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gui.py
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1081 lines (964 loc) · 43.8 KB
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"""
ERIC — Cockpit Dashboard GUI
Cyberpunk mission control for 1680x1050 single-screen operation.
"""
import threading
import logging
import gradio as gr
from config import GRADIO_HOST, GRADIO_PORT, CAMERA_WEBCAM, CAMERA_PANTILT, MISSIONS_DIR
from cosmos import capture_frame_raw, ask_cosmos
from motors import motors
from tts import speak, init_tts, piper_available
from mission import (
start_mission, stop_mission, resume_after_interaction,
handle_character_response, register_ui_callbacks,
list_missions, get_briefing_from_file, get_mission_metadata,
get_mission_active, get_mission_state, get_conversation_history,
_ms as _mission_state,
)
log = logging.getLogger("eric.gui")
# ─── Battery (regex reader — works around Jetson THS1 frame-drop) ────────────
import re as _re, os as _os, time as _time
_BATT_V_MAX = 12.6
_BATT_V_MIN = 10.5
_battery_voltage = None
_battery_lock = threading.Lock()
# ── Serial access lock shared with motors ────────────────────────────────────
# We reuse motors._ser so there's only ONE connection to the MCU.
# A dedicated lock prevents interleaving with motor commands.
_serial_lock = threading.Lock()
def _query_battery_via_motors():
"""
Send T:105 through the motors serial port and extract voltage from reply.
Returns voltage in volts, or None on failure.
Uses the regex tail method from test_bat.py: (\d+)\} → val/100.
"""
try:
ser = motors._ser
if ser is None or not ser.is_open:
return None
with _serial_lock:
ser.reset_input_buffer()
ser.write(b'{"T":105}\n')
_time.sleep(0.12) # give MCU time to respond
raw = b""
deadline = _time.time() + 0.4
while _time.time() < deadline:
n = ser.in_waiting
if n:
raw += ser.read(n)
else:
_time.sleep(0.01)
text = raw.replace(b'\x00', b'').decode('utf-8', errors='replace')
compact = ''.join(text.split())
for m in _re.findall(r'(\d+)\}', compact):
val = int(m)
if 900 <= val <= 1350:
return round(val / 100.0, 2)
except Exception as exc:
log.debug("battery query error: %s", exc)
return None
def _battery_poll_loop():
global _battery_voltage
# Wait for motors to initialise before first attempt
_time.sleep(5)
log.info("GUI battery poller started")
while True:
v = _query_battery_via_motors()
if v is not None:
with _battery_lock:
_battery_voltage = v
log.debug("Battery: %.2f V", v)
else:
log.debug("Battery query returned no data")
_time.sleep(30) # poll every 30 s — battery changes slowly
threading.Thread(target=_battery_poll_loop, daemon=True, name="gui-battery").start()
def _battery_level_gui(pct):
if pct > 75: return "HIGH", "#00ffff", "#00ffff33"
elif pct > 40: return "MEDIUM", "#39ff14", "#39ff1433"
elif pct > 15: return "LOW", "#ff9900", "#ff990033"
else: return "CRITICAL", "#ff0066", "#ff006633"
def get_battery_html():
with _battery_lock:
v = _battery_voltage
mono = "font-family:'Courier New',monospace"
if v is None:
return (
f'<div style="background:#0a0a0f;border:1px solid #ff00ff22;border-radius:4px;'
f'padding:5px 8px;{mono};font-size:0.68em;color:#333;letter-spacing:0.08em">'
f'⚡ BATTERY <span style="color:#1a1a22">-- . - V</span></div>'
)
pct = max(0, min(100, int((v - _BATT_V_MIN) / (_BATT_V_MAX - _BATT_V_MIN) * 100)))
label, color, glow = _battery_level_gui(pct)
filled = round(pct / 10)
bar = (f'<span style="color:{color}">{"█" * filled}</span>'
f'<span style="color:#1a1a22">{"░" * (10 - filled)}</span>')
return (
f'<div style="background:#0a0a0f;border:1px solid {color}33;border-radius:4px;'
f'padding:5px 8px;box-shadow:0 0 8px {glow};{mono};font-size:0.68em;letter-spacing:0.06em">'
f'<span style="color:{color};letter-spacing:0.18em;font-weight:bold">{label}</span>'
f' '
f'<span style="color:#ccffff;font-weight:bold;font-size:1.1em">{v:.2f}V</span>'
f' {bar} '
f'<span style="color:{color}">{pct}%</span>'
f'</div>'
)
# ─── Shared state ─────────────────────────────────────────────────────────────
_eric_says = ""
_status = "IDLE"
_log_text = ""
_motor_state = {"direction": "stopped", "left": 0.0, "right": 0.0}
_TEMPLATE_MISSION = """\
You are ERIC — Edge Robotics Innovation by Cosmos.
Search and rescue mission. Identify persons, robots, objects of interest.
Approach and interact. NO combat. Avoid obstacles. Talk and gather intel."""
def _set_eric_says(t):
global _eric_says
_eric_says = t
def _set_status(t):
global _status
_status = str(t).upper()
def _append_log(t):
global _log_text
lines = (_log_text + "\n" + str(t)).strip().split("\n")
_log_text = "\n".join(lines[-60:])
register_ui_callbacks(
eric_says=_set_eric_says,
status=_set_status,
log=_append_log
)
def get_webcam(): return capture_frame_raw(CAMERA_WEBCAM)
def get_pantilt(): return capture_frame_raw(CAMERA_PANTILT)
def get_eric(): return _eric_says
def get_status(): return _status
def get_log(): return _log_text
# ─── Module status ────────────────────────────────────────────────────────────
def _battery_row() -> str:
"""Render a battery status row matching _dot() style for the system status box."""
with _battery_lock:
v = _battery_voltage
mono = "font-family:'Courier New',monospace"
if v is None:
return f"""
<div style="display:flex;align-items:center;gap:8px;padding:2px 0;{mono}">
<div style="width:8px;height:8px;border-radius:50%;background:#333;flex-shrink:0;"></div>
<span style="color:#aaa;font-size:0.7em;letter-spacing:0.04em;min-width:90px">BATTERY</span>
<span style="color:#444;font-size:0.65em;letter-spacing:0.06em">--.-V</span>
</div>"""
pct = max(0, min(100, int((v - _BATT_V_MIN) / (_BATT_V_MAX - _BATT_V_MIN) * 100)))
label, color, _ = _battery_level_gui(pct)
filled = round(pct / 10)
bar = (f'<span style="color:{color}">{"█" * filled}</span>'
f'<span style="color:#1a1a22">{"░" * (10 - filled)}</span>')
return f"""
<div style="padding:2px 0 4px 0;{mono}">
<div style="display:flex;align-items:center;gap:8px">
<div style="width:8px;height:8px;border-radius:50%;background:{color};box-shadow:0 0 12px {color};flex-shrink:0;"></div>
<span style="color:#ddd;font-size:0.78em;letter-spacing:0.04em;min-width:90px">BATTERY</span>
<span style="color:{color};font-size:0.76em;letter-spacing:0.06em;font-weight:bold">{label}</span>
<span style="font-size:0.72em;margin-left:4px">{bar}</span>
<span style="color:#ccffff;font-size:0.78em;font-weight:bold;margin-left:4px">{v:.2f}V</span>
<span style="color:{color};font-size:0.72em;font-weight:bold;margin-left:2px">{pct}%</span>
</div>
</div>"""
def _dot(active: bool, label: str, detail: str = "") -> str:
color = "#00ffff" if active else "#ff0066"
glow = f"0 0 12px {color}" if active else "none"
state = "ONLINE" if active else "OFFLINE"
detail_html = f'<span style="color:#999;font-size:0.8em;margin-left:4px">{detail}</span>' if detail else ""
return f"""
<div style="display:flex;align-items:center;gap:8px;padding:3px 0;font-family:'Courier New',monospace">
<div style="width:9px;height:9px;border-radius:50%;background:{color};box-shadow:{glow};flex-shrink:0;"></div>
<span style="color:#eee;font-size:0.84em;letter-spacing:0.04em;min-width:90px">{label}</span>
<span style="color:{color};font-size:0.82em;letter-spacing:0.06em;font-weight:bold">{state}</span>
{detail_html}
</div>"""
def get_module_status_html() -> str:
try:
import requests
from config import VLLM_URL
r = requests.get(VLLM_URL.replace("/v1/chat/completions", "/health"), timeout=1.5)
cosmos_ok = r.status_code == 200
except Exception:
cosmos_ok = False
try:
from mission import _ms as _ms_ref
mission_ok = bool(_ms_ref.mission_active)
except Exception:
mission_ok = False
try:
from lidar import lidar_available, get_status as ls
lidar_ok = lidar_available()
lidar_detail = ""
if lidar_ok:
s = ls()
d = s.get("min_distance", 999)
lidar_detail = f"{d:.2f}m" if d < 999 else "clear"
except Exception:
lidar_ok, lidar_detail = False, ""
try:
from oakd import oakd_available
oakd_ok = oakd_available()
except Exception as e:
log.debug("oakd_available check failed: %s", e)
oakd_ok = False
oakd_detail = ""
if oakd_ok:
try:
from oakd import get_front_depth
d = get_front_depth()
oakd_detail = f"{d:.2f}m" if d is not None else "—"
except Exception as e:
log.debug("get_front_depth failed: %s", e)
try:
from nav2 import nav2_available, is_navigating
nav2_ok = nav2_available()
nav2_detail = "NAV" if (nav2_ok and is_navigating()) else ""
except Exception:
nav2_ok, nav2_detail = False, ""
try:
tts_ok = piper_available()
tts_detail = "PIPER" if tts_ok else "GTTS"
except Exception:
tts_ok, tts_detail = False, ""
try:
motors_ok = motors._ser is not None and motors._ser.is_open
except Exception:
motors_ok = False
rows = (
_dot(cosmos_ok, "COSMOS", "vLLM") +
_dot(mission_ok, "MISSION", _status[:8]) +
_dot(lidar_ok, "LIDAR", lidar_detail) +
_dot(oakd_ok, "OAK-D", oakd_detail) +
_dot(nav2_ok, "NAV2", nav2_detail) +
_dot(tts_ok, "TTS", tts_detail) +
_dot(motors_ok, "MOTORS", "UART") +
_battery_row()
)
return f"""
<div style="background:#0a0a0f;border:1px solid #ff00ff44;border-radius:4px;padding:8px 10px;">
<div style="color:#ff44ff;font-size:0.82em;letter-spacing:0.2em;margin-bottom:6px;border-bottom:1px solid #ff00ff55;padding-bottom:4px;font-weight:bold;text-shadow:0 0 10px #ff00ff88">SYSTEM STATUS</div>
{rows}
</div>"""
# ─── Motor telemetry ──────────────────────────────────────────────────────────
def _motor_telemetry_html(direction: str, left: float, right: float) -> str:
color = {
"forward": "#00ffff", "backward": "#ff00ff",
"left": "#ffff00", "right": "#ffff00",
"stopped": "#444444", "spinning": "#ff0066",
}.get(direction, "#444444")
arrow = {
"forward": "▲", "backward": "▼",
"left": "◀", "right": "▶",
"stopped": "■", "spinning": "↺",
}.get(direction, "■")
speed = max(abs(left), abs(right))
pct = int(speed / 0.50 * 100)
return f"""
<div style="background:#0a0a0f;border:1px solid {color}66;border-radius:4px;padding:8px 10px;font-family:'Courier New',monospace;">
<div style="color:{color};font-size:0.7em;font-weight:bold;letter-spacing:0.15em;margin-bottom:6px;border-bottom:1px solid {color}33;padding-bottom:4px">DRIVE SYSTEM</div>
<div style="display:flex;align-items:center;gap:10px">
<div style="font-size:1.8em;color:{color};width:32px;text-align:center;text-shadow:0 0 10px {color}66">{arrow}</div>
<div style="flex:1">
<div style="color:{color};font-size:0.9em;font-weight:bold;letter-spacing:0.1em;text-transform:uppercase">{direction}</div>
<div style="color:#888;font-size:0.75em;margin:2px 0">
L<span style="color:#fff;margin:0 4px">{left:+.2f}</span>
R<span style="color:#fff;margin:0 4px">{right:+.2f}</span>
<span style="color:#fff">{speed:.2f}m/s</span>
</div>
<div style="height:4px;background:#1a1a1f;border-radius:2px;overflow:hidden;margin-top:3px">
<div style="height:100%;width:{pct}%;background:{color};box-shadow:0 0 8px {color};border-radius:2px;transition:width 0.3s"></div>
</div>
</div>
</div>
</div>"""
def get_motor_telemetry():
return _motor_telemetry_html(
_motor_state["direction"],
_motor_state["left"],
_motor_state["right"]
)
# ─── Sensor panels ────────────────────────────────────────────────────────────
def _sensor_panel(label: str, body_html: str, border_color: str = "#00ffff") -> str:
return f"""
<div style="background:#0a0a0f;border:1px solid {border_color}44;border-radius:4px;padding:6px 8px;font-family:'Courier New',monospace;">
<div style="color:{border_color};font-size:0.72em;font-weight:bold;letter-spacing:0.1em;margin-bottom:4px;border-bottom:1px solid {border_color}33;padding-bottom:2px">{label}</div>
<div style="text-align:center;padding:2px 0">{body_html}</div>
</div>"""
def get_lidar_html() -> str:
try:
from lidar import lidar_available, get_status as ls
if lidar_available():
s = ls()
d = s.get("min_distance", 999)
dist = f"{d:.2f}m" if d < 999 else "—"
if s.get("obstacle_close"):
color, state = "#ff0066", "STOP"
elif s.get("obstacle_near"):
color, state = "#ffff00", "CAUTION"
else:
color, state = "#00ffff", "CLEAR"
body = f'<span style="color:{color};font-size:0.78em;text-shadow:0 0 8px {color}66">{state}</span> <span style="color:#fff;font-size:1em;font-weight:bold">{dist}</span>'
return _sensor_panel("LIDAR D500", body, color)
except Exception:
pass
return _sensor_panel("LIDAR D500", '<span style="color:#333;font-size:0.75em">OFFLINE</span>', "#444")
def get_oakd_html() -> str:
try:
from oakd import oakd_available
if oakd_available():
# Module is up — now try to get depth reading separately
try:
from oakd import get_front_depth
d = get_front_depth()
except Exception as e:
log.debug("get_front_depth failed: %s", e)
d = None
if d is None:
body = '<span style="color:#aaa;font-size:0.75em">NO READING</span>'
color = "#00ffff"
elif d < 0.30:
color = "#ff0066"
body = f'<span style="color:{color};font-size:0.8em;text-shadow:0 0 8px {color}66">CRITICAL</span> <span style="color:#fff;font-weight:bold">{d:.2f}m</span>'
elif d < 0.60:
color = "#ffff00"
body = f'<span style="color:{color};font-size:0.8em;text-shadow:0 0 8px {color}66">WARNING</span> <span style="color:#fff;font-weight:bold">{d:.2f}m</span>'
else:
color = "#00ffff"
body = f'<span style="color:{color};font-size:0.8em;text-shadow:0 0 8px {color}66">OPTIMAL</span> <span style="color:#fff;font-weight:bold">{d:.2f}m</span>'
return _sensor_panel("OAK-D DEPTH", body, color)
except Exception as e:
log.debug("oakd_available failed: %s", e)
return _sensor_panel("OAK-D LITE", '<span style="color:#333;font-size:0.75em">OFFLINE</span>', "#444")
# ─── Mission helpers ──────────────────────────────────────────────────────────
def load_mission_choices():
missions = list_missions()
return missions if missions else ["(no missions found)"]
_selected_mission_name = ""
def on_mission_select(name: str):
global _selected_mission_name
if not name or name == "(no missions found)":
_selected_mission_name = ""
return ""
_selected_mission_name = name
briefing = get_briefing_from_file(name)
return briefing or ""
def _default_mission_text():
try:
briefing = get_briefing_from_file("template")
if briefing and briefing.strip():
return briefing.strip()
except Exception:
pass
return _TEMPLATE_MISSION.strip()
def _default_mission_choice():
choices = load_mission_choices()
if "template" in choices:
return "template"
return choices[0] if choices else None
# ─── Actions ──────────────────────────────────────────────────────────────────
def action_engage(briefing: str):
if not briefing.strip():
return "⚠ Enter mission briefing."
resp = start_mission(briefing.strip(), mission_name=_selected_mission_name)
return resp
def action_disengage():
"""Stop mission but keep systems online."""
try:
stop_mission()
return "◼ MISSION DISENGAGED — Systems standby"
except Exception as e:
return f"❌ Disengage error: {e}"
def action_stop():
try:
stop_mission()
except Exception:
pass
try:
motors.stop()
except Exception:
pass
layer0_result = "⚠ Layer 0 serial not reached"
try:
import serial as _serial
import glob as _glob
import json as _json
BAUD = 115200
ths2 = ["/dev/ttyTHS2"] if _glob.glob("/dev/ttyTHS2") else []
ports = ths2 + sorted(_glob.glob("/dev/ttyUSB*")) + sorted(_glob.glob("/dev/ttyACM*"))
port = ports[0] if ports else None
if port:
ser = _serial.Serial(port, BAUD, timeout=1, rtscts=False, xonxoff=False)
ser.reset_input_buffer()
ser.reset_output_buffer()
cmd = _json.dumps({"T": 1, "L": 0.0, "R": 0.0}) + "\n"
for byte in cmd.encode("utf-8"):
ser.write(bytes([byte]))
import time as _time; _time.sleep(0.001)
ser.close()
layer0_result = f"✓ Layer 0 stop → {port}"
log.warning(f"🛑 LAYER 0 E-HALT fired via {port}")
else:
layer0_result = "❌ No serial port found"
log.error("🛑 LAYER 0 E-HALT: no port found")
except Exception as e:
layer0_result = f"❌ Layer 0 error: {e}"
log.error(f"🛑 LAYER 0 E-HALT error: {e}")
return f"🛑 E-HALT EXECUTED\n{layer0_result}"
def action_char_reply(char_name: str, char_says: str):
if not char_name.strip() or not char_says.strip():
return "⚠ Enter name and message.", char_says
resp = handle_character_response(char_name.strip(), char_says.strip())
resume_after_interaction()
return resp, "" # resp → char_reply box, "" clears char_says input
# ─── CSS & layout ─────────────────────────────────────────────────────────────
_CSS = """
@import url('https://fonts.googleapis.com/css2?family=Share+Tech+Mono&display=swap');
/* ── Global cyberpunk reset with dark cyan grid ─────────────────────── */
body, .gradio-container {
background: #050508 !important;
font-family: 'Share Tech Mono', 'Courier New', monospace !important;
background-image:
/* Dark cyan grid lines */
linear-gradient(rgba(0,255,255,0.32) 1px, transparent 1px),
linear-gradient(90deg, rgba(0,255,255,0.32) 1px, transparent 1px),
/* Subtle radial glows */
radial-gradient(ellipse at 50% 0%, rgba(0,255,255,0.08) 0%, transparent 50%),
radial-gradient(ellipse at 50% 100%, rgba(0,255,255,0.05) 0%, transparent 50%);
background-size: 40px 40px, 40px 40px, 100% 100%, 100% 100%;
}
footer { display:none !important; }
/* CRT scanline effect */
body::after {
content: '';
position: fixed;
top: 0; left: 0; right: 0; bottom: 0;
background: repeating-linear-gradient(
0deg,
rgba(0,255,255,0.015) 0px,
rgba(0,255,255,0.015) 1px,
transparent 1px,
transparent 3px
);
pointer-events: none;
z-index: 9999;
}
/* ── Header with BIGGER title ───────────────────────────────────────── */
.eric-header {
display: flex;
align-items: baseline;
gap: 16px;
padding: 4px 0 4px 0;
border-bottom: 1px solid #ff00ff44;
margin-bottom: 6px;
}
.eric-title {
font-size: 2.2em; /* BIGGER */
font-weight: bold;
letter-spacing: 0.3em;
color: #00ffff;
font-family: 'Share Tech Mono', monospace;
text-shadow:
0 0 10px #00ffff,
0 0 20px #00ffffaa,
0 0 40px #00ffff66,
0 0 80px #00ffff33;
}
.eric-sub {
font-size: 1.0em;
color: #ff55ff;
letter-spacing: 0.1em;
font-family: 'Share Tech Mono', monospace;
text-shadow: 0 0 10px #ff00ffaa;
}
/* ── STOP button — PERFECT CIRCLE ───────────────────────────────────── */
#stop-btn {
width: 72px !important;
height: 72px !important;
min-width: 72px !important;
min-height: 72px !important;
max-width: 72px !important;
max-height: 72px !important;
border-radius: 50% !important;
background: radial-gradient(circle at 35% 35%, #ff0066, #660022) !important;
border: 3px solid #ff0066 !important;
color: #fff !important;
font-size: 0.75em !important;
font-weight: bold !important;
letter-spacing: 0.08em !important;
font-family: 'Share Tech Mono', monospace !important;
box-shadow:
0 0 25px #ff0066aa,
0 0 50px #ff006644,
inset 0 2px 4px #ff669944 !important;
transition: all 0.15s !important;
line-height: 1 !important;
padding: 0 !important;
aspect-ratio: 1 / 1 !important;
}
#stop-btn:hover {
box-shadow:
0 0 35px #ff0066ff,
0 0 70px #ff006666,
inset 0 2px 4px #ff669944 !important;
transform: scale(1.08) !important;
border-color: #ff3399 !important;
}
#stop-btn:active {
transform: scale(0.95) !important;
box-shadow: 0 0 20px #ff006688 !important;
}
/* ── EMERGENCY label above STOP ─────────────────────────────────────── */
#emergency-label {
color: #ff1155;
font-size: 0.9em;
font-weight: bold;
letter-spacing: 0.16em;
text-align: center;
font-family: 'Share Tech Mono', monospace;
text-shadow: 0 0 14px #ff005599, 0 0 28px #ff005544;
padding: 0;
white-space: nowrap;
}
/* ── ENGAGE button ──────────────────────────────────────────────────── */
#engage-btn {
background: linear-gradient(135deg, #006666, #00ffff) !important;
border: 1px solid #00ffff !important;
color: #000 !important;
letter-spacing: 0.12em !important;
font-family: 'Share Tech Mono', monospace !important;
font-size: 0.85em !important;
font-weight: bold !important;
box-shadow: 0 0 15px #00ffff44 !important;
}
#engage-btn:hover {
box-shadow: 0 0 25px #00ffffaa !important;
transform: translateY(-1px) !important;
}
/* ── DISENGAGE button ───────────────────────────────────────────────── */
#disengage-btn {
background: linear-gradient(135deg, #660066, #ff00ff) !important;
border: 1px solid #ff00ff !important;
color: #fff !important;
letter-spacing: 0.12em !important;
font-family: 'Share Tech Mono', monospace !important;
font-size: 0.85em !important;
font-weight: bold !important;
box-shadow: 0 0 15px #ff00ff44 !important;
}
#disengage-btn:hover {
box-shadow: 0 0 25px #ff00ffaa !important;
transform: translateY(-1px) !important;
}
/* ── Textboxes ──────────────────────────────────────────────────────── */
textarea, input[type=text] {
background: #0a0a0f !important;
border: 1px solid #00ffff44 !important;
color: #ccffff !important;
font-family: 'Share Tech Mono', monospace !important;
font-size: 0.85em !important;
border-radius: 3px !important;
}
textarea:focus, input[type=text]:focus {
border-color: #00ffff !important;
box-shadow: 0 0 12px #00ffff55 !important;
outline: none !important;
}
/* ── Labels ──────────────────────────────────────────────────────────── */
label span, .gr-label {
color: #ff00ff !important;
font-size: 0.75em !important;
letter-spacing: 0.1em !important;
text-transform: uppercase !important;
font-family: 'Share Tech Mono', monospace !important;
text-shadow: 0 0 8px #ff00ff44 !important;
}
/* ── Eric Says panel ─────────────────────────────────────────────────── */
#eric-says textarea {
border-left: 2px solid #00ffff !important;
color: #e0ffff !important;
font-size: 0.95em !important;
font-weight: bold !important;
min-height: 60px !important;
background: #0a0a0f !important;
text-shadow: 0 0 10px #00ffff44 !important;
}
/* ── Log panel ───────────────────────────────────────────────────────── */
#sys-log textarea {
color: #88cccc !important;
font-size: 0.75em !important;
min-height: 100px !important;
background: #0a0a0f !important;
}
/* ── Pure HTML D-pad cross layout ────────────────────────────────────── */
#dpad-container {
display: flex;
flex-direction: row;
align-items: center;
gap: 40px;
margin: 6px 0 8px 28px;
}
#dpad-cross {
display: flex;
flex-direction: column;
gap: 4px;
flex-shrink: 0;
}
.dpad-row {
display: flex;
flex-direction: row;
gap: 4px;
align-items: center;
}
.dpad-cell {
width: 46px;
height: 46px;
flex-shrink: 0;
}
.dpad-key {
width: 46px;
height: 46px;
flex-shrink: 0;
background: #080812;
border: 1.5px solid #00ffff55;
border-radius: 4px;
color: #00ffff;
font-family: 'Share Tech Mono', monospace;
font-size: 1.25em;
font-weight: bold;
cursor: pointer;
text-shadow: 0 0 8px #00ffff88;
transition: all 0.1s;
display: flex;
align-items: center;
justify-content: center;
padding: 0;
line-height: 1;
}
.dpad-key:hover {
border-color: #00ffff;
background: #001a1a;
box-shadow: 0 0 14px #00ffff55;
transform: scale(1.1);
}
.dpad-key:active {
transform: scale(0.9);
box-shadow: 0 0 6px #00ffff44;
}
.dpad-key-stop {
border-color: #ff006655;
color: #ff0066;
text-shadow: 0 0 8px #ff006688;
}
.dpad-key-stop:hover {
border-color: #ff0066;
background: #1a0008;
box-shadow: 0 0 12px #ff006655;
}
.dpad-key-spin {
color: #ff00ff;
border-color: #ff00ff44;
text-shadow: 0 0 8px #ff00ff88;
}
.dpad-key-spin:hover {
border-color: #ff00ff;
background: #1a001a;
box-shadow: 0 0 12px #ff00ff55;
}
/* RIGHT side: EMERGENCY label + STOP circle */
#dpad-emergency {
display: flex;
flex-direction: column;
align-items: center;
justify-content: center;
gap: 6px;
flex-shrink: 0;
}
/* STOP circle — sized to roughly match d-pad height (3 × 46px + 2 × 4px gap = 146px) */
.stop-circle {
width: 130px;
height: 130px;
border-radius: 50%;
background: radial-gradient(circle at 35% 35%, #ff2266, #550011);
border: 3px solid #ff0066;
color: #fff;
font-family: 'Share Tech Mono', monospace;
font-size: 1.0em;
font-weight: bold;
letter-spacing: 0.12em;
cursor: pointer;
box-shadow: 0 0 28px #ff0066aa, 0 0 56px #ff006644;
transition: all 0.15s;
line-height: 1;
}
.stop-circle:hover {
box-shadow: 0 0 40px #ff0066ff, 0 0 80px #ff006666;
transform: scale(1.05);
border-color: #ff3399;
}
.stop-circle:active {
transform: scale(0.92);
box-shadow: 0 0 18px #ff006688;
}
/* Hidden Gradio buttons — kept in DOM for event binding, invisible */
.hidden-offscreen {
position: absolute !important;
left: -9999px !important;
top: -9999px !important;
width: 1px !important;
height: 1px !important;
overflow: hidden !important;
pointer-events: none !important;
opacity: 0 !important;
}
/* ctrl-btn for refresh + transmit buttons */
.ctrl-btn button {
background: #0a0a0f !important;
border: 1px solid #00ffff44 !important;
color: #00ffff !important;
font-family: 'Share Tech Mono', monospace !important;
font-size: 0.9em !important;
border-radius: 2px !important;
padding: 4px 8px !important;
transition: all 0.15s !important;
}
.ctrl-btn button:hover {
border-color: #00ffff !important;
background: #001a1a !important;
box-shadow: 0 0 12px #00ffff55 !important;
}
.ctrl-wide button {
font-size: 0.85em !important;
padding: 6px 10px !important;
}
/* ── Camera images ───────────────────────────────────────────────────── */
.cam-label {
color: #ff44ff;
font-size: 0.88em;
font-weight: bold;
letter-spacing: 0.15em;
text-transform: uppercase;
font-family: 'Share Tech Mono', monospace;
margin-bottom: 1px;
margin-top: 2px;
text-shadow: 0 0 10px #ff00ff99;
}
/* ── Section headers ─────────────────────────────────────────────────── */
.panel-head {
color: #00ffff;
font-size: 0.9em;
font-weight: bold;
letter-spacing: 0.2em;
text-transform: uppercase;
font-family: 'Share Tech Mono', monospace;
border-bottom: 1px solid #00ffff66;
padding-bottom: 2px;
margin-bottom: 3px;
margin-top: 3px;
text-shadow: 0 0 12px #00ffff88;
}
/* ── Dropdown ────────────────────────────────────────────────────────── */
.gr-dropdown {
background: #0a0a0f !important;
border: 1px solid #ff00ff44 !important;
color: #ffccff !important;
}
.gr-dropdown:focus {
border-color: #ff00ff !important;
box-shadow: 0 0 10px #ff00ff55 !important;
}
/* ── Slider ──────────────────────────────────────────────────────────── */
input[type=range] {
accent-color: #00ffff !important;
}
.gr-slider {
background: #0a0a0f !important;
}
/* ── Reduce padding globally ─────────────────────────────────────────── */
.gr-box, .gr-column, .gr-row {
gap: 4px !important;
}
.gr-form {
gap: 3px !important;
}
/* ── Compact right column spacing ───────────────────────────────────── */
.compact-col {
margin-top: 0 !important;
padding-top: 0 !important;
}
"""
_HEADER_HTML = """
<div class="eric-header">
<span class="eric-title">E.R.I.C.</span>
<span class="eric-sub">
EDGE ROBOTICS INNOVATION // JETSON ORIN NANO // WAVESHARE UGV ROVER
</span>
</div>
"""
# ─── Build UI ─────────────────────────────────────────────────────────────────
def build_ui():
default_text = _default_mission_text()
default_mission = _default_mission_choice()
with gr.Blocks(title="ERIC — Mission Control", css=_CSS) as demo:
gr.HTML(_HEADER_HTML)
with gr.Row(equal_height=False):
# ═══════════════════════════════════════════════════════════════
# LEFT COLUMN — cameras + status + sensors + power
# ═══════════════════════════════════════════════════════════════
with gr.Column(scale=2, min_width=180):
gr.HTML('<div class="cam-label">◉ PAN-TILT FEED</div>')
pantilt_img = gr.Image(streaming=True, height=175, label="", show_label=False)
gr.HTML('<div class="cam-label">◉ WEBCAM FEED</div>')
webcam_img = gr.Image(streaming=True, height=145, label="", show_label=False)
gr.HTML('<div class="panel-head" style="margin-top:2px">◈ MODULE STATUS</div>')
module_status = gr.HTML(value=get_module_status_html())
with gr.Row(equal_height=True):
lidar_display = gr.HTML(value=get_lidar_html())
oakd_display = gr.HTML(value=get_oakd_html())
# ═══════════════════════════════════════════════════════════════
# CENTRE COLUMN — mission + comms
# ═══════════════════════════════════════════════════════════════
with gr.Column(scale=3, min_width=300):
gr.HTML('<div class="panel-head">◈ MISSION BRIEFING</div>')
with gr.Row():
mission_dd = gr.Dropdown(
choices=load_mission_choices(),
value=default_mission,
label="",
show_label=False,
scale=4
)
refresh_btn = gr.Button("↻", scale=0, min_width=36, elem_classes=["ctrl-btn"])
briefing_box = gr.Textbox(
value=default_text,
label="",
show_label=False,
lines=5,
max_lines=7,
placeholder="Mission briefing..."
)
with gr.Row():
engage_btn = gr.Button("▶ ENGAGE", elem_id="engage-btn", variant="primary", scale=1)
disengage_btn = gr.Button("◼ DISENGAGE", elem_id="disengage-btn", variant="secondary", scale=1)
gr.HTML('<div class="panel-head">◈ ERIC TRANSMISSION</div>')
eric_says_box = gr.Textbox(
value="", label="", show_label=False,
interactive=False, lines=4, max_lines=5,
elem_id="eric-says", placeholder="Awaiting transmission..."
)
gr.HTML('<div class="panel-head">◈ CHARACTER COMMS</div>')
gr.HTML('<div style="color:#ff44ff;font-size:0.88em;font-family:\'Share Tech Mono\',monospace;letter-spacing:0.06em;font-weight:bold;text-shadow:0 0 10px #ff00ffaa;margin-bottom:4px;padding:2px 0;border-left:3px solid #ff00ff;padding-left:8px">⟶ WHEN ERIC STOPS — TYPE AS CHARACTER</div>')
with gr.Row():
char_name = gr.Textbox(placeholder="Name...", label="", show_label=False, scale=1)
char_says = gr.Textbox(placeholder="Message...", label="", show_label=False, scale=3)
with gr.Row():
char_btn = gr.Button("⟶ TRANSMIT", variant="secondary", scale=1, elem_classes=["ctrl-btn", "ctrl-wide"])
char_reply = gr.Textbox(label="", show_label=False, interactive=False, lines=2, scale=3, placeholder="Response...")
# ═══════════════════════════════════════════════════════════════
# RIGHT COLUMN — manual override + drive + log
# ═══════════════════════════════════════════════════════════════
with gr.Column(scale=2, min_width=200):
gr.HTML('<div class="panel-head" style="margin-top:0">◈ MANUAL OVERRIDE</div>')
speed_slider = gr.Slider(minimum=0.05, maximum=0.50, value=0.20, step=0.05, label="SPEED m/s")
# ── D-pad: pure HTML cross + hidden Gradio triggers ──────
# Visual d-pad rendered in HTML/CSS so buttons stay square.
# Hidden off-screen Gradio buttons receive JS click events.
gr.HTML("""
<div id="dpad-container">
<!-- LEFT: 3x3 cross grid -->
<div id="dpad-cross">
<div class="dpad-row">
<div class="dpad-cell"></div>
<button class="dpad-key" onclick="document.getElementById('gr-btn-fwd').click()">▲</button>
<div class="dpad-cell"></div>
</div>
<div class="dpad-row">
<button class="dpad-key" onclick="document.getElementById('gr-btn-left').click()">◀</button>
<button class="dpad-key dpad-key-stop" onclick="document.getElementById('gr-btn-halt').click()">■</button>
<button class="dpad-key" onclick="document.getElementById('gr-btn-right').click()">▶</button>
</div>
<div class="dpad-row">
<button class="dpad-key dpad-key-spin" onclick="document.getElementById('gr-btn-spinl').click()">↺</button>
<button class="dpad-key" onclick="document.getElementById('gr-btn-back').click()">▼</button>
<button class="dpad-key dpad-key-spin" onclick="document.getElementById('gr-btn-spinr').click()">↻</button>
</div>
</div>
<!-- RIGHT: EMERGENCY label + STOP circle, full height of d-pad -->
<div id="dpad-emergency">
<div id="emergency-label">EMERGENCY</div>
<button class="stop-circle" onclick="document.getElementById('gr-btn-stop').click()">STOP</button>
</div>
</div>
""")
# Hidden Gradio buttons — in DOM but invisible, receive JS clicks
with gr.Row(elem_classes=["hidden-offscreen"]):