robotics/index.js

Robotics.dev P2P ROS2 robot controller CLI with ROS telemetry and video streaming

#!/usr/bin/env node
import {createRequire } from "module";
const require = createRequire(import.meta.url);

import Configstore from 'configstore';
const config = new Configstore('robotics');
var robotId = config.get('ROBOT_ID');
var apiToken = config.get('API_TOKEN');

const chalk = require('chalk');
const clear = require('clear');
const emoji = require('node-emoji');
const argv = require('minimist')(process.argv.slice(2));
const {exec, spawn} = require('child_process');

// const path = require('path');
import path from 'path';
import { fileURLToPath } from 'url';
const __filename = fileURLToPath(import.meta.url);
const __dirname = path.dirname(__filename);

const getRobotId = async () => {
  robotId = await config.get('ROBOT_ID');
  // console.log(chalk.blue(`ROBOT ID: ${robotId}`));
}

const getApiToken = async () => {
  apiToken = await config.get('API_TOKEN');
  // console.log(chalk.blue(`API TOKEN: ${apiToken}`));
}

const setRobotId = async (rId) => {
  const test = await config.set('ROBOT_ID', rId)
  robotId = rId
  console.log(chalk.blue(`ROBOT ID: ${robotId}`));
}

const setApiToken = async (token) => {
  const test = await config.set('API_TOKEN', token)
  console.log(chalk.blue(`API TOKEN: ${token}`));
}

const getNewRobotId = async () => {
	const myHeaders = new Headers();
	myHeaders.append("Content-Type", "application/json");
	const response = await fetch("https://robotics.dev/new", {
  	method: "POST",
		headers: myHeaders,
	})
	.then((res) => res.json())
	.then((data) => {
		// console.log("robotId:", data.id);
    setRobotId(data.id);
    // config.set('ROBOT_ID', data.id)
		// robotId = data.id
	})
}

// Fetch robot details
var robotCamera;
var robotCompute;
const fetchRobotDetails = async () => {
  try {
    // console.log("RealSense Fetch", robotId, apiToken);
    if(robotId && apiToken){
        const response = await fetch(`https://robotics.dev/robot/${robotId}`, {
          headers: {
            "Content-Type": "application/json",
            "api_token": apiToken
          }
        });
        const data = await response.json();
        // console.log('Robot Details:', data);
        if(data.camera && data.camera !== ""){
          robotCamera = data.camera;
        }
        if(data.compute && data.compute !== ""){
          robotCompute = data.compute;
        }
    }
  } catch (error) {
    console.error('Error fetching robot details:', error);
  }
}

if (!robotId){
	getNewRobotId();
} else {
  console.log(chalk.blue(`ROBOT ID: ${robotId}`));
}

clear();
console.log(emoji.get('robot'),chalk.blue('ROBOTICS.DEV'));

// console.log(argv);

function killProcessByName(name){
  exec(`pkill -f ${name}`, (error, stdout, stderr) => {
    // console.log(chalk.red('Service stopped.'));
    if(error){
//      console.error(`Error: ${error}`);
      return;
    }
  });
}

//HELP (robotics help)
if(argv._.includes("help")){
  console.log(chalk.blue('Robotics commands: '));
  console.log(chalk.blue('robotics help'), chalk.green('returns this list of commands'));
  console.log(chalk.blue('robotics connect (-s robotics.dev)'), chalk.green('connects robot to cloud/edge via websocket communications'));
  console.log(chalk.blue('robotics disconnect'), chalk.green('disconnects robot from cloud or edge servers'));
  console.log(chalk.blue('robotics id'), chalk.green("returns robot's id for connecting with cloud or edge servers"));
  console.log(chalk.blue('robotics set --token=1234...6789'), chalk.green("sets developer token from robotics.dev API page"));
  console.log(chalk.blue('robotics status'), chalk.green('returns list of running services'));
  console.log(chalk.blue('robotics start motors (-b rpi (DEFAULT) or -b firmata (Radxa, LattePanda)) (-p 27,22,17,18 (left to right motor pins)) (-e 13,2,12,11 (left to right motor encoder pins)) (-d /dev/ttyACM0 (overrides default device id for radxa and lattepanda))'), chalk.green('starts ROS2 motors on /cmd_vel (enable rosNamespace in portal for multi-robot fleets)'));
  console.log(chalk.blue('robotics stop motors'), chalk.green("stops robot's motors"));
  console.log(chalk.blue('robotics start camera (-d /dev/video0)'), chalk.green("starts robot's 2d camera stream with device override. Note RealSense RGB device is /dev/video4. -r 672x672 -f 15"));
  console.log(chalk.blue('robotics stop camera'), chalk.green("stops robot's 2d camera stream to cloud or edge servers"));
  console.log(chalk.blue('robotics start realsense (-p enables pointcloud)'), chalk.green("starts robot's 3d realsense camera"));
  console.log(chalk.blue('robotics stop realsense'), chalk.green("stops robot's 3d realsense camera"));
  console.log(chalk.blue('robotics monitor'), chalk.green('starts monitoring service to automatically restart comms if it crashes'));
  console.log(chalk.blue('robotics stop monitor'), chalk.green('stops the monitoring service'));
}

// CONNECT (robotics connect -s http://192.168.0.6:3001)
if(argv._.includes("connect")){
  const filePath = path.join(__dirname, 'comms.js');
  var options = [filePath]
  if(argv.s){
    options.push('--server')
    options.push(argv.s.toLowerCase())
  }
  
  // Add memory limit and garbage collection flags
  options.unshift('--max-old-space-size=1024'); // 1GB memory limit
  options.unshift('--expose-gc'); // Enable garbage collection
  
  function startCommsProcess() {
    var commsProcess = spawn('node', options, {
      detached: true,
      stdio: 'ignore'
    });
    
    commsProcess.on('error', (error) => {
      console.error(chalk.red(`Comms process error: ${error}`));
      setTimeout(startCommsProcess, 5000); // Restart after 5 seconds
    });
    
    commsProcess.on('exit', (code, signal) => {
      if (code !== 0) {
        console.log(chalk.yellow(`Comms process exited with code ${code}, restarting in 5 seconds...`));
        setTimeout(startCommsProcess, 5000); // Restart after 5 seconds
      }
    });
    
    return commsProcess;
  }
  
  var commsProcess = startCommsProcess();
  console.log(chalk.green('Robot connected.'));
  commsProcess.unref();
  if(robotId){
    console.log(chalk.blue(`ROBOT ID: ${robotId}`));
    // process.exit(0);
  }
}

// DISCONNECT (robotics disconnect)
if(argv._.includes("disconnect")){
  killProcessByName('comms.js');
  console.log(chalk.red('Robot disconnected.'));
  process.exit(0);
}

// ID
if(argv._.includes("id")){
  console.log(chalk.blue(`ROBOT ID: ${config.get('ROBOT_ID')}`));
  if(robotId){
    // console.log(chalk.blue(`ROBOT ID: ${robotId}`));
    process.exit(0);
  }
}

// SET - robotics set --token=123 || robotics set --id=123
if(argv._.includes("set")){
  if(argv.token){
    setApiToken(argv.token);
  }
  if(argv.id){
    setRobotId(argv.id);
  }
  process.exit(0);
}

// STATUS
if(argv._.includes("status")){
  exec(`ps -aux | grep comms.js`, (err, stdout, stdin) => {
      if (err) throw err;
      console.log(stdout);
  });
  exec(`ps -aux | grep motors-rpi5.js`, (err, stdout, stdin) => {
      if (err) throw err;
      console.log(stdout);
  });
  exec(`ps -aux | grep motors-firmata.js`, (err, stdout, stdin) => {
      if (err) throw err;
      console.log(stdout);
  });
  exec(`ps -aux | grep camera-2d-ros.js`, (err, stdout, stdin) => {
      if (err) throw err;
      console.log(stdout);
  });

//  process.exit(0);
}

// MOTORS START (robotics motors start || robotics start motors -b rpi -p 27,22,17,18)
if(argv._.includes("motors") && argv._.includes("start")){
  var filePath1 = path.join(__dirname, 'motors-rpi5.js');
  // var filePath1 = path.join(__dirname, 'motors-rpi5-odom.js');
  var filePath2 = path.join(__dirname, 'motors-firmata.js');

  await getRobotId();
  await getApiToken();
  await fetchRobotDetails();

  var options;
  if(robotCompute === 'Raspberry Pi'){
    options = [filePath1];
  } else {
    options = [filePath2];
  } 

  if(argv.b && argv.b === 'rpi'){
    options = [filePath1];
  } else if(argv.b && argv.b === 'firmata'){
    options = [filePath2]
    // options = ['motors-firmata.js'];
  } 
  if(argv.d){
    options.push('--device')
    options.push(argv.d)
  }
  if(argv.p){
    options.push('--pins')
    options.push(argv.p)
  }
  if(argv.e){
    options.push('--encoderpins')
    options.push(argv.e)
  }
  var commsProcess = spawn('node', options, {
    detached: true,
    stdio: 'ignore'
  });
  console.log(chalk.green('Robot motors started.'));
  speak('Robot motors started.');
  commsProcess.unref();
  process.exit(0);
}

// MOTORS STOP (robotics motors stop || robotics stop motors)
if(argv._.includes("motors") && argv._.includes("stop")){
  killProcessByName('motors-rpi5.js');
  killProcessByName('motors-firmata.js');
  console.log(chalk.red('Robot motors stopped.'));
  speak('Robot motors stopped.')
  process.exit(0);
}

// CAMERA START (robotics camera start || robotics start camera  -s http://192.168.0.6:3001 -d /dev/video0)
if(argv._.includes("camera") && argv._.includes("start")){
  const filePath = path.join(__dirname, 'camera-2d-ros.js');
  var options = [filePath]
  // if(argv.s){
  //   options.push('--server')
  //   options.push(argv.s.toLowerCase())
  // }
  if(argv.d){
    options.push('--device')
    options.push(argv.d)
  }
  if(argv.r){
    options.push('--resolution')
    options.push(argv.r)
  }
  if(argv.f){
    options.push('--fps')
    options.push(argv.f)
  }

  var commsProcess = spawn('node', options, {
    detached: true,
    stdio: 'ignore'
  });
  console.log(chalk.green('Robot camera started.'));
  speak('Robot camera started.');
  commsProcess.unref();
  process.exit(0);
}

// CAMERA STOP (robotics camera stop || robotics stop camera)
if(argv._.includes("camera") && argv._.includes("stop")){
  killProcessByName('camera-2d-ros.js');
  console.log(chalk.red('Robot camera stopped.'));
  speak('Robot camera stopped.');
  process.exit(0);
}

// REALSENSE START (robotics realsense start || robotics start realsense -p enables pointcloud)
if(argv._.includes("realsense") && argv._.includes("start")){

  await getRobotId();
  await getApiToken();
  await fetchRobotDetails();

  // const filePath = path.join(__dirname, 'camera-2d-ros.js');
  // var options = [filePath]
  // var options = ['launch', 'realsense2_camera', 'rs_launch.py'];
  //ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=640x480x6 depth_module.infra_profile:=640x480x6 rgb_camera.color_profile:=640x480x6 enable_rgbd:=true enable_sync:=true align_depth.enable:=true enable_color:=true enable_depth:=true 
  var options;
  if(robotCamera === 'D421'){
    options = ['launch', 'realsense2_camera', 'rs_launch.py', 'depth_module.depth_profile:=424x240x6', 'depth_module.infra_profile:=424x240x6', 'enable_depth:=true'];
  } else {
    options = ['launch', 'realsense2_camera', 'rs_launch.py', 'depth_module.depth_profile:=424x240x6', 'depth_module.infra_profile:=424x240x6','rgb_camera.color_profile:=320x180x6', 'enable_rgbd:=true', 'enable_color:=true', 'enable_depth:=true', 'enable_accel:=true', 'enable_gyro:=true', 'unite_imu_method:=2'];
  }

  if(argv.p){
    options.push('pointcloud.enable:=true')
  }

  var commsProcess = spawn('ros2', options, {
    detached: true,
    stdio: 'ignore'
  });
  console.log(chalk.green(`Robot realsense started on ${robotCamera} camera`));
  speak(`Robot realsense started on ${robotCamera} camera`);
  commsProcess.unref();
  process.exit(0);
}

// CAMERA STOP (robotics camera stop || robotics stop camera)
if(argv._.includes("realsense") && argv._.includes("stop")){
  killProcessByName('realsense2_camera_node');
  console.log(chalk.red('Robot realsense stopped.'));
  speak('Robot realsense stopped.');
  process.exit(0);
}

// MONITOR START (robotics monitor)
if(argv._.includes("monitor") && !argv._.includes("stop")){
  const filePath = path.join(__dirname, 'monitor-comms.js');
  var options = [filePath];
  var monitorProcess = spawn('node', options, {
    detached: true,
    stdio: 'ignore'
  });
  console.log(chalk.green('Monitoring service started.'));
  monitorProcess.unref();
  process.exit(0);
}

// MONITOR STOP (robotics stop monitor)
if(argv._.includes("monitor") && argv._.includes("stop")){
  killProcessByName('monitor-comms.js');
  console.log(chalk.red('Monitoring service stopped.'));
  process.exit(0);
}

//speak("Initializing robot.");
function speak(msg){
	exec(`espeak "${msg}"`)
}