Merge branch 'dev' into refactor/node-encapsulation

src/pages/ConnectedRobots/ConnectedRobots.tsx

@@ -0,0 +1,43 @@
+import { useEffect, useState } from 'react'
+
+export default function ConnectedRobots() {
+  
+  const [connected, setConnected] = useState<boolean | null>(null);
+
+  useEffect(() => {
+    // We're excepting a stream of data like that looks like this: `data = False` or `data = True`
+    const eventSource = new EventSource("http://localhost:8000/robot/ping_stream");
+    eventSource.onmessage = (event) => {
+    
+      // Receive message and parse
+      console.log("received message:", event.data);
+      try {
+        const data = JSON.parse(event.data);
+
+        // Set connected to value.
+        try {
+          setConnected(data)
+        }
+        catch {
+          console.log("couldnt extract connected from incoming ping data")
+        }
+
+      } catch {
+        console.log("Ping message not in correct format:", event.data);
+      }
+    };
+    return () => eventSource.close();
+  }, []);
+
+  return (
+    <div>
+      <h1>Is robot currently connected?</h1>
+      <div>
+        <h2>Robot is currently: {connected == null ? "checking..." : (connected ? "connected! 🟢" : "not connected... 🔴")} </h2>
+        <h3>
+          {connected == null ? "If checking continues, make sure CB is properly loaded with robot at least once." : ""}
+        </h3>
+      </div>
+    </div>
+  );
+}

src/pages/Home/Home.tsx

@@ -14,6 +14,7 @@ function Home() {
         <Link to={"/robot"}>Robot Interaction →</Link>
         <Link to={"/editor"}>Editor →</Link>
         <Link to={"/template"}>Template →</Link>
+        <Link to={"/ConnectedRobots"}>Connected Robots →</Link>
       </div>
     </div>
   )

src/pages/VisProgPage/VisProg.module.css

@@ -1,19 +1,9 @@
 /* editor UI */
 
-.outer-editor-container {
-    margin-inline: auto;
-    display: flex;
-    justify-self: center;
-    padding: 10px;
-    align-items: center;
-    width: 80vw;
-    height: 80vh;
-}
-
 .inner-editor-container {
-    outline-style: solid;
-    border-radius: 10pt;
-    width: 90%;
+    box-sizing: border-box;
+    margin: 1rem;
+    width: calc(100% - 2rem);
     height: 100%;
 }
 
@@ -81,6 +71,16 @@
     filter: drop-shadow(0 0 0.25rem forestgreen);
 }
 
+.node-goal {
+    outline: yellow solid 2pt;
+    filter: drop-shadow(0 0 0.25rem yellow);
+}
+
+.node-trigger {
+    outline: teal solid 2pt;
+    filter: drop-shadow(0 0 0.25rem teal);
+}
+
 .node-phase {
     outline: dodgerblue solid 2pt;
     filter: drop-shadow(0 0 0.25rem dodgerblue);
@@ -112,6 +112,22 @@
     filter: drop-shadow(0 0 0.25rem forestgreen);
 }
 
+.draggable-node-goal {
+    padding: 3px 10px;
+    background-color: canvas;
+    border-radius: 5pt;
+    outline: yellow solid 2pt;
+    filter: drop-shadow(0 0 0.25rem yellow);
+}
+
+.draggable-node-trigger {
+    padding: 3px 10px;
+    background-color: canvas;
+    border-radius: 5pt;
+    outline: teal solid 2pt;
+    filter: drop-shadow(0 0 0.25rem teal);
+}
+
 .draggable-node-phase {
     padding: 3px 10px;
     background-color: canvas;

src/pages/VisProgPage/visualProgrammingUI/components/NodeComponents.tsx

@@ -10,7 +10,6 @@ type ToolbarProps = {
   allowDelete: boolean;
 };
 
-
 /**
  * Node Toolbar definition:
  * handles: node deleting functionality

src/pages/VisProgPage/visualProgrammingUI/components/TriggerNodeComponent.tsx

@@ -0,0 +1,121 @@
+import {Handle, type NodeProps, Position} from "@xyflow/react";
+import useFlowStore from "../VisProgStores.tsx";
+import styles from "../../VisProg.module.css";
+import {RealtimeTextField, TextField} from "../../../../components/TextField.tsx";
+import {Toolbar} from "./NodeComponents.tsx";
+import {useState} from "react";
+import duplicateIndices from "../../../../utils/duplicateIndices.ts";
+import type { TriggerNode } from "../nodes/TriggerNode.tsx";
+
+export type EmotionTriggerNodeProps = {
+  type: "emotion";
+  value: string;
+}
+
+type Keyword = { id: string, keyword: string };
+
+export type KeywordTriggerNodeProps = {
+  type: "keywords";
+  value: Keyword[];
+}
+
+export type TriggerNodeProps = EmotionTriggerNodeProps | KeywordTriggerNodeProps;
+
+function KeywordAdder({ addKeyword }: { addKeyword: (keyword: string) => void }) {
+  const [input, setInput] = useState("");
+
+  const text_input_id = "keyword_adder_input";
+
+  return <div className={"flex-row gap-md"}>
+    <label htmlFor={text_input_id}>New Keyword:</label>
+    <RealtimeTextField
+      id={text_input_id}
+      value={input}
+      setValue={setInput}
+      onCommit={() => {
+        if (!input) return;
+        addKeyword(input);
+        setInput("");
+      }}
+      placeholder={"..."}
+      className={"flex-1"}
+    />
+  </div>;
+}
+
+function Keywords({
+  keywords,
+  setKeywords,
+}: {
+  keywords: Keyword[];
+  setKeywords: (keywords: Keyword[]) => void;
+}) {
+  type Interpolatable = string | number | boolean | bigint | null | undefined;
+
+  const inputElementId = (id: Interpolatable) => `keyword_${id}_input`;
+
+  /** Indices of duplicates in the keyword array. */
+  const [duplicates, setDuplicates] = useState<number[]>([]);
+
+  function replace(id: string, value: string) {
+    value = value.trim();
+    const newKeywords = value === ""
+      ? keywords.filter((kw) => kw.id != id)
+      : keywords.map((kw) => kw.id === id ? {...kw, keyword: value} : kw);
+    setKeywords(newKeywords);
+    setDuplicates(duplicateIndices(newKeywords.map((kw) => kw.keyword)));
+  }
+
+  function add(value: string) {
+    value = value.trim();
+    if (value === "") return;
+    const newKeywords = [...keywords, {id: crypto.randomUUID(), keyword: value}];
+    setKeywords(newKeywords);
+    setDuplicates(duplicateIndices(newKeywords.map((kw) => kw.keyword)));
+  }
+
+  return <>
+    <span>Triggers when {keywords.length <= 1 ? "the keyword is" : "all keywords are"} spoken.</span>
+    {[...keywords].map(({id, keyword}, index) => {
+      return <div key={id} className={"flex-row gap-md"}>
+        <label htmlFor={inputElementId(id)}>Keyword:</label>
+        <TextField
+          id={inputElementId(id)}
+          value={keyword}
+          setValue={(val) => replace(id, val)}
+          placeholder={"..."}
+          className={"flex-1"}
+          invalid={duplicates.includes(index)}
+        />
+      </div>;
+    })}
+    <KeywordAdder addKeyword={add} />
+  </>;
+}
+
+// export default function TriggerNodeComponent({
+//   id,
+//   data,
+// }: NodeProps<TriggerNode>) {
+//   const {updateNodeData} = useFlowStore();
+
+//   const setKeywords = (keywords: Keyword[]) => {
+//     updateNodeData(id, {...data, value: keywords});
+//   }
+
+//   return <>
+//     <Toolbar nodeId={id} allowDelete={true}/>
+//     <div className={`${styles.defaultNode} ${styles.nodeTrigger} flex-col gap-sm`}>
+//       {data.type === "emotion" && (
+//         <div className={"flex-row gap-md"}>Emotion?</div>
+//       )}
+//       {data.type === "keywords" && (
+//         <Keywords
+//           keywords={data.value}
+//           setKeywords={setKeywords}
+//         />
+//       )}
+//       <Handle type="source" position={Position.Right} id="TriggerSource"/>
+//     </div>
+//   </>;
+// }

src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts

@@ -0,0 +1,11 @@
+import type { GoalNodeData } from "./GoalNode";
+
+/**
+ * Default data for this node
+ */
+export const GoalNodeDefaults: GoalNodeData = {
+  label: "Goal Node",
+  droppable: true,
+  GoalList: [],
+  hasReduce: true,
+};

src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx

@@ -0,0 +1,78 @@
+import {
+  Handle,
+  type NodeProps,
+  Position,
+  type Connection,
+  type Edge,
+  type Node,
+} from '@xyflow/react';
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+
+/**
+ * The default data dot a Goal node
+ * @param label: the label of this Goal
+ * @param droppable: whether this node is droppable from the drop bar (initialized as true)
+ * @param children: ID's of children of this node
+ */
+export type GoalNodeData = {
+  label: string;
+  droppable: boolean;
+  GoalList: string[];
+  hasReduce: boolean;
+};
+
+
+
+export type GoalNode = Node<GoalNodeData>
+
+
+export function GoalNodeCanConnect(connection: Connection | Edge): boolean {
+  return (connection != undefined);
+}
+
+/**
+ * Defines how a Goal node should be rendered
+ * @param props NodeProps, like id, label, children
+ * @returns React.JSX.Element
+ */
+export default function GoalNode(props: NodeProps<Node>) {
+  const label_input_id = `Goal_${props.id}_label_input`;
+  const data = props.data as GoalNodeData;
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={true}/>
+      <div className={`${styles.defaultNode} ${styles.nodeGoal}`}>
+        <div className={"flex-row gap-sm"}>
+          <label htmlFor={label_input_id}></label>
+          {props.data.label as string}
+        </div>
+        {data.GoalList.map((Goal) => (<div>{Goal}</div>))}
+        <Handle type="target" position={Position.Right} id="phase"/>
+      </div>
+    </>
+  );
+}
+
+/**
+ * Reduces each Goal, including its children down into its relevant data.
+ * @param props: The Node Properties of this node.
+ */
+export function GoalReduce(node: Node, nodes: Node[]) {
+  // Replace this for nodes functionality
+  if (nodes.length <= -1) { 
+    console.warn("Impossible nodes length in GoalReduce") 
+  } 
+  const data = node.data as GoalNodeData;
+    return {
+      label: data.label,
+      list: data.GoalList,
+    }
+}
+
+export function GoalConnects(thisNode: Node, otherNode: Node, isThisSource: boolean) {
+  // Replace this for connection logic
+  if (thisNode == undefined && otherNode == undefined && isThisSource == false) { 
+    console.warn("Impossible node connection called in EndConnects")
+  }
+}

src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.default.ts

@@ -0,0 +1,11 @@
+import type { TriggerNodeData } from "./TriggerNode";
+
+/**
+ * Default data for this node
+ */
+export const TriggerNodeDefaults: TriggerNodeData = {
+  label: "Trigger Node",
+  droppable: true,
+  TriggerList: [],
+  hasReduce: true,
+};

src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx

@@ -0,0 +1,78 @@
+import {
+  Handle,
+  type NodeProps,
+  Position,
+  type Connection,
+  type Edge,
+  type Node,
+} from '@xyflow/react';
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+
+/**
+ * The default data dot a Trigger node
+ * @param label: the label of this Trigger
+ * @param droppable: whether this node is droppable from the drop bar (initialized as true)
+ * @param children: ID's of children of this node
+ */
+export type TriggerNodeData = {
+  label: string;
+  droppable: boolean;
+  TriggerList: string[];
+  hasReduce: boolean;
+};
+
+
+
+export type TriggerNode = Node<TriggerNodeData>
+
+
+export function TriggerNodeCanConnect(connection: Connection | Edge): boolean {
+  return (connection != undefined);
+}
+
+/**
+ * Defines how a Trigger node should be rendered
+ * @param props NodeProps, like id, label, children
+ * @returns React.JSX.Element
+ */
+export default function TriggerNode(props: NodeProps<Node>) {
+  const label_input_id = `Trigger_${props.id}_label_input`;
+  const data = props.data as TriggerNodeData;
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={true}/>
+      <div className={`${styles.defaultNode} ${styles.nodeTrigger}`}>
+        <div className={"flex-row gap-sm"}>
+          <label htmlFor={label_input_id}></label>
+          {props.data.label as string}
+        </div>
+        {data.TriggerList.map((Trigger) => (<div>{Trigger}</div>))}
+        <Handle type="target" position={Position.Right} id="phase"/>
+      </div>
+    </>
+  );
+}
+
+/**
+ * Reduces each Trigger, including its children down into its relevant data.
+ * @param props: The Node Properties of this node.
+ */
+export function TriggerReduce(node: Node, nodes: Node[]) {
+  // Replace this for nodes functionality
+  if (nodes.length <= -1) { 
+    console.warn("Impossible nodes length in TriggerReduce") 
+  } 
+  const data = node.data as TriggerNodeData;
+    return {
+      label: data.label,
+      list: data.TriggerList,
+    }
+}
+
+export function TriggerConnects(thisNode: Node, otherNode: Node, isThisSource: boolean) {
+  // Replace this for connection logic
+  if (thisNode == undefined && otherNode == undefined && isThisSource == false) { 
+    console.warn("Impossible node connection called in EndConnects")
+  }
+}