diff --git a/Makefile b/Makefile index f27a526ceec..fbe92049dc8 100644 --- a/Makefile +++ b/Makefile @@ -17,7 +17,7 @@ default: build lint server setup: bash etc/setup.sh -build: build-web build-go +build: build-go build-go: go build ./... @@ -37,14 +37,6 @@ cli-ci: bin/$(GOOS)-$(GOARCH)/viam-cli cp $< bin/deploy-ci/viam-cli-$(CI_RELEASE)-$(GOOS)-$(GOARCH)$(EXE_SUFFIX); \ fi -build-web: web/runtime-shared/static/control.js - -# only generate static files when source has changed. -web/runtime-shared/static/control.js: web/frontend/src/*/* web/frontend/src/*/*/* web/frontend/src/*.* web/frontend/scripts/* web/frontend/*.* - rm -rf web/runtime-shared/static - npm ci --audit=false --prefix web/frontend - npm run build-prod --prefix web/frontend - tool-install: GOBIN=`pwd`/$(TOOL_BIN) go install \ github.com/edaniels/golinters/cmd/combined \ @@ -55,7 +47,7 @@ tool-install: github.com/rhysd/actionlint/cmd/actionlint \ golang.org/x/tools/cmd/stringer -lint: lint-go lint-web +lint: lint-go PATH=$(PATH_WITH_TOOLS) actionlint generate-go: tool-install @@ -66,47 +58,26 @@ lint-go: tool-install export pkgs="`go list -f '{{.Dir}}' ./... | grep -v /proto/`" && echo "$$pkgs" | xargs go vet -vettool=$(TOOL_BIN)/combined GOGC=50 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml -lint-web: check-web - npm run lint --prefix web/frontend - -check-web: build-web - npm run check --prefix web/frontend - cover-only: tool-install PATH=$(PATH_WITH_TOOLS) ./etc/test.sh cover cover: test-go cover-only -test: test-go test-web - -test-no-race: test-go-no-race test-web - test-go: tool-install PATH=$(PATH_WITH_TOOLS) ./etc/test.sh race test-go-no-race: tool-install PATH=$(PATH_WITH_TOOLS) ./etc/test.sh -test-web: - npm run test:unit --prefix web/frontend - -test-e2e: - go build $(LDFLAGS) -o bin/test-e2e/server web/cmd/server/main.go - ./etc/e2e.sh -o 'run' $(E2E_ARGS) - -open-cypress-ui: - go build $(LDFLAGS) -o bin/test-e2e/server web/cmd/server/main.go - ./etc/e2e.sh -o 'open' - -server: build-web +server: rm -f $(BIN_OUTPUT_PATH)/viam-server go build $(LDFLAGS) -o $(BIN_OUTPUT_PATH)/viam-server web/cmd/server/main.go -server-static: build-web +server-static: rm -f $(BIN_OUTPUT_PATH)/viam-server VIAM_STATIC_BUILD=1 GOFLAGS=$(GOFLAGS) go build $(LDFLAGS) -o $(BIN_OUTPUT_PATH)/viam-server web/cmd/server/main.go -full-static: build-web +full-static: mkdir -p bin/static go build -tags no_cgo,osusergo,netgo -ldflags="-extldflags=-static $(COMMON_LDFLAGS)" -o bin/static/viam-server-$(shell go env GOARCH) ./web/cmd/server @@ -117,7 +88,7 @@ clean-all: git clean -fxd license-check: - license_finder --npm-options='--prefix web/frontend' + license_finder FFMPEG_ROOT ?= etc/FFmpeg $(FFMPEG_ROOT): diff --git a/README.md b/README.md index 22b67d44945..eb9dfff979c 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,6 @@ Multiple SDKs are available for writing client applications that interface with |-------------------------------------|----------------------------------------------------------------|----------------------| | VIAM_RESOURCE_CONFIGURATION_TIMEOUT | Duration for which resources are allowed to (re)configure. | 1 minute | | VIAM_MODULE_STARTUP_TIMEOUT | Duration for which modules are allowed to startup. | 5 minutes | -| ENV | If set to "development", runs the frontend development server. | Server runs normally | ## Development @@ -83,20 +82,6 @@ The API is defined with Protocol Buffers/gRPC which can be found at https://gith > archive, summarize the relevant points of the discussion. -### Frontend - -See documentation in [Frontend Readme](./web/frontend/README.md). - -To start the client development environment, first run the same `go run` command mentioned in Building and Using, but with the environmental variable `ENV=development` (e.g. `ENV=development go run web/cmd/server/main.go -debug -config etc/configs/fake.json`). - -If you are in the `web/frontend` directory this is aliased as `npm run server`. - -You will additionally need to start a development server for client assets. To do this, navigate to `web/frontend` and run `npm start` (and `npm install` if doing this for the first time) in a new terminal tab. Visit `localhost:8080` to view the app, not `localhost:5173`. The latter is the above-mentioned hot module replacement server that rebuilds frontend asset changes. - -#### Frontend against a remote host - -See documentation in [Direct Remote Control](./web/cmd/directremotecontrol/main.go). - ### License check We run [LicenseFinder](https://github.com/pivotal/LicenseFinder) in CI to verify 3rd-party libraries have approved software licenses. diff --git a/etc/e2e.sh b/etc/e2e.sh deleted file mode 100755 index 752aff5851b..00000000000 --- a/etc/e2e.sh +++ /dev/null @@ -1,54 +0,0 @@ -#!/bin/bash - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" -ROOT_DIR="$DIR/../" - -cd $ROOT_DIR - -FLAG_OPEN="open" -FLAG_RUN="run" - -helpFunction() -{ - echo "" - echo "Usage: $0 -o <$FLAG_OPEN|$FLAG_RUN> [-k]" - echo -e "\t-o Whether or not to open the cypress UI or just run the tests" - echo -e "\t-k Does *not* try to pkill the child test-e2e process. Helpful to avoid pkill in CI." - exit 1 # Exit script after printing help -} - -KILL_CHILD=true - -while getopts "o:k" opt -do - case "$opt" in - o ) OPEN="$OPTARG" ;; - k ) KILL_CHILD=false ;; - ? ) helpFunction ;; - esac -done - -if [ -z "$OPEN" ] ; then - helpFunction -elif [ $OPEN != $FLAG_OPEN ] && [ $OPEN != $FLAG_RUN ] ; then - helpFunction -fi - -# Run server with test config -nohup ./bin/test-e2e/server --config web/frontend/cypress/data/test_robot_config.json & - -# Wait for interface to be live before running tests -until nc -vz 127.0.0.1 8080; do sleep 2; done - -# Run tests (giving a long timeout as it can run slow in CI) -cd web/frontend - -if [ $OPEN == "open" ] ; then - npm run cypress -- -c defaultCommandTimeout=30000 -elif [ $OPEN == "run" ] ; then - npm run cypress:ci -- -c defaultCommandTimeout=30000 -fi - -if [ $KILL_CHILD == true ] ; then - pkill -f test-e2e -fi diff --git a/go.mod b/go.mod index 9949c4ef90c..6796070676e 100644 --- a/go.mod +++ b/go.mod @@ -5,8 +5,6 @@ go 1.23 require ( github.com/AlekSi/gocov-xml v1.0.0 github.com/Masterminds/semver/v3 v3.3.0 - github.com/Masterminds/sprig v2.22.0+incompatible - github.com/NYTimes/gziphandler v1.1.1 github.com/a8m/envsubst v1.4.2 github.com/axw/gocov v1.1.0 github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e @@ -132,8 +130,6 @@ require ( github.com/Crocmagnon/fatcontext v0.5.2 // indirect github.com/Djarvur/go-err113 v0.0.0-20210108212216-aea10b59be24 // indirect github.com/GaijinEntertainment/go-exhaustruct/v3 v3.3.0 // indirect - github.com/Masterminds/goutils v1.1.1 // indirect - github.com/Masterminds/semver v1.5.0 // indirect github.com/Microsoft/go-winio v0.6.1 // indirect github.com/OpenPeeDeeP/depguard/v2 v2.2.0 // indirect github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect @@ -260,9 +256,7 @@ require ( github.com/hashicorp/go-version v1.7.0 // indirect github.com/hashicorp/hcl v1.0.0 // indirect github.com/hexops/gotextdiff v1.0.3 // indirect - github.com/huandu/xstrings v1.3.2 // indirect github.com/iancoleman/orderedmap v0.0.0-20190318233801-ac98e3ecb4b0 // indirect - github.com/imdario/mergo v0.3.12 // indirect github.com/improbable-eng/grpc-web v0.15.0 // indirect github.com/inconshreveable/mousetrap v1.1.0 // indirect github.com/jdx/go-netrc v1.0.0 // indirect @@ -302,11 +296,9 @@ require ( github.com/mattn/go-runewidth v0.0.16 // indirect github.com/mgechev/revive v1.3.9 // indirect github.com/miekg/dns v1.1.53 // indirect - github.com/mitchellh/copystructure v1.2.0 // indirect github.com/mitchellh/go-homedir v1.1.0 // indirect github.com/mitchellh/hashstructure/v2 v2.0.2 // indirect github.com/mitchellh/mapstructure v1.5.0 // indirect - github.com/mitchellh/reflectwalk v1.0.2 // indirect github.com/moby/term v0.5.0 // indirect github.com/moricho/tparallel v0.3.2 // indirect github.com/morikuni/aec v1.0.0 // indirect diff --git a/go.sum b/go.sum index e28191b5e46..9194d3137fc 100644 --- a/go.sum +++ b/go.sum @@ -96,18 +96,11 @@ github.com/GaijinEntertainment/go-exhaustruct/v3 v3.3.0/go.mod h1:ONJg5sxcbsdQQ4 github.com/Knetic/govaluate v3.0.1-0.20171022003610-9aa49832a739+incompatible/go.mod h1:r7JcOSlj0wfOMncg0iLm8Leh48TZaKVeNIfJntJ2wa0= github.com/MakeNowJust/heredoc v1.0.0 h1:cXCdzVdstXyiTqTvfqk9SDHpKNjxuom+DOlyEeQ4pzQ= github.com/MakeNowJust/heredoc v1.0.0/go.mod h1:mG5amYoWBHf8vpLOuehzbGGw0EHxpZZ6lCpQ4fNJ8LE= -github.com/Masterminds/goutils v1.1.1 h1:5nUrii3FMTL5diU80unEVvNevw1nH4+ZV4DSLVJLSYI= -github.com/Masterminds/goutils v1.1.1/go.mod h1:8cTjp+g8YejhMuvIA5y2vz3BpJxksy863GQaJW2MFNU= -github.com/Masterminds/semver v1.5.0 h1:H65muMkzWKEuNDnfl9d70GUjFniHKHRbFPGBuZ3QEww= github.com/Masterminds/semver v1.5.0/go.mod h1:MB6lktGJrhw8PrUyiEoblNEGEQ+RzHPF078ddwwvV3Y= github.com/Masterminds/semver/v3 v3.3.0 h1:B8LGeaivUe71a5qox1ICM/JLl0NqZSW5CHyL+hmvYS0= github.com/Masterminds/semver/v3 v3.3.0/go.mod h1:4V+yj/TJE1HU9XfppCwVMZq3I84lprf4nC11bSS5beM= -github.com/Masterminds/sprig v2.22.0+incompatible h1:z4yfnGrZ7netVz+0EDJ0Wi+5VZCSYp4Z0m2dk6cEM60= -github.com/Masterminds/sprig v2.22.0+incompatible/go.mod h1:y6hNFY5UBTIWBxnzTeuNhlNS5hqE0NB0E6fgfo2Br3o= github.com/Microsoft/go-winio v0.6.1 h1:9/kr64B9VUZrLm5YYwbGtUJnMgqWVOdUAXu6Migciow= github.com/Microsoft/go-winio v0.6.1/go.mod h1:LRdKpFKfdobln8UmuiYcKPot9D2v6svN5+sAH+4kjUM= -github.com/NYTimes/gziphandler v1.1.1 h1:ZUDjpQae29j0ryrS0u/B8HZfJBtBQHjqw2rQ2cqUQ3I= -github.com/NYTimes/gziphandler v1.1.1/go.mod h1:n/CVRwUEOgIxrgPvAQhUUr9oeUtvrhMomdKFjzJNB0c= github.com/OneOfOne/xxhash v1.2.2/go.mod h1:HSdplMjZKSmBqAxg5vPj2TmRDmfkzw+cTzAElWljhcU= github.com/OpenPeeDeeP/depguard v1.0.1/go.mod h1:xsIw86fROiiwelg+jB2uM9PiKihMMmUx/1V+TNhjQvM= github.com/OpenPeeDeeP/depguard/v2 v2.2.0 h1:vDfG60vDtIuf0MEOhmLlLLSzqaRM8EMcgJPdp74zmpA= @@ -762,16 +755,12 @@ github.com/hashicorp/serf v0.8.2/go.mod h1:6hOLApaqBFA1NXqRQAsxw9QxuDEvNxSQRwA/J github.com/hexops/gotextdiff v1.0.3 h1:gitA9+qJrrTCsiCl7+kh75nPqQt1cx4ZkudSTLoUqJM= github.com/hexops/gotextdiff v1.0.3/go.mod h1:pSWU5MAI3yDq+fZBTazCSJysOMbxWL1BSow5/V2vxeg= github.com/hpcloud/tail v1.0.0/go.mod h1:ab1qPbhIpdTxEkNHXyeSf5vhxWSCs/tWer42PpOxQnU= -github.com/huandu/xstrings v1.3.2 h1:L18LIDzqlW6xN2rEkpdV8+oL/IXWJ1APd+vsdYy4Wdw= -github.com/huandu/xstrings v1.3.2/go.mod h1:y5/lhBue+AyNmUVz9RLU9xbLR0o4KIIExikq4ovT0aE= github.com/hudl/fargo v1.3.0/go.mod h1:y3CKSmjA+wD2gak7sUSXTAoopbhU08POFhmITJgmKTg= github.com/iancoleman/orderedmap v0.0.0-20190318233801-ac98e3ecb4b0 h1:i462o439ZjprVSFSZLZxcsoAe592sZB1rci2Z8j4wdk= github.com/iancoleman/orderedmap v0.0.0-20190318233801-ac98e3ecb4b0/go.mod h1:N0Wam8K1arqPXNWjMo21EXnBPOPp36vB07FNRdD2geA= github.com/ianlancetaylor/demangle v0.0.0-20181102032728-5e5cf60278f6/go.mod h1:aSSvb/t6k1mPoxDqO4vJh6VOCGPwU4O0C2/Eqndh1Sc= github.com/ianlancetaylor/demangle v0.0.0-20210905161508-09a460cdf81d/go.mod h1:aYm2/VgdVmcIU8iMfdMvDMsRAQjcfZSKFby6HOFvi/w= github.com/ianlancetaylor/demangle v0.0.0-20230524184225-eabc099b10ab/go.mod h1:gx7rwoVhcfuVKG5uya9Hs3Sxj7EIvldVofAWIUtGouw= -github.com/imdario/mergo v0.3.12 h1:b6R2BslTbIEToALKP7LxUvijTsNI9TAe80pLWN2g/HU= -github.com/imdario/mergo v0.3.12/go.mod h1:jmQim1M+e3UYxmgPu/WyfjB3N3VflVyUjjjwH0dnCYA= github.com/improbable-eng/grpc-web v0.15.0 h1:BN+7z6uNXZ1tQGcNAuaU1YjsLTApzkjt2tzCixLaUPQ= github.com/improbable-eng/grpc-web v0.15.0/go.mod h1:1sy9HKV4Jt9aEs9JSnkWlRJPuPtwNr0l57L4f878wP8= github.com/inconshreveable/mousetrap v1.0.0/go.mod h1:PxqpIevigyE2G7u3NXJIT2ANytuPF1OarO4DADm73n8= @@ -972,8 +961,6 @@ github.com/miekg/dns v1.1.41/go.mod h1:p6aan82bvRIyn+zDIv9xYNUpwa73JcSh9BKwknJys github.com/miekg/dns v1.1.53 h1:ZBkuHr5dxHtB1caEOlZTLPo7D3L3TWckgUUs/RHfDxw= github.com/miekg/dns v1.1.53/go.mod h1:uInx36IzPl7FYnDcMeVWxj9byh7DutNykX4G9Sj60FY= github.com/mitchellh/cli v1.0.0/go.mod h1:hNIlj7HEI86fIcpObd7a0FcrxTWetlwJDGcceTlRvqc= -github.com/mitchellh/copystructure v1.2.0 h1:vpKXTN4ewci03Vljg/q9QvCGUDttBOGBIa15WveJJGw= -github.com/mitchellh/copystructure v1.2.0/go.mod h1:qLl+cE2AmVv+CoeAwDPye/v+N2HKCj9FbZEVFJRxO9s= github.com/mitchellh/go-homedir v1.0.0/go.mod h1:SfyaCUpYCn1Vlf4IUYiD9fPX4A5wJrkLzIz1N1q0pr0= github.com/mitchellh/go-homedir v1.1.0 h1:lukF9ziXFxDFPkA1vsr5zpc1XuPDn/wFntq5mG+4E0Y= github.com/mitchellh/go-homedir v1.1.0/go.mod h1:SfyaCUpYCn1Vlf4IUYiD9fPX4A5wJrkLzIz1N1q0pr0= @@ -987,8 +974,6 @@ github.com/mitchellh/mapstructure v0.0.0-20160808181253-ca63d7c062ee/go.mod h1:F github.com/mitchellh/mapstructure v1.1.2/go.mod h1:FVVH3fgwuzCH5S8UJGiWEs2h04kUh9fWfEaFds41c1Y= github.com/mitchellh/mapstructure v1.5.0 h1:jeMsZIYE/09sWLaz43PL7Gy6RuMjD2eJVyuac5Z2hdY= github.com/mitchellh/mapstructure v1.5.0/go.mod h1:bFUtVrKA4DC2yAKiSyO/QUcy7e+RRV2QTWOzhPopBRo= -github.com/mitchellh/reflectwalk v1.0.2 h1:G2LzWKi524PWgd3mLHV8Y5k7s6XUvT0Gef6zxSIeXaQ= -github.com/mitchellh/reflectwalk v1.0.2/go.mod h1:mSTlrgnPZtwu0c4WaC2kGObEpuNDbx0jmZXqmk4esnw= github.com/mkch/asserting v0.0.0-20190916092325-c18221b2f2b2 h1:ZuTZrURK+9dqhtVw11exJ65tjbh3DVXj4L5R1KnFAU8= github.com/mkch/asserting v0.0.0-20190916092325-c18221b2f2b2/go.mod h1:7QF1TGIJmEibF74aU9YWLLfDOnl4R94hWzpD/zWowbM= github.com/mkch/gpio v0.0.0-20190919032813-8327cd97d95e h1:vSAYdBvTvlYVdoDYYQapVnlPd8Klrk19uHPDy29agsg= diff --git a/robot/web/web.go b/robot/web/web.go index 3380ac4332a..558a2197668 100644 --- a/robot/web/web.go +++ b/robot/web/web.go @@ -5,9 +5,7 @@ import ( "context" "encoding/json" "fmt" - "html/template" "io" - "io/fs" "net" "net/http" "net/http/pprof" @@ -19,8 +17,6 @@ import ( "sync" "sync/atomic" - "github.com/Masterminds/sprig" - "github.com/NYTimes/gziphandler" grpc_middleware "github.com/grpc-ecosystem/go-grpc-middleware" "github.com/jhump/protoreflect/dynamic" "github.com/pkg/errors" @@ -44,7 +40,6 @@ import ( grpcserver "go.viam.com/rdk/robot/server" weboptions "go.viam.com/rdk/robot/web/options" rutils "go.viam.com/rdk/utils" - "go.viam.com/rdk/web" ) // SubtypeName is a constant that identifies the internal web resource subtype string. @@ -56,120 +51,6 @@ var API = resource.APINamespaceRDKInternal.WithServiceType(SubtypeName) // InternalServiceName is used to refer to/depend on this service internally. var InternalServiceName = resource.NewName(API, "builtin") -// robotWebApp hosts a web server to interact with a robot in addition to hosting -// a gRPC/REST server. -type robotWebApp struct { - template *template.Template - theRobot robot.Robot - logger logging.Logger - options weboptions.Options -} - -// Init does template initialization work. -func (app *robotWebApp) Init() error { - var err error - - t := template.New("foo").Funcs(template.FuncMap{ - //nolint:gosec - "jsSafe": func(js string) template.JS { - return template.JS(js) - }, - //nolint:gosec - "htmlSafe": func(html string) template.HTML { - return template.HTML(html) - }, - }).Funcs(sprig.FuncMap()) - - if app.options.SharedDir != "" { - t, err = t.ParseGlob(fmt.Sprintf("%s/*.html", app.options.SharedDir+"/templates")) - } else { - t, err = t.ParseFS(web.AppFS, "runtime-shared/templates/*.html") - } - - if err != nil { - return err - } - app.template = t.Lookup("webappindex.html") - return nil -} - -// AppTemplateData is used to render the remote control page. -type AppTemplateData struct { - WebRTCEnabled bool `json:"webrtc_enabled"` - WebRTCSignalingAddress string `json:"webrtc_signaling_address"` - Env string `json:"env"` - Host string `json:"host"` - StaticHost string `json:"static_host"` - SupportedAuthTypes []string `json:"supported_auth_types"` - AuthEntity string `json:"auth_entity"` - BakedAuth map[string]interface{} `json:"baked_auth"` -} - -// ServeHTTP serves the UI. -func (app *robotWebApp) ServeHTTP(w http.ResponseWriter, r *http.Request) { - if r.URL.Path != "/" { - http.NotFound(w, r) - return - } - if true { - err := app.Init() - if err != nil { - app.logger.Debugf("couldn't reload template: %s", err) - return - } - } - - var data AppTemplateData - data.StaticHost = app.options.StaticHost - - if err := r.ParseForm(); err != nil { - app.logger.Debugw("failed to parse form", "error", err) - } - - if os.Getenv("ENV") == "development" { - data.Env = "development" - } else { - data.Env = "production" - } - - data.Host = app.options.FQDN - if app.options.PreferWebRTC && r.Form.Get("grpc") != "true" { - data.WebRTCEnabled = true - } - - if app.options.Managed && hasManagedAuthHandlers(app.options.Auth.Handlers) { - data.BakedAuth = map[string]interface{}{ - "authEntity": app.options.BakedAuthEntity, - "creds": app.options.BakedAuthCreds, - } - } else { - for _, handler := range app.options.Auth.Handlers { - data.SupportedAuthTypes = append(data.SupportedAuthTypes, string(handler.Type)) - } - } - - err := app.template.Execute(w, data) - if err != nil { - app.logger.Debugf("couldn't execute web page: %s", err) - } -} - -// Three known auth handlers (LocationSecret, External, APIKey). -func hasManagedAuthHandlers(handlers []config.AuthHandlerConfig) bool { - hasLocationSecretHandler := false - for _, h := range handlers { - if h.Type == rutils.CredentialsTypeRobotLocationSecret { - hasLocationSecretHandler = true - } - } - - if len(handlers) == 1 && hasLocationSecretHandler { - return true - } - - return false -} - // A Service controls the web server for a robot. type Service interface { resource.Resource @@ -439,37 +320,6 @@ func (svc *webService) Close(ctx context.Context) error { return err } -// installWeb prepares the given mux to be able to serve the UI for the robot. -func (svc *webService) installWeb(mux *goji.Mux, theRobot robot.Robot, options weboptions.Options) error { - app := &robotWebApp{theRobot: theRobot, logger: svc.logger, options: options} - if err := app.Init(); err != nil { - return err - } - - var staticDir http.FileSystem - if app.options.SharedDir != "" { - staticDir = http.Dir(app.options.SharedDir + "/static") - } else { - embedFS, err := fs.Sub(web.AppFS, "runtime-shared/static") - if err != nil { - return err - } - matches, err := fs.Glob(embedFS, "*.js") - if err != nil { - return err - } - if len(matches) == 0 { - svc.logger.Warnw("Couldn't find any static files when running RDK. Make sure to run 'make build-web' - using staticrc.viam.com") - app.options.StaticHost = "https://staticrc.viam.com" - } - staticDir = http.FS(embedFS) - } - mux.Handle(pat.Get("/static/*"), gziphandler.GzipHandler(http.StripPrefix("/static", http.FileServer(staticDir)))) - mux.Handle(pat.New("/"), app) - - return nil -} - // runWeb takes the given robot and options and runs the web server. This function will // block until the context is done. func (svc *webService) runWeb(ctx context.Context, options weboptions.Options) (err error) { @@ -821,10 +671,7 @@ func (svc *webService) initAPIResourceCollections(ctx context.Context, mod bool) // Initialize HTTP server. func (svc *webService) initHTTPServer(listenerTCPAddr *net.TCPAddr, options weboptions.Options) (*http.Server, error) { - mux, err := svc.initMux(options) - if err != nil { - return nil, err - } + mux := svc.initMux(options) httpServer, err := utils.NewPossiblySecureHTTPServer(mux, utils.HTTPServerOptions{ Secure: options.Secure, @@ -840,11 +687,15 @@ func (svc *webService) initHTTPServer(listenerTCPAddr *net.TCPAddr, options webo } // Initialize multiplexer between http handlers. -func (svc *webService) initMux(options weboptions.Options) (*goji.Mux, error) { +func (svc *webService) initMux(options weboptions.Options) *goji.Mux { mux := goji.NewMux() - if err := svc.installWeb(mux, svc.r, options); err != nil { - return nil, err - } + // Note: used by viam-agent for health checks + mux.HandleFunc(pat.New("/"), func(w http.ResponseWriter, _ *http.Request) { + w.WriteHeader(http.StatusOK) + if _, err := w.Write([]byte("healthy")); err != nil { + svc.logger.Warnf("unable to write healthy response: %w", err) + } + }) if options.Pprof { mux.HandleFunc(pat.New("/debug/pprof/"), pprof.Index) @@ -886,7 +737,7 @@ func (svc *webService) initMux(options weboptions.Options) (*goji.Mux, error) { mux.Handle(pat.New("/api/*"), corsHandler.Handler(addPrefix(svc.rpcServer.GatewayHandler()))) mux.Handle(pat.New("/*"), corsHandler.Handler(svc.rpcServer.GRPCHandler())) - return mux, nil + return mux } // foreignServiceHandler is a bidi-streaming RPC service handler to support custom APIs. diff --git a/web/app_fs.go b/web/app_fs.go deleted file mode 100644 index 8a43a046731..00000000000 --- a/web/app_fs.go +++ /dev/null @@ -1,9 +0,0 @@ -// Package web contains the root of a web server. -package web - -import "embed" - -// AppFS is the embedded FS to control a robot with. -// -//go:embed runtime-shared -var AppFS embed.FS diff --git a/web/cmd/directremotecontrol/main.go b/web/cmd/directremotecontrol/main.go deleted file mode 100644 index d4b54b535f9..00000000000 --- a/web/cmd/directremotecontrol/main.go +++ /dev/null @@ -1,151 +0,0 @@ -/* -Package main provides a utility to run a remote control only web server. It is configured with -a config file that looks like the following: - - { - "webrtc_enabled": true, - "host": "something.0000000000.viam.cloud", - "webrtc_signaling_address": "https://app.viam.com:443", - "webrtc_additional_ice_servers": [{"credential":"cred","urls":"turn:global.turn.twilio.com:3478","username":"cred"}], - "baked_auth": { - "authEntity": "something.0000000000.viam.cloud", - "creds": { - "type": "some-key", - "payload": "payload" - } - } - } - -# Usage - -# Run with development server - - ENV=development go run go.viam.com/rdk/web/cmd/directremotecontrol --config ~/some/config_like_above.json -*/ -package main - -import ( - "context" - "encoding/json" - "errors" - "fmt" - "html/template" - "io/fs" - "net" - "net/http" - "os" - "time" - - "github.com/Masterminds/sprig" - "github.com/NYTimes/gziphandler" - "go.viam.com/utils" - "goji.io" - "goji.io/pat" - - "go.viam.com/rdk/logging" - robotweb "go.viam.com/rdk/robot/web" - "go.viam.com/rdk/web" -) - -// Arguments for the command. -type Arguments struct { - Config string `flag:"config,required"` - Port utils.NetPortFlag `flag:"port,default=8080"` -} - -var logger = logging.NewDebugLogger("direct-remote-control") - -func main() { - utils.ContextualMain(mainWithArgs, logger) -} - -func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) error { - var argsParsed Arguments - if err := utils.ParseFlags(args, &argsParsed); err != nil { - return err - } - - configData, err := os.ReadFile(argsParsed.Config) - if err != nil { - return err - } - - var data robotweb.AppTemplateData - if err := json.Unmarshal(configData, &data); err != nil { - return err - } - if data.Host == "" { - return errors.New("must set host in config") - } - - if data.Env == "" { - if os.Getenv("ENV") == "development" { - data.Env = "development" - } else { - data.Env = "production" - } - } - - listener, err := net.Listen("tcp", fmt.Sprintf("localhost:%s", argsParsed.Port.String())) - if err != nil { - return err - } - - mux := goji.NewMux() - - embedFS, err := fs.Sub(web.AppFS, "runtime-shared/static") - if err != nil { - return err - } - staticDir := http.FS(embedFS) - - t := template.New("foo").Funcs(template.FuncMap{ - //nolint:gosec - "jsSafe": func(js string) template.JS { - return template.JS(js) - }, - //nolint:gosec - "htmlSafe": func(html string) template.HTML { - return template.HTML(html) - }, - }).Funcs(sprig.FuncMap()) - - t, err = t.ParseFS(web.AppFS, "runtime-shared/templates/*.html") - if err != nil { - return err - } - template := t.Lookup("webappindex.html") - - mux.Handle(pat.Get("/static/*"), gziphandler.GzipHandler(http.StripPrefix("/static", http.FileServer(staticDir)))) - mux.Handle(pat.Get("/"), http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) { - dataCopy := data - - if err := r.ParseForm(); err != nil { - logger.Debugw("failed to parse form", "error", err) - } - if r.Form.Get("grpc") == "true" { - data.WebRTCEnabled = false - } - - if err := template.Execute(w, dataCopy); err != nil { - logger.Debugw("couldn't execute web page", "error", err) - } - })) - - httpServer := http.Server{ - Handler: mux, - ReadHeaderTimeout: time.Second * 5, - } - - utils.PanicCapturingGo(func() { - <-ctx.Done() - defer func() { - if err := httpServer.Shutdown(context.Background()); err != nil { - logger.Errorw("error shutting down", "error", err) - } - }() - }) - - logger.Infow("serving", "address", listener.Addr().String()) - return httpServer.Serve(listener) -} diff --git a/web/frontend/.eslintignore b/web/frontend/.eslintignore deleted file mode 100644 index 1521c8b7652..00000000000 --- a/web/frontend/.eslintignore +++ /dev/null @@ -1 +0,0 @@ -dist diff --git a/web/frontend/.eslintrc.cjs b/web/frontend/.eslintrc.cjs deleted file mode 100644 index c832328d1ea..00000000000 --- a/web/frontend/.eslintrc.cjs +++ /dev/null @@ -1,49 +0,0 @@ -'use strict'; - -const path = require('node:path'); - -module.exports = { - root: true, - extends: ['@viamrobotics/eslint-config/svelte'], - parserOptions: { - tsconfigRootDir: __dirname, - project: './tsconfig.json', - }, - settings: { - tailwindcss: { - config: path.join(__dirname, 'tailwind.config.ts'), - }, - }, - env: { - browser: true, - node: true, - }, - rules: { - 'no-void': ['error', { allowAsStatement: true }], - - // @TODO(mp) These were disabled when moving over to js-config. They should be gradually re-enabled. - 'id-length': 'warn', - '@typescript-eslint/no-floating-promises': 'warn', - '@typescript-eslint/no-misused-promises': 'warn', - '@typescript-eslint/no-unsafe-enum-comparison': 'warn', - '@typescript-eslint/no-unnecessary-condition': 'warn', - 'svelte/valid-compile': 'warn', - }, - overrides: [ - { - files: '**/*.svelte', - rules: { - 'no-undef-init': 'off', - }, - }, - { - files: '**/*.d.ts', - rules: { - '@typescript-eslint/no-empty-interface': 'off', - }, - }, - ], - globals: { - $$Generic: 'readonly', - }, -}; diff --git a/web/frontend/.gitignore b/web/frontend/.gitignore deleted file mode 100644 index 6f152435841..00000000000 --- a/web/frontend/.gitignore +++ /dev/null @@ -1,7 +0,0 @@ -node_modules -src/gen -dist - -# cypress output -cypress/screenshots -cypress/videos diff --git a/web/frontend/.prettierignore b/web/frontend/.prettierignore deleted file mode 100644 index ca605d0763e..00000000000 --- a/web/frontend/.prettierignore +++ /dev/null @@ -1,3 +0,0 @@ -.svelte-kit -build -dist diff --git a/web/frontend/.prettierrc.cjs b/web/frontend/.prettierrc.cjs deleted file mode 100644 index ffeda7aeb6d..00000000000 --- a/web/frontend/.prettierrc.cjs +++ /dev/null @@ -1,9 +0,0 @@ -'use strict'; - -const path = require('node:path'); -const baseConfig = require('@viamrobotics/prettier-config/svelte'); - -module.exports = { - ...baseConfig, - tailwindConfig: path.join(__dirname, 'tailwind.config.ts'), -}; diff --git a/web/frontend/README.md b/web/frontend/README.md deleted file mode 100644 index 4b75e29ade7..00000000000 --- a/web/frontend/README.md +++ /dev/null @@ -1,58 +0,0 @@ -# RDK Remote Control - -Viam provides an open source remote control (RC) page as part of the RDK that allows for troubleshooting and control of components. RC is hosted locally on each robot as well as on Viam cloud. - -## Running Locally - -### Development Mode - -To start the client development environment, navigate to `web/frontend`. After `npm install`, Run `npm run build` to copy [PRIME](https://github.com/viamrobotics/prime) static assets to the `web/frontend/runtime-shared/static` folder, including font icons. Finally run `npm start`. - -In a new terminal tab, `go run` with the environmental variable `ENV=development` (e.g. `ENV=development go run web/cmd/server/main.go -debug -config etc/configs/fake.json`). - -Visit `localhost:8080` to view the app, not `localhost:5173`. The latter is a hot module replacement server that rebuilds frontend asset changes. - -### Production Mode - -Remote Control can be run locally in production mode, which is useful in some situations, such as testing changes to the build or AppImage packaging process. - -First run `make build-web` which will produce static assets into the `web/frontend/runtime-shared/static` folder. Then start the server with `go run` without the `ENV` variable (e.g. `go run web/cmd/server/main.go -debug -config etc/configs/fake.json`). - -Note: If the build is not completed or fails, you should receive an warning message stating that files are missing. The RC page will not load in the case where a frontend build is not done. - -For example: -`2023-03-02T17:18:20.492-0500 WARN robot_server web/web.go:662 Couldn't find any static files when running RDK. Make sure to run 'make build-web'.` - -## AppImage - -Remote Control is automatically included into the Viam AppImage using `go:embed`. The AppImage will automatically place all files in the runtime-shared folder based on [App FileSystemCode](https://github.com/viamrobotics/rdk/blob/main/web/app_fs.go). - -The production files are generated by the [Github Actions workflow](https://github.com/viamrobotics/rdk/blob/main/.github/workflows/appimage.yml) after changes are merged. The workflow runs `make build:web` before generating the AppImage, including the files without them being commited to the Github Repository. - -## NPM Package - -Remote Control components are exported to the [@viamrobotics/remote-control](https://www.npmjs.com/package/@viamrobotics/remote-control) NPM package to allow for reuse. For each frontend change, it is important to increment the version of the NPM package. Otherwise, changes will be made only to the AppImage and not to the NPM package. The publishing process does not update existing NPM versions and requires a higher version to publish changes. To update the version: - -1. Change the [package.json](https://github.com/viamrobotics/rdk/blob/main/web/frontend/package.json#L3) file and increase the `version` field by 1. -1. Include the version bump in your PR with the corresponding frontend changes. -1. Upon merging, your changes will be published to NPM using the [Github Actions worklow](https://github.com/viamrobotics/rdk/blob/main/.github/workflows/npm-publish.yml). - -The file paths listed in the `files` field of `package.json` determines what is published to NPM, and may need to be updated in the future to change what is/isn't published into the repository. - -### Using the NPM Package - -If you intend to use the Remote Control in you own application, consider whether or not your application will be creating its own connection to the robot using the [Viam TypeScript SDK](https://github.com/viamrobotics/viam-typescript-sdk). If so, be aware the Remote Control also creates and manages its own SDK `Client`. If you intend to use the Remote Control _and_ make your own SDK `Client` to make API calls, you will want to make sure you disconnect from your `Client` after each API call so you do not maintain multiple long-running connections to the robot. - -The NPM package _does not_ include styles. Instead, we require `tailwindcss` as a peer dependency, and you must include the NPM package artifacts in your tailwind config: - -```js -// tailwind.config.js -module.exports = { - content: [ - './components/**/*.{html,js}', - './pages/**/*.{html,js}', - './node_modules/@viamrobotics/remote-control/**/*.js', - ], - // ... -}; -``` diff --git a/web/frontend/cypress.config.ts b/web/frontend/cypress.config.ts deleted file mode 100644 index 0399f6d28b1..00000000000 --- a/web/frontend/cypress.config.ts +++ /dev/null @@ -1,13 +0,0 @@ -import { defineConfig } from 'cypress'; - -export default defineConfig({ - includeShadowDom: true, - - e2e: { - baseUrl: 'http://127.0.0.1:8080', - - setupNodeEvents(_on, _config) { - // implement node event listeners here - }, - }, -}); diff --git a/web/frontend/cypress/data/test_remote.json b/web/frontend/cypress/data/test_remote.json deleted file mode 100644 index 921d6c06bd7..00000000000 --- a/web/frontend/cypress/data/test_remote.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "network": { - "bind_address": "localhost:8081" - }, - "components": [ - { - "name": "remote_base", - "type": "base", - "model": "fake" - }, - { - "name": "remote_camera", - "type": "camera", - "model": "fake" - }, - { - "name": "remote_board", - "type": "board", - "model": "fake", - "attributes": {} - } - ] -} diff --git a/web/frontend/cypress/data/test_robot_config.json b/web/frontend/cypress/data/test_robot_config.json deleted file mode 100644 index dc9c75a6089..00000000000 --- a/web/frontend/cypress/data/test_robot_config.json +++ /dev/null @@ -1,156 +0,0 @@ -{ - "components": [ - { - "name": "test_arm", - "type": "arm", - "model": "fake", - "attributes": { - "model-path": "components/arm/fake/fake_model.json" - } - }, - { - "name": "test_base", - "type": "base", - "model": "fake" - }, - { - "name": "test_sensor", - "type": "sensor", - "model": "fake" - }, - { - "name": "test_generic", - "type": "generic", - "model": "fake" - }, - { - "name": "test_gripper", - "type": "gripper", - "model": "fake" - }, - { - "name": "test_camera", - "type": "camera", - "model": "fake" - }, - { - "name": "test_camera2", - "type": "camera", - "model": "fake" - }, - { - "name": "test_gantry", - "type": "gantry", - "model": "fake" - }, - { - "name": "test_movement", - "type": "movement_sensor", - "model": "fake" - }, - { - "name": "test_board", - "type": "board", - "model": "fake", - "attributes": {} - }, - { - "name": "test_input", - "type": "input_controller", - "model": "fake" - }, - { - "name": "WebGamepad", - "type": "input_controller", - "model": "fake" - }, - { - "name": "test_audio", - "type": "audio_input", - "model": "fake" - }, - { - "name": "test_servo", - "type": "servo", - "model": "fake", - "attributes": { - "pin": "12" - } - }, - { - "name": "test_motor_left", - "type": "motor", - "model": "fake", - "attributes": { - "pins": { - "a": "1", - "b": "2", - "pwm": "3" - } - } - }, - { - "name": "test_motor_right", - "type": "motor", - "model": "fake", - "attributes": { - "pins": { - "a": "1", - "b": "2", - "pwm": "3" - } - } - } - ], - "services": [ - { - "name": "test_vision", - "type": "vision" - }, - { - "name": "test_motion", - "type": "motion" - }, - { - "name": "test_navigation", - "type": "navigation", - "attributes": { - "store": { - "type": "memory" - }, - "movement_sensor": "test_movement", - "base": "test_base", - "obstacles": [ - { - "geometries": [ - { - "label": "aLabel", - "orientation": { - "type": "ov_degrees", - "value": { - "x": 1, - "y": 0, - "z": 0, - "th": 90 - } - }, - "x": 10, - "y": 10, - "z": 10, - "translation": { - "x": 1, - "y": 1, - "z": 1 - } - } - ], - "location": { - "latitude": 1, - "longitude": 1 - } - } - ] - } - } - ] -} diff --git a/web/frontend/cypress/data/test_robot_with_remote.json b/web/frontend/cypress/data/test_robot_with_remote.json deleted file mode 100644 index a41ce25f68e..00000000000 --- a/web/frontend/cypress/data/test_robot_with_remote.json +++ /dev/null @@ -1,123 +0,0 @@ -{ - "components": [ - { - "name": "test_arm", - "type": "arm", - "model": "fake" - }, - { - "name": "test_base", - "type": "base", - "model": "fake" - }, - { - "name": "test_sensor", - "type": "sensor", - "model": "fake" - }, - { - "name": "test_generic", - "type": "generic", - "model": "fake" - }, - { - "name": "test_gripper", - "type": "gripper", - "model": "fake" - }, - { - "name": "test_camera", - "type": "camera", - "model": "fake" - }, - { - "name": "test_gantry", - "type": "gantry", - "model": "fake" - }, - { - "name": "test_movement", - "type": "movement_sensor", - "model": "fake" - }, - { - "name": "test_board", - "type": "board", - "model": "fake", - "attributes": {} - }, - { - "name": "test_input", - "type": "input_controller", - "model": "fake" - }, - { - "name": "WebGamepad", - "type": "input_controller", - "model": "fake" - }, - { - "name": "test_servo", - "type": "servo", - "model": "fake", - "attributes": { - "pin": "12" - } - }, - { - "name": "test_motor_left", - "type": "motor", - "model": "fake", - "attributes": { - "pins": { - "a": "1", - "b": "2", - "pwm": "3" - } - } - }, - { - "name": "test_motor_right", - "type": "motor", - "model": "fake", - "attributes": { - "pins": { - "a": "1", - "b": "2", - "pwm": "3" - } - } - } - ], - "services": [ - { - "name": "test_vision", - "type": "vision" - }, - { - "name": "test_slam", - "type": "slam" - }, - { - "name": "test_motion", - "type": "motion" - }, - { - "name": "test_navigation", - "type": "navigation", - "attributes": { - "store": { - "type": "memory" - }, - "movement_sensor": "test_movement", - "base": "test_base" - } - } - ], - "remotes": [ - { - "name": "remote_robot", - "address": "localhost:8081" - } - ] -} diff --git a/web/frontend/cypress/e2e/rc-controls.cy.ts b/web/frontend/cypress/e2e/rc-controls.cy.ts deleted file mode 100644 index 5660da14e16..00000000000 --- a/web/frontend/cypress/e2e/rc-controls.cy.ts +++ /dev/null @@ -1,31 +0,0 @@ -describe('should load the page', () => { - it('passes', () => { - cy.visit('/'); - - cy.contains('h2', 'test_base').should('exist'); - cy.contains('h2', 'test_gantry').should('exist'); - cy.contains('h2', 'test_movement').should('exist'); - cy.contains('h2', 'test_arm').should('exist'); - cy.contains('h2', 'test_gripper').should('exist'); - cy.contains('h2', 'test_servo').should('exist'); - cy.contains('h2', 'test_motor_left').should('exist'); - cy.contains('h2', 'test_motor_right').should('exist'); - cy.contains('h2', 'test_input').should('exist'); - cy.contains('h2', 'WebGamepad').should('exist'); - cy.contains('h2', 'test_audio').should('exist'); - cy.contains('h2', 'test_board').should('exist'); - cy.contains('h2', 'test_camera').should('exist'); - - /* - * commenting out because we can locally access the navigation service card - * but cannot access the navigation service through a cypress unit test. - * TODO: re-add 'test_navigation' check - * cy.contains('h2', 'test_navigation').should('exist'); - */ - cy.contains('h2', 'Sensors').should('exist'); - cy.contains('h2', 'Operations').should('exist'); - cy.contains('h2', 'DoCommand()').should('exist'); - }); -}); - -export {}; diff --git a/web/frontend/cypress/e2e/robot-components/base.cy.ts b/web/frontend/cypress/e2e/robot-components/base.cy.ts deleted file mode 100644 index a1310eb12f8..00000000000 --- a/web/frontend/cypress/e2e/robot-components/base.cy.ts +++ /dev/null @@ -1,16 +0,0 @@ -describe('base', () => { - it('should be interactive', () => { - cy.visit('/'); - - // Open base - cy.contains('h2', 'test_base').should('exist').click(); - - // Activate and deactivate keyboard - cy.get('[aria-label="Enable keyboard"]').should('exist').click(); - - // Select camera - cy.get('[aria-label="Refresh frequency for test_camera"]').click(); - }); -}); - -export {}; diff --git a/web/frontend/cypress/fixtures/example.json b/web/frontend/cypress/fixtures/example.json deleted file mode 100644 index 02e4254378e..00000000000 --- a/web/frontend/cypress/fixtures/example.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "name": "Using fixtures to represent data", - "email": "hello@cypress.io", - "body": "Fixtures are a great way to mock data for responses to routes" -} diff --git a/web/frontend/cypress/support/commands.ts b/web/frontend/cypress/support/commands.ts deleted file mode 100644 index 2f1aa0699dd..00000000000 --- a/web/frontend/cypress/support/commands.ts +++ /dev/null @@ -1,3 +0,0 @@ -/// - -export {}; diff --git a/web/frontend/cypress/support/e2e.ts b/web/frontend/cypress/support/e2e.ts deleted file mode 100644 index 3198dcaa628..00000000000 --- a/web/frontend/cypress/support/e2e.ts +++ /dev/null @@ -1,24 +0,0 @@ -/* - * *********************************************************** - * This example support/e2e.ts is processed and - * loaded automatically before your test files. - * - * This is a great place to put global configuration and - * behavior that modifies Cypress. - * - * You can change the location of this file or turn off - * automatically serving support files with the - * 'supportFile' configuration option. - * - * You can read more here: - * https://on.cypress.io/configuration - * *********************************************************** - */ - -// Import commands.js using ES2015 syntax: -import './commands'; - -/* - * Alternatively you can use CommonJS syntax: - * require('./commands') - */ diff --git a/web/frontend/cypress/tsconfig.json b/web/frontend/cypress/tsconfig.json deleted file mode 100644 index 2f36fb48c77..00000000000 --- a/web/frontend/cypress/tsconfig.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "compilerOptions": { - "isolatedModules": false, - "target": "ES5", - "lib": ["ES5", "DOM"], - "types": ["cypress", "node"] - }, - "include": ["**/*.ts"], - "extends": "../tsconfig.json" -} diff --git a/web/frontend/jshashes.d.ts b/web/frontend/jshashes.d.ts deleted file mode 100644 index 57d4b7aa3c7..00000000000 --- a/web/frontend/jshashes.d.ts +++ /dev/null @@ -1 +0,0 @@ -declare module 'jshashes'; diff --git a/web/frontend/package-lock.json b/web/frontend/package-lock.json deleted file mode 100644 index 7081bb19005..00000000000 --- a/web/frontend/package-lock.json +++ /dev/null @@ -1,7225 +0,0 @@ -{ - "name": "@viamrobotics/remote-control", - "version": "2.29.0", - "lockfileVersion": 3, - "requires": true, - "packages": { - "": { - "name": "@viamrobotics/remote-control", - "version": "2.29.0", - "license": "Apache-2.0", - "devDependencies": { - "@mdi/js": "7.2.96", - "@sveltejs/vite-plugin-svelte": "^2.4.4", - "@threlte/core": "^7.3.1", - "@threlte/extras": "^8.11.5", - "@types/lodash-es": "^4.17.12", - 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"type": "module", - "scripts": { - "copy-prime-assets": "node ./scripts/copy-prime-assets.js", - "server": "ENV=development go run ./../cmd/server/main.go -debug -config ./../../etc/configs/fake.json", - "start": "vite --host", - "build": "vite build && npm run copy-prime-assets", - "build-prod": "vite build --no-sourcemap && npm run copy-prime-assets", - "build-types": "tsc --project tsconfig.build.json", - "build-npm": "vite build --config vite.lib.config.ts && npm run build-types", - "check": "svelte-check --tsconfig ./tsconfig.json", - "preview": "vite preview", - "_prettier": "prettier \"**/*.{ts,js,cjs,svelte,json,html,md}\"", - "_eslint": "eslint \"**/*.{ts,js,svelte}\"", - "lint": "npm run _prettier -- --check && npm run _eslint", - "format": "npm run _prettier -- --write && npm run _eslint -- --fix", - "cypress:ci": "cypress run", - "cypress": "cypress open", - "test:unit": "echo \"no tests exist yet\"" - }, - "files": [ - "dist" - ], - "module": "./dist/rc.js", - "types": "./dist/main-lib.d.ts", - "exports": { - ".": { - "types": "./dist/main-lib.d.ts", - "import": "./dist/rc.js" - } - }, - "peerDependencies": { - "@floating-ui/dom": "^1.5.3", - "@viamrobotics/prime": ">=0.5", - "maplibre-gl": ">=4", - "tailwindcss": ">=3.3", - "three": ">=0.167" - }, - "devDependencies": { - "@mdi/js": "7.2.96", - "@sveltejs/vite-plugin-svelte": "^2.4.4", - "@threlte/core": "^7.3.1", - "@threlte/extras": "^8.11.5", - "@types/lodash-es": "^4.17.12", - "@types/three": "0.167.2", - "@typescript-eslint/eslint-plugin": "^6.9.0", - "@typescript-eslint/parser": "^6.9.0", - "@viamrobotics/eslint-config": "^0.2.6", - "@viamrobotics/prettier-config": "^0.3.4", - "@viamrobotics/prime": "0.5.9", - "@viamrobotics/prime-blocks": "^0.1.3", - "@viamrobotics/prime-core": "^0.0.87", - "@viamrobotics/sdk": "0.28.0", - "@viamrobotics/three": "^0.0.3", - "@viamrobotics/typescript-config": "^0.1.0", - "cypress": "12.17.3", - "eslint": "8.52.0", - "eslint-config-prettier": "^9.0.0", - "eslint-plugin-sonarjs": "^0.21.0", - "eslint-plugin-svelte": "^2.34.0", - "eslint-plugin-tailwindcss": "3.13.0", - "eslint-plugin-unicorn": "48.0.1", - "jshashes": "1.0.8", - "lodash-es": "^4.17.21", - "maplibre-gl": "^4.6.0", - "postcss": "8.4.27", - "prettier": "^3.0.3", - "prettier-plugin-svelte": "^3.0.3", - "prettier-plugin-tailwindcss": "^0.5.6", - "svelte": "^4.2.19", - "svelte-check": "^3.5.2", - "tailwindcss": "3.3.3", - "three": "0.167.1", - "three-inspect": "0.3.4", - "trzy": "0.3.11", - "type-fest": "^4.14.0", - "typescript": "5.2.2", - "vite": "4.5.5", - "vite-plugin-css-injected-by-js": "3.3.0", - "vitest": "0.34.1" - } -} diff --git a/web/frontend/postcss.config.cjs b/web/frontend/postcss.config.cjs deleted file mode 100644 index fd3fc4776d3..00000000000 --- a/web/frontend/postcss.config.cjs +++ /dev/null @@ -1,7 +0,0 @@ -'use strict'; - -module.exports = { - plugins: { - tailwindcss: {}, - }, -}; diff --git a/web/frontend/scripts/copy-prime-assets.js b/web/frontend/scripts/copy-prime-assets.js deleted file mode 100644 index 6b66f4bc953..00000000000 --- a/web/frontend/scripts/copy-prime-assets.js +++ /dev/null @@ -1,8 +0,0 @@ -/* eslint-disable @typescript-eslint/no-var-requires */ -import fs from 'node:fs'; - -const source = './node_modules/@viamrobotics/prime/dist'; -const dest = '../runtime-shared/static'; - -fs.copyFileSync(`${source}/prime.css`, `${dest}/prime.css`); -fs.copyFileSync(`${source}/icons.woff2`, `${dest}/icons.woff2`); diff --git a/web/frontend/src/api/README.md b/web/frontend/src/api/README.md deleted file mode 100644 index f1f2aeba92d..00000000000 --- a/web/frontend/src/api/README.md +++ /dev/null @@ -1 +0,0 @@ -The contents of this folder should be moved into the Typescript SDK and then removed. diff --git a/web/frontend/src/api/encoder.ts b/web/frontend/src/api/encoder.ts deleted file mode 100644 index aa2f0cea4a8..00000000000 --- a/web/frontend/src/api/encoder.ts +++ /dev/null @@ -1,36 +0,0 @@ -import { rcLogConditionally } from '@/lib/log'; -import { - EncoderClient, - EncoderPositionType, - type Client, -} from '@viamrobotics/sdk'; - -export const getProperties = async (robotClient: Client, name: string) => { - const client = new EncoderClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getProperties(); -}; - -export const getPosition = async (robotClient: Client, name: string) => { - const client = new EncoderClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - const resp = await client.getPosition(); - return resp[0]; -}; - -export const getPositionDegrees = async (robotClient: Client, name: string) => { - const client = new EncoderClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - const resp = await client.getPosition(EncoderPositionType.ANGLE_DEGREES); - return resp[0]; -}; - -export const reset = async (robotClient: Client, name: string) => { - const client = new EncoderClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.resetPosition(); -}; diff --git a/web/frontend/src/api/motion.ts b/web/frontend/src/api/motion.ts deleted file mode 100644 index f4aff94d563..00000000000 --- a/web/frontend/src/api/motion.ts +++ /dev/null @@ -1,62 +0,0 @@ -import { - type Client, - commonApi, - motionApi, - MotionClient, - ResourceName, - Struct, -} from '@viamrobotics/sdk'; -import { getPosition } from './slam'; - -export const moveOnMap = async ( - robotClient: Client, - slamServiceName: ResourceName, - componentName: ResourceName, - x: number, - y: number -): Promise => { - const lastPose = await getPosition(robotClient, slamServiceName.name); - - const destination = new commonApi.Pose({ - x: x * 1000, - y: y * 1000, - z: 0, - oX: lastPose?.oX, - oY: lastPose?.oY, - oZ: lastPose?.oZ, - theta: lastPose?.theta, - }); - - const slamResourceName = new ResourceName({ - namespace: slamServiceName.namespace, - type: slamServiceName.type, - subtype: slamServiceName.subtype, - name: slamServiceName.name, - }); - - const motionCfg = new motionApi.MotionConfiguration({ - planDeviationM: 0.5, - }); - - const baseResourceName = new ResourceName({ - namespace: componentName.namespace, - type: componentName.type, - subtype: componentName.subtype, - name: componentName.name, - }); - - // set extra as position-only constraint - const extra = Struct.fromJson({ - motion_profile: 'position_only', - }); - - const client = new MotionClient(robotClient, 'builtin'); - return client.moveOnMap( - destination, - baseResourceName, - slamResourceName, - motionCfg, - [], - extra - ); -}; diff --git a/web/frontend/src/api/movement-sensor.ts b/web/frontend/src/api/movement-sensor.ts deleted file mode 100644 index b982a8f68fc..00000000000 --- a/web/frontend/src/api/movement-sensor.ts +++ /dev/null @@ -1,61 +0,0 @@ -import { rcLogConditionally } from '@/lib/log'; -import { type Client, MovementSensorClient } from '@viamrobotics/sdk'; - -export const getProperties = async (robotClient: Client, name: string) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getProperties(); -}; - -export const getOrientation = async (robotClient: Client, name: string) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getOrientation(); -}; - -export const getAngularVelocity = async (robotClient: Client, name: string) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getAngularVelocity(); -}; - -export const getLinearAcceleration = async ( - robotClient: Client, - name: string -) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getLinearAcceleration(); -}; - -export const getLinearVelocity = async (robotClient: Client, name: string) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getLinearVelocity(); -}; - -export const getCompassHeading = async (robotClient: Client, name: string) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getCompassHeading(); -}; - -export const getPosition = async (robotClient: Client, name: string) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getPosition(); -}; - -export const getAccuracy = async (robotClient: Client, name: string) => { - const client = new MovementSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getAccuracy(); -}; diff --git a/web/frontend/src/api/navigation.ts b/web/frontend/src/api/navigation.ts deleted file mode 100644 index e69fa8ff022..00000000000 --- a/web/frontend/src/api/navigation.ts +++ /dev/null @@ -1,129 +0,0 @@ -/* eslint-disable no-underscore-dangle */ - -import { notify } from '@viamrobotics/prime'; -import { - type BoxGeometry, - type CapsuleGeometry, - type Obstacle, - type Path, - type SphereGeometry, - Waypoint, -} from '@viamrobotics/prime-blocks'; -import { theme } from '@viamrobotics/prime-core/theme'; -import type { - GeoGeometry, - Path as SDKPath, - Waypoint as SDKWaypoint, -} from '@viamrobotics/sdk'; -import { ViamObject3D } from '@viamrobotics/three'; -import { LngLat } from 'maplibre-gl'; -import * as THREE from 'three'; -export * from './types/navigation'; - -const STATIC_OBSTACLE_LABEL = 'static'; -const STATIC_OBSTACLE_COLOR = theme.extend.colors.cyberpunk; -const TRANSIENT_OBSTACLE_LABEL = 'transient'; -const TRANSIENT_OBSTACLE_COLOR = theme.extend.colors.hologram; - -/** Transient obstacles will start with this string in the geometry's label. */ -const TRANSIENT_LABEL_SEARCH = 'transient'; - -export const formatWaypoints = (list: SDKWaypoint[]) => { - return list.map((item) => { - const { location } = item; - return new Waypoint( - location?.longitude ?? 0, - location?.latitude ?? 0, - item.id - ); - }); -}; - -export const formatObstacles = (list: GeoGeometry[]): Obstacle[] => { - return list.map((obstacle, index) => { - const { location } = obstacle; - - /* - * Labels are defined on each geometry, not on the - * obstacle itself. In practice, obstacles typically - * only have a single geometry. This takes the label - * on the first geometry and uses that even if there - * are multiple geometries. - */ - - const [geo] = obstacle.geometries; - - let name = `Obstacle ${index + 1}`; - if (obstacle.geometries.length > 1) { - name = `${geo?.label} & others`; - } else if (geo?.label) { - name = geo.label; - } - - const isTransient = geo?.label.startsWith(TRANSIENT_LABEL_SEARCH); - const label = isTransient - ? TRANSIENT_OBSTACLE_LABEL - : STATIC_OBSTACLE_LABEL; - const color = isTransient - ? TRANSIENT_OBSTACLE_COLOR - : STATIC_OBSTACLE_COLOR; - - return { - name, - location: new LngLat(location?.longitude ?? 0, location?.latitude ?? 0), - geometries: obstacle.geometries.map((geometry) => { - const { center } = geometry; - const pose = new ViamObject3D(); - const th = THREE.MathUtils.degToRad(center?.theta ?? 0); - pose.orientationVector.set(center?.oX, center?.oY, center?.oZ, th); - - switch (geometry.geometryType.case) { - case 'box': { - const { dimsMm } = geometry.geometryType.value; - - return { - type: 'box', - length: (dimsMm?.x ?? 0) / 1000, - width: (dimsMm?.y ?? 0) / 1000, - height: (dimsMm?.z ?? 0) / 1000, - pose, - } satisfies BoxGeometry; - } - case 'sphere': { - return { - type: 'sphere', - radius: geometry.geometryType.value.radiusMm / 1000, - pose, - } satisfies SphereGeometry; - } - case 'capsule': { - return { - type: 'capsule', - radius: geometry.geometryType.value.radiusMm / 1000, - length: geometry.geometryType.value.lengthMm / 1000, - pose, - } satisfies CapsuleGeometry; - } - } - - notify.danger( - 'An unsupported geometry was encountered in an obstacle', - JSON.stringify(geometry) - ); - throw new Error( - `An unsupported geometry was encountered in an obstacle: ${JSON.stringify( - geometry - )}` - ); - }), - label, - color, - } satisfies Obstacle; - }); -}; - -export const formatPaths = (list: SDKPath[]): Path[] => { - return list.map(({ geopoints }) => - geopoints.map((geo) => new LngLat(geo.longitude, geo.latitude)) - ); -}; diff --git a/web/frontend/src/api/power-sensor.ts b/web/frontend/src/api/power-sensor.ts deleted file mode 100644 index f47ee47721a..00000000000 --- a/web/frontend/src/api/power-sensor.ts +++ /dev/null @@ -1,25 +0,0 @@ -import { rcLogConditionally } from '@/lib/log'; -import { type Client, PowerSensorClient } from '@viamrobotics/sdk'; - -export const getVoltage = async (robotClient: Client, name: string) => { - const client = new PowerSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - const resp = await client.getVoltage(); - return resp[0]; -}; - -export const getCurrent = async (robotClient: Client, name: string) => { - const client = new PowerSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - const resp = await client.getCurrent(); - return resp[0]; -}; - -export const getPower = async (robotClient: Client, name: string) => { - const client = new PowerSensorClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.getPower(); -}; diff --git a/web/frontend/src/api/robot.ts b/web/frontend/src/api/robot.ts deleted file mode 100644 index 30bb628764d..00000000000 --- a/web/frontend/src/api/robot.ts +++ /dev/null @@ -1,13 +0,0 @@ -import { type Client } from '@viamrobotics/sdk'; - -export const getOperations = async (robotClient: Client) => { - return robotClient.getOperations(); -}; - -export const getResourceNames = async (robotClient: Client) => { - return robotClient.resourceNames(); -}; - -export const getSessions = async (robotClient: Client) => { - return robotClient.getSessions(); -}; diff --git a/web/frontend/src/api/sensors.ts b/web/frontend/src/api/sensors.ts deleted file mode 100644 index 0a67413a0b2..00000000000 --- a/web/frontend/src/api/sensors.ts +++ /dev/null @@ -1,7 +0,0 @@ -import { Client, sensorsApi } from '@viamrobotics/sdk'; - -export const getSensors = async (robotClient: Client, name: string) => { - const request = new sensorsApi.GetSensorsRequest({ name }); - const resp = await robotClient.sensorsService.getSensors(request); - return resp.sensorNames; -}; diff --git a/web/frontend/src/api/servo.ts b/web/frontend/src/api/servo.ts deleted file mode 100644 index 34f90043dad..00000000000 --- a/web/frontend/src/api/servo.ts +++ /dev/null @@ -1,13 +0,0 @@ -import { rcLogConditionally } from '@/lib/log'; -import { ServoClient, type Client } from '@viamrobotics/sdk'; - -export const move = async ( - robotClient: Client, - name: string, - angle: number -) => { - const client = new ServoClient(robotClient, name, { - requestLogger: rcLogConditionally, - }); - return client.move(angle); -}; diff --git a/web/frontend/src/api/slam.ts b/web/frontend/src/api/slam.ts deleted file mode 100644 index 6af854f0230..00000000000 --- a/web/frontend/src/api/slam.ts +++ /dev/null @@ -1,7 +0,0 @@ -import { SlamClient, type Client } from '@viamrobotics/sdk'; - -export const getPosition = async (robotClient: Client, name: string) => { - const client = new SlamClient(robotClient, name); - const pos = await client.getPosition(); - return pos.pose; -}; diff --git a/web/frontend/src/api/types/navigation.ts b/web/frontend/src/api/types/navigation.ts deleted file mode 100644 index a5bf8344803..00000000000 --- a/web/frontend/src/api/types/navigation.ts +++ /dev/null @@ -1,12 +0,0 @@ -import type { navigationApi } from '@viamrobotics/sdk'; - -export type NavigationModes = - | typeof navigationApi.Mode.MANUAL - | typeof navigationApi.Mode.UNSPECIFIED - | typeof navigationApi.Mode.WAYPOINT; - -export interface LngLat { - lng: number; - lat: number; -} -export type Waypoint = LngLat & { id: string }; diff --git a/web/frontend/src/app.svelte b/web/frontend/src/app.svelte deleted file mode 100644 index bf829f29cb6..00000000000 --- a/web/frontend/src/app.svelte +++ /dev/null @@ -1,19 +0,0 @@ - - - diff --git a/web/frontend/src/components/arm/index.svelte b/web/frontend/src/components/arm/index.svelte deleted file mode 100644 index d38b101384d..00000000000 --- a/web/frontend/src/components/arm/index.svelte +++ /dev/null @@ -1,446 +0,0 @@ - - - - - - - -
- {#if status} -
-
-

- End position (mms) - -

- -
- {#if modifyAll} - {#each modifyAllStatus.pos_pieces as piece (piece.endPosition[0])} - - {/each} - - {:else} - {#each posPieces as piece (piece.endPosition[0])} -
-

- {piece.endPosition[1]} -

- - armEndPositionInc(piece.endPosition[1], -10)} - /> - - armEndPositionInc(piece.endPosition[1], -1)} - /> -

- {piece.endPositionValue.toFixed(2)} -

- - armEndPositionInc(piece.endPosition[1], 1)} - /> - - armEndPositionInc(piece.endPosition[1], 10)} - /> -
- {/each} - {/if} -
-
- -
-

- Joints (degrees) - -

- -
- {#if modifyAll} - {#each modifyAllStatus.joint_pieces as piece (piece.joint)} - - {/each} - - {:else} - {#each jointPieces as piece (piece.joint)} -
-

- Joint {piece.joint} -

- armJointInc(piece.joint, -10)} - /> - armJointInc(piece.joint, -1)} - /> -

- {piece.jointValue.toFixed(2)} -

- armJointInc(piece.joint, 1)} - /> - armJointInc(piece.joint, 10)} - /> -
- {/each} - {/if} -
-
-
-
- {#if modifyAll} - { - modifyAll = false; - }} - /> - {:else} - - - {/if} -
- {/if} -
- diff --git a/web/frontend/src/components/audio-input/index.svelte b/web/frontend/src/components/audio-input/index.svelte deleted file mode 100644 index 656f34b15de..00000000000 --- a/web/frontend/src/components/audio-input/index.svelte +++ /dev/null @@ -1,77 +0,0 @@ - - - - -
-
- diff --git a/web/frontend/src/components/base/index.svelte b/web/frontend/src/components/base/index.svelte deleted file mode 100644 index d452f37c27f..00000000000 --- a/web/frontend/src/components/base/index.svelte +++ /dev/null @@ -1,529 +0,0 @@ - - - - - -
{ - isKeyboardActive = false; - }} -> - - - - - -
-
-

Motor controls

- - - {#if selectedMode === 'Keyboard'} -
- - -
- {/if} - - {#if selectedMode === 'Discrete'} -
- - {#if movementMode === 'Straight'} - - - - {#if movementType === 'Continuous'} - - {:else} - - {/if} - {/if} - {#if movementMode === 'Spin'} - - -
- -
- {/if} - -
- {/if} - -
- -

Live feeds

- - - - {#if cameras} -
- {#each cameras as camera (camera.name)} - { - handleSwitch(camera.name); - }} - /> - {/each} - -
- - - { - triggerRefresh = !triggerRefresh; - }} - on:keyup={() => { - triggerRefresh = !triggerRefresh; - }} - role="button" - tabindex="0" - /> -
-
- {/if} -
-
- - {#each cameras as camera (`base ${camera.name}`)} - {#if openCameras[camera.name]} - - {/if} - {/each} -
-
- -
diff --git a/web/frontend/src/components/board/index.svelte b/web/frontend/src/components/board/index.svelte deleted file mode 100644 index 022324a2d8b..00000000000 --- a/web/frontend/src/components/board/index.svelte +++ /dev/null @@ -1,299 +0,0 @@ - - - - -
-

Analogs

- - {#each Object.entries(status?.analogs ?? {}) as [analogName, analog] (analogName)} - - - - - {/each} -
- {analogName} - - {analog || 0} -
- -

Digital Interrupts

- - {#each Object.entries(status?.digital_interrupts ?? {}) as [interruptName, interrupt] (interruptName)} - - - - - {/each} -
- {interruptName} - - {interrupt || 0} -
- -

GPIO

- - - - - - - - - -
Get -
- - - - - - {getPinMessage} - -
-
Set -
- - - - - - - -
-
- -

Analogs

- - - - - - - - - -
Get -
- - - - {readAnalogMessage} - -
-
Set -
- - - -
-
-
- diff --git a/web/frontend/src/components/camera/camera-manager.ts b/web/frontend/src/components/camera/camera-manager.ts deleted file mode 100644 index b9a05adc31b..00000000000 --- a/web/frontend/src/components/camera/camera-manager.ts +++ /dev/null @@ -1,69 +0,0 @@ -import { - CameraClient, - ConnectError, - StreamClient, - type Client, -} from '@viamrobotics/sdk'; -import { displayError } from '../../lib/error'; - -export class CameraManager { - cameraClient: CameraClient; - - onOpen: (() => void) | undefined; - - constructor( - client: Client, - private cameraName: string, - private streamClient: StreamClient, - public streamCount = 0, - public videoStream: MediaStream = new MediaStream() - ) { - this.cameraClient = new CameraClient(client, cameraName); - } - - addStream() { - if (this.streamCount === 0) { - this.open(); - } - this.streamCount += 1; - } - - removeStream() { - this.streamCount -= 1; - if (this.streamCount === 0) { - this.close(); - } - } - - open() { - this.streamClient.add(this.cameraName); - this.streamClient.on('track', (event) => { - const [eventStream] = (event as { streams: MediaStream[] }).streams; - if (!eventStream) { - throw new Error('expected event stream to exist'); - } - // Ignore event if received for the wrong stream, in the case of multiple cameras - if (eventStream.id !== this.cameraName) { - return; - } - this.videoStream = eventStream; - this.onOpen?.(); - }); - } - - close() { - this.streamClient.remove(this.cameraName); - } - - async setImageSrc(imgEl: HTMLImageElement | undefined) { - let blob; - try { - blob = await this.cameraClient.renderFrame('image/jpeg'); - } catch (error) { - displayError(error as ConnectError); - return; - } - - imgEl?.setAttribute('src', URL.createObjectURL(blob)); - } -} diff --git a/web/frontend/src/components/camera/camera.svelte b/web/frontend/src/components/camera/camera.svelte deleted file mode 100644 index e908590a0bd..00000000000 --- a/web/frontend/src/components/camera/camera.svelte +++ /dev/null @@ -1,101 +0,0 @@ - - -
- {#if showExportScreenshot} - - {/if} - -
- {#if refreshRate === 'Live'} - - {/if} - - Camera stream -
-
diff --git a/web/frontend/src/components/camera/index.svelte b/web/frontend/src/components/camera/index.svelte deleted file mode 100644 index 0183f46c2de..00000000000 --- a/web/frontend/src/components/camera/index.svelte +++ /dev/null @@ -1,92 +0,0 @@ - - -{#each resources as camera (camera.name)} - - - -
- setupCamera(camera.name)} - /> - - {#if openCameras[camera.name]} -
- - - {#if refreshFrequency[camera.name] !== 'Live'} - { - triggerRefresh = !triggerRefresh; - }} - /> - {/if} -
- {/if} - - {#if openCameras[camera.name]} - - {/if} - - -
- -{/each} diff --git a/web/frontend/src/components/camera/live-camera.svelte b/web/frontend/src/components/camera/live-camera.svelte deleted file mode 100644 index 60dc4e18f0d..00000000000 --- a/web/frontend/src/components/camera/live-camera.svelte +++ /dev/null @@ -1,33 +0,0 @@ - - -