemiBold.woff2 differ diff --git a/autonomous-grid-search/web/src/components/mission_planner.tsx b/autonomous-grid-search/web/src/components/mission_planner.tsx new file mode 100644 index 0000000..693b410 --- /dev/null +++ b/autonomous-grid-search/web/src/components/mission_planner.tsx @@ -0,0 +1,165 @@ +import { useEffect, useMemo, useRef, useState } from "react"; +import { DownloadIcon, MapPinnedIcon } from "lucide-react"; +import { TerrainMissionMap } from "./terrain_mission_map"; +import { downloadText, missionPlannerFile, squarePreview, swarmPositions, droneColors, type Position, type SurveyPlan } from "../lib/survey_plan"; + +const inputClass = "mt-1 h-11 w-full rounded border border-hud-line bg-hud-bg px-3 font-mono text-sm text-hud-text focus:border-teal-300 focus:outline-none"; +const buttonClass = "min-h-11 rounded border border-hud-line px-3 py-2 text-sm font-semibold hover:border-teal-300 focus-visible:outline focus-visible:outline-2 focus-visible:outline-teal-300 disabled:cursor-not-allowed disabled:opacity-40"; +function apiOrigin(input: string) { + const url = new URL(/^https?:\/\//i.test(input) ? input : `http://${input}`); + if (!/^https?:$/.test(url.protocol) || url.username || url.password) throw new Error("Enter an HTTP or HTTPS companion API address."); + return url.origin; +} + +export function MissionPlanner({ currentLatitude, currentLongitude, telemetryAvailable }: { + currentLatitude: number; currentLongitude: number; telemetryAvailable: boolean; +}) { + const [api, setApi] = useState(() => { try { return localStorage.getItem("droneCompanionApi") ?? "localhost:8765"; } catch { return "localhost:8765"; } }); + const [center, setCenter] = useState(null); + const [radius, setRadius] = useState(50); + const [focus, setFocus] = useState({ latitude: 12.971598, longitude: 77.594562 }); + const [latitude, setLatitude] = useState(""); + const [longitude, setLongitude] = useState(""); + const [fitVersion, setFitVersion] = useState(0); + const [plan, setPlan] = useState(null); + const [sortie, setSortie] = useState(1); + const [confirmed, setConfirmed] = useState(false); + const [busy, setBusy] = useState<"planning" | "starting" | null>(null); + const [running, setRunning] = useState(false); + const [swarmPlaying, setSwarmPlaying] = useState(false); + const [swarmElapsed, setSwarmElapsed] = useState(0); + const [swarmRate, setSwarmRate] = useState(30); + const [message, setMessage] = useState("Click the map to choose the search centre."); + const [failed, setFailed] = useState(false); + const request = useRef(null); + const version = useRef(0); + const initialized = useRef(false); + const vehicleValid = telemetryAvailable && Number.isFinite(currentLatitude) && Number.isFinite(currentLongitude) && Math.abs(currentLatitude) <= 85 && Math.abs(currentLongitude) <= 180 && (currentLatitude !== 0 || currentLongitude !== 0); + useEffect(() => { + if (!initialized.current && vehicleValid) { + initialized.current = true; setFocus({ latitude: currentLatitude, longitude: currentLongitude }); + } + }, [vehicleValid, currentLatitude, currentLongitude]); + useEffect(() => () => request.current?.abort(), []); + const preview = useMemo(() => squarePreview(center, radius), [center, radius]); + const boundary = plan?.boundary ?? preview; + const virtualPositions = useMemo(() => swarmElapsed > 0 || swarmPlaying ? swarmPositions(plan?.swarm, swarmElapsed) : [], [plan, swarmElapsed, swarmPlaying]); + useEffect(() => { + if (!swarmPlaying || !plan?.swarm) return; + const duration = plan.swarm.duration_s; + let previous = performance.now(); + const timer = setInterval(() => { + const now = performance.now(); const delta = (now - previous) / 1000; previous = now; + setSwarmElapsed(value => Math.min(duration, value + delta * swarmRate)); + }, 100); + return () => clearInterval(timer); + }, [plan, swarmPlaying, swarmRate]); + useEffect(() => { + if (plan?.swarm && swarmElapsed >= plan.swarm.duration_s) setSwarmPlaying(false); + }, [plan, swarmElapsed]); + const invalidate = () => { + setSwarmPlaying(false); setSwarmElapsed(0); + version.current += 1; request.current?.abort(); setPlan(null); setConfirmed(false); setBusy(null); setFailed(false); + setMessage("Search area changed. Send it to the Pi to generate the flight plan."); + }; + const chooseCenter = (point: Position) => { + if (busy === "starting") return; + invalidate(); initialized.current = true; setCenter(point); + setLatitude(point.latitude.toFixed(7)); setLongitude(point.longitude.toFixed(7)); + }; + const fail = (error: unknown) => { setFailed(true); setMessage(error instanceof Error ? error.message : "The companion API could not be reached."); }; + const generate = async () => { + if (!center || !preview.length) return; + invalidate(); const revision = version.current; + const controller = new AbortController(); request.current = controller; + const timeout = setTimeout(() => controller.abort(), 60000); + setBusy("planning"); setMessage("Pi is calculating camera coverage, grid direction and battery sorties…"); + try { + try { localStorage.setItem("droneCompanionApi", api); } catch { /* Storage is optional. */ } + const response = await fetch(`${apiOrigin(api)}/api/mission/plan`, { method: "POST", signal: controller.signal, headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ search_area: { center, radius_m: radius } }) }); + const body = await response.json(); + if (!response.ok) throw new Error(body.error ?? `Planning failed (${response.status}).`); + if (!body.plan?.cells || !body.plan?.swarm || !Array.isArray(body.plan.sorties)) throw new Error("Update the Pi companion API for square-cell planning."); + if (revision !== version.current) return; + setPlan(body.plan); setSortie(1); setFitVersion(value => value + 1); + setMessage("Pi-generated plan ready. Review the route and select a flight sortie."); + } catch (error) { if (revision === version.current) fail(controller.signal.aborted ? new Error("Planning timed out. Check the Pi connection or reduce the search extent.") : error); } + finally { clearTimeout(timeout); if (revision === version.current) setBusy(null); } + }; + const simulate = async () => { + if (!plan || !confirmed) return; + setBusy("starting"); setFailed(false); + try { + const response = await fetch(`${apiOrigin(api)}/api/mission/simulate`, { method: "POST", headers: { "Content-Type": "application/json" }, body: JSON.stringify({ plan_id: plan.plan_id, sortie_id: sortie, review_confirmed: true }) }); + const body = await response.json(); + if (!response.ok) throw new Error(body.error ?? "Simulator could not start."); + setRunning(true); setMessage(`Sortie ${sortie} is running in simulation.`); + } catch (error) { fail(error); } finally { setBusy(null); } + }; + useEffect(() => { + if (!running) return; + const controller = new AbortController(); + const timer = setInterval(() => { + fetch(`${apiOrigin(api)}/api/health`, { signal: controller.signal }).then(response => response.json()).then(body => { + if (body.armed === false) { setRunning(false); setMessage("Simulator is disarmed. Review the next sortie before starting it."); } + }).catch(() => { /* Connection loss must not enable another start. */ }); + }, 3000); + return () => { clearInterval(timer); controller.abort(); }; + }, [api, running]); + const selected = plan?.sorties.find(item => item.sortie_id === sortie); + + return
+
+

Automatic search survey

Choose a centre and square size. The Pi grids every cell.

+ Planning & simulation · live flight locked +
+
+
+
Click the map to move the search centre.
+ {}} swarmPositions={virtualPositions} /> +
Cells: C1, C2… · D: virtual drone · H: home · dashed: transfers{center ? `${radius * 2} × ${radius * 2} m square` : "No point selected"}
+
+ +
+
; +} diff --git a/autonomous-grid-search/web/src/components/terrain_mission_map.tsx b/autonomous-grid-search/web/src/components/terrain_mission_map.tsx new file mode 100644 index 0000000..706c95d --- /dev/null +++ b/autonomous-grid-search/web/src/components/terrain_mission_map.tsx @@ -0,0 +1,134 @@ +import { useEffect, useRef, useState } from "react"; +import { Map, Marker, LngLatBounds, NavigationControl, setWorkerUrl, type GeoJSONSource, type StyleSpecification } from "maplibre-gl"; +import mapLibreWorkerUrl from "maplibre-gl/dist/maplibre-gl-worker.mjs?url"; +import { droneColors, type Position, type SurveyPlan, type SwarmPosition } from "../lib/survey_plan"; + +setWorkerUrl(mapLibreWorkerUrl); +export type DrawMode = "navigate" | "rectangle" | "polygon" | "home" | "center"; +interface Props { + boundary: Position[]; home: Position | null; plan: SurveyPlan | null; sortie: number; + center?: Position | null; + swarmPositions?: SwarmPosition[]; + mode: DrawMode; focus: Position; fitVersion: number; + onClick: (point: Position) => void; onMoveVertex: (index: number, point: Position) => void; +} +const coordinates = (point: Position): [number, number] => [point.longitude, point.latitude]; +const collection = (features: GeoJSON.Feature[]): GeoJSON.FeatureCollection => ({ type: "FeatureCollection", features }); +const line = (points: Position[], properties = {}): GeoJSON.Feature => ({ type: "Feature", properties, geometry: { type: "LineString", coordinates: points.map(coordinates) } }); + +function mapStyle(): StyleSpecification | string { + const key = (import.meta as ImportMeta & { env?: Record }).env?.VITE_MAPTILER_KEY; + if (key) return `https://api.maptiler.com/maps/hybrid/style.json?key=${encodeURIComponent(key)}`; + return { version: 8, sources: { + tiles: { type: "raster", tiles: ["https://tile.openstreetmap.org/{z}/{x}/{y}.png"], tileSize: 256, maxzoom: 19, attribution: "© OpenStreetMap contributors" }, + dem: { type: "raster-dem", url: "https://demotiles.maplibre.org/terrain-tiles/tiles.json", tileSize: 256 } + }, layers: [{ id: "tiles", type: "raster", source: "tiles" }, { id: "terrain", type: "hillshade", source: "dem", paint: { "hillshade-exaggeration": 0.25 } }] }; +} + +export function TerrainMissionMap(props: Props) { + const { boundary, home, plan, sortie, mode, center } = props; + const container = useRef(null); + const mapRef = useRef(null); + const swarmMarkers = useRef>({}); + const current = useRef(props); current.current = props; + const [loaded, setLoaded] = useState(false); + const [error, setError] = useState(false); + useEffect(() => { + if (!container.current) return; + setLoaded(false); + setError(false); + Object.values(swarmMarkers.current).forEach(marker => marker.remove()); swarmMarkers.current = {}; + const map = new Map({ container: container.current, style: mapStyle(), center: coordinates(current.current.focus), zoom: 17, maxPitch: 0 }); + mapRef.current = map; + map.addControl(new NavigationControl({ showCompass: false }), "top-right"); + map.doubleClickZoom.disable(); + map.on("click", event => current.current.onClick({ latitude: event.lngLat.lat, longitude: event.lngLat.lng })); + map.on("error", () => setError(true)); + map.on("style.load", () => { + for (const source of ["area", "cells", "edge", "grid", "transit"]) map.addSource(source, { type: "geojson", data: collection([]) }); + map.addLayer({ id: "area", type: "fill", source: "area", paint: { "fill-color": "#2dd4bf", "fill-opacity": 0.14 } }); + map.addLayer({ id: "cell_fill", type: "fill", source: "cells", paint: { "fill-color": ["get", "color"], "fill-opacity": 0.12 } }); + map.addLayer({ id: "cell_edge", type: "line", source: "cells", paint: { "line-color": ["get", "color"], "line-width": 2 } }); + map.addLayer({ id: "edge", type: "line", source: "edge", paint: { "line-color": "#0d9488", "line-width": 3 } }); + map.addLayer({ id: "transit", type: "line", source: "transit", paint: { "line-color": "#2563eb", "line-width": 2, "line-dasharray": [3, 3] } }); + map.addLayer({ id: "grid", type: "line", source: "grid", paint: { "line-color": ["case", ["get", "active"], "#b45309", ["get", "color"]], "line-width": ["case", ["get", "active"], 3, 1.5], "line-opacity": ["case", ["get", "active"], 1, 0.8] } }); + setLoaded(true); + }); + const observer = new ResizeObserver(() => map.resize()); observer.observe(container.current); + return () => { observer.disconnect(); map.remove(); mapRef.current = null; }; + }, []); + useEffect(() => { + const map = mapRef.current; + if (!loaded || !map || !map.getSource("area")) return; + const closed = boundary.length >= 3 ? [...boundary, boundary[0]] : boundary; + (map.getSource("area") as GeoJSONSource).setData(collection(boundary.length >= 3 ? [{ type: "Feature", properties: {}, geometry: { type: "Polygon", coordinates: [closed.map(coordinates)] } }] : [])); + (map.getSource("edge") as GeoJSONSource).setData(collection(boundary.length >= 2 ? [line(closed)] : [])); + (map.getSource("cells") as GeoJSONSource).setData(collection((plan?.cells ?? []).map(cell => ({ type: "Feature", properties: { color: droneColors[(cell.drone_id - 1) % droneColors.length] }, geometry: { type: "Polygon", coordinates: [[...cell.boundary, cell.boundary[0]].map(coordinates)] } })))); + (map.getSource("grid") as GeoJSONSource).setData(collection((plan?.survey_lines ?? []).map(track => line([ + { latitude: track.start_latitude, longitude: track.start_longitude }, { latitude: track.end_latitude, longitude: track.end_longitude } + ], { active: track.sortie_id === sortie, color: droneColors[((track.drone_id ?? 1) - 1) % droneColors.length] })))); + const selected = plan?.sorties.find(item => item.sortie_id === sortie); + const transits = selected ? selected.route.flatMap((point, index, route) => index % 2 === 0 && index + 1 < route.length ? [line([point, route[index + 1]])] : []) : []; + (map.getSource("transit") as GeoJSONSource).setData(collection(transits)); + const markers = (mode === "center" ? [] : boundary).map((point, index) => { + const element = document.createElement("button"); element.type = "button"; element.textContent = String(index + 1); + element.className = "survey-vertex"; element.setAttribute("aria-label", `Boundary vertex ${index + 1}; drag to move. Coordinates can also be edited in Area.`); + element.addEventListener("click", event => event.stopPropagation()); + const marker = new Marker({ element, draggable: mode === "navigate" }).setLngLat(coordinates(point)).addTo(map); + marker.on("dragend", () => { const p = marker.getLngLat(); current.current.onMoveVertex(index, { latitude: p.lat, longitude: p.lng }); }); + return marker; + }); + for (const cell of plan?.cells ?? []) { + const element = document.createElement("span"); element.className = "survey-vertex"; + element.style.width = "70px"; element.style.borderRadius = "4px"; + element.style.background = droneColors[(cell.drone_id - 1) % droneColors.length]; + element.textContent = `C${cell.cell_id} · D${cell.drone_id}`; + element.title = `Cell ${cell.cell_id}, virtual drone ${cell.drone_id}, ${cell.line_count} survey lines`; + markers.push(new Marker({ element }).setLngLat(coordinates(cell.center)).addTo(map)); + } + for (const [point, label, color] of [[center, "C", "#0f766e"], [home ?? plan?.home, "H", "#2563eb"], [selected?.route[1], "S", "#15803d"], [selected ? selected.route[selected.route.length - 2] : undefined, "E", "#b45309"]] as const) { + if (!point) continue; + const element = document.createElement("span"); element.className = "survey-vertex"; + element.style.background = color; element.textContent = label; element.title = label === "C" ? "Search centre" : label === "H" ? "Launch and landing" : label === "S" ? "First survey line" : "Last survey line"; + markers.push(new Marker({ element }).setLngLat(coordinates(point)).addTo(map)); + } + return () => markers.forEach(marker => marker.remove()); + }, [boundary, home, plan, sortie, mode, center, loaded]); + useEffect(() => { + const map = mapRef.current; + if (!map || !loaded) return; + const positions = props.swarmPositions ?? []; + for (const [key, marker] of Object.entries(swarmMarkers.current)) { + if (!positions.some(point => point.drone_id === Number(key))) { marker.remove(); delete swarmMarkers.current[Number(key)]; } + } + for (const point of positions) { + if (!swarmMarkers.current[point.drone_id]) { + const element = document.createElement("span"); element.className = "survey-vertex"; + element.style.width = "36px"; element.style.height = "36px"; element.style.zIndex = "5"; + element.style.background = droneColors[(point.drone_id - 1) % droneColors.length]; element.textContent = `D${point.drone_id}`; + swarmMarkers.current[point.drone_id] = new Marker({ element }).setLngLat(coordinates(point)).addTo(map); + } + swarmMarkers.current[point.drone_id].setLngLat(coordinates(point)); + } + }, [props.swarmPositions, loaded]); + useEffect(() => { + const map = mapRef.current; + if (map) map.getCanvas().style.cursor = props.mode === "navigate" ? "" : "crosshair"; + }, [props.mode]); + useEffect(() => { + mapRef.current?.easeTo({ center: coordinates(props.focus), zoom: 17, duration: 300 }); + }, [props.focus]); + useEffect(() => { + const map = mapRef.current; + if (!map) return; + const { boundary, home, focus } = current.current; + if (boundary.length > 1) { + const bounds = new LngLatBounds(); + [...boundary, ...(home ? [home] : [])].forEach(point => bounds.extend(coordinates(point))); + map.fitBounds(bounds, { padding: 60, maxZoom: 20, duration: 300 }); + } else map.easeTo({ center: coordinates(focus), zoom: 17, duration: 300 }); + }, [props.fitVersion]); + return
+ {error &&
Some map tiles could not load. You can still enter boundary coordinates in Area.
} +
; +} diff --git a/autonomous-grid-search/web/src/lib/survey_plan.test.ts b/autonomous-grid-search/web/src/lib/survey_plan.test.ts new file mode 100644 index 0000000..4014b4f --- /dev/null +++ b/autonomous-grid-search/web/src/lib/survey_plan.test.ts @@ -0,0 +1,38 @@ +import { describe, expect, it } from "vitest"; +import { missionPlannerFile, parseBoundary, rectangle, squarePreview, swarmPositions } from "./survey_plan"; + +describe("survey geometry input and Mission Planner export", () => { + it("previews a square using the centre-to-edge distance", () => { + expect(squarePreview(null, 25)).toEqual([]); + expect(squarePreview({ latitude: 0, longitude: 0 }, NaN)).toEqual([]); + const square = squarePreview({ latitude: 0, longitude: 0 }, 1000); + expect(square).toHaveLength(4); + expect(square[0].latitude).toBeCloseTo(-0.008993, 5); + expect(square[0].longitude).toBeCloseTo(-0.008993, 5); + expect(square[2].latitude).toBeCloseTo(0.008993, 5); + expect(square[2].longitude).toBeCloseTo(0.008993, 5); + }); + it("interpolates the Pi swarm timeline and stops at its final position", () => { + const swarm = { simulation_only: true, warning: "preview", drone_count: 1, duration_s: 10, + drones: [{ drone_id: 1, cell_ids: [1], sortie_ids: [1], duration_s: 10, segments: [{ start_s: 0, end_s: 10, start: { latitude: 12, longitude: 77 }, end: { latitude: 12.001, longitude: 77.001 }, phase: "survey", cell_id: 1, sortie_id: 1 }] }] }; + expect(swarmPositions(swarm, 5)[0].latitude).toBeCloseTo(12.0005, 7); + expect(swarmPositions(swarm, 20)[0]).toMatchObject({ latitude: 12.001, longitude: 77.001, phase: "complete" }); + expect(swarmPositions(undefined, 5)).toEqual([]); + }); + it("converts integer global relative altitude into WPL degree coordinates", () => { + const text = missionPlannerFile([{ seq: 1, current: 0, frame: 6, command: 16, param1: 1, param2: 0.1, param3: 0, param4: 90, x: 129715980, y: 775945620, z: 5, autocontinue: 1 }, + { seq: 2, current: 0, frame: 2, command: 206, param1: 1.443, param2: 0, param3: 1, param4: 0, x: 0, y: 0, z: 0, autocontinue: 1 }]); + const rows = text.trim().split("\n"); + expect(rows[0]).toBe("QGC WPL 110"); + expect(rows[1].split("\t")).toEqual(["1", "0", "3", "16", "1", "0.1", "0", "90", "12.9715980", "77.5945620", "5", "1"]); + expect(rows[2].split("\t")[3]).toBe("206"); + expect(() => missionPlannerFile([])).toThrow(); + }); + it("rejects invalid coordinate text and creates four rectangle corners", () => { + expect(() => parseBoundary("12,77\n13,78\nNaN,79")).toThrow(); + expect(() => parseBoundary("12,77\n13,78")).toThrow(); + const corners = rectangle({ latitude: 12, longitude: 77 }, { latitude: 13, longitude: 78 }); + expect(corners).toHaveLength(4); + expect(parseBoundary(corners.map(p => `${p.latitude},${p.longitude}`).join("\n"))).toEqual(corners); + }); +}); diff --git a/autonomous-grid-search/web/src/lib/survey_plan.ts b/autonomous-grid-search/web/src/lib/survey_plan.ts new file mode 100644 index 0000000..48a0638 --- /dev/null +++ b/autonomous-grid-search/web/src/lib/survey_plan.ts @@ -0,0 +1,86 @@ +export interface Position { latitude: number; longitude: number } +export type MissionItem = Record; +export interface SwarmSegment { start_s: number; end_s: number; start: Position; end: Position; phase: string; cell_id: number; sortie_id: number } +export interface SwarmPosition extends Position { drone_id: number; cell_id: number; phase: string } +export const droneColors = ["#2563eb", "#c026d3", "#15803d", "#ea580c", "#0891b2", "#7c3aed", "#be123c", "#854d0e"]; +export interface SurveyPlan { + search_area?: { center: Position; radius_m: number; shape?: string; side_m?: number }; profile_name?: string; cruise_speed_m_s: number; + cell_count?: number; cell_side_m?: number; max_cell_side_m?: number; + cells?: { cell_id: number; boundary: Position[]; center: Position; drone_id: number; line_count: number; coverage_percent: number; sortie_ids: number[] }[]; + swarm?: { simulation_only: boolean; drone_count: number; duration_s: number; warning: string; + drones: { drone_id: number; cell_ids: number[]; sortie_ids: number[]; duration_s: number; segments: SwarmSegment[] }[] }; + plan_id: string; schema_version: number; home: Position; boundary: Position[]; + altitude_m: number; area_m2: number; coverage_percent: number; grid_angle_deg: number; + sortie_budget_minutes: number; + camera: { cross_track_m: number; along_track_m: number; line_spacing_m: number; + trigger_distance_m: number; trigger_interval_s: number; gsd_width_cm: number; gsd_height_cm: number }; + survey_lines: { cell_id?: number; drone_id?: number; sortie_id: number; start_latitude: number; start_longitude: number; end_latitude: number; end_longitude: number }[]; + sorties: { cell_id?: number; drone_id?: number; scheduled_end_s?: number; sortie_id: number; line_count: number; route: Position[]; distance_m: number; + estimated_minutes: number; estimated_photos: number; outside_boundary_m: number; + mission_item_count: number; ready: boolean; blocking_reasons: string[]; mission_items: MissionItem[] }[]; + estimate: { survey_line_count: number; total_distance_m: number; estimated_minutes: number; + estimated_photos: number; blocking_reasons: string[]; warnings: string[] }; + terrain: { status: string; message?: string; sample_count?: number; elevation_range_m?: number }; +} + +// Display preview only. The Pi computes the authoritative geodesic boundary. +export function squarePreview(center: Position | null, radius: number): Position[] { + if (!center || !Number.isFinite(radius) || radius < 2 || radius > 10000) return []; + const lat = center.latitude * Math.PI / 180, lon = center.longitude * Math.PI / 180; + const distance = Math.SQRT2 * radius / 6371008.8; + return [225, 135, 45, 315].map(degrees => { + const bearing = degrees * Math.PI / 180; + const latitude = Math.asin(Math.sin(lat) * Math.cos(distance) + Math.cos(lat) * Math.sin(distance) * Math.cos(bearing)); + const longitude = lon + Math.atan2(Math.sin(bearing) * Math.sin(distance) * Math.cos(lat), Math.cos(distance) - Math.sin(lat) * Math.sin(latitude)); + return { latitude: latitude * 180 / Math.PI, longitude: ((longitude * 180 / Math.PI + 540) % 360) - 180 }; + }); +} + +export function swarmPositions(swarm: SurveyPlan["swarm"], elapsed: number): SwarmPosition[] { + return (swarm?.drones ?? []).flatMap(drone => { + const segments = drone.segments; + const segment = segments.find(item => elapsed < item.end_s) ?? segments[segments.length - 1]; + if (!segment) return []; + const progress = Math.max(0, Math.min(1, (elapsed - segment.start_s) / Math.max(.001, segment.end_s - segment.start_s))); + return [{ drone_id: drone.drone_id, cell_id: segment.cell_id, phase: elapsed >= drone.duration_s ? "complete" : segment.phase, + latitude: segment.start.latitude + (segment.end.latitude - segment.start.latitude) * progress, + longitude: segment.start.longitude + (segment.end.longitude - segment.start.longitude) * progress }]; + }); +} + +export function rectangle(a: Position, b: Position): Position[] { + return [a, { latitude: a.latitude, longitude: b.longitude }, b, { latitude: b.latitude, longitude: a.longitude }]; +} + +export function parseBoundary(text: string): Position[] { + const points = text.trim().split(/\n/).filter(line => line.trim()).map(line => { + const pair = line.trim().split(/[,\s]+/); + const [latitude, longitude] = pair.map(Number); + if (pair.length !== 2 || !Number.isFinite(latitude) || !Number.isFinite(longitude) || + Math.abs(latitude) > 85 || Math.abs(longitude) > 180) throw new Error("Use one latitude, longitude pair per line (latitude −85 to 85)."); + return { latitude, longitude }; + }); + if (points.length < 3 || points.length > 64) throw new Error("Enter 3 to 64 boundary vertices."); + return points; +} + +export function missionPlannerFile(items: MissionItem[]): string { + if (!items.length) throw new Error("No exportable mission items."); + const rows = items.map(item => { + const frame = item.frame === 6 ? 3 : item.frame; + const lat = item.frame === 6 ? item.x / 1e7 : item.x; + const lon = item.frame === 6 ? item.y / 1e7 : item.y; + const values = [item.seq, item.current, frame, item.command, item.param1, item.param2, + item.param3, item.param4, lat, lon, item.z, item.autocontinue]; + if (values.some(value => !Number.isFinite(value))) throw new Error("Invalid mission coordinates or command parameters."); + return values.map((value, index) => index === 8 || index === 9 ? value.toFixed(7) : value).join("\t"); + }); + return `QGC WPL 110\n${rows.join("\n")}\n`; +} + +export function downloadText(name: string, text: string) { + const url = URL.createObjectURL(new Blob([text], { type: "text/plain;charset=utf-8" })); + const link = document.createElement("a"); + link.href = url; link.download = name; link.click(); + setTimeout(() => URL.revokeObjectURL(url), 1000); +} diff --git a/autonomous-grid-search/web/src/main.tsx b/autonomous-grid-search/web/src/main.tsx new file mode 100644 index 0000000..48d944a --- /dev/null +++ b/autonomous-grid-search/web/src/main.tsx @@ -0,0 +1,12 @@ +import React from "react"; +import ReactDOM from "react-dom/client"; +import { MissionPlanner } from "./components/mission_planner"; +import "./styles.css"; + +ReactDOM.createRoot(document.getElementById("root") as HTMLElement).render( + +
+ +
+ +); diff --git a/autonomous-grid-search/web/src/styles.css b/autonomous-grid-search/web/src/styles.css new file mode 100644 index 0000000..db31e62 --- /dev/null +++ b/autonomous-grid-search/web/src/styles.css @@ -0,0 +1,100 @@ +@import "maplibre-gl/dist/maplibre-gl.css"; +@import "tailwindcss"; +@config "../tailwind.config.js"; + +@font-face { + font-family: "JetBrains Mono"; + src: url("./assets/JetBrainsMono-Regular.woff2") format("woff2"); + font-style: normal; + font-weight: 400; + font-display: swap; +} + +@font-face { + font-family: "JetBrains Mono"; + src: url("./assets/JetBrainsMono-SemiBold.woff2") format("woff2"); + font-style: normal; + font-weight: 600 700; + font-display: swap; +} + +html, +body, +#root { + height: 100%; + width: 100%; +} + +body { + margin: 0; + font-family: "JetBrains Mono", ui-monospace, monospace; + background-color: #080b10; + color: #ffffff; + -webkit-font-smoothing: antialiased; +} + +::placeholder { + color: rgba(255, 255, 255, 0.7); +} + +[class*="text-sig-"] { + color: #ffffff; +} + +.tabular { + font-variant-numeric: tabular-nums; +} + +.hud-grid-bg { + background-image: + linear-gradient(to right, rgba(45, 212, 191, 0.04) 1px, transparent 1px), + linear-gradient(to bottom, rgba(45, 212, 191, 0.04) 1px, transparent 1px); + background-size: 48px 48px; +} + +.maplibregl-map { + font: inherit; + background: #070b10; +} + +.maplibregl-ctrl-group { + overflow: hidden; + border: 1px solid rgba(148, 163, 184, 0.25); + border-radius: 8px; + background: #10161f; + box-shadow: 0 8px 24px rgba(0, 0, 0, 0.28); +} + +.maplibregl-ctrl-group button { + background-color: #10161f; +} + +.maplibregl-ctrl-attrib { + color: #334155; +} + +@media (prefers-reduced-motion: reduce) { + *, + *::before, + *::after { + scroll-behavior: auto !important; + transition-duration: 0.01ms !important; + animation-duration: 0.01ms !important; + animation-iteration-count: 1 !important; + } +} +/* Survey handles remain readable against aerial imagery and street maps. */ +.survey-vertex { + display: grid; + place-items: center; + width: 28px; + height: 28px; + border: 2px solid white; + border-radius: 50%; + background: #0f766e; + color: white; + font: 600 12px/1 monospace; + cursor: grab; + box-shadow: 0 1px 4px #0008; +} +.survey-vertex:focus-visible { outline: 3px solid #fbbf24; outline-offset: 2px; } diff --git a/autonomous-grid-search/web/src/types/assets.d.ts b/autonomous-grid-search/web/src/types/assets.d.ts new file mode 100644 index 0000000..c0ce482 --- /dev/null +++ b/autonomous-grid-search/web/src/types/assets.d.ts @@ -0,0 +1,4 @@ +declare module "*?url" { + const url: string; + export default url; +} diff --git a/autonomous-grid-search/web/tailwind.config.js b/autonomous-grid-search/web/tailwind.config.js new file mode 100644 index 0000000..dba1b5f --- /dev/null +++ b/autonomous-grid-search/web/tailwind.config.js @@ -0,0 +1,39 @@ +export default { + content: ["./index.html", "./src/**/*.{ts,tsx}"], + theme: { + extend: { + colors: { + hud: { + bg: "#080b10", + panel: "#0e131a", + raise: "#141b24", + line: "#1d2733", + edge: "#27333f", + text: "#ffffff", + muted: "#ffffff", + dim: "#ffffff", + faint: "#ffffff" + }, + sig: { + cyan: "#2dd4bf", + blue: "#4c8dff", + amber: "#f5a524", + red: "#f2555a", + green: "#3fcf8e", + violet: "#9b8cff", + pink: "#f472b6" + } + }, + fontFamily: { + sans: ["JetBrains Mono", "ui-monospace", "monospace"], + mono: ["JetBrains Mono", "ui-monospace", "monospace"] + }, + fontSize: { + "2xs": ["14px", "20px"], + xs: ["15px", "22px"], + sm: ["16px", "24px"] + } + } + }, + plugins: [] +}; diff --git a/autonomous-grid-search/web/tsconfig.json b/autonomous-grid-search/web/tsconfig.json new file mode 100644 index 0000000..54881ad --- /dev/null +++ b/autonomous-grid-search/web/tsconfig.json @@ -0,0 +1,21 @@ +{ + "compilerOptions": { + "composite": true, + "target": "ES2020", + "useDefineForClassFields": true, + "lib": ["DOM", "DOM.Iterable", "ES2020"], + "allowJs": false, + "skipLibCheck": true, + "esModuleInterop": true, + "allowSyntheticDefaultImports": true, + "strict": true, + "forceConsistentCasingInFileNames": true, + "module": "ESNext", + "moduleResolution": "Bundler", + "resolveJsonModule": true, + "isolatedModules": true, + "noEmit": true, + "jsx": "react-jsx" + }, + "include": ["src"] +} diff --git a/autonomous-grid-search/web/tsconfig.node.json b/autonomous-grid-search/web/tsconfig.node.json new file mode 100644 index 0000000..7065ca9 --- /dev/null +++ b/autonomous-grid-search/web/tsconfig.node.json @@ -0,0 +1,10 @@ +{ + "compilerOptions": { + "composite": true, + "skipLibCheck": true, + "module": "ESNext", + "moduleResolution": "Node", + "allowSyntheticDefaultImports": true + }, + "include": ["vite.config.ts"] +} diff --git a/autonomous-grid-search/web/vite.config.ts b/autonomous-grid-search/web/vite.config.ts new file mode 100644 index 0000000..5396a16 --- /dev/null +++ b/autonomous-grid-search/web/vite.config.ts @@ -0,0 +1,12 @@ +import { defineConfig } from "vite"; +import react from "@vitejs/plugin-react"; + +export default defineConfig({ + base: "/", + plugins: [react()], + server: { port: 5174 }, + build: { + outDir: "dist", + emptyOutDir: true + } +}); diff --git a/telemetry/README.md b/telemetry/README.md index 6989807..26e85fd 100644 --- a/telemetry/README.md +++ b/telemetry/README.md @@ -18,6 +18,9 @@ Entry point for the Raspberry Pi telemetry relay. It starts the MAVLink manager, ### `handheld-nrf-monitor/pi-code/mavlink_manager.py` Manages the Pixhawk MAVLink connection or simulator and keeps the shared telemetry state used by the NRF transmitter. +### `handheld-nrf-monitor/pi-code/companion_mode.py` +Evaluates the companion computer state from Pixhawk link freshness, battery, GPS, and Raspberry Pi temperature. It is monitor-only: every state has command output disabled, including `assist_ready` and `failsafe`. + ### `handheld-nrf-monitor/pi-code/radio_tx_module.py` Packs selected telemetry into typed NRF24L01+ frames and broadcasts them to the ESP32 handheld receiver. @@ -45,6 +48,25 @@ cd telemetry/handheld-nrf-monitor/pi-code python3 main.py --port /dev/serial0 --baud 115200 --radio-rate 5 ``` +The default companion mode is `monitor`. To validate whether the system is +healthy enough for a future assist feature without sending flight commands: + +```bash +python3 main.py --simulate --no-radio --companion-mode assist +``` + +Companion states are: + +- `disabled` - state evaluation is disabled by configuration. +- `monitor` - telemetry and companion health are current. +- `assist_ready` - link, GPS, battery, and computer health checks passed. Flight command output remains disabled. +- `degraded` - one or more required inputs are unavailable or outside the configured limits. +- `failsafe` - a critical battery or temperature condition exists, or telemetry became stale while the aircraft was armed. This is a reported state; Pixhawk remains responsible for flight stabilization and configured vehicle failsafes. + +## Autonomous Grid Search + +Survey planning, the companion API, and the mission webpage are maintained in [autonomous-grid-search](../autonomous-grid-search/README.md). The Pi relay starts the planning API unless `--no-companion-api` is set. The telemetry dashboard displays ESP32 telemetry only. + ## Running the Web Dashboard From `telemetry/live-web-dashboard` on the laptop or static-host machine: @@ -54,7 +76,7 @@ npm ci npm run dev -- --host 0.0.0.0 ``` -Open the dashboard URL and enter the ESP32 IP shown on the OLED. The dashboard reads: +Open the dashboard URL, select the battery cell count, and enter the ESP32 IP shown on the OLED. The dashboard reads: ```text http:///telemetry.json @@ -69,9 +91,26 @@ npm run preview -- --host 0.0.0.0 The Raspberry Pi does not serve the React dashboard in this telemetry flow. -## Mission Control +## Running the Web Dashboard with Docker + +Install Docker Desktop with its Linux container backend, then run this from +`telemetry/live-web-dashboard`: + +```bash +docker compose up --build -d +``` -Mission planning, grid-search, and `/api/mission/*` control endpoints are intentionally out of scope for this telemetry dashboard update. They should live in a separate mission-control module or PR so the telemetry relay remains focused on Pixhawk MAVLink input, NRF24 transmission, ESP32 JSON output, and laptop dashboard display. +The production build is served at `http://localhost:8080` on the Docker host. +Other devices on the same network can use `http://:8080` if the +host firewall allows inbound TCP port 8080. Stop it with `docker compose down`. + +The dashboard reads `http:///telemetry.json` directly from each viewer's +browser during local use. A viewer must be able to reach the ESP32 on the same +network. An HTTPS deployment requires a complete HTTPS +telemetry endpoint because browsers block insecure HTTP telemetry requests from +secure pages. Remote access requires an authenticated HTTPS or MQTT relay between +the vehicle and dashboard; publishing Docker port 8080 does not make the ESP32 +endpoint reachable over the Internet. ## ESP32 Wi-Fi Credentials diff --git a/telemetry/handheld-nrf-monitor/pi-code/companion_mode.py b/telemetry/handheld-nrf-monitor/pi-code/companion_mode.py new file mode 100644 index 0000000..d746353 --- /dev/null +++ b/telemetry/handheld-nrf-monitor/pi-code/companion_mode.py @@ -0,0 +1,124 @@ +#!/usr/bin/env python3 +"""Safety state machine for the Raspberry Pi companion computer. + +This module evaluates whether the companion computer is healthy enough to +monitor the aircraft or become ready for a future, separately guarded assist +feature. It never sends MAVLink commands. +""" + +from dataclasses import dataclass +from enum import Enum +import time +from typing import Any, Dict, Optional, Tuple + + +class RequestedCompanionMode(str, Enum): + DISABLED = "disabled" + MONITOR = "monitor" + ASSIST = "assist" + + +class CompanionState(str, Enum): + DISABLED = "disabled" + MONITOR = "monitor" + ASSIST_READY = "assist_ready" + DEGRADED = "degraded" + FAILSAFE = "failsafe" + + +@dataclass(frozen=True) +class CompanionStatus: + state: CompanionState + reasons: Tuple[str, ...] + commands_allowed: bool = False + + +@dataclass(frozen=True) +class CompanionLimits: + telemetry_timeout_s: float = 3.0 + minimum_satellites: int = 6 + minimum_battery_percent: int = 20 + critical_battery_percent: int = 10 + maximum_cpu_temp_c: float = 80.0 + critical_cpu_temp_c: float = 85.0 + + +class CompanionModeController: + """Evaluates companion readiness without taking control of the aircraft.""" + + def __init__( + self, + requested_mode: RequestedCompanionMode = RequestedCompanionMode.MONITOR, + limits: Optional[CompanionLimits] = None, + ): + self.requested_mode = requested_mode + self.limits = limits or CompanionLimits() + + def evaluate( + self, + telemetry: Dict[str, Any], + sbc_metrics: Dict[str, Any], + now: Optional[float] = None, + ) -> CompanionStatus: + """Return the current state and every reason preventing full readiness.""" + if self.requested_mode == RequestedCompanionMode.DISABLED: + return CompanionStatus(CompanionState.DISABLED, ("disabled by configuration",)) + + now = time.time() if now is None else now + reasons = [] + critical_reasons = [] + connected = bool(telemetry.get("connected", False)) + armed = bool(telemetry.get("armed", False)) + last_packet = self._number(telemetry.get("last_packet_timestamp"), 0.0) + packet_age = now - last_packet if last_packet > 0 else float("inf") + + if not connected: + reasons.append("Pixhawk link disconnected") + if packet_age > self.limits.telemetry_timeout_s: + reasons.append("telemetry is stale") + + battery = self._number(telemetry.get("battery_remaining"), 0.0) + if 0 < battery <= self.limits.critical_battery_percent: + critical_reasons.append("battery is critical") + elif 0 < battery < self.limits.minimum_battery_percent: + reasons.append("battery is low") + + cpu_temp = self._number(sbc_metrics.get("cpu_temp_c"), 0.0) + if cpu_temp >= self.limits.critical_cpu_temp_c: + critical_reasons.append("companion CPU temperature is critical") + elif cpu_temp >= self.limits.maximum_cpu_temp_c: + reasons.append("companion CPU temperature is high") + + if self.requested_mode == RequestedCompanionMode.ASSIST: + if battery <= 0: + reasons.append("battery telemetry is unavailable") + if cpu_temp <= 0: + reasons.append("companion CPU temperature is unavailable") + fix_type = str(telemetry.get("gps_fix_type", "NO FIX")).upper() + satellites = int(self._number(telemetry.get("satellites"), 0.0)) + if fix_type not in {"3D FIX", "DGPS", "RTK FLT", "RTK FIX"}: + reasons.append("3D GPS fix is unavailable") + if satellites < self.limits.minimum_satellites: + reasons.append("too few GPS satellites") + + if critical_reasons or (armed and (not connected or packet_age > self.limits.telemetry_timeout_s)): + all_reasons = tuple(critical_reasons + reasons) + return CompanionStatus(CompanionState.FAILSAFE, all_reasons) + + if reasons: + return CompanionStatus(CompanionState.DEGRADED, tuple(reasons)) + + if self.requested_mode == RequestedCompanionMode.ASSIST: + return CompanionStatus( + CompanionState.ASSIST_READY, + ("health checks passed; command output remains disabled",), + ) + + return CompanionStatus(CompanionState.MONITOR, ("telemetry monitoring healthy",)) + + @staticmethod + def _number(value: Any, default: float) -> float: + try: + return float(value) + except (TypeError, ValueError): + return default diff --git a/telemetry/handheld-nrf-monitor/pi-code/main.py b/telemetry/handheld-nrf-monitor/pi-code/main.py index 20d8970..670fd35 100644 --- a/telemetry/handheld-nrf-monitor/pi-code/main.py +++ b/telemetry/handheld-nrf-monitor/pi-code/main.py @@ -15,10 +15,15 @@ import signal import argparse import sys +from pathlib import Path + +sys.path.insert(0, str(Path(__file__).resolve().parents[3] / "autonomous-grid-search" / "backend")) from sbc_monitor import SBCMonitor from mavlink_manager import MAVLinkManager from radio_tx_module import RadioTXModule +from companion_mode import CompanionModeController, RequestedCompanionMode +from companion_api import CompanionAPIServer def main(): parser = argparse.ArgumentParser(description="Drone Telemetry Pi Relay") @@ -27,6 +32,14 @@ def main(): parser.add_argument("--radio-rate", type=float, default=5.0, help="NRF24 broadcast rate in Hz (default: 5.0)") parser.add_argument("--no-radio", action="store_true", help="Disable NRF24 radio module") parser.add_argument("--simulate", action="store_true", help="Run simulated flight telemetry without hardware") + parser.add_argument( + "--companion-mode", + choices=[mode.value for mode in RequestedCompanionMode], + default=RequestedCompanionMode.MONITOR.value, + help="Companion state evaluation mode; assist only checks readiness and never sends commands", + ) + parser.add_argument("--companion-api-port", type=int, default=8765, help="Mission planning API port") + parser.add_argument("--no-companion-api", action="store_true", help="Disable the mission planning API") args = parser.parse_args() print("=" * 76) @@ -36,16 +49,23 @@ def main(): print("[*] Web Dashboard: laptop/static host reads ESP32 Wi-Fi JSON") print(f"[*] Radio TX Broadcast Rate: {args.radio_rate} Hz ({'DISABLED' if args.no_radio else 'ENABLED'})") print(f"[*] Operation Mode: {'SIMULATION' if args.simulate else 'LIVE PIXHAWK'}") + print(f"[*] Companion Mode: {args.companion_mode.upper()} (live command output disabled)") print("----------------------------------------------------------------------------") # 1. SBC Monitor sbc_monitor = SBCMonitor() print("[+] Initialized SBC Hardware & Thermal Monitor.") + companion_mode = CompanionModeController(RequestedCompanionMode(args.companion_mode)) + # 2. Shared MAVLink Manager mav_manager = MAVLinkManager(port=args.port, baud=args.baud, simulate=args.simulate) mav_manager.start() + companion_api = CompanionAPIServer(mav_manager, port=args.companion_api_port) + if not args.no_companion_api: + companion_api.start() + # 3. NRF24 Radio Transmitter radio_module = RadioTXModule( mav_manager=mav_manager, @@ -66,9 +86,10 @@ def main(): # Graceful exit handler def shutdown(signum, frame): print("\n[*] Stopping telemetry relay...") + companion_api.stop() radio_module.stop() mav_manager.stop() - print("[✓] All modules stopped cleanly.") + print("[OK] All modules stopped cleanly.") sys.exit(0) signal.signal(signal.SIGINT, shutdown) @@ -83,7 +104,8 @@ def shutdown(signum, frame): last_print = now t = mav_manager.get_telemetry_snapshot() sbc = sbc_monitor.get_metrics_snapshot() - conn_status = "✓ LIVE" if t.get("connected") else "! WAITING" + companion_status = companion_mode.evaluate(t, sbc, now=now) + conn_status = "LIVE" if t.get("connected") else "! WAITING" v_bat = t.get('battery_voltage', 0.0) bat_str = f"{v_bat:5.2f}V" if v_bat > 0.5 else "USB 5V" print(f"[{conn_status}] Mode: {t.get('flight_mode'):<9} | " @@ -93,7 +115,9 @@ def shutdown(signum, frame): f"Hdg: {t.get('heading', 0.0):5.1f}° | " f"Alt: {t.get('altitude_relative', 0.0):4.1f}m | " f"Sats: {t.get('satellites', 0):2d} | " - f"CPU: {sbc.get('cpu_temp_c', 0.0):4.1f}°C") + f"CPU: {sbc.get('cpu_temp_c', 0.0):4.1f}°C | " + f"Companion: {companion_status.state.value.upper()} " + f"({'; '.join(companion_status.reasons)})") if __name__ == "__main__": main() diff --git a/telemetry/handheld-nrf-monitor/pi-code/mavlink_manager.py b/telemetry/handheld-nrf-monitor/pi-code/mavlink_manager.py index a3c488e..e5e2876 100644 --- a/telemetry/handheld-nrf-monitor/pi-code/mavlink_manager.py +++ b/telemetry/handheld-nrf-monitor/pi-code/mavlink_manager.py @@ -146,7 +146,7 @@ def set_flight_mode(self, mode: str) -> bool: """Commands Pixhawk into requested flight mode (e.g. AUTO, LOITER, RTL, GUIDED).""" mode_upper = mode.upper() if self.simulate or not self.mav: - print(f"[✓] Simulation: Flight mode switched to '{mode_upper}'") + print(f"[OK] Simulation: Flight mode switched to '{mode_upper}'") with self._lock: self.state["flight_mode"] = mode_upper if mode_upper == "AUTO": @@ -194,7 +194,7 @@ def set_flight_mode(self, mode: str) -> bool: def set_arm(self, arm: bool = True, force: bool = False) -> bool: """Arms or disarms the motors.""" if self.simulate or not self.mav: - print(f"[✓] Simulation: Motors {'ARMED' if arm else 'DISARMED'}") + print(f"[OK] Simulation: Motors {'ARMED' if arm else 'DISARMED'}") with self._lock: self.state["armed"] = arm return True @@ -248,9 +248,13 @@ def clear_all_missions(self) -> bool: def upload_mission_items(self, items: List[Dict[str, Any]]) -> bool: """Thread-safe mission upload to Pixhawk using MAVLink Mission Protocol.""" if self.simulate or not self.mav: - print(f"[✓] Simulation: Loaded {len(items)} mission items into simulator memory.") + print(f"[OK] Simulation: Loaded {len(items)} mission items into simulator memory.") with self._lock: self.sim_mission_items = items + if items: + self.sim_current_lat = items[0].get("x", 0) / 1e7 + self.sim_current_lon = items[0].get("y", 0) / 1e7 + self.sim_current_alt = 0.0 self.sim_mission_index = 1 self.state["mission_total_items"] = len(items) self.state["mission_current_seq"] = 1 @@ -514,6 +518,7 @@ def _handle_mavlink_message(self, msg, mavutil, now: Optional[float] = None) -> self.state["battery_remaining"] = msg.battery_remaining elif msg_type == 'GLOBAL_POSITION_INT': + self.state["last_position_timestamp"] = now self.state["latitude"] = round(msg.lat / 1e7, 7) self.state["longitude"] = round(msg.lon / 1e7, 7) self.state["altitude_relative"] = round(msg.relative_alt / 1000.0, 2) @@ -523,6 +528,7 @@ def _handle_mavlink_message(self, msg, mavutil, now: Optional[float] = None) -> self.state["heading"] = heading elif msg_type == 'GPS_RAW_INT': + self.state["last_gps_timestamp"] = now if msg.satellites_visible != 255: self.state["satellites"] = msg.satellites_visible fix_map = {0: "NO FIX", 1: "NO FIX", 2: "2D FIX", 3: "3D FIX", 4: "DGPS", 5: "RTK FLT", 6: "RTK FIX"} @@ -662,7 +668,7 @@ def _run_live_mavlink(self): if hb: tgt_sys = getattr(self.mav, "target_system", 1) or 1 tgt_comp = getattr(self.mav, "target_component", 1) or 1 - print(f"[✓] Heartbeat received from Pixhawk (System: {tgt_sys}, Component: {tgt_comp})") + print(f"[OK] Heartbeat received from Pixhawk (System: {tgt_sys}, Component: {tgt_comp})") self._handle_mavlink_message(hb, mavutil) else: self._set_connection_state(False, "Serial open but no MAVLink heartbeat") @@ -729,6 +735,8 @@ def _run_simulation(self): self.sim_mission_index = 1 EARTH_R = 6378137.0 + survey_speed = 5.0 + dwell_remaining = 0.0 while self.running: time.sleep(0.1) @@ -745,6 +753,7 @@ def _run_simulation(self): roll_actual = 0.0 pitch_actual = 0.0 climb_rate = 0.0 + sim_ground_speed = 0.0 mission_state = self.state.get("mission_state", "STANDBY") progress_pct = self.state.get("mission_progress_percent", 0) @@ -770,7 +779,9 @@ def _run_simulation(self): mission_state = f"CRUISE -> WP 1" # 2. Speed Command (MAV_CMD_DO_CHANGE_SPEED = 178) - elif cmd == 178: + elif cmd in (178, 206): + if cmd == 178 and item.get("param2", 0) > 0: + survey_speed = item["param2"] self.sim_mission_index += 1 # 3. Waypoint Command (MAV_CMD_NAV_WAYPOINT = 16) @@ -791,28 +802,34 @@ def _run_simulation(self): roll_actual = round(min(max(heading_err * 0.5, -20.0), 20.0), 2) pitch_actual = -3.5 # Forward acceleration pitch - # Step towards target at 5.0 m/s (0.5m per 0.1s tick) - step_m = min(0.5, dist) + step_m = min(survey_speed * 0.1, dist) if dist > 0.01: + sim_ground_speed = step_m / 0.1 sim_lat += (dlat / dist) * (step_m / EARTH_R) * (180.0 / math.pi) sim_lon += (dlon / dist) * (step_m / (EARTH_R * math.cos(math.radians(sim_lat)))) * (180.0 / math.pi) mission_state = f"NAV WP {self.sim_mission_index}/{total_wps - 1} ({dist:.1f}m)" - # Reached Waypoint Acceptance Radius (2.0m) - if dist <= 2.0: - self.sim_mission_index += 1 + if dist <= 0.05: + sim_lat, sim_lon, sim_alt = target_lat, target_lon, target_alt + dwell_remaining += 0.1 + if dwell_remaining >= item.get("param1", 0): + self.sim_mission_index += 1 + dwell_remaining = 0.0 # 4. Return to Launch / Land (MAV_CMD_NAV_RETURN_TO_LAUNCH = 20, MAV_CMD_NAV_LAND = 21) elif cmd in (20, 21): - dlat = (base_lat - sim_lat) * (math.pi / 180.0) * EARTH_R - dlon = (base_lon - sim_lon) * (math.pi / 180.0) * EARTH_R * math.cos(math.radians(sim_lat)) + land_lat = item.get("x", 0) / 1e7 if cmd == 21 else base_lat + land_lon = item.get("y", 0) / 1e7 if cmd == 21 else base_lon + dlat = (land_lat - sim_lat) * (math.pi / 180.0) * EARTH_R + dlon = (land_lon - sim_lon) * (math.pi / 180.0) * EARTH_R * math.cos(math.radians(sim_lat)) dist = math.sqrt(dlat**2 + dlon**2) if dist > 2.0: target_bearing = (math.degrees(math.atan2(dlon, dlat)) + 360.0) % 360.0 sim_heading = target_bearing - step_m = min(0.5, dist) + step_m = min(survey_speed * 0.1, dist) + sim_ground_speed = step_m / 0.1 sim_lat += (dlat / dist) * (step_m / EARTH_R) * (180.0 / math.pi) sim_lon += (dlon / dist) * (step_m / (EARTH_R * math.cos(math.radians(sim_lat)))) * (180.0 / math.pi) mission_state = f"RTL RETURN ({dist:.1f}m)" @@ -833,7 +850,7 @@ def _run_simulation(self): self.sim_current_lon = sim_lon self.sim_current_alt = sim_alt - elif is_auto and has_mission and self.sim_mission_index >= len(self.sim_mission_items): + elif has_mission and self.sim_mission_index >= len(self.sim_mission_items): mission_state = "MISSION COMPLETED" progress_pct = 100 @@ -845,10 +862,11 @@ def _run_simulation(self): sim_heading = round((t * 12.0) % 360, 1) roll_actual = round(3.5 * math.sin(t * 0.8), 2) pitch_actual = round(2.0 * math.cos(t * 0.5), 2) + sim_ground_speed = 2.0 - gyro_x = round(5.0 * math.cos(t * 1.5), 2) - gyro_y = round(4.0 * math.sin(t * 1.2), 2) - gyro_z = round(2.5 * math.sin(t * 0.4), 2) + gyro_x = round(9.0 * math.cos(t * 0.31) + 2.0 * math.sin(t * 0.09), 2) + gyro_y = round(7.0 * math.sin(t * 0.27 + 0.8), 2) + gyro_z = round(5.0 * math.sin(t * 0.19 + 1.6), 2) accel_x = round(0.4 * math.sin(t * 1.5), 2) accel_y = round(0.3 * math.cos(t * 1.2), 2) @@ -860,11 +878,13 @@ def _run_simulation(self): c3 = round((sim_voltage / 3.0) + 0.002, 3) cell_delta = int((max(c1, c2, c3) - min(c1, c2, c3)) * 1000) - base_pwm = 1580 - m1 = int(base_pwm + 45 * math.sin(t * 2.0)) - m2 = int(base_pwm - 35 * math.sin(t * 2.0)) - m3 = int(base_pwm + 40 * math.cos(t * 2.0)) - m4 = int(base_pwm - 30 * math.cos(t * 2.0)) + base_pwm = 1550 + 90 * math.sin(t * 0.12) + m1 = int(base_pwm + 35 + 45 * math.sin(t * 0.28)) + m2 = int(base_pwm - 30 + 38 * math.sin(t * 0.21 + 1.3)) + m3 = int(base_pwm + 15 + 40 * math.cos(t * 0.24 + 2.0)) + m4 = int(base_pwm - 10 + 35 * math.cos(t * 0.18 + 0.8)) + if has_mission and not self.state.get("armed"): + m1 = m2 = m3 = m4 = 1000 with self._lock: self.state.update({ @@ -884,7 +904,7 @@ def _run_simulation(self): "rc_rssi": int(92 + 5 * math.sin(t * 0.1)), "radio_link_quality": 98, "heading": round(sim_heading, 1), - "ground_speed": 5.0 if is_auto and has_mission else 2.0, + "ground_speed": round(sim_ground_speed, 2), "mission_state": mission_state, "mission_progress_percent": progress_pct, "mission_current_seq": self.sim_mission_index, @@ -900,13 +920,15 @@ def _run_simulation(self): "attitude_yaw": round(sim_heading, 1), "target_roll": 0.0, "target_pitch": 0.0, - "target_yaw": round(sim_heading, 1), + "target_yaw": round((sim_heading + 1.2 * math.sin(t * 0.11)) % 360, 1), "error_roll": round(-roll_actual, 2), "error_pitch": round(-pitch_actual, 2), - "error_yaw": 0.0, + "error_yaw": round(1.2 * math.sin(t * 0.11), 2), "motor_pwm": [m1, m2, m3, m4], "motor_percent": [int((m - 1000) / 10.0) for m in [m1, m2, m3, m4]], "last_packet_timestamp": time.time(), + "last_position_timestamp": time.time(), + "last_gps_timestamp": time.time(), "last_heartbeat_timestamp": time.time(), "last_message_type": "SIMULATION", "mavlink_status": "Simulation telemetry running", diff --git a/telemetry/handheld-nrf-monitor/pi-code/radio_tx_module.py b/telemetry/handheld-nrf-monitor/pi-code/radio_tx_module.py index e7d4687..e5bf379 100644 --- a/telemetry/handheld-nrf-monitor/pi-code/radio_tx_module.py +++ b/telemetry/handheld-nrf-monitor/pi-code/radio_tx_module.py @@ -64,7 +64,7 @@ def start(self): self.running = True self.thread = threading.Thread(target=self._tx_loop, daemon=True) self.thread.start() - print(f"[✓] Module 1 (Radio TX): Running at {self.rate_hz} Hz ({'HARDWARE SPI' if self.radio_available else 'SIMULATED MOCK'}).") + print(f"[OK] Module 1 (Radio TX): Running at {self.rate_hz} Hz ({'HARDWARE SPI' if self.radio_available else 'SIMULATED MOCK'}).") def stop(self): self.running = False @@ -348,4 +348,4 @@ def _tx_loop(self): time.sleep(2.0) tx.stop() mgr.stop() - print("[✓] RadioTXModule test passed.") + print("[OK] RadioTXModule test passed.") diff --git a/telemetry/handheld-nrf-monitor/pi-code/requirements.txt b/telemetry/handheld-nrf-monitor/pi-code/requirements.txt new file mode 100644 index 0000000..92c7178 --- /dev/null +++ b/telemetry/handheld-nrf-monitor/pi-code/requirements.txt @@ -0,0 +1,3 @@ +shapely>=2.0,<3 +pyproj>=3.6,<4 +pymavlink>=2.4,<3 diff --git a/telemetry/handheld-nrf-monitor/pi-code/sbc_monitor.py b/telemetry/handheld-nrf-monitor/pi-code/sbc_monitor.py index 51faaf5..22abdad 100644 --- a/telemetry/handheld-nrf-monitor/pi-code/sbc_monitor.py +++ b/telemetry/handheld-nrf-monitor/pi-code/sbc_monitor.py @@ -46,7 +46,7 @@ def get_cpu_temp(self) -> float: return round(val / 1000.0, 1) if val > 1000 else round(val, 1) except Exception: pass - return 46.5 + return 0.0 def get_cpu_load(self) -> float: """Calculates instantaneous CPU load percentage.""" diff --git a/telemetry/handheld-nrf-monitor/pi-code/tests/test_companion_mode.py b/telemetry/handheld-nrf-monitor/pi-code/tests/test_companion_mode.py new file mode 100644 index 0000000..e8ee0f4 --- /dev/null +++ b/telemetry/handheld-nrf-monitor/pi-code/tests/test_companion_mode.py @@ -0,0 +1,94 @@ +import pathlib +import sys +import unittest + + +PI_CODE = pathlib.Path(__file__).resolve().parents[1] +sys.path.insert(0, str(PI_CODE)) + +from companion_mode import ( # noqa: E402 + CompanionModeController, + CompanionState, + RequestedCompanionMode, +) + + +class CompanionModeControllerTests(unittest.TestCase): + def setUp(self): + self.now = 1_000.0 + self.telemetry = { + "connected": True, + "armed": False, + "last_packet_timestamp": self.now - 0.5, + "battery_remaining": 80, + "gps_fix_type": "3D FIX", + "satellites": 12, + } + self.sbc = {"cpu_temp_c": 55.0} + + def test_monitor_mode_reports_healthy(self): + controller = CompanionModeController(RequestedCompanionMode.MONITOR) + + status = controller.evaluate(self.telemetry, self.sbc, now=self.now) + + self.assertEqual(CompanionState.MONITOR, status.state) + self.assertFalse(status.commands_allowed) + + def test_assist_mode_only_reports_readiness(self): + controller = CompanionModeController(RequestedCompanionMode.ASSIST) + + status = controller.evaluate(self.telemetry, self.sbc, now=self.now) + + self.assertEqual(CompanionState.ASSIST_READY, status.state) + self.assertFalse(status.commands_allowed) + + def test_assist_requires_usable_gps(self): + self.telemetry.update({"gps_fix_type": "2D FIX", "satellites": 4}) + controller = CompanionModeController(RequestedCompanionMode.ASSIST) + + status = controller.evaluate(self.telemetry, self.sbc, now=self.now) + + self.assertEqual(CompanionState.DEGRADED, status.state) + self.assertIn("3D GPS fix is unavailable", status.reasons) + self.assertIn("too few GPS satellites", status.reasons) + + def test_assist_fails_closed_when_health_values_are_unavailable(self): + self.telemetry["battery_remaining"] = 0 + self.sbc["cpu_temp_c"] = 0 + controller = CompanionModeController(RequestedCompanionMode.ASSIST) + + status = controller.evaluate(self.telemetry, self.sbc, now=self.now) + + self.assertEqual(CompanionState.DEGRADED, status.state) + self.assertIn("battery telemetry is unavailable", status.reasons) + self.assertIn("companion CPU temperature is unavailable", status.reasons) + + def test_stale_telemetry_while_armed_reports_failsafe(self): + self.telemetry.update({"armed": True, "last_packet_timestamp": self.now - 10.0}) + controller = CompanionModeController(RequestedCompanionMode.MONITOR) + + status = controller.evaluate(self.telemetry, self.sbc, now=self.now) + + self.assertEqual(CompanionState.FAILSAFE, status.state) + self.assertFalse(status.commands_allowed) + + def test_critical_battery_reports_failsafe(self): + self.telemetry["battery_remaining"] = 9 + controller = CompanionModeController(RequestedCompanionMode.MONITOR) + + status = controller.evaluate(self.telemetry, self.sbc, now=self.now) + + self.assertEqual(CompanionState.FAILSAFE, status.state) + self.assertIn("battery is critical", status.reasons) + + def test_disabled_mode_ignores_health(self): + controller = CompanionModeController(RequestedCompanionMode.DISABLED) + + status = controller.evaluate({}, {}, now=self.now) + + self.assertEqual(CompanionState.DISABLED, status.state) + self.assertFalse(status.commands_allowed) + + +if __name__ == "__main__": + unittest.main() diff --git a/telemetry/live-web-dashboard/.dockerignore b/telemetry/live-web-dashboard/.dockerignore index 8c633ec..90fca7b 100644 --- a/telemetry/live-web-dashboard/.dockerignore +++ b/telemetry/live-web-dashboard/.dockerignore @@ -2,3 +2,6 @@ node_modules dist *.tsbuildinfo npm-debug.log* +.git +.env +.env.* diff --git a/telemetry/live-web-dashboard/Dockerfile b/telemetry/live-web-dashboard/Dockerfile index 1f05a13..449c990 100644 --- a/telemetry/live-web-dashboard/Dockerfile +++ b/telemetry/live-web-dashboard/Dockerfile @@ -1,4 +1,4 @@ -FROM node:22-alpine +FROM node:22-alpine AS build WORKDIR /app @@ -6,7 +6,14 @@ COPY package.json package-lock.json ./ RUN npm ci COPY . . +RUN npm run build -EXPOSE 5173 +FROM nginxinc/nginx-unprivileged:stable-alpine -CMD ["npm", "run", "dev", "--", "--host", "0.0.0.0", "--port", "5173"] +COPY nginx.conf /etc/nginx/conf.d/default.conf +COPY --from=build /app/dist /usr/share/nginx/html + +EXPOSE 8080 + +HEALTHCHECK --interval=30s --timeout=3s --start-period=10s --retries=3 \ + CMD wget -q -O /dev/null http://127.0.0.1:8080/healthz || exit 1 diff --git a/telemetry/live-web-dashboard/README.md b/telemetry/live-web-dashboard/README.md new file mode 100644 index 0000000..9196faf --- /dev/null +++ b/telemetry/live-web-dashboard/README.md @@ -0,0 +1,47 @@ +# Live Web Dashboard + +The dashboard displays ESP32 drone telemetry through a React and Vite frontend. Docker and Nginx provide the production runtime. + +## Local development + +```bash +npm ci +npm run dev +``` + +Run all checks with: + +```bash +npm run check +``` + +## Docker + +```bash +docker compose up --build -d +``` + +Open `http://localhost:8080`. Nginx serves the production build, exposes `/healthz`, compresses text assets, and adds browser security headers. + +## Telemetry endpoints + +For local use, enter the ESP32 IP address. The dashboard appends `/telemetry.json` automatically. The browser and ESP32 must be reachable on the same network. + +For a dashboard served over HTTPS, provide a complete HTTPS telemetry endpoint. Browsers block an HTTPS page from fetching the ESP32's plain HTTP address. Remote operation therefore requires this path: + +```text +ESP32 or companion computer -> authenticated HTTPS or MQTT service -> HTTPS telemetry endpoint -> dashboard +``` + +The relay should authenticate the vehicle, encrypt traffic, restrict allowed browser origins, and return the same JSON fields as the ESP32 endpoint. Do not expose the ESP32 HTTP server directly to the internet. + +## Telemetry behavior + +- Payloads are validated before they update the display. +- Lost telemetry produces an unknown armed and failsafe state. +- Values that are not provided remain unavailable instead of being generated. +- The battery cell count can be selected from 2S through 6S. +- Charts display 64 samples collected at the dashboard's 1 Hz polling rate. + + +Autonomous grid-search planning has moved to [autonomous-grid-search](../../autonomous-grid-search/README.md). diff --git a/telemetry/live-web-dashboard/compose.yaml b/telemetry/live-web-dashboard/compose.yaml new file mode 100644 index 0000000..ef0fde1 --- /dev/null +++ b/telemetry/live-web-dashboard/compose.yaml @@ -0,0 +1,8 @@ +services: + web: + build: . + ports: + - "8080:8080" + restart: unless-stopped + security_opt: + - no-new-privileges:true diff --git a/telemetry/live-web-dashboard/eslint.config.js b/telemetry/live-web-dashboard/eslint.config.js new file mode 100644 index 0000000..041127d --- /dev/null +++ b/telemetry/live-web-dashboard/eslint.config.js @@ -0,0 +1,26 @@ +import js from "@eslint/js"; +import globals from "globals"; +import reactHooks from "eslint-plugin-react-hooks"; +import reactRefresh from "eslint-plugin-react-refresh"; +import tseslint from "typescript-eslint"; + +export default tseslint.config( + { ignores: ["dist"] }, + js.configs.recommended, + ...tseslint.configs.recommended, + { + files: ["**/*.{ts,tsx}"], + languageOptions: { + ecmaVersion: 2020, + globals: globals.browser + }, + plugins: { + "react-hooks": reactHooks, + "react-refresh": reactRefresh + }, + rules: { + ...reactHooks.configs.recommended.rules, + "react-refresh/only-export-components": ["warn", { allowConstantExport: true }] + } + } +); diff --git a/telemetry/live-web-dashboard/index.html b/telemetry/live-web-dashboard/index.html index acc3e3d..610db39 100644 --- a/telemetry/live-web-dashboard/index.html +++ b/telemetry/live-web-dashboard/index.html @@ -3,6 +3,9 @@ + + + Drone Telemetry Dashboard diff --git a/telemetry/live-web-dashboard/nginx.conf b/telemetry/live-web-dashboard/nginx.conf new file mode 100644 index 0000000..24c4fd3 --- /dev/null +++ b/telemetry/live-web-dashboard/nginx.conf @@ -0,0 +1,38 @@ +server { + listen 8080; + server_name _; + root /usr/share/nginx/html; + index index.html; + + add_header X-Content-Type-Options "nosniff" always; + add_header X-Frame-Options "DENY" always; + add_header Referrer-Policy "no-referrer" always; + add_header Permissions-Policy "camera=(), microphone=(), geolocation=()" always; + add_header Content-Security-Policy "default-src 'self'; connect-src 'self' http: https: ws: wss:; img-src 'self' data:; style-src 'self' 'unsafe-inline'; font-src 'self' data:; object-src 'none'; frame-ancestors 'none'; base-uri 'self'" always; + + gzip on; + gzip_types text/css application/javascript application/json image/svg+xml; + + location = /healthz { + access_log off; + return 204; + } + + location = /index.html { + expires -1; + } + + location / { + try_files $uri $uri/ /index.html; + } + + location /assets/ { + expires 1y; + } + + location ~ \.mjs$ { + default_type application/javascript; + expires 1y; + try_files $uri =404; + } +} diff --git a/telemetry/live-web-dashboard/package-lock.json b/telemetry/live-web-dashboard/package-lock.json index a1102bf..61ee354 100644 --- a/telemetry/live-web-dashboard/package-lock.json +++ b/telemetry/live-web-dashboard/package-lock.json @@ -10,21 +10,29 @@ "dependencies": { "@react-three/fiber": "^8.17.10", "lucide-react": "^0.468.0", + "maplibre-gl": "^6.14.0", "react": "^18.3.1", "react-dom": "^18.3.1", - "recharts": "^2.12.7", + "recharts": "^3.10.1", "three": "^0.165.0" }, "devDependencies": { + "@eslint/js": "^9.39.5", + "@tailwindcss/postcss": "^4.3.3", "@types/react": "^18.3.3", "@types/react-dom": "^18.3.0", "@types/three": "^0.165.0", - "@vitejs/plugin-react": "^4.3.1", - "autoprefixer": 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"preview": "vite preview --host 0.0.0.0" + "preview": "vite preview --host 0.0.0.0", + "lint": "eslint .", + "test": "vitest run", + "check": "npm run lint && npm run test && npm run build" }, "dependencies": { "@react-three/fiber": "^8.17.10", "lucide-react": "^0.468.0", + "maplibre-gl": "^6.14.0", "react": "^18.3.1", "react-dom": "^18.3.1", - "recharts": "^2.12.7", + "recharts": "^3.10.1", "three": "^0.165.0" }, "devDependencies": { + "@eslint/js": "^9.39.5", + "@tailwindcss/postcss": "^4.3.3", "@types/react": "^18.3.3", "@types/react-dom": "^18.3.0", "@types/three": "^0.165.0", - "@vitejs/plugin-react": "^4.3.1", - "autoprefixer": "^10.4.20", - "postcss": "^8.4.49", - "tailwindcss": "^3.4.17", + "@vitejs/plugin-react": "^6.1.2", + "eslint": "^9.39.5", + "eslint-plugin-react-hooks": "^5.2.0", + "eslint-plugin-react-refresh": "^0.4.26", + "globals": "^17.13.0", + "postcss": "^8.5.30", + "tailwindcss": "^4.3.3", "typescript": "^5.5.3", - "vite": "^5.3.4" + "typescript-eslint": "^8.71.2", + "vite": "^8.3.4", + "vitest": "^5.0.4" } } diff --git a/telemetry/live-web-dashboard/postcss.config.js b/telemetry/live-web-dashboard/postcss.config.js index ba80730..9b544e3 100644 --- a/telemetry/live-web-dashboard/postcss.config.js +++ b/telemetry/live-web-dashboard/postcss.config.js @@ -1,6 +1,5 @@ export default { plugins: { - tailwindcss: {}, - autoprefixer: {} + "@tailwindcss/postcss": {} } }; diff --git a/telemetry/live-web-dashboard/src/App.tsx b/telemetry/live-web-dashboard/src/App.tsx deleted file mode 100644 index 3b4c196..0000000 --- a/telemetry/live-web-dashboard/src/App.tsx +++ /dev/null @@ -1,267 +0,0 @@ -import { useState } from "react"; -import { GaugeIcon, PlugZapIcon, SlidersHorizontalIcon, WavesIcon, WifiIcon } from "lucide-react"; -import { AltitudeCard } from "./components/AltitudeCard"; -import { AttitudeIndicator } from "./components/AttitudeIndicator"; -import { BatteryBox } from "./components/BatteryBox"; -import { ChartPanel } from "./components/ChartPanel"; -import { FlightStatusCard } from "./components/FlightStatusCard"; -import { LinkCard } from "./components/LinkCard"; -import { NavSignalBox } from "./components/NavSignalBox"; -import { SbcStatusCard } from "./components/SbcStatusCard"; -import { TopBar } from "./components/TopBar"; -import { gyroSeries, motorSeries, pidSeries, vehicle } from "./data/telemetry"; -import { useTelemetry } from "./hooks/useTelemetry"; -import type { Telemetry } from "./types/telemetry"; - -function activeWarning(t: Telemetry): string | null { - if (t.source.status === "offline") return "esp json offline"; - if (t.source.status === "stale") return "nrf packets stale"; - if (t.battery.percent < 25) return "battery low · rtl advised"; - if (t.link.loss > 5) return "downlink packet loss"; - if (t.sbc.temp > 72) return "sbc thermal limit"; - if (t.nav.hdop > 1.2) return "gps hdop degraded"; - return null; -} - -function sourceTone(status: Telemetry["source"]["status"]): string { - if (status === "online") return "bg-sig-green"; - if (status === "stale") return "bg-sig-amber"; - return "bg-sig-red"; -} - -const ESP_IP_STORAGE_KEY = "droneTelemetryEspIp"; - -function initialEspInput(): string { - const fromQuery = new URLSearchParams(window.location.search).get("telemetryUrl"); - if (fromQuery) { - try { - return new URL(fromQuery).host; - } catch { - return fromQuery.replace(/^https?:\/\//, "").replace(/\/telemetry\.json\/?$/, ""); - } - } - return window.localStorage.getItem(ESP_IP_STORAGE_KEY) ?? ""; -} - -function telemetryEndpointFromInput(value: string): string { - const trimmed = value.trim(); - if (trimmed.length === 0) return ""; - const withProtocol = /^https?:\/\//i.test(trimmed) ? trimmed : `http://${trimmed}`; - const url = new URL(withProtocol); - if (url.pathname === "/" || url.pathname === "") { - url.pathname = "/telemetry.json"; - } - url.search = ""; - url.hash = ""; - return url.toString(); -} - -function ConnectionPanel({ - value, - error, - onChange, - onSubmit -}: { - value: string; - error: string; - onChange: (value: string) => void; - onSubmit: () => void; -}) { - return ( -
-
{ - event.preventDefault(); - onSubmit(); - }} - > -
- - - -
-

Connect ESP32 Telemetry

-

Enter the IP shown on the ESP32 OLED.

-
-
- - -
- onChange(event.target.value)} - placeholder="10.160.142.17" - className="h-10 min-w-0 flex-1 rounded border border-hud-line bg-hud-bg px-3 font-mono text-sm tabular text-hud-text outline-none transition focus:border-teal-300 focus:ring-2 focus:ring-teal-300/20" - /> - -
- - {error ?

{error}

: null} - -
-
Example: 10.160.142.17
-
Dashboard will read: http://<esp-ip>/telemetry.json
-
-
-
- ); -} - -export function App({ streaming = true }: { streaming?: boolean }) { - const [live, setLive] = useState(streaming); - const [espInput, setEspInput] = useState(initialEspInput); - const [endpoint, setEndpoint] = useState(""); - const [connectError, setConnectError] = useState(""); - const t = useTelemetry(live, endpoint); - - const connect = () => { - try { - const nextEndpoint = telemetryEndpointFromInput(espInput); - if (nextEndpoint.length === 0) { - setConnectError("Enter the ESP32 IP address from the OLED."); - return; - } - setEndpoint(nextEndpoint); - setLive(true); - setConnectError(""); - window.localStorage.setItem(ESP_IP_STORAGE_KEY, espInput.trim()); - } catch { - setConnectError("Use an IP or host like 10.160.142.17."); - } - }; - - if (endpoint.length === 0) { - return ; - } - - return ( -
- setLive((value) => !value)} - armed={t.flight.armed} - mode={t.flight.mode} - clock={t.clock} - warning={activeWarning(t)} - /> - -
- {t.source.status !== "online" ? ( -
- {t.source.message} - {t.source.endpoint} -
- ) : null} - -
- - - - -
- -
- - - -
- -
- } - series={pidSeries} - data={t.pid as unknown as Array>} - domain={[-10, 10]} - ticks={[-10, -5, 0, 5, 10]} - unit="°" - className="h-[196px]" - footer={ - <> - err · deg · 64 s window - rate 1 hz - - } - /> - } - series={motorSeries} - data={t.motors as unknown as Array>} - domain={[40, 80]} - ticks={[40, 50, 60, 70, 80]} - unit="%" - className="h-[196px]" - footer={ - <> - throttle out · quad-x - - avg{" "} - {( - ((t.motors[t.motors.length - 1]?.m1 ?? 0) + - (t.motors[t.motors.length - 1]?.m2 ?? 0) + - (t.motors[t.motors.length - 1]?.m3 ?? 0) + - (t.motors[t.motors.length - 1]?.m4 ?? 0)) / - 4 - ).toFixed(1)} - % - - - } - /> -
- - } - series={gyroSeries} - data={t.gyro as unknown as Array>} - domain={[-40, 40]} - ticks={[-40, -20, 0, 20, 40]} - unit="" - className="h-[170px]" - footer={ - <> - deg/s · imu1 · filtered - {vehicle.firmware} - - } - /> - -
- - - -
-
-
- ); -} diff --git a/telemetry/live-web-dashboard/src/app.tsx b/telemetry/live-web-dashboard/src/app.tsx new file mode 100644 index 0000000..0f00523 --- /dev/null +++ b/telemetry/live-web-dashboard/src/app.tsx @@ -0,0 +1,310 @@ +import { lazy, Suspense, useEffect, useState } from "react"; +import { GaugeIcon, PlugZapIcon, SlidersHorizontalIcon, WavesIcon, WifiIcon } from "lucide-react"; +import { AltitudeCard } from "./components/altitude_card"; +import { AttitudeIndicator } from "./components/attitude_indicator"; +import { BatteryBox } from "./components/battery_box"; +import { FlightStatusCard } from "./components/flight_status_card"; +import { LinkCard } from "./components/link_card"; +import { NavSignalBox } from "./components/nav_signal_box"; +import { SbcStatusCard } from "./components/sbc_status_card"; +import { TopBar } from "./components/top_bar"; +import { gyroSeries, motorSeries, pidSeries, vehicle } from "./data/telemetry"; +import { useTelemetry } from "./hooks/use_telemetry"; +import { telemetryEndpointFromInput } from "./lib/telemetry_endpoint"; +import type { Telemetry } from "./types/telemetry"; + +const ChartPanel = lazy(() => import("./components/chart_panel").then((module) => ({ default: module.ChartPanel }))); + +function activeWarnings(t: Telemetry): string[] { + const warnings: string[] = []; + if (t.source.status === "offline") warnings.push("ESP JSON offline · armed state unknown"); + if (t.source.status === "stale") warnings.push( + t.source.message.includes("NRF") ? "NRF packets stale · armed state unknown" : "ESP JSON response delayed · armed state unknown" + ); + if (t.source.status === "online" && t.flight.armed === null) warnings.push("Armed state unavailable"); + if (t.flight.failsafe === true) warnings.push("Flight controller failsafe triggered"); + if (t.source.status === "online" && t.battery.total > 0 && t.battery.percent < 25) warnings.push("Battery low · RTL advised"); + if (t.source.status === "online" && t.link.loss > 5) warnings.push("Downlink packet loss"); + if (t.sbc.available && t.sbc.temp > 72) warnings.push("SBC thermal limit"); + if (t.source.status === "online" && t.nav.fix !== "NO DATA" && t.nav.hdop > 1.2) warnings.push("GPS HDOP degraded"); + return warnings; +} + +function sourceTone(status: Telemetry["source"]["status"]): string { + if (status === "online") return "bg-sig-green"; + if (status === "stale") return "bg-sig-amber"; + return "bg-sig-red"; +} + +const ESP_IP_STORAGE_KEY = "droneTelemetryEspIp"; +const CELL_COUNT_STORAGE_KEY = "droneTelemetryCellCount"; + +function initialEspInput(): string { + const fromQuery = new URLSearchParams(window.location.search).get("telemetryUrl"); + if (fromQuery) return fromQuery; + return window.localStorage.getItem(ESP_IP_STORAGE_KEY) ?? ""; +} + +function initialCellCount(): number { + const stored = Number(window.localStorage.getItem(CELL_COUNT_STORAGE_KEY)); + return Number.isInteger(stored) && stored >= 2 && stored <= 6 ? stored : 4; +} + +function ConnectionPanel({ + value, + cellCount, + error, + onChange, + onCellCountChange, + onSubmit +}: { + value: string; + cellCount: number; + error: string; + onChange: (value: string) => void; + onCellCountChange: (value: number) => void; + onSubmit: () => void; +}) { + return ( +
+
{ + event.preventDefault(); + onSubmit(); + }} + > +
+ + + +
+

Connect ESP32 Telemetry

+

Enter the ESP32 address or a secure telemetry URL.

+
+
+ + +
+ onChange(event.target.value)} + placeholder="10.160.142.17 or https://telemetry.example/api" + className="h-14 min-w-0 flex-1 rounded border border-hud-line bg-hud-bg px-4 font-mono text-lg tabular text-hud-text outline-none transition focus:border-teal-300 focus:ring-2 focus:ring-teal-300/20" + /> + +
+ + + + {error ?

{error}

: null} + +
+
Example: 10.160.142.17
+
Local: http://<esp-ip>/telemetry.json
+
Hosted dashboard: use a complete HTTPS endpoint.
+
+
+
+ ); +} + +export function App({ streaming = true }: { streaming?: boolean }) { + const [live, setLive] = useState(streaming); + const [espInput, setEspInput] = useState(initialEspInput); + const [cellCount, setCellCount] = useState(initialCellCount); + const [endpoint, setEndpoint] = useState(""); + const [connectError, setConnectError] = useState(""); + const [now, setNow] = useState(Date.now()); + const t = useTelemetry(live, endpoint, cellCount); + const warnings = activeWarnings(t); + const hasTelemetry = t.source.lastUpdated > 0; + + useEffect(() => { + const timer = window.setInterval(() => setNow(Date.now()), 1000); + return () => window.clearInterval(timer); + }, []); + + const connect = () => { + try { + const nextEndpoint = telemetryEndpointFromInput(espInput); + if (nextEndpoint.length === 0) { + setConnectError("Enter the ESP32 IP address from the OLED."); + return; + } + setEndpoint(nextEndpoint); + setLive(true); + setConnectError(""); + window.localStorage.setItem(ESP_IP_STORAGE_KEY, espInput.trim()); + window.localStorage.setItem(CELL_COUNT_STORAGE_KEY, String(cellCount)); + } catch (error) { + setConnectError(error instanceof Error ? error.message : "Use an IP, host, or HTTPS telemetry URL."); + } + }; + + if (endpoint.length === 0) { + return ( + + ); + } + + return ( +
+ setLive((value) => !value)} + armed={t.flight.armed} + mode={t.flight.mode} + now={now} + warnings={warnings} + /> + +
+ {warnings.length > 0 ? ( +
+
    + {warnings.map((warning) =>
  • {warning}
    • )} +
+ {t.source.endpoint} +
+ ) : null} + +
+
+ + +
+ + + + + + +
+
+ }> + } + series={pidSeries} + data={t.pid as unknown as Array>} + domain={[-10, 10]} + ticks={[-10, -5, 0, 5, 10]} + unit="°" + available={hasTelemetry} + className="h-[220px] xl:h-full xl:min-h-0" + footer={ + <> + error · degrees · 64 s window + display rate 1 Hz + + } + /> + + }> + } + series={motorSeries} + data={t.motors as unknown as Array>} + domain={[0, 100]} + ticks={[0, 20, 40, 60, 80, 100]} + unit="%" + available={hasTelemetry} + className="h-[220px] xl:h-full xl:min-h-0" + footer={ + <> + throttle out · quad-x + + avg{" "} + {( + ((t.motors[t.motors.length - 1]?.m1 ?? 0) + + (t.motors[t.motors.length - 1]?.m2 ?? 0) + + (t.motors[t.motors.length - 1]?.m3 ?? 0) + + (t.motors[t.motors.length - 1]?.m4 ?? 0)) / + 4 + ).toFixed(1)} + % + + + } + /> + + }> + } + series={gyroSeries} + data={t.gyro as unknown as Array>} + domain={[-40, 40]} + ticks={[-40, -20, 0, 20, 40]} + unit="" + available={hasTelemetry} + className="h-[220px] xl:h-full xl:min-h-0" + footer={ + <> + deg/s · imu1 · filtered + {vehicle.firmware} + + } + /> + +
+ +
+ + + +
+
+
+ ); +} diff --git a/telemetry/live-web-dashboard/src/components/AttitudeIndicator.tsx b/telemetry/live-web-dashboard/src/components/AttitudeIndicator.tsx deleted file mode 100644 index 7ef79e7..0000000 --- a/telemetry/live-web-dashboard/src/components/AttitudeIndicator.tsx +++ /dev/null @@ -1,36 +0,0 @@ -import { CompassIcon } from "lucide-react"; -import { Chip, Panel } from "./Panel"; -import type { AttitudeState } from "../types/telemetry"; -import { AttitudeScene } from "./AttitudeScene"; - -export function AttitudeIndicator({ attitude, className }: { attitude: AttitudeState; className?: string }) { - const { roll, pitch, yaw } = attitude; - - return ( - } - meta={AHRS LOCK} - className={className} - bodyClassName="flex items-center gap-3" - > - - -
- {[ - { label: "Roll", value: roll, color: "#4c8dff" }, - { label: "Pitch", value: pitch, color: "#2dd4bf" }, - { label: "Yaw", value: yaw, color: "#f5a524" } - ].map((r) => ( -
-
-
-
{r.value.toFixed(1)}°
-
- ))} -
- - ); -} diff --git a/telemetry/live-web-dashboard/src/components/LinkCard.tsx b/telemetry/live-web-dashboard/src/components/LinkCard.tsx deleted file mode 100644 index bc43090..0000000 --- a/telemetry/live-web-dashboard/src/components/LinkCard.tsx +++ /dev/null @@ -1,36 +0,0 @@ -import { RadioIcon } from "lucide-react"; -import { Chip, Panel, Stat } from "./Panel"; -import type { LinkState } from "../types/telemetry"; - -export function LinkCard({ link, className }: { link: LinkState; className?: string }) { - const healthy = link.loss < 3 && link.rssi >= 45 && link.rate >= 70; - return ( - } - meta={{healthy ? "STABLE" : "DEGRADED"}} - className={className} - bodyClassName="flex flex-col justify-between gap-2" - > -
- - - - -
- - - ); -} diff --git a/telemetry/live-web-dashboard/src/components/TopBar.tsx b/telemetry/live-web-dashboard/src/components/TopBar.tsx deleted file mode 100644 index 9805e5a..0000000 --- a/telemetry/live-web-dashboard/src/components/TopBar.tsx +++ /dev/null @@ -1,62 +0,0 @@ -import { ActivityIcon, PauseIcon, PlayIcon, ShieldAlertIcon } from "lucide-react"; -import { vehicle } from "../data/telemetry"; -import { Chip } from "./Panel"; - -type TopBarProps = { - live: boolean; - onToggleLive: () => void; - armed: boolean; - mode: string; - clock: number; - warning: string | null; -}; - -function stamp(clock: number): string { - const total = clock; - const h = String(Math.floor(total / 3600) % 24).padStart(2, "0"); - const m = String(Math.floor((total % 3600) / 60)).padStart(2, "0"); - const s = String(total % 60).padStart(2, "0"); - return `${h}:${m}:${s}Z`; -} - -export function TopBar({ live, onToggleLive, armed, mode, clock, warning }: TopBarProps) { - return ( -
-
- - - -
-
{vehicle.name}
-
{vehicle.linkPath}
-
-
- -
- {mode} - {armed ? "ARMED" : "DISARMED"} - {vehicle.sysId} -
- - {warning ? ( -
- - {warning} -
- ) : null} - -
- {stamp(clock)} - -
-
- ); -} diff --git a/telemetry/live-web-dashboard/src/components/AltitudeCard.tsx b/telemetry/live-web-dashboard/src/components/altitude_card.tsx similarity index 68% rename from telemetry/live-web-dashboard/src/components/AltitudeCard.tsx rename to telemetry/live-web-dashboard/src/components/altitude_card.tsx index 9e82f68..cef0ed0 100644 --- a/telemetry/live-web-dashboard/src/components/AltitudeCard.tsx +++ b/telemetry/live-web-dashboard/src/components/altitude_card.tsx @@ -1,34 +1,34 @@ import { MountainSnowIcon, TrendingDownIcon, TrendingUpIcon } from "lucide-react"; -import { Chip, Panel } from "./Panel"; +import { Chip, Panel } from "./panel"; import type { AltitudeState } from "../types/telemetry"; -export function AltitudeCard({ altitude, className }: { altitude: AltitudeState; className?: string }) { +export function AltitudeCard({ altitude, available, className }: { altitude: AltitudeState; available: boolean; className?: string }) { const rising = altitude.vspeed >= 0; return ( } - meta={{rising ? "CLIMB" : "DESC"}} + meta={{available ? rising ? "CLIMB" : "DESC" : "UNKNOWN"}} className={className} bodyClassName="flex flex-col justify-between" >
Relative
- {altitude.relative.toFixed(1)} + {available ? altitude.relative.toFixed(1) : "--"} m
MSL
-
{altitude.msl.toFixed(1)} m
+
{available ? altitude.msl.toFixed(1) : "--"} m
V/S
- {rising ? : } - {altitude.vspeed.toFixed(1)} m/s + {available ? rising ? : : null} + {available ? altitude.vspeed.toFixed(1) : "--"} m/s
diff --git a/telemetry/live-web-dashboard/src/components/attitude_indicator.tsx b/telemetry/live-web-dashboard/src/components/attitude_indicator.tsx new file mode 100644 index 0000000..c10e74f --- /dev/null +++ b/telemetry/live-web-dashboard/src/components/attitude_indicator.tsx @@ -0,0 +1,46 @@ +import { lazy, Suspense } from "react"; +import { CompassIcon } from "lucide-react"; +import { Chip, Panel } from "./panel"; +import type { AttitudeState } from "../types/telemetry"; + +const AttitudeScene = lazy(() => import("./attitude_scene").then((module) => ({ default: module.AttitudeScene }))); + +export function AttitudeIndicator({ attitude, available, className }: { attitude: AttitudeState; available: boolean; className?: string }) { + const { roll, pitch, yaw } = attitude; + + return ( + } + meta={{available ? "AHRS LOCK" : "NO DATA"}} + className={className} + bodyClassName="flex flex-col gap-3" + > + {available ? ( + }> + + + ) : ( +
+ No attitude telemetry +
+ )} + +
+ {[ + { label: "Roll", value: roll, color: "#4c8dff" }, + { label: "Pitch", value: pitch, color: "#2dd4bf" }, + { label: "Yaw", value: yaw, color: "#f5a524" } + ].map((r) => ( +
+
+
+
{available ? `${r.value.toFixed(1)}°` : "--"}
+
+ ))} +
+ + ); +} diff --git a/telemetry/live-web-dashboard/src/components/AttitudeScene.tsx b/telemetry/live-web-dashboard/src/components/attitude_scene.tsx similarity index 82% rename from telemetry/live-web-dashboard/src/components/AttitudeScene.tsx rename to telemetry/live-web-dashboard/src/components/attitude_scene.tsx index 20e2251..1137840 100644 --- a/telemetry/live-web-dashboard/src/components/AttitudeScene.tsx +++ b/telemetry/live-web-dashboard/src/components/attitude_scene.tsx @@ -3,7 +3,7 @@ import { Canvas } from "@react-three/fiber"; import { CanvasTexture, Euler, Quaternion, Shape, Vector3 } from "three"; import type { AttitudeState } from "../types/telemetry"; -function AxisLabel({ text, position, color }: { text: string; position: [number, number, number]; color: string }) { +function AxisLabel({ text, position }: { text: string; position: [number, number, number] }) { const texture = useMemo(() => { const canvas = document.createElement("canvas"); canvas.width = 128; @@ -12,10 +12,10 @@ function AxisLabel({ text, position, color }: { text: string; position: [number, context.font = "500 38px monospace"; context.textAlign = "center"; context.textBaseline = "middle"; - context.fillStyle = color; + context.fillStyle = "#ffffff"; context.fillText(text, 64, 32); return new CanvasTexture(canvas); - }, [text, color]); + }, [text]); useEffect(() => () => texture.dispose(), [texture]); return ( @@ -55,7 +55,7 @@ function Arrow({ roll, pitch, yaw }: AttitudeState) { export function AttitudeScene({ attitude }: { attitude: AttitudeState }) { return ( -
+
- - - + + +
diff --git a/telemetry/live-web-dashboard/src/components/BatteryBox.tsx b/telemetry/live-web-dashboard/src/components/battery_box.tsx similarity index 72% rename from telemetry/live-web-dashboard/src/components/BatteryBox.tsx rename to telemetry/live-web-dashboard/src/components/battery_box.tsx index 0ea74c8..4f1be05 100644 --- a/telemetry/live-web-dashboard/src/components/BatteryBox.tsx +++ b/telemetry/live-web-dashboard/src/components/battery_box.tsx @@ -1,5 +1,5 @@ import { BatteryMediumIcon } from "lucide-react"; -import { Bar, Chip, Panel } from "./Panel"; +import { Bar, Chip, Panel } from "./panel"; import type { BatteryState } from "../types/telemetry"; function cellTone(v: number): string { @@ -8,7 +8,7 @@ function cellTone(v: number): string { return "#3fcf8e"; } -export function BatteryBox({ battery, className }: { battery: BatteryState; className?: string }) { +export function BatteryBox({ battery, available, className }: { battery: BatteryState; available: boolean; className?: string }) { const pack = battery.percent; const packColor = pack < 25 ? "#f2555a" : pack < 45 ? "#f5a524" : "#3fcf8e"; const min = Math.min(...battery.cells.map((c) => c.volts)); @@ -17,25 +17,25 @@ export function BatteryBox({ battery, className }: { battery: BatteryState; clas return ( } - meta={{pack}%} + meta={{available ? `${pack}%` : "UNKNOWN"}} className={className} bodyClassName="flex flex-col gap-2" >
- {battery.total.toFixed(2)} + {available ? battery.total.toFixed(2) : "--"} V
- {battery.current.toFixed(1)} A · {battery.consumed} mAh + {available ? battery.current.toFixed(1) : "--"} A · {available && battery.consumed !== null ? battery.consumed : "--"} mAh
-
Δ {delta.toFixed(0)} mV
+
Δ {available ? delta.toFixed(0) : "--"} mV
@@ -45,7 +45,7 @@ export function BatteryBox({ battery, className }: { battery: BatteryState; clas {cell.label} - {cell.volts.toFixed(2)} + {available ? cell.volts.toFixed(2) : "--"} ))} diff --git a/telemetry/live-web-dashboard/src/components/ChartPanel.tsx b/telemetry/live-web-dashboard/src/components/chart_panel.tsx similarity index 55% rename from telemetry/live-web-dashboard/src/components/ChartPanel.tsx rename to telemetry/live-web-dashboard/src/components/chart_panel.tsx index fef0997..d20801a 100644 --- a/telemetry/live-web-dashboard/src/components/ChartPanel.tsx +++ b/telemetry/live-web-dashboard/src/components/chart_panel.tsx @@ -1,6 +1,6 @@ import type { ReactNode } from "react"; -import { ChartLegend, TelemetryChart } from "./TelemetryChart"; -import { Panel } from "./Panel"; +import { ChartLegend, TelemetryChart } from "./telemetry_chart"; +import { Panel } from "./panel"; import type { SeriesDef } from "../types/telemetry"; type ChartPanelProps = { @@ -11,17 +11,19 @@ type ChartPanelProps = { domain?: [number, number] | ["auto", "auto"]; ticks?: number[]; unit?: string; + available?: boolean; footer?: ReactNode; className?: string; }; -export function ChartPanel({ label, icon, series, data, domain, ticks, unit, footer, className = "" }: ChartPanelProps) { +export function ChartPanel({ label, icon, series, data, domain, ticks, unit, available = true, footer, className = "" }: ChartPanelProps) { const latest = data[data.length - 1] ?? {}; const values: Record = {}; series.forEach((s) => { const v = latest[s.key]; - values[s.key] = typeof v === "number" ? v.toFixed(1) : "--"; + values[s.key] = available && typeof v === "number" ? v.toFixed(1) : "--"; }); + const summary = series.map((item) => `${item.label} ${values[item.key] ?? "unavailable"}${unit ?? ""}`).join(", "); return ( -
- +
+ {available + ? + :
No telemetry samples
}
{footer ?
{footer}
: null} diff --git a/telemetry/live-web-dashboard/src/components/error_boundary.tsx b/telemetry/live-web-dashboard/src/components/error_boundary.tsx new file mode 100644 index 0000000..5fd6983 --- /dev/null +++ b/telemetry/live-web-dashboard/src/components/error_boundary.tsx @@ -0,0 +1,32 @@ +import { Component, type ErrorInfo, type ReactNode } from "react"; + +type ErrorBoundaryState = { failed: boolean }; + +export class ErrorBoundary extends Component<{ children: ReactNode }, ErrorBoundaryState> { + state: ErrorBoundaryState = { failed: false }; + + static getDerivedStateFromError(): ErrorBoundaryState { + return { failed: true }; + } + + componentDidCatch(error: Error, info: ErrorInfo) { + console.error("Dashboard render failed", error, info); + } + + render() { + if (this.state.failed) { + return ( +
+
+

Dashboard could not render

+

Reload the page. If the problem returns, verify the telemetry payload and browser console.

+ +
+
+ ); + } + return this.props.children; + } +} diff --git a/telemetry/live-web-dashboard/src/components/FlightStatusCard.tsx b/telemetry/live-web-dashboard/src/components/flight_status_card.tsx similarity index 71% rename from telemetry/live-web-dashboard/src/components/FlightStatusCard.tsx rename to telemetry/live-web-dashboard/src/components/flight_status_card.tsx index 3e89e4b..e79901a 100644 --- a/telemetry/live-web-dashboard/src/components/FlightStatusCard.tsx +++ b/telemetry/live-web-dashboard/src/components/flight_status_card.tsx @@ -1,9 +1,8 @@ import { PlaneIcon } from "lucide-react"; -import { Chip, Panel } from "./Panel"; +import { Chip, Panel } from "./panel"; import type { FlightState } from "../types/telemetry"; -import type { ReactNode } from "react"; -function Row({ label, children }: { label: string; children: ReactNode }) { +function Row({ label, children }: { label: string; children: React.ReactNode }) { return (
{label} @@ -13,11 +12,16 @@ function Row({ label, children }: { label: string; children: ReactNode }) { } export function FlightStatusCard({ flight, className }: { flight: FlightState; className?: string }) { + const armedLabel = flight.armed === null ? "UNKNOWN" : flight.armed ? "ARMED" : "DISARMED"; + const armedTone = flight.armed === null ? "amber" : flight.armed ? "red" : "neutral"; + const failsafeLabel = flight.failsafe === null ? "UNKNOWN" : flight.failsafe ? "TRIGGERED" : "CLEAR"; + const failsafeTone = flight.failsafe === null ? "amber" : flight.failsafe ? "red" : "green"; + return ( } - meta={{flight.armed ? "ARMED" : "DISARMED"}} + meta={{armedLabel}} className={className} bodyClassName="flex flex-col justify-center gap-1" > @@ -25,7 +29,7 @@ export function FlightStatusCard({ flight, className }: { flight: FlightState; c {flight.mode} - {flight.failsafe ? "TRIGGERED" : "CLEAR"} + {failsafeLabel} {flight.mission} diff --git a/telemetry/live-web-dashboard/src/components/link_card.tsx b/telemetry/live-web-dashboard/src/components/link_card.tsx new file mode 100644 index 0000000..c0143ce --- /dev/null +++ b/telemetry/live-web-dashboard/src/components/link_card.tsx @@ -0,0 +1,36 @@ +import { RadioIcon } from "lucide-react"; +import { Chip, Panel, Stat } from "./panel"; +import type { LinkState } from "../types/telemetry"; + +export function LinkCard({ link, available, className }: { link: LinkState; available: boolean; className?: string }) { + const healthy = link.loss < 3 && link.rssi > -78; + return ( + } + meta={{available ? healthy ? "STABLE" : "DEGRADED" : "NO DATA"}} + className={className} + bodyClassName="flex flex-col justify-between gap-2" + > +
+ + + + +
+ + + ); +} diff --git a/telemetry/live-web-dashboard/src/components/NavSignalBox.tsx b/telemetry/live-web-dashboard/src/components/nav_signal_box.tsx similarity index 62% rename from telemetry/live-web-dashboard/src/components/NavSignalBox.tsx rename to telemetry/live-web-dashboard/src/components/nav_signal_box.tsx index e321ed5..da1efe8 100644 --- a/telemetry/live-web-dashboard/src/components/NavSignalBox.tsx +++ b/telemetry/live-web-dashboard/src/components/nav_signal_box.tsx @@ -1,11 +1,11 @@ import { SatelliteDishIcon } from "lucide-react"; -import { Chip, Panel, Stat } from "./Panel"; +import { Chip, Panel, Stat } from "./panel"; import type { NavState } from "../types/telemetry"; function SignalBars({ rssi }: { rssi: number }) { - const level = rssi >= 75 ? 4 : rssi >= 50 ? 3 : rssi >= 25 ? 2 : rssi > 0 ? 1 : 0; + const level = rssi >= 80 ? 4 : rssi >= 60 ? 3 : rssi >= 40 ? 2 : rssi > 0 ? 1 : 0; return ( -