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emotions

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RemiFabre commited on 3 days ago

Commit

c51a63a

1 Parent(s): 27e1781

Better load/stop experience

Browse files

Files changed (4) hide show

emotions/main.py +53 -15
emotions/static/index.html +9 -0
emotions/static/main.js +35 -0
emotions/static/style.css +68 -0

emotions/main.py CHANGED Viewed

@@ -10,6 +10,7 @@ import os
 from pathlib import Path
 from typing import Any, Literal
 from fastapi import HTTPException
 from pydantic import BaseModel, Field
 from ruamel.yaml import YAML
@@ -75,6 +76,9 @@ WHEEL_NODE_LAYOUT = {
     },
 }
 @dataclass
 class WheelMove:
@@ -634,6 +638,34 @@ class Emotions(ReachyMiniApp):
             "precision": updated_move.precision if updated_move else None,
         }
     def _register_routes(self) -> None:
         @self.settings_app.get("/api/emotions")
         def list_emotions() -> dict[str, Any]:
@@ -712,22 +744,28 @@ class Emotions(ReachyMiniApp):
             return self._save_review(move_id, payload)
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event) -> None:
-        while not stop_event.is_set():
-            move_to_play: str | None = None
-            with self._lock:
-                if self._pending_move:
-                    move_to_play = self._pending_move
-                    self._pending_move = None
-                    self._current_move = move_to_play
-            if move_to_play:
-                move = self._recorded_emotions.get(move_to_play)
-                reachy_mini.play_move(move, initial_goto_duration=0.7)
                 with self._lock:
-                    self._current_move = None
-                    self._last_completed = time.time()
-            else:
-                stop_event.wait(0.01)
 if __name__ == "__main__":

 from pathlib import Path
 from typing import Any, Literal
+import numpy as np
 from fastapi import HTTPException
 from pydantic import BaseModel, Field
 from ruamel.yaml import YAML
     },
 }
+SHUTDOWN_MOVE_ID = "grateful1"
+MOVE_INITIAL_GOTO_DURATION = 0.7
 @dataclass
 class WheelMove:
             "precision": updated_move.precision if updated_move else None,
         }
+    def _play_shutdown_sequence(self, reachy_mini: ReachyMini) -> None:
+        """Play a graceful shutdown move and return to the base pose."""
+        if not SHUTDOWN_MOVE_ID:
+            return
+        try:
+            move = self._recorded_emotions.get(SHUTDOWN_MOVE_ID)
+        except ValueError:
+            self.logger.warning("Shutdown move %s missing from recorded dataset.", SHUTDOWN_MOVE_ID)
+            return
+        with self._lock:
+            self._pending_move = None
+            self._current_move = SHUTDOWN_MOVE_ID
+        try:
+            reachy_mini.play_move(move, initial_goto_duration=MOVE_INITIAL_GOTO_DURATION)
+        except Exception:
+            self.logger.exception("Failed to play shutdown move %s.", SHUTDOWN_MOVE_ID)
+        finally:
+            with self._lock:
+                self._current_move = None
+                self._last_completed = time.time()
+        try:
+            reachy_mini.goto_target(np.eye(4), antennas=[0.0, 0.0], duration=1.2)
+        except Exception:
+            self.logger.exception("Unable to interpolate Reachy Mini back to the base pose after shutdown.")
     def _register_routes(self) -> None:
         @self.settings_app.get("/api/emotions")
         def list_emotions() -> dict[str, Any]:
             return self._save_review(move_id, payload)
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event) -> None:
+        try:
+            while not stop_event.is_set():
+                move_to_play: str | None = None
                 with self._lock:
+                    if self._pending_move:
+                        move_to_play = self._pending_move
+                        self._pending_move = None
+                        self._current_move = move_to_play
+                if move_to_play:
+                    move = self._recorded_emotions.get(move_to_play)
+                    reachy_mini.play_move(
+                        move, initial_goto_duration=MOVE_INITIAL_GOTO_DURATION
+                    )
+                    with self._lock:
+                        self._current_move = None
+                        self._last_completed = time.time()
+                else:
+                    stop_event.wait(0.01)
+        finally:
+            if stop_event.is_set():
+                self._play_shutdown_sequence(reachy_mini)
 if __name__ == "__main__":

emotions/static/index.html CHANGED Viewed

@@ -9,6 +9,15 @@
 </head>
 <body>
     <div class="background-halo"></div>
     <main class="app-shell">
         <header class="hero">

 </head>
 <body>
+    <div id="appLoader" class="loading-screen" aria-live="polite">
+        <div class="loading-card">
+            <div class="loading-spinner" role="presentation"></div>
+            <p class="loading-title">Application loading…</p>
+            <p id="loaderMessage" class="loading-message">
+                Reachy Mini is waking up. No refresh needed; if this screen stays here for a while press F5 once.
+            </p>
+        </div>
+    </div>
     <div class="background-halo"></div>
     <main class="app-shell">
         <header class="hero">

emotions/static/main.js CHANGED Viewed

@@ -20,6 +20,8 @@ const reviewNextBtn = document.getElementById("reviewNextBtn");
 const reviewClearBtn = document.getElementById("reviewClearBtn");
 const reviewQualityContainer = document.getElementById("reviewQualityOptions");
 const reviewPrecisionContainer = document.getElementById("reviewPrecisionOptions");
 const WHEEL_PADDING = 60;
 const MAX_LANES = 9;
@@ -59,6 +61,8 @@ const appState = {
 const manualState = {
     drag: null,
 };
 const currentUrl = new URL(window.location.href);
 if (!currentUrl.pathname.endsWith("/")) {
@@ -169,6 +173,19 @@ function showToast(message) {
     setTimeout(() => toast.classList.remove("visible"), 2600);
 }
 function updateStatusChip(label, playing) {
     statusChip.textContent = label;
     statusChip.classList.toggle("playing", playing);
@@ -1184,6 +1201,17 @@ async function triggerPlay(moveId) {
     }
 }
 async function pollState() {
     try {
         const data = await fetchJson("/api/state");
@@ -1201,11 +1229,18 @@ async function init() {
         await initReviewConfig();
         await loadAndRender();
         setBusyState(false, null);
         pollState();
     } catch (error) {
         console.error(error);
         updateStatusChip("Failed to load data", false);
         showToast("Unable to fetch the emotions list.");
     }
 }

 const reviewClearBtn = document.getElementById("reviewClearBtn");
 const reviewQualityContainer = document.getElementById("reviewQualityOptions");
 const reviewPrecisionContainer = document.getElementById("reviewPrecisionOptions");
+const loadingScreen = document.getElementById("appLoader");
+const loaderMessage = document.getElementById("loaderMessage");
 const WHEEL_PADDING = 60;
 const MAX_LANES = 9;
 const manualState = {
     drag: null,
 };
+const INITIAL_WAKE_MOVE = "loving1";
+let initialWakeTriggered = false;
 const currentUrl = new URL(window.location.href);
 if (!currentUrl.pathname.endsWith("/")) {
     setTimeout(() => toast.classList.remove("visible"), 2600);
 }
+function updateLoadingScreen({ visible, message, isError } = {}) {
+    if (!loadingScreen) {
+        return;
+    }
+    if (typeof visible === "boolean") {
+        loadingScreen.classList.toggle("hidden", !visible);
+    }
+    loadingScreen.classList.toggle("error", Boolean(isError));
+    if (message && loaderMessage) {
+        loaderMessage.textContent = message;
+    }
+}
 function updateStatusChip(label, playing) {
     statusChip.textContent = label;
     statusChip.classList.toggle("playing", playing);
     }
 }
+function triggerInitialWakeMove() {
+    if (initialWakeTriggered) {
+        return;
+    }
+    if (!appState.moveIndex.has(INITIAL_WAKE_MOVE)) {
+        return;
+    }
+    initialWakeTriggered = true;
+    triggerPlay(INITIAL_WAKE_MOVE);
+}
 async function pollState() {
     try {
         const data = await fetchJson("/api/state");
         await initReviewConfig();
         await loadAndRender();
         setBusyState(false, null);
+        updateLoadingScreen({ visible: false });
+        triggerInitialWakeMove();
         pollState();
     } catch (error) {
         console.error(error);
         updateStatusChip("Failed to load data", false);
         showToast("Unable to fetch the emotions list.");
+        updateLoadingScreen({
+            visible: true,
+            isError: true,
+            message: "Something went wrong while loading. Check the robot, then press F5 once to retry.",
+        });
     }
 }

emotions/static/style.css CHANGED Viewed

@@ -33,6 +33,74 @@ body {
     color: var(--text-strong);
 }
 .background-halo {
     position: fixed;
     inset: 0;

     color: var(--text-strong);
 }
+.loading-screen {
+    position: fixed;
+    inset: 0;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    background: rgba(7, 11, 22, 0.92);
+    z-index: 10;
+    transition: opacity 0.4s ease, visibility 0.4s ease;
+}
+.loading-screen.hidden {
+    opacity: 0;
+    visibility: hidden;
+    pointer-events: none;
+}
+.loading-card {
+    padding: 48px 40px;
+    border-radius: 28px;
+    border: 1px solid rgba(255, 255, 255, 0.08);
+    background: rgba(15, 18, 30, 0.95);
+    box-shadow: 0 30px 80px rgba(0, 0, 0, 0.55);
+    max-width: 420px;
+    text-align: center;
+}
+.loading-spinner {
+    width: 64px;
+    height: 64px;
+    margin: 0 auto 24px;
+    border-radius: 50%;
+    border: 3px solid rgba(255, 255, 255, 0.2);
+    border-top-color: rgba(255, 255, 255, 0.8);
+    animation: spin 1s linear infinite;
+}
+.loading-title {
+    margin: 0 0 8px;
+    font-size: 1.4rem;
+    letter-spacing: 0.2em;
+    text-transform: uppercase;
+}
+.loading-message {
+    margin: 0;
+    color: var(--text-soft);
+    line-height: 1.6;
+}
+.loading-screen.error .loading-card {
+    border-color: rgba(255, 120, 120, 0.4);
+}
+.loading-screen.error .loading-message {
+    color: #ffb0b0;
+}
+@keyframes spin {
+    from {
+        transform: rotate(0deg);
+    }
+    to {
+        transform: rotate(360deg);
+    }
+}
 .background-halo {
     position: fixed;
     inset: 0;