add top bar

src/server/api_robot_routes.cpp

@@ -0,0 +1,85 @@
+#include "server/api_server.hpp"
+
+#include "util/http_util.hpp"
+
+namespace lm {
+
+void ApiServer::registerRobotRoutes(httplib::Server& svr)
+{
+  svr.Get("/api/robot/status", [this](const httplib::Request&, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    robot_runtime_.tick();
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = robot_runtime_.status().dump();
+  });
+
+  svr.Post("/api/robot/start", [this](const httplib::Request&, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    std::string err;
+    if (!robot_runtime_.start(err))
+      return HttpUtil::jsonError(res, 400, err);
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = robot_runtime_.status().dump();
+  });
+
+  svr.Post("/api/robot/pause", [this](const httplib::Request&, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    std::string err;
+    if (!robot_runtime_.pause(err))
+      return HttpUtil::jsonError(res, 400, err);
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = robot_runtime_.status().dump();
+  });
+
+  svr.Post("/api/robot/errors/reset", [this](const httplib::Request&, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    std::string err;
+    if (!robot_runtime_.resetError(err))
+      return HttpUtil::jsonError(res, 400, err);
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = robot_runtime_.status().dump();
+  });
+
+  svr.Post("/api/robot/cmd_vel", [this](const httplib::Request& req, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    nlohmann::json body;
+    try
+    {
+      body = nlohmann::json::parse(req.body);
+    }
+    catch (...)
+    {
+      return HttpUtil::jsonError(res, 400, "invalid JSON");
+    }
+    const double linear = body.value("linear", body.value("vx", 0.0));
+    const double angular = body.value("angular", body.value("omega", 0.0));
+    std::string err;
+    if (!robot_runtime_.setCmdVel(linear, angular, err))
+      return HttpUtil::jsonError(res, 400, err);
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = robot_runtime_.status().dump();
+  });
+
+  svr.Post("/api/robot/joystick", [this](const httplib::Request& req, httplib::Response& res) {
+    HttpUtil::addCors(res);
+    nlohmann::json body;
+    try
+    {
+      body = nlohmann::json::parse(req.body);
+    }
+    catch (...)
+    {
+      return HttpUtil::jsonError(res, 400, "invalid JSON");
+    }
+    if (!body.contains("engaged") || !body["engaged"].is_boolean())
+      return HttpUtil::jsonError(res, 400, "engaged (boolean) is required");
+    const std::string speed = body.value("speed", "");
+    std::string err;
+    if (!robot_runtime_.setJoystick(body["engaged"].get<bool>(), speed, err))
+      return HttpUtil::jsonError(res, 400, err);
+    res.set_header("Content-Type", "application/json; charset=utf-8");
+    res.body = robot_runtime_.status().dump();
+  });
+}
+
+}  // namespace lm

src/server/api_server.cpp

@@ -14,12 +14,14 @@ ApiServer::ApiServer(StateRepository& repo,
                      MissionQueue& mission_queue,
                      MissionStore& mission_store,
                      ModbusTriggerService& modbus,
-                     MissionScheduler& scheduler)
+                     MissionScheduler& scheduler,
+                     RobotRuntime& robot_runtime)
     : repo_(repo),
       mission_queue_(mission_queue),
       mission_store_(mission_store),
       modbus_(modbus),
-      scheduler_(scheduler)
+      scheduler_(scheduler),
+      robot_runtime_(robot_runtime)
 {
 }
 
@@ -538,6 +540,7 @@ void ApiServer::registerRoutes(httplib::Server& svr)
   registerMissionRoutes(svr);
   registerIntegrationRoutes(svr);
   registerMirV2Routes(svr);
+  registerRobotRoutes(svr);
 }
 
 }  // namespace lm

src/server/api_server.hpp

@@ -6,6 +6,7 @@
 #include "mission/mission_scheduler.hpp"
 #include "mission/mission_store.hpp"
 #include "mission/modbus_trigger_service.hpp"
+#include "robot/robot_runtime.hpp"
 #include "storage/state_repository.hpp"
 
 namespace lm {
@@ -17,7 +18,8 @@ public:
             MissionQueue& mission_queue,
             MissionStore& mission_store,
             ModbusTriggerService& modbus,
-            MissionScheduler& scheduler);
+            MissionScheduler& scheduler,
+            RobotRuntime& robot_runtime);
 
   void registerRoutes(httplib::Server& svr);
 
@@ -27,6 +29,7 @@ private:
   MissionStore& mission_store_;
   ModbusTriggerService& modbus_;
   MissionScheduler& scheduler_;
+  RobotRuntime& robot_runtime_;
 
   bool enqueueRequest(const nlohmann::json& request, httplib::Response& res, int status_code = 201);
   std::optional<nlohmann::json> enqueueMission(const nlohmann::json& request, std::string& err);
@@ -34,6 +37,7 @@ private:
   void registerMissionRoutes(httplib::Server& svr);
   void registerMirV2Routes(httplib::Server& svr);
   void registerIntegrationRoutes(httplib::Server& svr);
+  void registerRobotRoutes(httplib::Server& svr);
 };
 
 }  // namespace lm