Educational visualization for demos

bitbots_misc/bitbots_education/.gitignore

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+out/

bitbots_misc/bitbots_education/bitbots_education/app.py

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+import csv
+import os
+import time
+
+from ament_index_python import get_package_share_directory
+from flask import Flask, render_template, request
+
+template_dir = os.path.join(get_package_share_directory("bitbots_education"), "templates")
+static_folder = os.path.join(get_package_share_directory("bitbots_education"), "static")
+csv_file_path = os.path.realpath("logs.csv")
+
+app = Flask(__name__, template_folder=template_dir, static_folder=static_folder)
+
+
+def write_csv(vp, page, button, status):
+    file_exists = os.path.isfile(csv_file_path)
+    with open(csv_file_path, "a+", newline="") as file:
+        writer = csv.writer(file)
+        # Kopfzeile nur schreiben, wenn die Datei neu ist
+        if not file_exists or os.stat("logs.csv").st_size == 0:
+            writer.writerow(["VP", "Page", "Button", "Status", "Timestamp"])
+        curr_time = time.time()
+        writer.writerow([vp, page, button, status, curr_time])
+
+
+def vp_track(page, button, status):
+    username = request.cookies.get("vp_number")
+    if username is not None:
+        write_csv(username, page, button, status)
+
+
+@app.route("/")
+def index():
+    vp_track("dashboard", "", "")
+    dashboard = "pages/dashboard.html"
+    return render_template(dashboard, logging=bool(request.args.get("logging", False)))
+
+
+@app.route("/imu")
+def imu():
+    vp_track("imu", "", "")
+    return render_template("pages/imu.html")
+
+
+@app.route("/vision")
+def vision():
+    vp_track("vision", "", "")
+    return render_template("pages/vision.html")
+
+
+@app.route("/motors")
+def motors():
+    vp_track("motors", "", "")
+    return render_template("pages/motors.html")
+
+
+@app.route("/behavior")
+def behavior():
+    vp_track("behavior", "", "")
+    return render_template("pages/behavior.html")
+
+
+@app.route("/logs")
+def logs():
+    page = request.args.get("page")
+    button = request.args.get("button")
+    status = request.args.get("status")
+    vp_track(page[1:], button, status)
+    return ("", 204)
+
+
+def main():
+    app.run(host="0.0.0.0", port=8000)

bitbots_misc/bitbots_education/launch/education.launch

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+<?xml version="1.0"?>
+<launch>
+    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
+        <arg name="delay_between_messages" value="0.0"/>
+    </include>
+    <node pkg="web_video_server" exec="web_video_server" name="web_video_server_education">
+        <param name="port" value="8081"/>
+    </node>
+    <node pkg="bitbots_education" exec="webserver" name="education_webserver" output="screen">
+    </node>
+
+    <executable cmd="ros2 param set bitbots_vision component_debug_image_active true --timeout 20000" name="education_vision_debug_activator" output="screen"/>
+</launch>

bitbots_misc/bitbots_education/launch/education_simulation.launch

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+<?xml version="1.0"?>
+<launch>
+    <include file="$(find-pkg-share bitbots_education)/launch/education.launch">
+    </include>
+    <include file="$(find-pkg-share bitbots_webots_sim)/launch/simulation.launch">
+    </include>
+    <include file="$(find-pkg-share bitbots_bringup)/launch/motion_standalone.launch">
+        <arg name="sim" value="true"/>
+    </include>
+</launch>

bitbots_misc/bitbots_education/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bitbots_education</name>
+  <version>0.0.0</version>
+  <description>A web interface that shows live data in easy to understand visualizations for public events.</description>
+  <maintainer email="wedmann.lea@gmail.com">root</maintainer>
+  <license>MIT</license>
+
+  <depend>web_video_server</depend>
+  <depend>rosbridge_suite</depend>
+  <depend>python3-jinja2</depend>
+  <depend>python3-flask</depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

bitbots_misc/bitbots_education/scripts/.gitignore

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+*.csv
+

bitbots_misc/bitbots_education/setup.cfg

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+[develop]
+script_dir=$base/lib/bitbots_education
+[install]
+install_scripts=$base/lib/bitbots_education

bitbots_misc/bitbots_education/setup.py

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+import glob
+import os
+
+from setuptools import find_packages, setup
+
+package_name = "bitbots_education"
+
+
+def generate_data_files(share_path, directory):
+    data_files = []
+
+    for path, _, files in os.walk(directory):
+        p = share_path + path
+        list_entry = (p, [os.path.join(path, f) for f in files if not f.startswith(".")])
+        data_files.append(list_entry)
+
+    return data_files
+
+
+setup(
+    name=package_name,
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
+    ]
+    + generate_data_files("share/" + package_name + "/", "templates/")
+    + generate_data_files("share/" + package_name + "/", "static/"),
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
+    install_requires=["setuptools"],
+    zip_safe=True,
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "webserver = bitbots_education.app:main",
+        ],
+    },
+)