+
+
+
+ FORI AGV
+
+
+
+
+
+
+
+
+ Simulation
+
+ Disconnected
+
+
+
+
+
+
+ FORI 배터리 잔량
+ 85%
+ 24V 60Ah LiFePO4
+
+
+
+
+ 85%
+
+
+
+
+
+ 통신 & ROS2 연결
+ 정상
+ rosbridge ws://9090
+
+
+
+
+ OK
+
+
+
+
+ 현재 주행 모드
+ Nav2
+ BLDC & ArUco Parking System
+
+
+
+
+ RUN
+
+
+
+
+ 🗺️ 실시간 2D 맵 시각화 및 Waypoint 설정
+ 지도를 클릭하여 주차 진입점(Waypoint)을 등록하거나 드래그하여 목표 방향을 지정하세요. +
+
+
+
+
+
+
+
+
+ 📍 로봇 실시간 현재 위치 (Pose)
+
+ X: 0.00m | Y: 0.00m | Yaw: 0°
+
+
+
+
+
+
+ 📍 주차 진입점 (Waypoint) 설정
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
+
🗺️ 실시간 2D 맵 시각화
- 지도를 클릭하여 주차 진입점(Waypoint)을 등록하세요. + +
+
+ 📷 실시간 아루코 인식 카메라
+
+
+ ![카메라 스트림 대기 중...]()
-
-
-
-
-
📍 주차 진입점 (Waypoint) 설정
-
-
+)
+ament_target_dependencies(serial_bridge_node
+ rclcpp
+ geometry_msgs
+ sensor_msgs
+ nav_msgs
+ std_msgs
+ tf2_ros
+)
+
+install(TARGETS
+ serial_bridge_node
+ DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/src/fori_serial_bridge_cpp/include/fori_serial_bridge_cpp/modbus_serial.hpp b/src/fori_serial_bridge_cpp/include/fori_serial_bridge_cpp/modbus_serial.hpp
new file mode 100644
index 0000000..e626d9b
--- /dev/null
+++ b/src/fori_serial_bridge_cpp/include/fori_serial_bridge_cpp/modbus_serial.hpp
@@ -0,0 +1,43 @@
+#pragma once
+// Low-level RS485 Modbus RTU transport for the ZLAC8015D BLDC driver.
+//
+// Ported from the field-verified xbox_motor_control.cpp (fori_zltech_motor_test):
+// unlike the previous Python pyserial implementation (single fixed-timeout read,
+// no CRC check on write acks), every response here is accumulated in a short
+// polling loop and CRC16-validated before being trusted. That is what actually
+// removes the serial-jitter delay in the control loop.
+
+#include
+#include
+#include
+
+namespace fori_serial_bridge_cpp {
+
+uint16_t calcCRC16(const uint8_t *data, size_t len);
+
+class SerialPort {
+public:
+ SerialPort() = default;
+ ~SerialPort();
+
+ SerialPort(const SerialPort &) = delete;
+ SerialPort &operator=(const SerialPort &) = delete;
+
+ bool openPort(const std::string &port_name, int baudrate = 115200);
+ void closePort();
+ bool isOpen() const { return fd_ >= 0; }
+ int fd() const { return fd_; }
+
+ // Modbus function 0x06: write single holding register.
+ bool writeReg(uint8_t slave, uint16_t reg, uint16_t val);
+ // Modbus function 0x10: write multiple holding registers.
+ bool writeRegs(uint8_t slave, uint16_t reg, const std::vector &vals);
+ // Modbus function 0x03: read holding registers (returned as raw uint16, caller
+ // reinterprets signed fields as needed, matching ZLAC8015D register semantics).
+ bool readRegs(uint8_t slave, uint16_t reg, uint16_t count, std::vector &out_vals);
+
+private:
+ int fd_ = -1;
+};
+
+} // namespace fori_serial_bridge_cpp
diff --git a/src/fori_serial_bridge_cpp/package.xml b/src/fori_serial_bridge_cpp/package.xml
new file mode 100644
index 0000000..bf61ea1
--- /dev/null
+++ b/src/fori_serial_bridge_cpp/package.xml
@@ -0,0 +1,22 @@
+
+
+
+ fori_serial_bridge_cpp
+ 0.0.1
+ Low-latency C++ port of the ZLAC8015D RS485/Arduino motor serial bridge (replaces the Python serial_bridge_node hot loop)
+ yoo
+ Apache License 2.0
+
+ ament_cmake
+
+ rclcpp
+ geometry_msgs
+ sensor_msgs
+ nav_msgs
+ std_msgs
+ tf2_ros
+
+
+ ament_cmake
+
+
diff --git a/src/fori_serial_bridge_cpp/src/modbus_serial.cpp b/src/fori_serial_bridge_cpp/src/modbus_serial.cpp
new file mode 100644
index 0000000..5bde0b6
--- /dev/null
+++ b/src/fori_serial_bridge_cpp/src/modbus_serial.cpp
@@ -0,0 +1,230 @@
+#include "fori_serial_bridge_cpp/modbus_serial.hpp"
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+namespace fori_serial_bridge_cpp {
+
+uint16_t calcCRC16(const uint8_t *data, size_t len) {
+ uint16_t crc = 0xFFFF;
+ for (size_t i = 0; i < len; ++i) {
+ crc ^= data[i];
+ for (int j = 0; j < 8; ++j) {
+ if (crc & 0x0001) {
+ crc >>= 1;
+ crc ^= 0xA001;
+ } else {
+ crc >>= 1;
+ }
+ }
+ }
+ return crc;
+}
+
+SerialPort::~SerialPort() { closePort(); }
+
+bool SerialPort::openPort(const std::string &port_name, int baudrate) {
+ fd_ = open(port_name.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
+ if (fd_ < 0) {
+ return false;
+ }
+
+ fcntl(fd_, F_SETFL, 0);
+
+ struct termios options;
+ tcgetattr(fd_, &options);
+
+ speed_t speed = B115200;
+ switch (baudrate) {
+ case 9600:
+ speed = B9600;
+ break;
+ case 19200:
+ speed = B19200;
+ break;
+ case 38400:
+ speed = B38400;
+ break;
+ case 57600:
+ speed = B57600;
+ break;
+ default:
+ speed = B115200;
+ break;
+ }
+
+ cfsetispeed(&options, speed);
+ cfsetospeed(&options, speed);
+
+ options.c_cflag &= ~PARENB; // No parity
+ options.c_cflag &= ~CSTOPB; // 1 stop bit
+ options.c_cflag &= ~CSIZE;
+ options.c_cflag |= CS8; // 8 data bits
+ options.c_cflag &= ~CRTSCTS; // No hardware flow control
+ options.c_cflag |= CREAD | CLOCAL;
+
+ options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+ options.c_iflag &= ~(IXON | IXOFF | IXANY | IGNBRK | BRKINT | PARMRK |
+ ISTRIP | INLCR | IGNCR | ICRNL);
+ options.c_oflag &= ~OPOST;
+
+ options.c_cc[VMIN] = 0;
+ options.c_cc[VTIME] = 1; // 0.1s timeout
+
+ tcsetattr(fd_, TCSANOW, &options);
+ tcflush(fd_, TCIOFLUSH);
+ return true;
+}
+
+void SerialPort::closePort() {
+ if (fd_ >= 0) {
+ close(fd_);
+ fd_ = -1;
+ }
+}
+
+bool SerialPort::writeReg(uint8_t slave, uint16_t reg, uint16_t val) {
+ uint8_t pkt[8];
+ pkt[0] = slave;
+ pkt[1] = 0x06;
+ pkt[2] = (reg >> 8) & 0xFF;
+ pkt[3] = reg & 0xFF;
+ pkt[4] = (val >> 8) & 0xFF;
+ pkt[5] = val & 0xFF;
+
+ uint16_t crc = calcCRC16(pkt, 6);
+ pkt[6] = crc & 0xFF;
+ pkt[7] = (crc >> 8) & 0xFF;
+
+ tcflush(fd_, TCIOFLUSH);
+ ssize_t written = write(fd_, pkt, 8);
+ if (written != 8)
+ return false;
+
+ if (slave == 0)
+ return true; // Broadcast: driver sends no response.
+
+ uint8_t rx_buf[8];
+ ssize_t rx_bytes = 0;
+ auto start = std::chrono::steady_clock::now();
+ while (rx_bytes < 8) {
+ ssize_t res = read(fd_, rx_buf + rx_bytes, 8 - rx_bytes);
+ if (res > 0)
+ rx_bytes += res;
+ auto now = std::chrono::steady_clock::now();
+ if (std::chrono::duration_cast(now - start).count() > 50)
+ break;
+ std::this_thread::sleep_for(std::chrono::microseconds(500));
+ }
+ if (rx_bytes != 8)
+ return false;
+
+ uint16_t resp_crc = calcCRC16(rx_buf, 6);
+ uint16_t recv_crc = static_cast(rx_buf[6]) | (static_cast(rx_buf[7]) << 8);
+ return resp_crc == recv_crc && rx_buf[0] == slave;
+}
+
+bool SerialPort::writeRegs(uint8_t slave, uint16_t reg, const std::vector &vals) {
+ size_t count = vals.size();
+ size_t pkt_len = 7 + count * 2 + 2;
+ std::vector pkt(pkt_len);
+
+ pkt[0] = slave;
+ pkt[1] = 0x10;
+ pkt[2] = (reg >> 8) & 0xFF;
+ pkt[3] = reg & 0xFF;
+ pkt[4] = (count >> 8) & 0xFF;
+ pkt[5] = count & 0xFF;
+ pkt[6] = static_cast(count * 2);
+
+ for (size_t i = 0; i < count; ++i) {
+ pkt[7 + i * 2] = (vals[i] >> 8) & 0xFF;
+ pkt[8 + i * 2] = vals[i] & 0xFF;
+ }
+
+ uint16_t crc = calcCRC16(pkt.data(), pkt_len - 2);
+ pkt[pkt_len - 2] = crc & 0xFF;
+ pkt[pkt_len - 1] = (crc >> 8) & 0xFF;
+
+ tcflush(fd_, TCIOFLUSH);
+ ssize_t written = write(fd_, pkt.data(), pkt_len);
+ if (written != static_cast(pkt_len))
+ return false;
+
+ if (slave == 0)
+ return true;
+
+ uint8_t rx_buf[8];
+ ssize_t rx_bytes = 0;
+ auto start = std::chrono::steady_clock::now();
+ while (rx_bytes < 8) {
+ ssize_t res = read(fd_, rx_buf + rx_bytes, 8 - rx_bytes);
+ if (res > 0)
+ rx_bytes += res;
+ auto now = std::chrono::steady_clock::now();
+ if (std::chrono::duration_cast(now - start).count() > 50)
+ break;
+ std::this_thread::sleep_for(std::chrono::microseconds(500));
+ }
+ if (rx_bytes != 8)
+ return false;
+
+ uint16_t resp_crc = calcCRC16(rx_buf, 6);
+ uint16_t recv_crc = static_cast(rx_buf[6]) | (static_cast(rx_buf[7]) << 8);
+ return resp_crc == recv_crc && rx_buf[0] == slave;
+}
+
+bool SerialPort::readRegs(uint8_t slave, uint16_t reg, uint16_t count, std::vector &out_vals) {
+ uint8_t pkt[8];
+ pkt[0] = slave;
+ pkt[1] = 0x03;
+ pkt[2] = (reg >> 8) & 0xFF;
+ pkt[3] = reg & 0xFF;
+ pkt[4] = (count >> 8) & 0xFF;
+ pkt[5] = count & 0xFF;
+
+ uint16_t crc = calcCRC16(pkt, 6);
+ pkt[6] = crc & 0xFF;
+ pkt[7] = (crc >> 8) & 0xFF;
+
+ tcflush(fd_, TCIOFLUSH);
+ if (write(fd_, pkt, 8) != 8)
+ return false;
+
+ size_t expected_bytes = 5 + count * 2;
+ std::vector rx_buf(expected_bytes);
+ size_t rx_bytes = 0;
+
+ auto start = std::chrono::steady_clock::now();
+ while (rx_bytes < expected_bytes) {
+ ssize_t res = read(fd_, rx_buf.data() + rx_bytes, expected_bytes - rx_bytes);
+ if (res > 0)
+ rx_bytes += res;
+ auto now = std::chrono::steady_clock::now();
+ // 100Hz(10ms) 루프 안에서도 응답을 안정적으로 받도록 25ms까지 허용.
+ if (std::chrono::duration_cast(now - start).count() > 25)
+ break;
+ std::this_thread::sleep_for(std::chrono::microseconds(100));
+ }
+
+ if (rx_bytes == expected_bytes && rx_buf[0] == slave && rx_buf[1] == 0x03) {
+ uint16_t resp_crc = calcCRC16(rx_buf.data(), expected_bytes - 2);
+ uint16_t recv_crc = static_cast(rx_buf[expected_bytes - 2]) |
+ (static_cast(rx_buf[expected_bytes - 1]) << 8);
+ if (resp_crc != recv_crc)
+ return false;
+
+ out_vals.resize(count);
+ for (uint16_t i = 0; i < count; ++i) {
+ out_vals[i] = (static_cast(rx_buf[3 + i * 2]) << 8) | rx_buf[4 + i * 2];
+ }
+ return true;
+ }
+ return false;
+}
+
+} // namespace fori_serial_bridge_cpp
diff --git a/src/fori_serial_bridge_cpp/src/serial_bridge_node.cpp b/src/fori_serial_bridge_cpp/src/serial_bridge_node.cpp
new file mode 100644
index 0000000..8d53068
--- /dev/null
+++ b/src/fori_serial_bridge_cpp/src/serial_bridge_node.cpp
@@ -0,0 +1,567 @@
+// C++ port of fori_serial_bridge/fori_serial_bridge/serial_bridge_node.py.
+//
+// This node owns the only hardware-realtime loop in the FORI stack (20Hz RS485
+// Modbus RTU to the ZLAC8015D BLDC drivers, or the Arduino serial fallback).
+// The control algorithm (accel ramp + IMU yaw-rate PI correction, differential
+// kinematics, odometry integration, battery filtering) is kept identical to the
+// Python original; only the low-level serial transport is replaced with the
+// CRC-validated, short-poll implementation verified on the real robot in
+// zlac8015d_motor_test/fori_zltech_motor_test/xbox_motor_control.cpp.
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+#include
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "sensor_msgs/msg/battery_state.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+#include "sensor_msgs/msg/joint_state.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "tf2_ros/transform_broadcaster.h"
+
+#include "fori_serial_bridge_cpp/modbus_serial.hpp"
+
+using namespace std::chrono_literals;
+
+namespace fori_serial_bridge_cpp {
+
+namespace {
+constexpr double kPi = 3.14159265358979323846;
+
+double quatToYaw(double w, double x, double y, double z) {
+ double siny_cosp = 2.0 * (w * z + x * y);
+ double cosy_cosp = 1.0 - 2.0 * (y * y + z * z);
+ return std::atan2(siny_cosp, cosy_cosp);
+}
+} // namespace
+
+class ForiSerialBridge : public rclcpp::Node {
+public:
+ ForiSerialBridge() : rclcpp::Node("fori_serial_bridge") {
+ declare_parameter("control_method", std::string("direct_pc"));
+ declare_parameter("port", std::string("/dev/ttyUSB0"));
+ declare_parameter("baud", 115200);
+ declare_parameter("target_linear_speed", 0.5);
+ declare_parameter("accel_limit", 0.5);
+ declare_parameter("wheel_base", 0.374);
+ declare_parameter("wheel_radius", 0.127);
+ // FAST_LIO/FAST-LIVO2가 함께 도는 실주행 모드에서는 그쪽이 이미
+ // camera_init->aft_mapped->base_link TF 체인을 소유하고 있어서, 여기서 동시에
+ // odom->base_link를 쏘면 base_link에 부모가 둘(aft_mapped, odom) 생겨 TF 트리가
+ // 충돌한다. LIDAR SLAM 없이 순수 휠 오도메트리로만 굴릴 때(모의주행/벤치 테스트)만
+ // true로 켠다.
+ declare_parameter("publish_odom_tf", true);
+
+ control_method_ = get_parameter("control_method").as_string();
+ port_ = get_parameter("port").as_string();
+ baud_ = get_parameter("baud").as_int();
+ limit_v_ = get_parameter("target_linear_speed").as_double();
+ accel_limit_ = get_parameter("accel_limit").as_double();
+ publish_odom_tf_ = get_parameter("publish_odom_tf").as_bool();
+ wheel_base_ = get_parameter("wheel_base").as_double();
+ wheel_radius_ = get_parameter("wheel_radius").as_double();
+
+ last_time_ = now();
+
+ RCLCPP_INFO(get_logger(), "==========================================");
+ RCLCPP_INFO(get_logger(), " FORI BLDC ZLAC8015D CONTROL BRIDGE (C++) ");
+ RCLCPP_INFO(get_logger(), "==========================================");
+ RCLCPP_INFO(get_logger(), " Control Method: %s", control_method_.c_str());
+ RCLCPP_INFO(get_logger(), " Serial Port: %s at %d baud", port_.c_str(), baud_);
+ RCLCPP_INFO(get_logger(), "==========================================");
+
+ if (control_method_ == "direct_pc") {
+ if (modbus_port_.openPort(port_, baud_)) {
+ RCLCPP_INFO(get_logger(), "BLDC 드라이버 초기화 대기 중...");
+ initDirectDrivers();
+ RCLCPP_INFO(get_logger(), "BLDC 드라이버 초기화 완료!");
+ } else {
+ RCLCPP_WARN(get_logger(), "!!! 드라이버 연결 실패: %s !!!", port_.c_str());
+ RCLCPP_WARN(get_logger(), "실제 모터 드라이버 연결을 찾을 수 없어 [가상 모의 주행(Mock Mode)]으로 동작합니다.");
+ is_mock_mode_ = true;
+ }
+ } else if (control_method_ == "arduino") {
+ if (arduino_port_.openPort(port_, baud_)) {
+ RCLCPP_INFO(get_logger(), "아두이노 초기화 대기 중 (3초)...");
+ std::this_thread::sleep_for(3s);
+ RCLCPP_INFO(get_logger(), "아두이노 메가 통신 준비 완료!");
+ } else {
+ RCLCPP_WARN(get_logger(), "!!! 아두이노 시리얼 연결 실패: %s !!!", port_.c_str());
+ RCLCPP_WARN(get_logger(), "아두이노 연결을 찾을 수 없어 [가상 모의 주행(Mock Mode)]으로 동작합니다.");
+ is_mock_mode_ = true;
+ }
+ }
+
+ rclcpp::QoS qos_depth1(1);
+
+ cmd_vel_sub_ = create_subscription(
+ "/cmd_vel", qos_depth1,
+ [this](const geometry_msgs::msg::Twist::SharedPtr msg) { cmdVelCallback(msg); });
+ imu_sub_ = create_subscription(
+ "/livox/imu", qos_depth1,
+ [this](const sensor_msgs::msg::Imu::SharedPtr msg) { imuCallback(msg); });
+ initial_pose_sub_ = create_subscription(
+ "/initialpose", 10,
+ [this](const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) {
+ initialPoseCallback(msg);
+ });
+ mode_status_sub_ = create_subscription(
+ "/robot_mode_status", 10,
+ [this](const std_msgs::msg::String::SharedPtr msg) { modeStatusCallback(msg); });
+
+ odom_pub_ = create_publisher("/odom_wheels", qos_depth1);
+ joint_pub_ = create_publisher("/joint_states", qos_depth1);
+ battery_pub_ = create_publisher("/battery_state", qos_depth1);
+ tf_broadcaster_ = std::make_unique(*this);
+
+ control_timer_ = create_wall_timer(50ms, [this]() { controlLoop(); });
+ battery_timer_ = create_wall_timer(1000ms, [this]() { publishBatteryStatus(); });
+ }
+
+ // Safe stop invoked from the shutdown hook (Ctrl+C), mirrors the Python
+ // KeyboardInterrupt handler in main().
+ void safeStop() {
+ if (control_method_ == "direct_pc") {
+ disableDirectDrivers();
+ } else if (control_method_ == "arduino") {
+ uint8_t packet[7] = {0};
+ packet[0] = 0xFE;
+ packet[5] = 0;
+ uint8_t checksum = 0;
+ for (int i = 1; i < 6; ++i)
+ checksum += packet[i];
+ packet[6] = checksum;
+ if (arduino_port_.isOpen()) {
+ ssize_t written = write(arduino_port_.fd(), packet, sizeof(packet));
+ (void)written;
+ }
+ }
+ RCLCPP_INFO(get_logger(), "ROS2 BRIDGE STOPPED");
+ }
+
+private:
+ // -------------------------------------------------------------------
+ // Subscription callbacks
+ // -------------------------------------------------------------------
+ void cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg) {
+ target_v_ = std::clamp(msg->linear.x, -limit_v_, limit_v_);
+ target_w_ = msg->angular.z;
+ }
+
+ void imuCallback(const sensor_msgs::msg::Imu::SharedPtr msg) {
+ current_imu_w_ = msg->angular_velocity.z;
+ }
+
+ void initialPoseCallback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) {
+ odom_x_ = msg->pose.pose.position.x;
+ odom_y_ = msg->pose.pose.position.y;
+ const auto &q = msg->pose.pose.orientation;
+ odom_th_ = quatToYaw(q.w, q.x, q.y, q.z);
+ RCLCPP_INFO(get_logger(), "[MOCK] Reset robot pose to: x=%.2f, y=%.2f, yaw=%.2f", odom_x_, odom_y_, odom_th_);
+ }
+
+ void modeStatusCallback(const std_msgs::msg::String::SharedPtr msg) {
+ is_parked_ = msg->data.find("State: PARKED") != std::string::npos;
+ }
+
+ // -------------------------------------------------------------------
+ // Direct-PC (RS485 Modbus) driver control, ported 1:1 from the Python
+ // ZLAC8015D register sequence but using the CRC-validated SerialPort.
+ // -------------------------------------------------------------------
+ void initDirectDrivers() {
+ modbus_port_.writeReg(1, 0x200D, 3); // Velocity mode
+ std::this_thread::sleep_for(10ms);
+ modbus_port_.writeReg(2, 0x200D, 3);
+ std::this_thread::sleep_for(10ms);
+ disableDirectDrivers();
+ drivers_initialized_ = true;
+ }
+
+ void enableDirectDrivers() {
+ if (drivers_enabled_)
+ return;
+ modbus_port_.writeReg(1, 0x201A, 0);
+ modbus_port_.writeReg(1, 0x201B, 0);
+ modbus_port_.writeReg(2, 0x201A, 0);
+ modbus_port_.writeReg(2, 0x201B, 0);
+ std::this_thread::sleep_for(10ms);
+ modbus_port_.writeReg(1, 0x200E, 8);
+ modbus_port_.writeReg(2, 0x200E, 8);
+ drivers_enabled_ = true;
+ RCLCPP_INFO(get_logger(), "BLDC Drivers and Brakes Released (ENABLED)");
+ }
+
+ void disableDirectDrivers() {
+ modbus_port_.writeRegs(1, 0x2088, {0, 0});
+ modbus_port_.writeRegs(2, 0x2088, {0, 0});
+ modbus_port_.writeReg(1, 0x201A, 1);
+ modbus_port_.writeReg(1, 0x201B, 1);
+ modbus_port_.writeReg(2, 0x201A, 1);
+ modbus_port_.writeReg(2, 0x201B, 1);
+ std::this_thread::sleep_for(10ms);
+ modbus_port_.writeReg(1, 0x200E, 7);
+ modbus_port_.writeReg(2, 0x200E, 7);
+ drivers_enabled_ = false;
+ RCLCPP_INFO(get_logger(), "BLDC Brakes Locked (DISABLED)");
+ }
+
+ // -------------------------------------------------------------------
+ // Battery telemetry (1Hz)
+ // -------------------------------------------------------------------
+ void publishBatteryStatus() {
+ sensor_msgs::msg::BatteryState msg;
+ msg.header.stamp = now();
+ msg.header.frame_id = "base_link";
+ msg.design_capacity = 60.0f;
+ msg.capacity = 60.0f;
+ msg.power_supply_technology = sensor_msgs::msg::BatteryState::POWER_SUPPLY_TECHNOLOGY_LIFE;
+
+ constexpr double v_min = 22.4;
+ constexpr double v_max = 29.2;
+
+ std::optional voltage;
+
+ if (!is_mock_mode_ && control_method_ == "direct_pc") {
+ std::vector v_resp;
+ if (modbus_port_.readRegs(1, 0x20A0, 2, v_resp) && !v_resp.empty()) {
+ double raw_a0 = std::abs(static_cast(static_cast(v_resp[0])));
+ double raw_a1 = v_resp.size() > 1
+ ? std::abs(static_cast(static_cast(v_resp[1])))
+ : raw_a0;
+
+ double raw_v = 0.0;
+ if (raw_a0 >= 200 && raw_a0 <= 320) {
+ raw_v = raw_a0 * 0.1;
+ } else if (raw_a0 >= 2000 && raw_a0 <= 3200) {
+ raw_v = raw_a0 * 0.01;
+ } else if (raw_a1 >= 200 && raw_a1 <= 320) {
+ raw_v = raw_a1 * 0.1;
+ } else if (raw_a1 >= 2000 && raw_a1 <= 3200) {
+ raw_v = raw_a1 * 0.01;
+ } else {
+ raw_v = raw_a1 > 1000 ? raw_a1 * 0.01 : (raw_a1 > 100 ? raw_a1 * 0.1 : raw_a1);
+ }
+
+ if (raw_v >= 20.0 && raw_v <= 32.0) {
+ voltage = raw_v;
+ last_valid_voltage_ = voltage;
+ RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 3000,
+ "[BATTERY] Driver raw: %.2fV | %.1f%%", raw_v,
+ std::clamp((raw_v - v_min) / (v_max - v_min) * 100.0, 0.0, 100.0));
+ } else {
+ RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000,
+ "[BATTERY] Raw voltage out of plausible range: raw_a0=%.0f, raw_a1=%.0f, computed=%.2fV",
+ raw_a0, raw_a1, raw_v);
+ }
+ } else {
+ RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000, "[BATTERY] Modbus read returned empty response.");
+ }
+ }
+
+ if (!voltage.has_value()) {
+ if (last_valid_voltage_.has_value()) {
+ voltage = last_valid_voltage_;
+ RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 10000,
+ "[BATTERY] Using last valid voltage reading as fallback.");
+ } else {
+ voltage = (v_min + v_max) / 2.0;
+ RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 10000,
+ "[BATTERY] No valid reading yet - using nominal fallback: %.1fV", *voltage);
+ }
+ }
+
+ voltage_history_.push_back(*voltage);
+ if (voltage_history_.size() > 10)
+ voltage_history_.pop_front();
+
+ std::vector sorted_v(voltage_history_.begin(), voltage_history_.end());
+ std::sort(sorted_v.begin(), sorted_v.end());
+ double median_v = sorted_v[sorted_v.size() / 2];
+
+ if (!filtered_battery_voltage_.has_value()) {
+ filtered_battery_voltage_ = median_v;
+ } else {
+ filtered_battery_voltage_ = *filtered_battery_voltage_ * 0.95 + median_v * 0.05;
+ }
+
+ double final_voltage = *filtered_battery_voltage_;
+ double percentage = std::clamp((final_voltage - v_min) / (v_max - v_min), 0.0, 1.0);
+
+ msg.voltage = static_cast(final_voltage);
+ msg.percentage = static_cast(percentage);
+ msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_DISCHARGING;
+ battery_pub_->publish(msg);
+ }
+
+ // -------------------------------------------------------------------
+ // 20Hz realtime control loop
+ // -------------------------------------------------------------------
+ void controlLoop() {
+ rclcpp::Time current_now = now();
+ double dt = (current_now - last_time_).seconds();
+ last_time_ = current_now;
+ if (dt <= 0.0)
+ return;
+
+ // 1. Acceleration ramp
+ double dv = target_v_ - current_v_;
+ double max_dv = accel_limit_ * dt;
+ current_v_ += std::clamp(dv, -max_dv, max_dv);
+
+ double dw = target_w_ - current_w_;
+ double max_dw = 2.0 * dt;
+ current_w_ += std::clamp(dw, -max_dw, max_dw);
+
+ // 2. Yaw rate PI control
+ double yaw_error = current_w_ - current_imu_w_;
+ bool is_idle = std::abs(target_v_) < 0.01 && std::abs(target_w_) < 0.01;
+ double correction = 0.0;
+ if (is_idle) {
+ yaw_error_integral_ = 0.0;
+ current_v_ = 0.0;
+ current_w_ = 0.0;
+ } else {
+ yaw_error_integral_ += yaw_error * dt;
+ yaw_error_integral_ = std::clamp(yaw_error_integral_, -max_integral_, max_integral_);
+ correction = kp_yaw_ * yaw_error + ki_yaw_ * yaw_error_integral_;
+ }
+
+ // 3. Inverse kinematics -> wheel RPM
+ double v_left = current_v_ - (current_w_ + correction) * wheel_base_ / 2.0;
+ double v_right = current_v_ + (current_w_ + correction) * wheel_base_ / 2.0;
+
+ int rpm_left = static_cast(std::lround(v_left / (2.0 * kPi * wheel_radius_) * 60.0));
+ int rpm_right = static_cast(std::lround(v_right / (2.0 * kPi * wheel_radius_) * 60.0));
+ rpm_left = std::clamp(rpm_left, -kMaxRpm, kMaxRpm);
+ rpm_right = std::clamp(rpm_right, -kMaxRpm, kMaxRpm);
+
+ // 4. Command the motors
+ int feedback_speeds[4] = {0, 0, 0, 0}; // FL, FR, RL, RR
+
+ if (is_mock_mode_) {
+ feedback_speeds[0] = rpm_left;
+ feedback_speeds[1] = rpm_right;
+ feedback_speeds[2] = rpm_left;
+ feedback_speeds[3] = rpm_right;
+ } else if (control_method_ == "direct_pc") {
+ if (is_idle && is_parked_) {
+ if (drivers_enabled_)
+ disableDirectDrivers();
+ } else {
+ if (!drivers_enabled_)
+ enableDirectDrivers();
+ modbus_port_.writeRegs(1, 0x2088,
+ {static_cast(static_cast(rpm_left)),
+ static_cast(static_cast(-rpm_right))});
+ modbus_port_.writeRegs(2, 0x2088,
+ {static_cast(static_cast(rpm_left)),
+ static_cast(static_cast(-rpm_right))});
+ }
+
+ std::vector front_resp, rear_resp;
+ if (modbus_port_.readRegs(1, 0x20AD, 2, front_resp)) {
+ feedback_speeds[0] = static_cast(front_resp[0]);
+ feedback_speeds[1] = -static_cast(front_resp[1]);
+ }
+ if (modbus_port_.readRegs(2, 0x20AD, 2, rear_resp)) {
+ feedback_speeds[2] = static_cast(rear_resp[0]);
+ feedback_speeds[3] = -static_cast(rear_resp[1]);
+ }
+ } else if (control_method_ == "arduino") {
+ runArduinoIo(rpm_left, rpm_right, is_idle && is_parked_, feedback_speeds);
+ }
+
+ // 5. Odometry & telemetry
+ processFeedback(feedback_speeds, dt);
+
+ RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 2000,
+ "[BLDC FEEDBACK] FL:%d FR:%d | RL:%d RR:%d RPM | Target_W:%.2f IMU_W:%.2f",
+ feedback_speeds[0], feedback_speeds[1], feedback_speeds[2], feedback_speeds[3],
+ current_w_, current_imu_w_);
+ }
+
+ void runArduinoIo(int rpm_left, int rpm_right, bool disable, int feedback_speeds[4]) {
+ if (!arduino_port_.isOpen())
+ return;
+
+ uint8_t packet[7];
+ packet[0] = 0xFE;
+ packet[1] = static_cast((rpm_left >> 8) & 0xFF);
+ packet[2] = static_cast(rpm_left & 0xFF);
+ packet[3] = static_cast((rpm_right >> 8) & 0xFF);
+ packet[4] = static_cast(rpm_right & 0xFF);
+ packet[5] = disable ? 0 : 1;
+ uint8_t checksum = 0;
+ for (int i = 1; i < 6; ++i)
+ checksum += packet[i];
+ packet[6] = checksum;
+
+ if (write(arduino_port_.fd(), packet, sizeof(packet)) != static_cast(sizeof(packet))) {
+ RCLCPP_ERROR(get_logger(), "아두이노 송신 오류");
+ }
+
+ int bytes_avail = 0;
+ if (ioctl(arduino_port_.fd(), FIONREAD, &bytes_avail) == 0 && bytes_avail >= 10) {
+ uint8_t head = 0;
+ if (read(arduino_port_.fd(), &head, 1) == 1 && head == 0xFD) {
+ uint8_t data[9];
+ ssize_t got = read(arduino_port_.fd(), data, 9);
+ if (got == 9) {
+ uint8_t sum = 0;
+ for (int i = 0; i < 8; ++i)
+ sum += data[i];
+ if (sum == data[8]) {
+ feedback_speeds[0] = static_cast((data[0] << 8) | data[1]);
+ feedback_speeds[1] = static_cast((data[2] << 8) | data[3]);
+ feedback_speeds[2] = static_cast((data[4] << 8) | data[5]);
+ feedback_speeds[3] = static_cast((data[6] << 8) | data[7]);
+ }
+ }
+ }
+ }
+ }
+
+ void processFeedback(const int feedback_speeds[4], double dt) {
+ double actual_rpm_l = (feedback_speeds[0] + feedback_speeds[2]) / 2.0;
+ double actual_rpm_r = (feedback_speeds[1] + feedback_speeds[3]) / 2.0;
+
+ double v_l = actual_rpm_l * 2.0 * kPi * wheel_radius_ / 60.0;
+ double v_r = actual_rpm_r * 2.0 * kPi * wheel_radius_ / 60.0;
+
+ double linear_vel = (v_r + v_l) / 2.0;
+ double angular_vel = (v_r - v_l) / wheel_base_;
+
+ double delta_th = angular_vel * dt;
+ odom_th_ += delta_th;
+ odom_x_ += linear_vel * std::cos(odom_th_) * dt;
+ odom_y_ += linear_vel * std::sin(odom_th_) * dt;
+
+ double rads_l = v_l / wheel_radius_;
+ double rads_r = v_r / wheel_radius_;
+ left_wheel_joint_pos_ += rads_l * dt;
+ right_wheel_joint_pos_ += rads_r * dt;
+
+ auto stamp = now();
+
+ sensor_msgs::msg::JointState joint_state;
+ joint_state.header.stamp = stamp;
+ joint_state.name = {"front_left_wheel_joint", "front_right_wheel_joint", "rear_left_wheel_joint",
+ "rear_right_wheel_joint"};
+ joint_state.position = {left_wheel_joint_pos_, right_wheel_joint_pos_, left_wheel_joint_pos_,
+ right_wheel_joint_pos_};
+ joint_state.velocity = {rads_l, rads_r, rads_l, rads_r};
+ joint_pub_->publish(joint_state);
+
+ nav_msgs::msg::Odometry odom;
+ odom.header.stamp = stamp;
+ odom.header.frame_id = "odom";
+ odom.child_frame_id = "base_link";
+ odom.pose.pose.position.x = odom_x_;
+ odom.pose.pose.position.y = odom_y_;
+ odom.pose.pose.position.z = 0.0;
+
+ double cy = std::cos(odom_th_ * 0.5);
+ double sy = std::sin(odom_th_ * 0.5);
+ odom.pose.pose.orientation.w = cy;
+ odom.pose.pose.orientation.z = sy;
+
+ odom.twist.twist.linear.x = linear_vel;
+ odom.twist.twist.angular.z = angular_vel;
+
+ odom_pub_->publish(odom);
+
+ // Nav2's local_costmap needs a live odom->base_link TF (not just the /odom_wheels
+ // topic) to transform sensor data into the robot frame. Only broadcast it when no
+ // LIDAR SLAM (FAST_LIO/FAST-LIVO2) is providing base_link's TF via aft_mapped —
+ // see publish_odom_tf_ declaration above for why both can't be active at once.
+ if (publish_odom_tf_) {
+ geometry_msgs::msg::TransformStamped tf_msg;
+ tf_msg.header.stamp = stamp;
+ tf_msg.header.frame_id = "odom";
+ tf_msg.child_frame_id = "base_link";
+ tf_msg.transform.translation.x = odom.pose.pose.position.x;
+ tf_msg.transform.translation.y = odom.pose.pose.position.y;
+ tf_msg.transform.translation.z = 0.0;
+ tf_msg.transform.rotation = odom.pose.pose.orientation;
+ tf_broadcaster_->sendTransform(tf_msg);
+ }
+ }
+
+ static constexpr int kMaxRpm = 250;
+
+ // Parameters
+ std::string control_method_;
+ std::string port_;
+ int baud_ = 115200;
+ double limit_v_ = 0.5;
+ double accel_limit_ = 0.5;
+ double wheel_base_ = 0.374;
+ double wheel_radius_ = 0.127;
+ bool publish_odom_tf_ = true;
+
+ // Yaw PI gains
+ const double kp_yaw_ = 0.50;
+ const double ki_yaw_ = 0.20;
+ double yaw_error_integral_ = 0.0;
+ const double max_integral_ = 1.0;
+
+ // Robot state
+ double target_v_ = 0.0, target_w_ = 0.0;
+ double current_v_ = 0.0, current_w_ = 0.0;
+ double current_imu_w_ = 0.0;
+ rclcpp::Time last_time_;
+
+ double odom_x_ = 0.0, odom_y_ = 0.0, odom_th_ = 0.0;
+ double left_wheel_joint_pos_ = 0.0, right_wheel_joint_pos_ = 0.0;
+
+ bool drivers_initialized_ = false;
+ bool drivers_enabled_ = false;
+ bool is_parked_ = false;
+ bool is_mock_mode_ = false;
+
+ SerialPort modbus_port_;
+ SerialPort arduino_port_;
+
+ std::optional last_valid_voltage_;
+ std::optional filtered_battery_voltage_;
+ std::deque voltage_history_;
+
+ rclcpp::Subscription::SharedPtr cmd_vel_sub_;
+ rclcpp::Subscription::SharedPtr imu_sub_;
+ rclcpp::Subscription::SharedPtr initial_pose_sub_;
+ rclcpp::Subscription::SharedPtr mode_status_sub_;
+
+ rclcpp::Publisher::SharedPtr odom_pub_;
+ rclcpp::Publisher::SharedPtr joint_pub_;
+ rclcpp::Publisher::SharedPtr battery_pub_;
+ std::unique_ptr tf_broadcaster_;
+
+ rclcpp::TimerBase::SharedPtr control_timer_;
+ rclcpp::TimerBase::SharedPtr battery_timer_;
+};
+
+} // namespace fori_serial_bridge_cpp
+
+int main(int argc, char **argv) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared();
+ rclcpp::on_shutdown([node]() { node->safeStop(); });
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}
diff --git a/start_fori.sh b/start_fori.sh
new file mode 100755
index 0000000..3838f53
--- /dev/null
+++ b/start_fori.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+# FORI AGV 안전 시작 스크립트
+# 이전 프로세스 잔류 문제를 자동으로 처리합니다
+
+echo "=========================================="
+echo " FORI AGV - 안전 시작 스크립트"
+echo "=========================================="
+
+# 1. 이전 실행 잔류 프로세스 모두 종료
+echo "[1/3] 이전 프로세스 정리 중..."
+pkill -9 -f "serial_bridge_node" 2>/dev/null
+pkill -9 -f "parking_controller_node" 2>/dev/null
+pkill -9 -f "ui_server_node" 2>/dev/null
+pkill -9 -f "rosbridge_websocket" 2>/dev/null
+pkill -9 -f "web_video_server" 2>/dev/null
+pkill -9 -f "aruco_detector_node.py" 2>/dev/null
+pkill -9 -f "fori_full.launch" 2>/dev/null
+pkill -9 -f "fori_nav2.launch" 2>/dev/null
+fuser -k -9 8080/tcp 9090/tcp 8085/tcp 2>/dev/null
+sleep 2
+
+echo "[2/3] ROS2 환경 로드..."
+source /opt/ros/humble/setup.bash
+source /home/yoo/fori_ws/fori_ws/install/setup.bash
+
+# Hikrobot 카메라 SDK(/opt/MVS/lib/64)가 LD_LIBRARY_PATH 맨 앞에 있어서 시스템
+# libusb보다 먼저 잡히는데, 그 안의 libusb가 구버전이라 PCL(fast_lio, pcd_gridmap_converter
+# 등)이 필요로 하는 libusb_set_option 심볼이 없어 "symbol lookup error"로 죽는다.
+# 시스템 라이브러리 경로를 앞에 둬서 심볼 충돌만 피하고, MVS 경로는 카메라 전용 라이브러리
+# 탐색을 위해 그대로 뒤에 남겨둔다.
+export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH}"
+
+echo "[3/3] FORI AGV 시작!"
+echo " ✅ 웹 UI: http://localhost:8080"
+echo " ✅ 외부(모바일): http://$(hostname -I | awk '{print $1}'):8080"
+echo "=========================================="
+ros2 launch fori_serial_bridge fori_full.launch.py
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
diff --git a/src/fori_serial_bridge/ui/manifest.json b/src/fori_serial_bridge/ui/manifest.json
new file mode 100644
index 0000000..eacd18e
--- /dev/null
+++ b/src/fori_serial_bridge/ui/manifest.json
@@ -0,0 +1,18 @@
+{
+ "name": "FORI AGV 자율주행 관제",
+ "short_name": "FORI AGV",
+ "description": "AZMO - FORI AGV 모바일 자율주행 관제 대시보드",
+ "start_url": "./index.html",
+ "display": "standalone",
+ "orientation": "portrait",
+ "background_color": "#F4F6F5",
+ "theme_color": "#22A774",
+ "icons": [
+ {
+ "src": "data:image/svg+xml,",
+ "sizes": "192x192 512x512",
+ "type": "image/svg+xml",
+ "purpose": "any maskable"
+ }
+ ]
+}
diff --git a/src/fori_serial_bridge/ui/style.css b/src/fori_serial_bridge/ui/style.css
index 24d440c..d627ec6 100644
--- a/src/fori_serial_bridge/ui/style.css
+++ b/src/fori_serial_bridge/ui/style.css
@@ -1,516 +1,1097 @@
+/* FORI AGV Control Dashboard - AZMO Modern Design System (image_1 style) */
+@import url('https://cdn.jsdelivr.net/gh/orioncactus/pretendard@v1.3.9/dist/web/static/pretendard.min.css');
+@import url('https://fonts.googleapis.com/css2?family=Outfit:wght@400;500;600;700;800&display=swap');
+
:root {
- --bg-dark: #0a0b10;
- --card-bg: rgba(20, 22, 37, 0.55);
- --border-color: rgba(255, 255, 255, 0.08);
- --accent-blue: #00d2ff;
- --accent-purple: #9d4edd;
- --text-main: #f3f4f6;
- --text-muted: #9ca3af;
- --green-glow: #10b981;
- --red-glow: #ef4444;
+ /* AZMO Theme Colors from image_1 */
+ --sidebar-gradient: linear-gradient(180deg, #28AE7B 0%, #1E9165 60%, #15734F 100%);
+ --sidebar-bg: #22A774;
+ --sidebar-hover: rgba(255, 255, 255, 0.1);
+ --sidebar-active: #FFFFFF;
+
+ --bg-main: #F4F6F5;
+ --bg-card: #FFFFFF;
+ --bg-card-subtle: #F8FAFC;
+
+ --text-main: #1E293B;
+ --text-muted: #64748B;
+ --text-subtle: #94A3B8;
+
+ --primary-green: #22A774;
+ --primary-green-dark: #18865C;
+ --primary-green-light: #ECFDF5;
+ --primary-green-border: #A7F3D0;
+
+ --accent-blue: #3B82F6;
+ --accent-blue-light: #EFF6FF;
+ --accent-blue-border: #BFDBFE;
+
+ --status-normal: #10B981;
+ --status-warning: #F59E0B;
+ --status-error: #EF4444;
+
+ --border-color: #E2E8F0;
+ --border-color-light: #F1F5F9;
+
+ --shadow-sm: 0 2px 4px rgba(0, 0, 0, 0.02);
+ --shadow-md: 0 4px 16px -2px rgba(0, 0, 0, 0.04), 0 2px 6px -1px rgba(0, 0, 0, 0.02);
+ --shadow-lg: 0 10px 30px -5px rgba(0, 0, 0, 0.06), 0 4px 12px -2px rgba(0, 0, 0, 0.03);
+ --shadow-glow: 0 0 0 3px rgba(34, 167, 116, 0.15);
+
+ --radius-sm: 8px;
+ --radius-md: 12px;
+ --radius-lg: 16px;
+ --radius-full: 9999px;
+
+ --font-sans: 'Pretendard', 'Outfit', -apple-system, system-ui, sans-serif;
}
* {
- margin: 0;
- padding: 0;
- box-sizing: border-box;
- font-family: 'Outfit', sans-serif;
- -webkit-font-smoothing: antialiased;
+ box-sizing: border-box;
+ margin: 0;
+ padding: 0;
+ font-family: var(--font-sans);
+ -webkit-font-smoothing: antialiased;
}
body {
- background-color: var(--bg-dark);
- color: var(--text-main);
- min-height: 100vh;
- overflow-x: hidden;
- background-image:
- radial-gradient(at 10% 20%, rgba(157, 78, 221, 0.1) 0px, transparent 50%),
- radial-gradient(at 90% 80%, rgba(0, 210, 255, 0.1) 0px, transparent 50%);
+ background-color: var(--bg-main);
+ color: var(--text-main);
+ min-height: 100vh;
+ display: flex;
+ overflow-x: hidden;
}
+/* App Container with Green Sidebar */
.app-container {
- max-width: 1400px;
- margin: 0 auto;
- padding: 20px;
+ display: flex;
+ width: 100vw;
+ min-height: 100vh;
}
-/* Header */
-.dashboard-header {
- display: flex;
- justify-content: space-between;
- align-items: center;
- padding: 15px 25px;
- background: var(--card-bg);
- border: 1px solid var(--border-color);
- border-radius: 16px;
- backdrop-filter: blur(12px);
- margin-bottom: 25px;
- box-shadow: 0 8px 32px 0 rgba(0, 0, 0, 0.37);
+/* Emerald Green Sidebar */
+.sidebar {
+ width: 240px;
+ background: var(--sidebar-gradient);
+ color: #FFFFFF;
+ display: flex;
+ flex-direction: column;
+ flex-shrink: 0;
+ box-shadow: 4px 0 20px rgba(0, 0, 0, 0.04);
+ z-index: 10;
}
-.logo-area h1 {
- font-size: 24px;
- font-weight: 800;
- letter-spacing: 1px;
+.sidebar-header {
+ padding: 24px 20px 28px 24px;
+ display: flex;
+ align-items: center;
+ gap: 12px;
+ border-bottom: 1px solid rgba(255, 255, 255, 0.12);
}
-.logo-area h1 span {
- color: var(--accent-blue);
- text-shadow: 0 0 10px rgba(0, 210, 255, 0.4);
+.logo-icon {
+ width: 36px;
+ height: 36px;
+ background: rgba(255, 255, 255, 0.2);
+ border-radius: 10px;
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ font-size: 18px;
+ font-weight: 800;
+ color: #FFFFFF;
}
-.system-status {
- font-size: 12px;
- color: var(--text-muted);
- font-weight: 300;
- margin-left: 10px;
+.logo-text {
+ font-size: 22px;
+ font-weight: 800;
+ letter-spacing: -0.5px;
+ color: #FFFFFF;
+}
+
+.logo-text span {
+ color: #A7F3D0;
+ font-size: 14px;
+ font-weight: 600;
+ margin-left: 4px;
+}
+
+.sidebar-nav {
+ padding: 20px 12px;
+ display: flex;
+ flex-direction: column;
+ gap: 6px;
+ flex: 1;
+}
+
+.nav-item {
+ display: flex;
+ align-items: center;
+ gap: 12px;
+ padding: 12px 16px;
+ color: rgba(255, 255, 255, 0.85);
+ text-decoration: none;
+ font-size: 14px;
+ font-weight: 500;
+ border-radius: var(--radius-md);
+ transition: all 0.2s ease;
+ cursor: pointer;
+}
+
+.nav-item:hover {
+ background: var(--sidebar-hover);
+ color: #FFFFFF;
+ transform: translateX(3px);
+}
+
+.nav-item.active {
+ background: #FFFFFF;
+ color: var(--primary-green-dark);
+ font-weight: 700;
+ box-shadow: 0 4px 12px rgba(0, 0, 0, 0.08);
+}
+
+.sidebar-footer {
+ padding: 20px 16px;
+ border-top: 1px solid rgba(255, 255, 255, 0.12);
+ font-size: 12px;
+ color: rgba(255, 255, 255, 0.6);
+ text-align: center;
+}
+
+/* Main Content Wrapper */
+.main-wrapper {
+ flex: 1;
+ display: flex;
+ flex-direction: column;
+ min-width: 0;
+ overflow-y: auto;
+}
+
+/* Header Navbar */
+.top-header {
+ height: 64px;
+ background: #FFFFFF;
+ border-bottom: 1px solid var(--border-color);
+ display: flex;
+ align-items: center;
+ justify-content: space-between;
+ padding: 0 32px;
+ position: sticky;
+ top: 0;
+ z-index: 5;
+}
+
+.header-left {
+ display: flex;
+ align-items: center;
+ gap: 16px;
+}
+
+.page-breadcrumb {
+ display: flex;
+ align-items: center;
+ gap: 8px;
+ font-size: 13px;
+ color: var(--text-muted);
+}
+
+.header-right {
+ display: flex;
+ align-items: center;
+ gap: 20px;
}
.connection-status {
- display: flex;
- align-items: center;
- gap: 10px;
- font-size: 14px;
- font-weight: 600;
+ display: flex;
+ align-items: center;
+ gap: 10px;
+ font-size: 13px;
+ font-weight: 600;
+ background: var(--bg-card-subtle);
+ padding: 6px 14px;
+ border-radius: var(--radius-full);
+ border: 1px solid var(--border-color);
}
.pulse-indicator {
- width: 10px;
- height: 10px;
- border-radius: 50%;
- display: inline-block;
+ width: 8px;
+ height: 8px;
+ border-radius: 50%;
+ display: inline-block;
}
.pulse-indicator.green {
- background-color: var(--green-glow);
- box-shadow: 0 0 10px var(--green-glow);
- animation: pulse 1.8s infinite;
+ background-color: var(--status-normal);
+ box-shadow: 0 0 0 3px rgba(16, 185, 129, 0.2);
}
.pulse-indicator.red {
- background-color: var(--red-glow);
- box-shadow: 0 0 10px var(--red-glow);
- animation: pulse-red 1.8s infinite;
+ background-color: var(--status-error);
+ box-shadow: 0 0 0 3px rgba(239, 68, 68, 0.2);
}
-@keyframes pulse {
- 0% { transform: scale(0.95); box-shadow: 0 0 0 0 rgba(16, 185, 129, 0.7); }
- 70% { transform: scale(1); box-shadow: 0 0 0 8px rgba(16, 185, 129, 0); }
- 100% { transform: scale(0.95); box-shadow: 0 0 0 0 rgba(16, 185, 129, 0); }
+.env-badge {
+ padding: 4px 10px;
+ border-radius: var(--radius-full);
+ font-size: 11px;
+ font-weight: 700;
+ text-transform: uppercase;
}
-@keyframes pulse-red {
- 0% { transform: scale(0.95); box-shadow: 0 0 0 0 rgba(239, 68, 68, 0.7); }
- 70% { transform: scale(1); box-shadow: 0 0 0 8px rgba(239, 68, 68, 0); }
- 100% { transform: scale(0.95); box-shadow: 0 0 0 0 rgba(239, 68, 68, 0); }
+.env-badge.sim {
+ background: #FFFBEB;
+ color: #B45309;
+ border: 1px solid #FDE68A;
}
-/* Grid Layout */
+.env-badge.real {
+ background: var(--primary-green-light);
+ color: var(--primary-green-dark);
+ border: 1px solid var(--primary-green-border);
+}
+
+.user-profile {
+ display: flex;
+ align-items: center;
+ gap: 10px;
+}
+
+.avatar {
+ width: 34px;
+ height: 34px;
+ background: var(--primary-green-light);
+ color: var(--primary-green-dark);
+ border-radius: 50%;
+ display: flex;
+ align-items: center;
+ justify-content: center;
+ font-weight: 700;
+ font-size: 13px;
+ border: 2px solid var(--primary-green-border);
+}
+
+/* Main Dashboard Layout */
+.dashboard-content {
+ padding: 28px 32px 40px 32px;
+ display: flex;
+ flex-direction: column;
+ gap: 24px;
+ max-width: 1700px;
+ margin: 0 auto;
+ width: 100%;
+}
+
+.section-title-bar {
+ display: flex;
+ align-items: center;
+ justify-content: space-between;
+}
+
+.section-title {
+ font-size: 22px;
+ font-weight: 800;
+ color: var(--text-main);
+ letter-spacing: -0.4px;
+}
+
+/* Metric Gauge Summary Section ("Total Condition" derived from image_1) */
+.metrics-grid {
+ display: grid;
+ grid-template-columns: repeat(3, 1fr);
+ gap: 20px;
+}
+
+.metric-card {
+ background: var(--bg-card);
+ border-radius: var(--radius-lg);
+ padding: 20px 24px;
+ border: 1px solid var(--border-color);
+ box-shadow: var(--shadow-md);
+ display: flex;
+ align-items: center;
+ justify-content: space-between;
+ transition: transform 0.2s ease, box-shadow 0.2s ease;
+}
+
+.metric-card:hover {
+ transform: translateY(-2px);
+ box-shadow: var(--shadow-lg);
+}
+
+.metric-info {
+ display: flex;
+ flex-direction: column;
+ gap: 6px;
+}
+
+.metric-label {
+ font-size: 13px;
+ font-weight: 600;
+ color: var(--text-muted);
+ text-transform: uppercase;
+}
+
+.metric-value {
+ font-size: 28px;
+ font-weight: 800;
+ color: var(--text-main);
+ line-height: 1.1;
+}
+
+.metric-subtext {
+ font-size: 12px;
+ color: var(--text-subtle);
+ margin-top: 2px;
+}
+
+/* SVG Donut Ring Gauge Component */
+.ring-gauge-container {
+ position: relative;
+ width: 72px;
+ height: 72px;
+ display: flex;
+ align-items: center;
+ justify-content: center;
+}
+
+.ring-gauge-svg {
+ transform: rotate(-90deg);
+ width: 72px;
+ height: 72px;
+}
+
+.ring-bg {
+ fill: none;
+ stroke: #F1F5F9;
+ stroke-width: 6;
+}
+
+.ring-fill {
+ fill: none;
+ stroke-width: 6;
+ stroke-linecap: round;
+ transition: stroke-dashoffset 0.8s ease;
+}
+
+.ring-fill.green { stroke: var(--primary-green); }
+.ring-fill.blue { stroke: var(--accent-blue); }
+.ring-fill.amber { stroke: var(--status-warning); }
+
+.ring-center-text {
+ position: absolute;
+ font-size: 13px;
+ font-weight: 800;
+ color: var(--text-main);
+}
+
+/* Dashboard Main Grid (2 Columns) */
.dashboard-grid {
- display: grid;
- grid-template-columns: 1.2fr 1fr;
- gap: 25px;
+ display: grid;
+ grid-template-columns: 1.25fr 1fr;
+ gap: 24px;
}
-@media (max-width: 1024px) {
- .dashboard-grid {
- grid-template-columns: 1fr;
- }
+@media (max-width: 1200px) {
+ .dashboard-grid {
+ grid-template-columns: 1fr;
+ }
}
-/* Glassmorphism Card Style */
+/* Cards (Soft Shadows & Rounded Corners) */
.grid-card {
- background: var(--card-bg);
- border: 1px solid var(--border-color);
- border-radius: 20px;
- backdrop-filter: blur(12px);
- padding: 20px;
- box-shadow: 0 8px 32px 0 rgba(0, 0, 0, 0.3);
- display: flex;
- flex-direction: column;
+ background: var(--bg-card);
+ border: 1px solid var(--border-color);
+ border-radius: var(--radius-lg);
+ padding: 24px;
+ box-shadow: var(--shadow-md);
+ display: flex;
+ flex-direction: column;
+ gap: 16px;
}
.card-header {
- margin-bottom: 15px;
+ display: flex;
+ flex-direction: column;
+ gap: 4px;
}
.card-header h2 {
- font-size: 18px;
- font-weight: 600;
- margin-bottom: 4px;
+ font-size: 17px;
+ font-weight: 700;
+ color: var(--text-main);
}
.help-text {
- font-size: 12px;
- color: var(--text-muted);
+ font-size: 12px;
+ color: var(--text-muted);
}
-/* Map Card Details */
+/* Map Card */
.map-card {
- height: 720px;
+ height: auto;
}
.canvas-container {
- flex-grow: 1;
- background: rgba(10, 10, 15, 0.7);
- border-radius: 12px;
- border: 1px solid var(--border-color);
- position: relative;
- overflow: hidden;
- display: flex;
- justify-content: center;
- align-items: center;
- height: 0;
+ width: 100%;
+ height: 380px;
+ background: #F1F5F9;
+ border-radius: var(--radius-md);
+ border: 1px solid var(--border-color);
+ position: relative;
+ overflow: hidden;
+ display: flex;
+ align-items: center;
+ justify-content: center;
}
#map-canvas {
- width: 100%;
- height: 100%;
- object-fit: contain;
- image-rendering: pixelated;
- image-rendering: crisp-edges;
+ width: 100%;
+ height: 100%;
+ object-fit: contain;
}
+/* Config & Pose Panel */
.config-panel {
- margin-top: 15px;
- padding: 15px;
- background: rgba(255, 255, 255, 0.02);
- border-radius: 12px;
- border: 1px solid var(--border-color);
+ background: var(--bg-card-subtle);
+ border-radius: var(--radius-md);
+ padding: 16px;
+ border: 1px solid var(--border-color);
+ display: flex;
+ flex-direction: column;
+ gap: 12px;
}
.config-panel h3 {
- font-size: 14px;
- font-weight: 600;
- margin-bottom: 10px;
+ font-size: 13px;
+ font-weight: 700;
+ color: var(--text-muted);
}
.coord-inputs {
- display: flex;
- gap: 15px;
- margin-bottom: 12px;
+ display: grid;
+ grid-template-columns: repeat(3, 1fr);
+ gap: 12px;
}
.input-group {
- display: flex;
- flex-direction: column;
- flex: 1;
+ display: flex;
+ flex-direction: column;
+ gap: 4px;
}
.input-group label {
- font-size: 11px;
- color: var(--text-muted);
- margin-bottom: 4px;
+ font-size: 11px;
+ font-weight: 600;
+ color: var(--text-muted);
}
.input-group input {
- background: rgba(10, 11, 16, 0.6);
- border: 1px solid var(--border-color);
- border-radius: 6px;
- padding: 6px 10px;
- color: var(--text-main);
- font-size: 14px;
- outline: none;
- text-align: center;
+ height: 38px;
+ padding: 0 10px;
+ background: #FFFFFF;
+ border: 1px solid var(--border-color);
+ border-radius: var(--radius-sm);
+ font-size: 13px;
+ font-weight: 600;
+ text-align: center;
+ color: var(--text-main);
+ outline: none;
+ transition: all 0.2s ease;
}
.input-group input:focus {
- border-color: var(--accent-blue);
+ border-color: var(--primary-green);
+ box-shadow: var(--shadow-glow);
+}
+
+.pose-panel {
+ background: var(--primary-green-light);
+ border: 1px solid var(--primary-green-border);
+ border-radius: var(--radius-md);
+ padding: 14px 16px;
+}
+
+.pose-panel h3 {
+ font-size: 12px;
+ font-weight: 700;
+ color: var(--primary-green-dark);
+ margin-bottom: 4px;
+}
+
+.pose-value-display {
+ font-size: 15px;
+ font-weight: 800;
+ color: var(--primary-green-dark);
+ text-align: center;
+}
+
+/* Battery Panel */
+.battery-panel {
+ background: var(--bg-card-subtle);
+ border: 1px solid var(--border-color);
+ border-radius: var(--radius-md);
+ padding: 16px;
}
/* Right Column Panels */
.right-column {
- display: flex;
- flex-direction: column;
- gap: 25px;
+ display: flex;
+ flex-direction: column;
+ gap: 24px;
}
-/* Camera Card */
-.camera-card {
- overflow: hidden;
-}
-
-.camera-stream-container {
- background: #000;
- border-radius: 12px;
- border: 1px solid var(--border-color);
- aspect-ratio: 4/3;
- display: flex;
- justify-content: center;
- align-items: center;
- overflow: hidden;
-}
-
-.camera-stream-container img {
- width: 100%;
- height: 100%;
- object-fit: cover;
-}
-
-/* Mode selectors and buttons */
-.mode-selector {
- display: flex;
- gap: 15px;
- margin-bottom: 20px;
-}
-
-.btn {
- flex: 1;
- border: 1px solid var(--border-color);
- background: rgba(255, 255, 255, 0.04);
- color: var(--text-main);
- padding: 12px;
- border-radius: 12px;
- font-size: 15px;
- font-weight: 600;
- cursor: pointer;
- transition: all 0.3s ease;
- outline: none;
-}
-
-.btn:hover {
- background: rgba(255, 255, 255, 0.1);
-}
-
-.btn-primary.active {
- background: linear-gradient(135deg, var(--accent-blue), var(--accent-purple));
- border: none;
- box-shadow: 0 0 15px rgba(157, 78, 221, 0.4);
-}
-
-.btn-secondary {
- background: rgba(0, 210, 255, 0.1);
- color: var(--accent-blue);
- border: 1px solid rgba(0, 210, 255, 0.2);
- width: 100%;
-}
-
-.btn-secondary:hover {
- background: rgba(0, 210, 255, 0.2);
-}
-
-.btn-danger {
- background: rgba(239, 68, 68, 0.12);
- color: var(--red-glow);
- border: 1px solid rgba(239, 68, 68, 0.25);
- width: 100%;
-}
-
-.btn-danger:hover {
- background: rgba(239, 68, 68, 0.25);
-}
-
-.btn-danger.active {
- background: #ef4444 !important;
- color: #ffffff !important;
- border: none !important;
- box-shadow: 0 0 20px rgba(239, 68, 68, 0.6) !important;
-}
-
-.pose-panel {
- margin-top: 15px;
- padding-top: 15px;
- border-top: 1px solid var(--border-color);
-}
-
-.pose-panel h3 {
- font-size: 14px;
- font-weight: 600;
- margin-bottom: 10px;
- color: var(--text-muted);
-}
-
-.pose-value-display {
- background: rgba(14, 165, 233, 0.12);
- border: 1px solid rgba(14, 165, 233, 0.35);
- border-radius: 10px;
- padding: 12px;
- font-size: 16px;
- font-weight: 800;
- color: #38bdf8;
- text-align: center;
- text-shadow: 0 0 10px rgba(56, 189, 248, 0.4);
- letter-spacing: 0.5px;
-}
-
-/* Telemetry display */
-.telemetry-grid {
- display: grid;
- grid-template-columns: repeat(3, 1fr);
- gap: 15px;
- margin-bottom: 20px;
-}
-
-.metric-box {
- background: rgba(10, 11, 16, 0.5);
- border: 1px solid var(--border-color);
- border-radius: 12px;
- padding: 12px;
- text-align: center;
-}
-
-.metric-label {
- display: block;
- font-size: 11px;
- color: var(--text-muted);
- margin-bottom: 6px;
-}
-
-.metric-value {
- font-size: 16px;
- font-weight: 800;
- color: var(--text-main);
-}
-
-#val-state {
- color: var(--accent-blue);
- text-shadow: 0 0 10px rgba(0, 210, 255, 0.3);
-}
-
-/* RPM Panels */
-.rpm-panel h3 {
- font-size: 14px;
- font-weight: 600;
- margin-bottom: 12px;
-}
-
-.rpm-bars {
- display: flex;
- flex-direction: column;
- gap: 12px;
-}
-
-.rpm-bar-group {
- display: flex;
- align-items: center;
- gap: 15px;
-}
-
-.wheel-name {
- width: 80px;
- font-size: 12px;
- color: var(--text-muted);
-}
-
-.bar-container {
- flex-grow: 1;
- height: 8px;
- background: rgba(255, 255, 255, 0.05);
- border-radius: 4px;
- overflow: hidden;
-}
-
-.bar {
- height: 100%;
- background: linear-gradient(90deg, var(--accent-blue), var(--accent-purple));
- border-radius: 4px;
- transition: width 0.15s ease-out;
-}
-
-.rpm-val {
- width: 60px;
- text-align: right;
- font-size: 13px;
- font-weight: 600;
-}
-
-/* Environment mode badge */
-.env-badge {
- padding: 5px 12px;
- border-radius: 20px;
- font-size: 11px;
- font-weight: 700;
- text-transform: uppercase;
- letter-spacing: 0.5px;
- border: 1px solid transparent;
- margin-right: 15px;
- transition: all 0.3s ease;
-}
-
-.env-badge.sim {
- background: rgba(234, 179, 8, 0.1);
- color: #eab308;
- border-color: rgba(234, 179, 8, 0.25);
- box-shadow: 0 0 10px rgba(234, 179, 8, 0.15);
-}
-
-.env-badge.real {
- background: rgba(16, 185, 129, 0.1);
- color: #10b981;
- border-color: rgba(16, 185, 129, 0.25);
- box-shadow: 0 0 10px rgba(16, 185, 129, 0.15);
-}
-
-/* Camera & ArUco Layout */
+/* Camera Stream Section */
.camera-container-layout {
- display: grid;
- grid-template-columns: 1.3fr 1fr;
- gap: 20px;
- align-items: center;
+ display: grid;
+ grid-template-columns: 1.3fr 1fr;
+ gap: 16px;
}
@media (max-width: 768px) {
- .camera-container-layout {
- grid-template-columns: 1fr;
- }
+ .camera-container-layout {
+ grid-template-columns: 1fr;
+ }
}
-/* ArUco Info Card Styles */
+.camera-stream-container {
+ background: #0F172A;
+ border-radius: var(--radius-md);
+ border: 1px solid var(--border-color);
+ aspect-ratio: 4/3;
+ overflow: hidden;
+ display: flex;
+ align-items: center;
+ justify-content: center;
+}
+
+.camera-stream-container img {
+ width: 100%;
+ height: 100%;
+ object-fit: cover;
+}
+
+/* ArUco Panel */
.aruco-info-panel {
- display: flex;
- flex-direction: column;
- gap: 12px;
+ display: flex;
+ flex-direction: column;
+ gap: 10px;
}
.aruco-status-badge {
- padding: 6px 8px;
- border-radius: 8px;
- text-align: center;
- font-size: 12px;
- font-weight: 700;
- text-transform: uppercase;
- letter-spacing: 0.5px;
- border: 1px solid transparent;
- transition: all 0.3s ease;
+ padding: 6px 10px;
+ border-radius: var(--radius-sm);
+ text-align: center;
+ font-size: 12px;
+ font-weight: 700;
}
.aruco-status-badge.disconnected {
- background: rgba(239, 68, 68, 0.1);
- color: var(--red-glow);
- border-color: rgba(239, 68, 68, 0.2);
+ background: #FEF2F2;
+ color: var(--status-error);
+ border: 1px solid #FCA5A5;
}
.aruco-status-badge.connected {
- background: rgba(16, 185, 129, 0.1);
- color: var(--green-glow);
- border-color: rgba(16, 185, 129, 0.2);
- box-shadow: 0 0 10px rgba(16, 185, 129, 0.15);
+ background: var(--primary-green-light);
+ color: var(--primary-green-dark);
+ border: 1px solid var(--primary-green-border);
}
.aruco-details {
- display: grid;
- grid-template-columns: 1fr;
- gap: 6px;
+ display: flex;
+ flex-direction: column;
+ gap: 6px;
}
.detail-row {
- background: rgba(10, 11, 16, 0.4);
- border: 1px solid var(--border-color);
- border-radius: 8px;
- padding: 6px 12px;
- display: flex;
- justify-content: space-between;
- align-items: center;
+ background: var(--bg-card-subtle);
+ border: 1px solid var(--border-color);
+ border-radius: 6px;
+ padding: 6px 10px;
+ display: flex;
+ justify-content: space-between;
+ align-items: center;
}
.detail-label {
- font-size: 11px;
- color: var(--text-muted);
+ font-size: 11px;
+ color: var(--text-muted);
}
.detail-value {
- font-size: 13px;
- font-weight: 700;
- color: var(--text-main);
+ font-size: 12px;
+ font-weight: 700;
+ color: var(--text-main);
}
+/* Controls & Buttons */
+.mode-selector {
+ display: grid;
+ grid-template-columns: repeat(3, 1fr);
+ gap: 10px;
+}
+
+.btn {
+ height: 40px;
+ padding: 0 16px;
+ font-size: 13px;
+ font-weight: 600;
+ border-radius: var(--radius-md);
+ border: 1px solid var(--border-color);
+ background: var(--bg-card-subtle);
+ color: var(--text-main);
+ cursor: pointer;
+ transition: all 0.2s ease;
+ display: inline-flex;
+ align-items: center;
+ justify-content: center;
+}
+
+.btn:hover {
+ background: #F1F5F9;
+ border-color: #CBD5E1;
+}
+
+.btn-primary.active {
+ background: var(--primary-green);
+ color: #FFFFFF;
+ border-color: var(--primary-green-dark);
+ font-weight: 700;
+ box-shadow: 0 2px 8px rgba(34, 167, 116, 0.3);
+}
+
+.btn-secondary {
+ background: var(--accent-blue-light);
+ color: var(--accent-blue);
+ border: 1px solid var(--accent-blue-border);
+}
+
+.btn-secondary:hover {
+ background: #DBEAFE;
+}
+
+.btn-danger {
+ background: #FEF2F2;
+ color: var(--status-error);
+ border: 1px solid #FCA5A5;
+}
+
+.btn-danger:hover {
+ background: #FEE2E2;
+}
+
+.btn-danger.active {
+ background: var(--status-error) !important;
+ color: #FFFFFF !important;
+ border-color: #DC2626 !important;
+ box-shadow: 0 0 12px rgba(239, 68, 68, 0.4) !important;
+}
+
+/* Telemetry Grid */
+.telemetry-grid {
+ display: grid;
+ grid-template-columns: repeat(3, 1fr);
+ gap: 10px;
+}
+
+.metric-box {
+ background: var(--bg-card-subtle);
+ border: 1px solid var(--border-color);
+ border-radius: var(--radius-md);
+ padding: 10px;
+ text-align: center;
+}
+
+.metric-box .metric-label {
+ font-size: 11px;
+ color: var(--text-muted);
+ margin-bottom: 4px;
+}
+
+.metric-box .metric-value {
+ font-size: 14px;
+ font-weight: 700;
+ color: var(--text-main);
+}
+
+#val-state {
+ color: var(--primary-green-dark);
+}
+
+/* RPM Bars */
+.rpm-panel h3 {
+ font-size: 13px;
+ font-weight: 700;
+ color: var(--text-muted);
+ margin-bottom: 10px;
+}
+
+.rpm-bars {
+ display: flex;
+ flex-direction: column;
+ gap: 10px;
+}
+
+.rpm-bar-group {
+ display: flex;
+ align-items: center;
+ gap: 12px;
+}
+
+.wheel-name {
+ width: 75px;
+ font-size: 12px;
+ color: var(--text-muted);
+ font-weight: 500;
+}
+
+.bar-container {
+ flex: 1;
+ height: 8px;
+ background: #F1F5F9;
+ border-radius: 4px;
+ overflow: hidden;
+ border: 1px solid var(--border-color);
+}
+
+.bar {
+ height: 100%;
+ background: linear-gradient(90deg, var(--primary-green), #3B82F6);
+ border-radius: 4px;
+ transition: width 0.15s ease-out;
+}
+
+.rpm-val {
+ width: 55px;
+ text-align: right;
+ font-size: 12px;
+ font-weight: 700;
+}
+
+/* Mobile & PWA Responsive Styling */
+.mobile-hamburger-btn {
+ display: none;
+ align-items: center;
+ justify-content: center;
+ width: 38px;
+ height: 38px;
+ border-radius: var(--radius-sm);
+ background: var(--bg-card-subtle);
+ border: 1px solid var(--border-color);
+ font-size: 24px;
+ font-weight: 700;
+ color: var(--primary-green-dark);
+ cursor: pointer;
+}
+
+.mobile-close-btn {
+ display: none;
+ background: transparent;
+ border: none;
+ color: #FFFFFF;
+ font-size: 24px;
+ cursor: pointer;
+ margin-left: auto;
+}
+
+.pwa-install-btn {
+ background: var(--primary-green);
+ color: #FFFFFF;
+ border: none;
+ padding: 6px 12px;
+ border-radius: var(--radius-full);
+ font-size: 12px;
+ font-weight: 700;
+ cursor: pointer;
+ box-shadow: 0 2px 8px rgba(34, 167, 116, 0.3);
+ transition: all 0.2s ease;
+}
+
+.mobile-header-title {
+ display: none;
+ font-size: 16px;
+ font-weight: 800;
+ color: var(--primary-green-dark);
+}
+
+.pwa-install-btn:hover {
+ background: var(--primary-green-dark);
+ transform: translateY(-1px);
+}
+
+.sidebar-overlay {
+ position: fixed;
+ top: 0;
+ left: 0;
+ width: 100vw;
+ height: 100vh;
+ background: rgba(15, 23, 42, 0.5);
+ backdrop-filter: blur(4px);
+ z-index: 90;
+ opacity: 0;
+ pointer-events: none;
+ transition: opacity 0.25s ease;
+}
+
+.sidebar-overlay.active {
+ opacity: 1;
+ pointer-events: auto;
+}
+
+/* Mobile Media Queries (max-width: 768px) */
+@media (max-width: 768px) {
+ body {
+ font-size: 13px;
+ }
+
+ .sidebar {
+ position: fixed;
+ top: 0;
+ left: -280px;
+ height: 100vh;
+ width: 260px;
+ z-index: 100;
+ transition: left 0.3s cubic-bezier(0.4, 0, 0.2, 1);
+ box-shadow: 10px 0 30px rgba(0, 0, 0, 0.2);
+ }
+
+ .sidebar.mobile-open {
+ left: 0;
+ }
+
+ .mobile-hamburger-btn {
+ display: flex;
+ flex-shrink: 0;
+ }
+
+ .mobile-header-title {
+ display: inline-block;
+ white-space: nowrap;
+ margin-left: 6px;
+ font-size: 15px;
+ font-weight: 800;
+ color: var(--primary-green-dark);
+ }
+
+ .mobile-close-btn {
+ display: block;
+ }
+
+ .top-header {
+ padding: 0 10px;
+ height: 54px;
+ }
+
+ .header-left {
+ gap: 4px;
+ min-width: 0;
+ }
+
+ .header-right {
+ gap: 4px;
+ flex-shrink: 0;
+ }
+
+ .page-breadcrumb {
+ display: none !important;
+ }
+
+ .connection-status {
+ padding: 3px 6px;
+ font-size: 10px;
+ gap: 4px;
+ border-radius: var(--radius-full);
+ }
+
+ #status-text {
+ display: none;
+ }
+
+ .pwa-install-btn {
+ padding: 4px 8px;
+ font-size: 10px;
+ white-space: nowrap;
+ }
+
+ .dashboard-content {
+ padding: 12px;
+ gap: 14px;
+ max-width: 100%;
+ overflow-x: hidden;
+ }
+
+ .section-title {
+ font-size: 16px;
+ }
+
+ /* 1. Top 3 Metrics: Single Horizontal Row (1 Row x 3 Columns) */
+ .metrics-grid {
+ grid-template-columns: repeat(3, 1fr);
+ gap: 4px;
+ width: 100%;
+ box-sizing: border-box;
+ }
+
+ .metric-card {
+ padding: 8px 4px;
+ border-radius: var(--radius-md);
+ flex-direction: column;
+ align-items: center;
+ justify-content: center;
+ text-align: center;
+ gap: 2px;
+ width: 100%;
+ min-width: 0;
+ box-sizing: border-box;
+ overflow: hidden;
+ }
+
+ .metric-info {
+ align-items: center;
+ text-align: center;
+ gap: 1px;
+ width: 100%;
+ min-width: 0;
+ overflow: hidden;
+ }
+
+ .metric-label {
+ font-size: 9px;
+ font-weight: 700;
+ letter-spacing: -0.3px;
+ white-space: nowrap;
+ overflow: hidden;
+ text-overflow: ellipsis;
+ max-width: 100%;
+ }
+
+ .metric-value {
+ font-size: 14px;
+ font-weight: 800;
+ margin: 0;
+ line-height: 1.1;
+ }
+
+ .metric-subtext {
+ display: none;
+ }
+
+ .ring-gauge-container {
+ width: 32px;
+ height: 32px;
+ flex-shrink: 0;
+ }
+
+ .ring-gauge-svg {
+ width: 32px;
+ height: 32px;
+ }
+
+ .ring-bg, .ring-fill {
+ stroke-width: 4;
+ }
+
+ .ring-center-text {
+ font-size: 9px;
+ }
+
+ /* 2. Vertical Card Stack Order on Mobile */
+ .dashboard-grid {
+ display: flex;
+ flex-direction: column;
+ gap: 14px;
+ width: 100%;
+ box-sizing: border-box;
+ }
+
+ .grid-card {
+ padding: 14px;
+ border-radius: var(--radius-md);
+ width: 100%;
+ max-width: 100%;
+ box-sizing: border-box;
+ overflow: hidden;
+ }
+
+ .canvas-container {
+ height: 280px;
+ width: 100%;
+ box-sizing: border-box;
+ }
+
+ .config-panel {
+ width: 100%;
+ box-sizing: border-box;
+ overflow: hidden;
+ padding: 10px;
+ }
+
+ .coord-inputs {
+ display: grid;
+ grid-template-columns: repeat(3, 1fr);
+ gap: 4px;
+ width: 100%;
+ box-sizing: border-box;
+ overflow: hidden;
+ }
+
+ .input-group {
+ width: 100%;
+ min-width: 0;
+ box-sizing: border-box;
+ }
+
+ .input-group input {
+ width: 100%;
+ min-width: 0;
+ height: 34px;
+ font-size: 12px;
+ padding: 0 2px;
+ text-align: center;
+ box-sizing: border-box;
+ border-radius: 6px;
+ }
+
+ .camera-container-layout {
+ grid-template-columns: 1fr;
+ gap: 12px;
+ width: 100%;
+ box-sizing: border-box;
+ }
+
+ .mode-selector {
+ grid-template-columns: repeat(3, 1fr);
+ gap: 6px;
+ width: 100%;
+ box-sizing: border-box;
+ }
+
+ .btn {
+ height: 36px;
+ padding: 0 6px;
+ font-size: 11px;
+ box-sizing: border-radius;
+ }
+
+ .telemetry-grid {
+ grid-template-columns: repeat(3, 1fr);
+ gap: 4px;
+ width: 100%;
+ box-sizing: border-box;
+ }
+
+ .metric-box {
+ padding: 6px 2px;
+ min-width: 0;
+ box-sizing: border-box;
+ }
+
+ .metric-box .metric-label {
+ font-size: 9px;
+ }
+
+ .metric-box .metric-value {
+ font-size: 11px;
+ }
+}
diff --git a/src/fori_serial_bridge/ui/sw.js b/src/fori_serial_bridge/ui/sw.js
new file mode 100644
index 0000000..fdaa353
--- /dev/null
+++ b/src/fori_serial_bridge/ui/sw.js
@@ -0,0 +1,36 @@
+// FORI AGV PWA Service Worker
+const CACHE_NAME = 'fori-agv-pwa-v1';
+const ASSETS = [
+ './',
+ './index.html',
+ './style.css',
+ './app.js',
+ './manifest.json'
+];
+
+self.addEventListener('install', (event) => {
+ event.waitUntil(
+ caches.open(CACHE_NAME).then((cache) => cache.addAll(ASSETS))
+ );
+ self.skipWaiting();
+});
+
+self.addEventListener('activate', (event) => {
+ event.waitUntil(
+ caches.keys().then((keys) => {
+ return Promise.all(
+ keys.map((key) => {
+ if (key !== CACHE_NAME) return caches.delete(key);
+ })
+ );
+ })
+ );
+ self.clients.claim();
+});
+
+self.addEventListener('fetch', (event) => {
+ // Network first strategy with fallback to cache for real-time WebSocket dashboard
+ event.respondWith(
+ fetch(event.request).catch(() => caches.match(event.request))
+ );
+});
diff --git a/src/fori_serial_bridge_cpp/CMakeLists.txt b/src/fori_serial_bridge_cpp/CMakeLists.txt
new file mode 100644
index 0000000..bc562e6
--- /dev/null
+++ b/src/fori_serial_bridge_cpp/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.8)
+project(fori_serial_bridge_cpp)
+
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 17)
+ set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+if(NOT CMAKE_BUILD_TYPE)
+ set(CMAKE_BUILD_TYPE Release)
+endif()
+add_compile_options(-O2 -Wall -Wextra)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+
+add_executable(serial_bridge_node
+ src/modbus_serial.cpp
+ src/serial_bridge_node.cpp
+)
+target_include_directories(serial_bridge_node PRIVATE
+ $미인식 (No Marker)
+
+
-
+ 마커 ID
+ -
-
-
-
-
+ 📍 로봇 실시간 현재 위치 (Pose)
-
- X: 0.00m | Y: 0.00m | Yaw: 0°
+
-
+ Z (직선 거리)
+ -
-
-
-
-
-
+ 🔋 FORI 배터리 잔량 (24V 60Ah LiFePO4)
- --% (--.-V) +
+ X (가로 오프셋)
+ -
-
-
-
-
-
+
+
+
-
+
+
+
+
+
+
-
- 📷 실시간 아루코 인식 카메라
-
-
-
- ![카메라 스트림 대기 중...]()
-
-
-
- 미인식 (No Marker)
-
-
-
- 마커 ID
- -
-
-
- Z (직선 거리)
- -
-
-
- X (가로 오프셋)
- -
-
-
- Y (높이 오프셋)
- -
-
-
- Yaw (좌우 회전)
- -
-
-
- Roll / Pitch
- -
-
-
+
+
+
+ ⚙️ 제어 모드 및 텔레메트리
+
+
+
+
+
-
-
-
-
-
- ⚙️ 제어 모드 및 텔레메트리
-
-
-
-
-
-
-
+
+
+
+
-
-
-
+
+
- 현재 시스템 상태
- IDLE
-
-
- 로봇 선속도 (Linear)
- 0.00 m/s
-
-
- 로봇 각속도 (Angular)
- 0.00 rad/s
-
-
+
-
-
+ 현재 시스템 상태
+ IDLE
+
+
+ 선속도 (Linear)
+ 0.00 m/s
+
+
+ 각속도 (Angular)
+ 0.00 rad/s
+
+
-
+ 🔄 실시간 바퀴 회전수 (Feedback RPM)
- + +
+
+