diff --git a/README.md b/README.md index 4d03dd86..09153936 100644 --- a/README.md +++ b/README.md @@ -11,4 +11,28 @@ on each roomba: pi provisioning: - enable serial port - disable wifi powersave -- disable bluetooth \ No newline at end of file +- disable bluetooth + +## Repo layout + +- `pi/roverd`: tiny Go daemon that bridges the Create 2 serial port, BRC pin, and the control server via WebSockets. +- `server`: Node.js process that terminates rover sockets, relays commands to/from the Socket.IO UI, and serves `public/`. +- `pi/systemd` / `pi/mediamtx`: ready-to-drop systemd units and a minimal mediaMTX config for WebRTC publishing (roverd can optionally supervise the mediamtx service). +- `docs/pi-deployment.md`: per-rover build + install instructions (cross-compiling on Fedora 43, deploying roverd + mediaMTX). + +## Quick start + +```bash +# build the Pi agent (armv7) +cd pi/roverd +mkdir -p ../../dist +make pi-build + +# start the server + UI +cd ../../server +npm install +npm run start +``` + +Then point each rover's `/etc/roverd.yaml` at `ws://:8080/rover`, enable the sensor stream from the UI, and drive with WASD. +Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx service remotely. diff --git a/docs/pi-deployment.md b/docs/pi-deployment.md new file mode 100644 index 00000000..09855f43 --- /dev/null +++ b/docs/pi-deployment.md @@ -0,0 +1,67 @@ +# Pi Deployment Guide + +## Tooling + +Fedora 43: + +```bash +sudo dnf install golang libgpiod +``` + +Cross-compiling roverd for Pi Zero 2 W (ARMv7): + +```bash +cd pi/roverd +mkdir -p ../../dist +make pi-build +``` + +The binary is placed in `dist/roverd` (relative to the repo root). + +## Installing `roverd` + +1. Copy the binary and config: + ```bash + sudo useradd -r -s /usr/sbin/nologin roverd || true + sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd + sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml + ``` + Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and the media WHEP URL that points at the central distribution server. + +2. Install the systemd unit: + ```bash + sudo install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service + sudo systemctl daemon-reload + sudo systemctl enable --now roverd.service + ``` + +`roverd` requires access to `/dev/ttyAMA0` and `/sys/class/gpio`; keeping it under its own user ensures the rest of the system stays isolated. +If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` service account can invoke `systemctl ` (either run the unit as root or grant sudo privileges for that command). + +## Configuring mediaMTX + +1. Download the latest mediaMTX release for ARMv7 and place the binary at `/usr/local/bin/mediamtx`. +2. Copy the provided config: + ```bash + sudo useradd -r -s /usr/sbin/nologin mediamtx || true + sudo install -d -o mediamtx -g mediamtx /etc/mediamtx + sudo install -o mediamtx -g mediamtx -m 0644 pi/mediamtx/mediamtx.yml /etc/mediamtx/mediamtx.yml + sudo install -m 0644 pi/systemd/mediamtx.service /etc/systemd/system/mediamtx.service + sudo systemctl daemon-reload + sudo systemctl enable --now mediamtx.service + ``` + +The sample config uses the Raspberry Pi camera module as the source and exposes a WHEP endpoint at `http://:8889/whep/rovercam`. Point `media.whepUrl` in `roverd.yaml` at this URL so the central server can list it. +Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`). + +## Server + UI + +From the repo root: + +```bash +cd server +npm install +npm run start +``` + +This launches the HTTP server (serving the barebones UI) and the rover WebSocket endpoint at `ws://:8080/rover`. The UI expects `roverd` instances to send `hello` frames so it can populate the rover list. Use the mode buttons to emit Start/Safe/Full/Passive/Dock commands (they send the raw OI opcode bytes), tap the sensor toggle to request Group 100 streaming, and use WASD for drive testing; the UI emits Drive Direct commands ~8 times per second, so the rover sees them immediately. diff --git a/pi/mediamtx/mediamtx.yml b/pi/mediamtx/mediamtx.yml new file mode 100644 index 00000000..35a96fe8 --- /dev/null +++ b/pi/mediamtx/mediamtx.yml @@ -0,0 +1,16 @@ +logLevel: info +webrtc: yes +webrtcLocalTCPAddress: 0.0.0.0 +webrtcLocalUDPAddress: 0.0.0.0 +webrtcDisableDefaultICEServers: true +webrtcICEServers: + - urls: + - stun:stun.l.google.com:19302 +paths: + rovercam: + source: rpiCamera + rpiCameraWidth: 1280 + rpiCameraHeight: 720 + rpiCameraFrameRate: 30 + rpiCameraHFlip: false + rpiCameraVFlip: false diff --git a/pi/roverd/Makefile b/pi/roverd/Makefile new file mode 100644 index 00000000..09597911 --- /dev/null +++ b/pi/roverd/Makefile @@ -0,0 +1,15 @@ +BIN_DIR ?= ../../dist +GOOS ?= linux +GOARCH ?= arm +GOARM ?= 6 + +.PHONY: build pi-build clean + +build: + go build -o $(BIN_DIR)/roverd ./cmd/roverd + +pi-build: + GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd + +clean: + rm -f $(BIN_DIR)/roverd diff --git a/pi/roverd/brc.go b/pi/roverd/brc.go new file mode 100644 index 00000000..8dda06b5 --- /dev/null +++ b/pi/roverd/brc.go @@ -0,0 +1,83 @@ +package roverd + +import ( + "context" + "fmt" + "log" + "os" + "path/filepath" + "strconv" + "time" +) + +type BRCPulser struct { + cfg BRCConfig + logger *log.Logger +} + +func NewBRCPulser(cfg BRCConfig, logger *log.Logger) (*BRCPulser, error) { + if err := exportGPIO(cfg.GPIOPin); err != nil { + return nil, err + } + if err := writeGPIO(cfg.GPIOPin, "direction", []byte("out\n")); err != nil { + return nil, err + } + if err := writeGPIO(cfg.GPIOPin, "value", []byte("1\n")); err != nil { + return nil, err + } + + return &BRCPulser{cfg: cfg, logger: logger}, nil +} + +func (b *BRCPulser) Close() { + _ = writeGPIO(b.cfg.GPIOPin, "value", []byte("1\n")) + _ = unexportGPIO(b.cfg.GPIOPin) +} + +func (b *BRCPulser) Start(ctx context.Context) { + go func() { + ticker := time.NewTicker(b.cfg.PulseEvery.Duration) + defer ticker.Stop() + + for { + b.pulseOnce() + select { + case <-ctx.Done(): + return + case <-ticker.C: + } + } + }() +} + +func (b *BRCPulser) pulseOnce() { + if err := writeGPIO(b.cfg.GPIOPin, "value", []byte("0\n")); err != nil { + b.logger.Printf("brc pulse low: %v", err) + return + } + time.Sleep(b.cfg.PulseWidth.Duration) + if err := writeGPIO(b.cfg.GPIOPin, "value", []byte("1\n")); err != nil { + b.logger.Printf("brc pulse high: %v", err) + } +} + +func exportGPIO(pin int) error { + err := os.WriteFile("/sys/class/gpio/export", []byte(strconv.Itoa(pin)), 0o644) + if err != nil && !os.IsExist(err) { + return err + } + return nil +} + +func unexportGPIO(pin int) error { + err := os.WriteFile("/sys/class/gpio/unexport", []byte(strconv.Itoa(pin)), 0o644) + if err != nil && !os.IsNotExist(err) { + return err + } + return nil +} + +func writeGPIO(pin int, field string, data []byte) error { + path := filepath.Join("/sys/class/gpio", fmt.Sprintf("gpio%d", pin), field) + return os.WriteFile(path, data, 0o644) +} diff --git a/pi/roverd/cmd/roverd/main.go b/pi/roverd/cmd/roverd/main.go new file mode 100644 index 00000000..4a35980d --- /dev/null +++ b/pi/roverd/cmd/roverd/main.go @@ -0,0 +1,75 @@ +package main + +import ( + "context" + "flag" + "log" + "os" + "os/signal" + "syscall" + "time" + + roverd "multiroombarover/pi/roverd" +) + +func main() { + var cfgPath string + flag.StringVar(&cfgPath, "config", "/etc/roverd.yaml", "path to roverd configuration file") + flag.Parse() + + cfg, err := roverd.LoadConfig(cfgPath) + if err != nil { + log.Fatalf("load config: %v", err) + } + + ctx, cancel := signal.NotifyContext(context.Background(), syscall.SIGINT, syscall.SIGTERM) + defer cancel() + + logger := log.New(os.Stdout, "roverd: ", log.LstdFlags|log.Lmicroseconds|log.LUTC) + + serialPort, err := roverd.OpenSerial(cfg.Serial) + if err != nil { + logger.Fatalf("open serial: %v", err) + } + defer serialPort.Close() + + var pulser *roverd.BRCPulser + if cfg.BRC.Enabled() { + pulser, err = roverd.NewBRCPulser(cfg.BRC, logger) + if err != nil { + logger.Fatalf("init BRC pulser: %v", err) + } + defer pulser.Close() + pulser.Start(ctx) + } + + sensorFrames := make(chan []byte, 8) + streamer := roverd.NewSensorStreamer(serialPort, sensorFrames, logger) + go streamer.Run(ctx) + + adapter := roverd.NewSerialAdapter(serialPort, logger) + + mediaSupervisor := roverd.NewMediaSupervisor(cfg.Media, logger) + if mediaSupervisor != nil { + mediaSupervisor.Start(ctx) + } + + client := roverd.NewWSClient(cfg, adapter, sensorFrames, mediaSupervisor, logger) + + retryDelay := time.Second + for ctx.Err() == nil { + if err := client.Run(ctx); err != nil { + logger.Printf("websocket loop ended: %v", err) + } + + select { + case <-ctx.Done(): + return + case <-time.After(retryDelay): + } + + if retryDelay < 30*time.Second { + retryDelay *= 2 + } + } +} diff --git a/pi/roverd/command.go b/pi/roverd/command.go new file mode 100644 index 00000000..2bb3a494 --- /dev/null +++ b/pi/roverd/command.go @@ -0,0 +1,51 @@ +package roverd + +type helloMessage struct { + Type string `json:"type"` + Name string `json:"name"` + Battery BatteryConfig `json:"battery"` + MaxWheelSpeed int `json:"maxWheelSpeed"` + Media MediaConfig `json:"media"` +} + +type sensorMessage struct { + Type string `json:"type"` + Timestamp int64 `json:"ts"` + Data string `json:"data"` +} + +type inboundMessage struct { + Type string `json:"type"` + ID string `json:"id"` + DriveDirect *driveDirectPayload `json:"driveDirect,omitempty"` + MotorPWM *motorPWMPayload `json:"motorPwm,omitempty"` + Raw string `json:"raw,omitempty"` + SensorStream *sensorStreamPayload `json:"sensorStream,omitempty"` + Media *mediaCommand `json:"media,omitempty"` +} + +type driveDirectPayload struct { + Left int `json:"left"` + Right int `json:"right"` +} + +type motorPWMPayload struct { + Main int `json:"main"` + Side int `json:"side"` + Vacuum int `json:"vacuum"` +} + +type sensorStreamPayload struct { + Enable bool `json:"enable"` +} + +type mediaCommand struct { + Action string `json:"action"` +} + +type ackMessage struct { + Type string `json:"type"` + ID string `json:"id"` + Status string `json:"status"` + Error string `json:"error,omitempty"` +} diff --git a/pi/roverd/config.go b/pi/roverd/config.go new file mode 100644 index 00000000..5e88d4f1 --- /dev/null +++ b/pi/roverd/config.go @@ -0,0 +1,118 @@ +package roverd + +import ( + "errors" + "fmt" + "os" + "time" + + "gopkg.in/yaml.v3" +) + +type SerialConfig struct { + Device string `yaml:"device"` + Baud int `yaml:"baud"` +} + +type Duration struct { + time.Duration +} + +func (d *Duration) UnmarshalYAML(value *yaml.Node) error { + var raw string + if err := value.Decode(&raw); err != nil { + return err + } + parsed, err := time.ParseDuration(raw) + if err != nil { + return err + } + d.Duration = parsed + return nil +} + +func (d Duration) MarshalYAML() (interface{}, error) { + return d.Duration.String(), nil +} + +type BRCConfig struct { + GPIOPin int `yaml:"gpioPin"` + PulseEvery Duration `yaml:"pulseEvery"` + PulseWidth Duration `yaml:"pulseWidth"` +} + +func (b BRCConfig) Enabled() bool { + return b.GPIOPin >= 0 +} + +type BatteryConfig struct { + Full int `yaml:"full"` + Warn int `yaml:"warn"` + Urgent int `yaml:"urgent"` +} + +type MediaConfig struct { + WhepURL string `yaml:"whepUrl"` + StreamKey string `yaml:"streamKey"` + Manage bool `yaml:"manage"` + Service string `yaml:"service"` + HealthURL string `yaml:"healthUrl"` + HealthInterval Duration `yaml:"healthInterval"` +} + +type Config struct { + Name string `yaml:"name"` + ServerURL string `yaml:"serverUrl"` + Serial SerialConfig `yaml:"serial"` + BRC BRCConfig `yaml:"brc"` + Battery BatteryConfig `yaml:"battery"` + MaxWheelMMs int `yaml:"maxWheelSpeed"` + Media MediaConfig `yaml:"media"` +} + +func LoadConfig(path string) (*Config, error) { + data, err := os.ReadFile(path) + if err != nil { + return nil, err + } + cfg := Config{ + MaxWheelMMs: 500, + BRC: BRCConfig{ + GPIOPin: -1, + PulseEvery: Duration{ + Duration: time.Minute, + }, + PulseWidth: Duration{ + Duration: time.Second, + }, + }, + Media: MediaConfig{ + HealthInterval: Duration{Duration: 30 * time.Second}, + }, + } + if err := yaml.Unmarshal(data, &cfg); err != nil { + return nil, err + } + if cfg.Name == "" { + return nil, errors.New("missing name") + } + if cfg.ServerURL == "" { + return nil, errors.New("missing serverUrl") + } + if cfg.Serial.Device == "" || cfg.Serial.Baud == 0 { + return nil, errors.New("serial device/baud required") + } + if cfg.Battery.Full == 0 { + return nil, errors.New("battery thresholds required") + } + if cfg.MaxWheelMMs <= 0 || cfg.MaxWheelMMs > 500 { + return nil, fmt.Errorf("maxWheelSpeed must be 1-500, got %d", cfg.MaxWheelMMs) + } + if cfg.Media.Manage && cfg.Media.Service == "" { + return nil, errors.New("media.manage requires media.service") + } + if cfg.Media.Manage && cfg.Media.HealthInterval.Duration <= 0 { + cfg.Media.HealthInterval = Duration{Duration: 30 * time.Second} + } + return &cfg, nil +} diff --git a/pi/roverd/go.mod b/pi/roverd/go.mod new file mode 100644 index 00000000..38af9d90 --- /dev/null +++ b/pi/roverd/go.mod @@ -0,0 +1,11 @@ +module multiroombarover/pi/roverd + +go 1.25.4 + +require ( + github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 + gopkg.in/yaml.v3 v3.0.1 + nhooyr.io/websocket v1.8.17 +) + +require golang.org/x/sys v0.38.0 // indirect diff --git a/pi/roverd/go.sum b/pi/roverd/go.sum new file mode 100644 index 00000000..b939c5d1 --- /dev/null +++ b/pi/roverd/go.sum @@ -0,0 +1,10 @@ +github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU= +github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA= +golang.org/x/sys v0.38.0 h1:3yZWxaJjBmCWXqhN1qh02AkOnCQ1poK6oF+a7xWL6Gc= +golang.org/x/sys v0.38.0/go.mod h1:OgkHotnGiDImocRcuBABYBEXf8A9a87e/uXjp9XT3ks= +gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM= +gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= +gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA= +gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= +nhooyr.io/websocket v1.8.17 h1:KEVeLJkUywCKVsnLIDlD/5gtayKp8VoCkksHCGGfT9Y= +nhooyr.io/websocket v1.8.17/go.mod h1:rN9OFWIUwuxg4fR5tELlYC04bXYowCP9GX47ivo2l+c= diff --git a/pi/roverd/media_supervisor.go b/pi/roverd/media_supervisor.go new file mode 100644 index 00000000..bd14d1c3 --- /dev/null +++ b/pi/roverd/media_supervisor.go @@ -0,0 +1,121 @@ +package roverd + +import ( + "context" + "errors" + "fmt" + "io" + "log" + "net/http" + "os/exec" + "time" +) + +type MediaSupervisor struct { + cfg MediaConfig + logger *log.Logger + client *http.Client + checkInterval time.Duration +} + +func NewMediaSupervisor(cfg MediaConfig, logger *log.Logger) *MediaSupervisor { + if !cfg.Manage || cfg.Service == "" { + return nil + } + interval := cfg.HealthInterval.Duration + if interval <= 0 { + interval = 30 * time.Second + } + return &MediaSupervisor{ + cfg: cfg, + logger: logger, + client: &http.Client{Timeout: 5 * time.Second}, + checkInterval: interval, + } +} + +func (m *MediaSupervisor) Start(ctx context.Context) { + if m == nil || m.cfg.HealthURL == "" { + return + } + go func() { + ticker := time.NewTicker(m.checkInterval) + defer ticker.Stop() + + if err := m.checkAndRepair(); err != nil { + m.logger.Printf("media supervisor: %v", err) + } + + for { + select { + case <-ctx.Done(): + return + case <-ticker.C: + if err := m.checkAndRepair(); err != nil { + m.logger.Printf("media supervisor: %v", err) + } + } + } + }() +} + +func (m *MediaSupervisor) HandleAction(ctx context.Context, action string) error { + if m == nil { + return errors.New("media supervisor disabled") + } + switch action { + case "start", "stop", "restart", "reload", "status": + return m.runSystemctl(ctx, action) + default: + return fmt.Errorf("unknown media action: %s", action) + } +} + +func (m *MediaSupervisor) checkAndRepair() error { + ctx, cancel := context.WithTimeout(context.Background(), 7*time.Second) + defer cancel() + + if m.checkHealth(ctx) { + return nil + } + m.logger.Printf("media supervisor: health check failed, restarting %s", m.cfg.Service) + if err := m.runSystemctl(ctx, "restart"); err != nil { + return fmt.Errorf("restart mediamtx: %w", err) + } + return nil +} + +func (m *MediaSupervisor) checkHealth(ctx context.Context) bool { + req, err := http.NewRequestWithContext(ctx, http.MethodGet, m.cfg.HealthURL, nil) + if err != nil { + m.logger.Printf("media supervisor: health request: %v", err) + return false + } + resp, err := m.client.Do(req) + if err != nil { + m.logger.Printf("media supervisor: health request failed: %v", err) + return false + } + defer resp.Body.Close() + _, _ = io.Copy(io.Discard, resp.Body) + if resp.StatusCode >= 200 && resp.StatusCode < 300 { + return true + } + m.logger.Printf("media supervisor: unexpected health status %d", resp.StatusCode) + return false +} + +func (m *MediaSupervisor) runSystemctl(ctx context.Context, action string) error { + if m.cfg.Service == "" { + return errors.New("no media service configured") + } + runCtx, cancel := context.WithTimeout(ctx, 15*time.Second) + defer cancel() + + cmd := exec.CommandContext(runCtx, "systemctl", action, m.cfg.Service) + output, err := cmd.CombinedOutput() + if err != nil { + return fmt.Errorf("systemctl %s %s: %w (%s)", action, m.cfg.Service, err, string(output)) + } + return nil +} diff --git a/pi/roverd/roverd b/pi/roverd/roverd new file mode 100755 index 00000000..5b7e6c21 Binary files /dev/null and b/pi/roverd/roverd differ diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml new file mode 100644 index 00000000..defd0586 --- /dev/null +++ b/pi/roverd/roverd.sample.yaml @@ -0,0 +1,22 @@ +# Sample configuration for roverd +name: roomba-alpha +serverUrl: ws://control-server.local:8080/rover +serial: + device: /dev/ttyAMA0 + baud: 115200 +brc: + gpioPin: 17 + pulseEvery: 1m + pulseWidth: 1s +battery: + full: 2068 + warn: 1700 + urgent: 1650 +maxWheelSpeed: 350 +media: + whepUrl: https://mediaserver.local/whep/roomba-alpha + streamKey: roomba-alpha + manage: false + service: mediamtx.service + healthUrl: http://127.0.0.1:9997/v3/paths/list/rovercam + healthInterval: 30s diff --git a/pi/roverd/roverd.yaml b/pi/roverd/roverd.yaml new file mode 100644 index 00000000..defd0586 --- /dev/null +++ b/pi/roverd/roverd.yaml @@ -0,0 +1,22 @@ +# Sample configuration for roverd +name: roomba-alpha +serverUrl: ws://control-server.local:8080/rover +serial: + device: /dev/ttyAMA0 + baud: 115200 +brc: + gpioPin: 17 + pulseEvery: 1m + pulseWidth: 1s +battery: + full: 2068 + warn: 1700 + urgent: 1650 +maxWheelSpeed: 350 +media: + whepUrl: https://mediaserver.local/whep/roomba-alpha + streamKey: roomba-alpha + manage: false + service: mediamtx.service + healthUrl: http://127.0.0.1:9997/v3/paths/list/rovercam + healthInterval: 30s diff --git a/pi/roverd/sensor_stream.go b/pi/roverd/sensor_stream.go new file mode 100644 index 00000000..37c65f04 --- /dev/null +++ b/pi/roverd/sensor_stream.go @@ -0,0 +1,76 @@ +package roverd + +import ( + "bufio" + "context" + "encoding/hex" + "io" + "log" + "time" +) + +const ( + sensorHeader = 19 + sensorReadTimeout = 150 * time.Millisecond + streamGroupDefault = 100 +) + +type SensorStreamer struct { + r io.Reader + out chan<- []byte + logger *log.Logger +} + +func NewSensorStreamer(r io.Reader, out chan<- []byte, logger *log.Logger) *SensorStreamer { + return &SensorStreamer{r: r, out: out, logger: logger} +} + +func (s *SensorStreamer) Run(ctx context.Context) { + reader := bufio.NewReader(s.r) + for { + select { + case <-ctx.Done(): + return + default: + } + + b, err := reader.ReadByte() + if err != nil { + if ctx.Err() != nil { + return + } + continue + } + if b != sensorHeader { + continue + } + nBytes, err := reader.ReadByte() + if err != nil { + continue + } + frame := make([]byte, int(nBytes)+3) + frame[0] = sensorHeader + frame[1] = nBytes + if _, err := io.ReadFull(reader, frame[2:]); err != nil { + continue + } + + if !validateChecksum(frame) { + s.logger.Printf("sensor checksum failed: %s", hex.EncodeToString(frame)) + continue + } + + select { + case s.out <- frame: + default: + } + } +} + +func validateChecksum(buf []byte) bool { + var sum int + for _, b := range buf { + sum += int(b) + } + return byte(sum&0xFF) == 0 +} diff --git a/pi/roverd/serial.go b/pi/roverd/serial.go new file mode 100644 index 00000000..3f56e768 --- /dev/null +++ b/pi/roverd/serial.go @@ -0,0 +1,86 @@ +package roverd + +import ( + "encoding/base64" + "fmt" + "io" + "log" + "sync" + + "github.com/tarm/serial" +) + +type SerialAdapter struct { + port io.ReadWriteCloser + encoder *base64.Encoding + mu sync.Mutex + log *log.Logger +} + +func OpenSerial(cfg SerialConfig) (*serial.Port, error) { + return serial.OpenPort(&serial.Config{ + Name: cfg.Device, + Baud: cfg.Baud, + ReadTimeout: sensorReadTimeout, + }) +} + +func NewSerialAdapter(port io.ReadWriteCloser, logger *log.Logger) *SerialAdapter { + return &SerialAdapter{ + port: port, + encoder: base64.StdEncoding, + log: logger, + } +} + +func (s *SerialAdapter) write(buf []byte) error { + s.mu.Lock() + defer s.mu.Unlock() + + n, err := s.port.Write(buf) + if err != nil { + return err + } + if n != len(buf) { + return fmt.Errorf("short write %d/%d", n, len(buf)) + } + return nil +} + +func (s *SerialAdapter) DriveDirect(left, right int) error { + payload := []byte{ + 145, + byte((right >> 8) & 0xFF), + byte(right & 0xFF), + byte((left >> 8) & 0xFF), + byte(left & 0xFF), + } + return s.write(payload) +} + +func (s *SerialAdapter) MotorPWM(main, side, vacuum int) error { + payload := []byte{ + 144, + byte(main & 0xFF), + byte(side & 0xFF), + byte(vacuum & 0xFF), + } + return s.write(payload) +} + +func (s *SerialAdapter) StartSensorStream(group byte) error { + payload := []byte{148, 1, group} + return s.write(payload) +} + +func (s *SerialAdapter) PauseSensorStream(pause bool) error { + state := byte(1) + if pause { + state = 0 + } + return s.write([]byte{150, state}) +} + +func (s *SerialAdapter) SendRaw(raw []byte) error { + return s.write(raw) +} diff --git a/pi/roverd/wsclient.go b/pi/roverd/wsclient.go new file mode 100644 index 00000000..6ac1b63a --- /dev/null +++ b/pi/roverd/wsclient.go @@ -0,0 +1,172 @@ +package roverd + +import ( + "context" + "encoding/base64" + "encoding/json" + "fmt" + "log" + "time" + + "nhooyr.io/websocket" +) + +type WSClient struct { + cfg *Config + adapter *SerialAdapter + sensorFrames <-chan []byte + media *MediaSupervisor + log *log.Logger +} + +func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, media *MediaSupervisor, logger *log.Logger) *WSClient { + return &WSClient{ + cfg: cfg, + adapter: adapter, + sensorFrames: frames, + media: media, + log: logger, + } +} + +func (c *WSClient) Run(ctx context.Context) error { + conn, _, err := websocket.Dial(ctx, c.cfg.ServerURL, nil) + if err != nil { + return err + } + defer conn.Close(websocket.StatusInternalError, "closed") + + if err := c.sendHello(ctx, conn); err != nil { + return err + } + + errCh := make(chan error, 1) + go func() { + errCh <- c.readLoop(ctx, conn) + }() + go c.forwardSensors(ctx, conn) + + select { + case <-ctx.Done(): + conn.Close(websocket.StatusNormalClosure, "context done") + return ctx.Err() + case err := <-errCh: + return err + } +} + +func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error { + msg := helloMessage{ + Type: "hello", + Name: c.cfg.Name, + Battery: c.cfg.Battery, + MaxWheelSpeed: c.cfg.MaxWheelMMs, + Media: c.cfg.Media, + } + return writeJSON(ctx, conn, msg) +} + +func (c *WSClient) readLoop(ctx context.Context, conn *websocket.Conn) error { + for { + _, data, err := conn.Read(ctx) + if err != nil { + return err + } + var msg inboundMessage + if err := json.Unmarshal(data, &msg); err != nil { + c.log.Printf("invalid command: %v", err) + continue + } + if msg.ID == "" { + continue + } + status := "ok" + cmdErr := c.dispatch(ctx, &msg) + if cmdErr != nil { + status = "error" + } + ack := ackMessage{ + Type: "ack", + ID: msg.ID, + Status: status, + } + if cmdErr != nil { + ack.Error = cmdErr.Error() + } + if err := writeJSON(ctx, conn, ack); err != nil { + return err + } + } +} + +func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error { + switch { + case msg.DriveDirect != nil: + left := clamp(msg.DriveDirect.Left, -c.cfg.MaxWheelMMs, c.cfg.MaxWheelMMs) + right := clamp(msg.DriveDirect.Right, -c.cfg.MaxWheelMMs, c.cfg.MaxWheelMMs) + return c.adapter.DriveDirect(left, right) + case msg.MotorPWM != nil: + main := clamp(msg.MotorPWM.Main, -127, 127) + side := clamp(msg.MotorPWM.Side, -127, 127) + vac := clamp(msg.MotorPWM.Vacuum, 0, 127) + return c.adapter.MotorPWM(main, side, vac) + case msg.SensorStream != nil: + if msg.SensorStream.Enable { + if err := c.adapter.StartSensorStream(streamGroupDefault); err != nil { + return err + } + return c.adapter.PauseSensorStream(false) + } + return c.adapter.PauseSensorStream(true) + case msg.Raw != "" && len(msg.Raw) > 0: + buf, err := base64.StdEncoding.DecodeString(msg.Raw) + if err != nil { + return fmt.Errorf("raw decode: %w", err) + } + return c.adapter.SendRaw(buf) + case msg.Media != nil: + if c.media == nil { + return fmt.Errorf("media supervisor disabled") + } + return c.media.HandleAction(ctx, msg.Media.Action) + default: + return fmt.Errorf("unsupported command type: %s", msg.Type) + } +} + +func (c *WSClient) forwardSensors(ctx context.Context, conn *websocket.Conn) { + for { + select { + case <-ctx.Done(): + return + case frame := <-c.sensorFrames: + msg := sensorMessage{ + Type: "sensor", + Timestamp: time.Now().UnixMilli(), + Data: base64.StdEncoding.EncodeToString(frame), + } + if err := writeJSON(ctx, conn, msg); err != nil { + c.log.Printf("sensor send failed: %v", err) + return + } + } + } +} + +func writeJSON(ctx context.Context, conn *websocket.Conn, v any) error { + data, err := json.Marshal(v) + if err != nil { + return err + } + return conn.Write(ctx, websocket.MessageText, data) +} + +func clamp(value, min, max int) int { + if value < min { + return min + } + if value > max { + return max + } + return value +} diff --git a/pi/systemd/mediamtx.service b/pi/systemd/mediamtx.service new file mode 100644 index 00000000..cc84e4d7 --- /dev/null +++ b/pi/systemd/mediamtx.service @@ -0,0 +1,15 @@ +[Unit] +Description=mediaMTX WebRTC publisher +After=network-online.target +Wants=network-online.target + +[Service] +Type=simple +ExecStart=/usr/local/bin/mediamtx /etc/mediamtx/mediamtx.yml +Restart=on-failure +RestartSec=5 +User=mediamtx +Group=mediamtx + +[Install] +WantedBy=multi-user.target diff --git a/pi/systemd/roverd.service b/pi/systemd/roverd.service new file mode 100644 index 00000000..33bdd301 --- /dev/null +++ b/pi/systemd/roverd.service @@ -0,0 +1,16 @@ +[Unit] +Description=Multi-Roomba rover control agent +After=network-online.target mediamtx.service +Wants=network-online.target + +[Service] +Type=simple +ExecStart=/usr/local/bin/roverd -config /etc/roverd.yaml +Restart=on-failure +RestartSec=5 +User=roverd +Group=roverd +AmbientCapabilities=CAP_SYS_TTY_CONFIG CAP_SYS_RAWIO + +[Install] +WantedBy=multi-user.target diff --git a/server/package-lock.json b/server/package-lock.json new file mode 100644 index 00000000..656f3d97 --- /dev/null +++ b/server/package-lock.json @@ -0,0 +1,1560 @@ +{ + "name": 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"utf-8-validate": { + "optional": true + } + } + } + } +} diff --git a/server/package.json b/server/package.json new file mode 100644 index 00000000..48f5d688 --- /dev/null +++ b/server/package.json @@ -0,0 +1,19 @@ +{ + "name": "multiroombarover-server", + "version": "0.1.0", + "private": true, + "scripts": { + "start": "node src/index.js", + "dev": "nodemon src/index.js" + }, + "dependencies": { + "express": "^4.19.2", + "morgan": "^1.10.0", + "socket.io": "^4.7.5", + "uuid": "^9.0.1", + "ws": "^8.18.0" + }, + "devDependencies": { + "nodemon": "^3.1.0" + } +} diff --git a/server/public/app.js b/server/public/app.js new file mode 100644 index 00000000..d405f8ea --- /dev/null +++ b/server/public/app.js @@ -0,0 +1,155 @@ +const socket = io(); +const statusEl = document.getElementById('status'); +const roverSelect = document.getElementById('roverSelect'); +const sensorToggleBtn = document.getElementById('sensorToggle'); +const motorsStopBtn = document.getElementById('motorsStop'); +const sensorOutput = document.getElementById('sensorOutput'); +const mediaRestartBtn = document.getElementById('mediaRestart'); +let selectedRover = null; +let sensorEnabled = false; +let lastDrive = { left: 0, right: 0 }; + +const OI_COMMANDS = { + start: [128], + safe: [131], + full: [132], + passive: [128], + dock: [143], +}; + +socket.on('connect', () => { + statusEl.textContent = 'Connected'; +}); + +socket.on('disconnect', () => { + statusEl.textContent = 'Disconnected'; +}); + +socket.on('rovers', (list) => { + roverSelect.innerHTML = ''; + list.forEach((rover) => { + const option = document.createElement('option'); + option.value = rover.id; + option.textContent = `${rover.name} (${rover.id})`; + roverSelect.appendChild(option); + }); + if (list.length && !selectedRover) { + roverSelect.selectedIndex = 0; + selectedRover = list[0].id; + } +}); + +socket.on('sensorFrame', ({ roverId, frame }) => { + if (roverId !== selectedRover) return; + sensorOutput.textContent = formatSensorFrame(frame.data); +}); + +socket.on('commandAck', ({ roverId, status, error }) => { + if (roverId !== selectedRover) return; + if (status === 'ok') { + statusEl.textContent = 'Command applied'; + } else { + statusEl.textContent = `Command failed: ${error}`; + } +}); + +roverSelect.addEventListener('change', (e) => { + selectedRover = e.target.value; +}); + +sensorToggleBtn.addEventListener('click', () => { + if (!selectedRover) return; + sensorEnabled = !sensorEnabled; + sensorToggleBtn.textContent = sensorEnabled ? 'Disable Sensor Stream' : 'Enable Sensor Stream'; + sendCommand('sensorStream', { enable: sensorEnabled }); +}); + +motorsStopBtn.addEventListener('click', () => { + sendCommand('motors', { main: 0, side: 0, vacuum: 0 }); +}); + +mediaRestartBtn.addEventListener('click', () => { + sendCommand('media', { action: 'restart' }); +}); + +document.querySelectorAll('[data-mode]').forEach((btn) => { + btn.addEventListener('click', () => { + const mode = btn.dataset.mode; + if (!OI_COMMANDS[mode]) return; + sendCommand('raw', { bytes: OI_COMMANDS[mode] }); + }); +}); + +const keys = new Set(); +const driveInterval = 120; + +window.addEventListener('keydown', (event) => { + keys.add(event.key.toLowerCase()); +}); + +window.addEventListener('keyup', (event) => { + keys.delete(event.key.toLowerCase()); +}); + +setInterval(() => { + if (!selectedRover) return; + const speeds = computeDrive(); + if (speeds.left === lastDrive.left && speeds.right === lastDrive.right) { + return; + } + lastDrive = speeds; + sendCommand('drive', speeds); +}, driveInterval); + +function computeDrive() { + const forward = keys.has('w'); + const backward = keys.has('s'); + const left = keys.has('a'); + const right = keys.has('d'); + const fast = keys.has('shift'); + const base = fast ? 300 : 150; + let leftSpeed = 0; + let rightSpeed = 0; + + if (forward && !backward) { + leftSpeed += base; + rightSpeed += base; + } else if (backward && !forward) { + leftSpeed -= base; + rightSpeed -= base; + } + + if (left && !right) { + leftSpeed -= base; + rightSpeed += base; + } else if (right && !left) { + leftSpeed += base; + rightSpeed -= base; + } + + if (!forward && !backward && (left || right)) { + leftSpeed = left ? -base : base; + rightSpeed = left ? base : -base; + } + + return { + left: clamp(leftSpeed, -500, 500), + right: clamp(rightSpeed, -500, 500), + }; +} + +function sendCommand(type, data = {}) { + if (!selectedRover) return; + socket.emit('command', { roverId: selectedRover, type, data }); +} + +function formatSensorFrame(base64) { + const buffer = Uint8Array.from(atob(base64), (c) => c.charCodeAt(0)); + return Array.from(buffer) + .map((b) => b.toString(16).padStart(2, '0')) + .join(' '); +} + +function clamp(value, min, max) { + return Math.max(min, Math.min(max, value)); +} diff --git a/server/public/index.html b/server/public/index.html new file mode 100644 index 00000000..0b46f000 --- /dev/null +++ b/server/public/index.html @@ -0,0 +1,46 @@ + + + + + Multi Roomba Rover + + + +

Multi Roomba Rover

+
Connecting…
+
+
+ + +
+ + + + + +
+
+ +
+
+ + +
+
+
+

Sensor Frames

+ 

+        
Use WASD keys to drive the selected rover. Shift increases speed.

+      

+    

+    
+    
+  
+
diff --git a/server/src/index.js b/server/src/index.js
new file mode 100644
index 00000000..0bb1a37d
--- /dev/null
+++ b/server/src/index.js
@@ -0,0 +1,171 @@
+const http = require('http');
+const path = require('path');
+const express = require('express');
+const morgan = require('morgan');
+const { Server: SocketIOServer } = require('socket.io');
+const { WebSocketServer } = require('ws');
+const { v4: uuidv4 } = require('uuid');
+
+const PORT = process.env.PORT || 8080;
+
+const app = express();
+app.use(morgan('dev'));
+app.use(express.json());
+app.use(express.static(path.join(__dirname, '..', 'public')));
+
+const httpServer = http.createServer(app);
+const io = new SocketIOServer(httpServer, {
+  cors: { origin: '*' },
+});
+
+const roverWSS = new WebSocketServer({ noServer: true });
+const rovers = new Map();
+const pendingCommands = new Map();
+
+httpServer.on('upgrade', (req, socket, head) => {
+  if (req.url.startsWith('/rover')) {
+    roverWSS.handleUpgrade(req, socket, head, (ws) => {
+      roverWSS.emit('connection', ws, req);
+    });
+  } else {
+    socket.destroy();
+  }
+});
+
+roverWSS.on('connection', (ws) => {
+  handleRoverConnection(ws);
+});
+
+function handleRoverConnection(ws) {
+  let roverId = null;
+  ws.on('message', (raw) => {
+    let msg;
+    try {
+      msg = JSON.parse(raw.toString());
+    } catch (err) {
+      return;
+    }
+
+    switch (msg.type) {
+      case 'hello':
+        roverId = msg.name;
+        rovers.set(roverId, {
+          id: roverId,
+          ws,
+          meta: msg,
+          lastSensor: null,
+          lastSeen: Date.now(),
+        });
+        broadcastRoster();
+        break;
+      case 'sensor':
+        if (!roverId || !rovers.has(roverId)) {
+          return;
+        }
+        rovers.get(roverId).lastSensor = msg;
+        rovers.get(roverId).lastSeen = Date.now();
+        io.emit('sensorFrame', { roverId, frame: msg });
+        break;
+      case 'ack':
+        if (msg.id && pendingCommands.has(msg.id)) {
+          const pending = pendingCommands.get(msg.id);
+          pendingCommands.delete(msg.id);
+          io.emit('commandAck', { roverId: pending.roverId, id: msg.id, status: msg.status, error: msg.error });
+        }
+        break;
+      default:
+        break;
+    }
+  });
+
+  ws.on('close', () => {
+    if (roverId) {
+      rovers.delete(roverId);
+      broadcastRoster();
+    }
+  });
+}
+
+io.on('connection', (socket) => {
+  socket.emit('rovers', getRoster());
+
+  socket.on('command', (payload = {}, cb = () => {}) => {
+    try {
+      const commandId = routeCommand(payload);
+      cb({ id: commandId });
+    } catch (err) {
+      cb({ error: err.message });
+    }
+  });
+});
+
+function getRoster() {
+  return Array.from(rovers.values()).map(({ id, meta, lastSeen }) => ({
+    id,
+    name: meta?.name ?? id,
+    battery: meta?.battery ?? null,
+    maxWheelSpeed: meta?.maxWheelSpeed ?? null,
+    media: meta?.media ?? null,
+    lastSeen,
+  }));
+}
+
+function broadcastRoster() {
+  io.emit('rovers', getRoster());
+}
+
+function routeCommand(payload) {
+  const { roverId, type, data } = payload;
+  if (!roverId) {
+    throw new Error('roverId missing');
+  }
+  if (!rovers.has(roverId)) {
+    throw new Error(`rover ${roverId} not connected`);
+  }
+  const rover = rovers.get(roverId);
+  const message = buildCommand(type, data);
+  const id = uuidv4();
+  message.id = id;
+  rover.ws.send(JSON.stringify(message));
+  pendingCommands.set(id, { roverId, issuedAt: Date.now(), type });
+  return id;
+}
+
+function buildCommand(type, data = {}) {
+  switch (type) {
+    case 'drive':
+      return { type: 'drive', driveDirect: { left: data.left || 0, right: data.right || 0 } };
+    case 'motors':
+      return {
+        type: 'motors',
+        motorPwm: {
+          main: data.main ?? 0,
+          side: data.side ?? 0,
+          vacuum: data.vacuum ?? 0,
+        },
+      };
+    case 'raw':
+      return { type: 'raw', raw: Buffer.from(data.bytes || []).toString('base64') };
+    case 'sensorStream':
+      return { type: 'sensorStream', sensorStream: { enable: Boolean(data.enable) } };
+    case 'media':
+      if (!data || !data.action) {
+        throw new Error('media action required');
+      }
+      return { type: 'media', media: { action: data.action } };
+    default:
+      throw new Error(`unknown command type: ${type}`);
+  }
+}
+
+if (require.main === module) {
+  httpServer.listen(PORT, () => {
+    console.log(`Server listening on :${PORT}`);
+  });
+}
+
+module.exports = {
+  httpServer,
+  io,
+  routeCommand,
+};