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import { useState, useEffect, useRef } from "react";
import { ChevronLeft } from "lucide-react";
import { Header } from "@/components/header";
import { Footer } from "@/components/footer";
import { EditRobotDialog } from "@/components/edit-robot-dialog";
import { DeviceDashboard } from "@/components/device-dashboard";
import { CalibrationView } from "@/components/calibration-view";
import { TeleoperationView } from "@/components/teleoperation-view";
import { SetupCards } from "@/components/setup-cards";
import { DocsSection } from "@/components/docs-section";
import { RoadmapSection } from "@/components/roadmap-section";
import { HardwareSupportSection } from "@/components/hardware-support-section";
import { useToast } from "@/hooks/use-toast";
import { Toaster } from "@/components/ui/toaster";
import {
findPort,
isWebSerialSupported,
type RobotConnection,
type RobotConfig,
} from "@lerobot/web";
import {
getAllSavedRobots,
getUnifiedRobotData,
saveDeviceInfo,
removeRobotData,
type DeviceInfo,
} from "@/lib/unified-storage";
function App() {
const [view, setView] = useState<
"dashboard" | "calibrating" | "teleoperating"
>("dashboard");
const [robots, setRobots] = useState<RobotConnection[]>([]);
const [selectedRobot, setSelectedRobot] = useState<RobotConnection | null>(
null
);
const [editingRobot, setEditingRobot] = useState<RobotConnection | null>(
null
);
const [isConnecting, setIsConnecting] = useState(false);
const hardwareSectionRef = useRef<HTMLDivElement>(null);
const { toast } = useToast();
// Check browser support
const isSupported = isWebSerialSupported();
useEffect(() => {
if (!isSupported) {
toast({
title: "Browser Not Supported",
description:
"WebSerial API is not supported. Please use Chrome, Edge, or another Chromium-based browser.",
variant: "destructive",
});
}
}, [isSupported, toast]);
useEffect(() => {
const loadSavedRobots = async () => {
if (!isSupported) return;
try {
setIsConnecting(true);
// Get saved robot configurations
const savedRobots = getAllSavedRobots();
if (savedRobots.length > 0) {
const robotConfigs: RobotConfig[] = savedRobots.map((device) => ({
robotType: device.robotType as "so100_follower" | "so100_leader",
robotId: device.robotId,
serialNumber: device.serialNumber,
}));
// Auto-connect to saved robots
const findPortProcess = await findPort({
robotConfigs,
onMessage: (msg: string) => {
console.log("Connection message:", msg);
},
});
const reconnectedRobots = await findPortProcess.result;
// Merge saved device info (names, etc.) with fresh connection data
const robotsWithSavedInfo = reconnectedRobots.map((robot) => {
const savedData = getUnifiedRobotData(robot.serialNumber || "");
if (savedData?.device_info) {
return {
...robot,
robotId: savedData.device_info.robotId,
name: savedData.device_info.robotId, // Use the saved custom name
robotType: savedData.device_info.robotType as
| "so100_follower"
| "so100_leader",
};
}
return robot;
});
setRobots(robotsWithSavedInfo);
}
} catch (error) {
console.error("Failed to load saved robots:", error);
toast({
title: "Connection Error",
description: "Failed to reconnect to saved robots",
variant: "destructive",
});
} finally {
setIsConnecting(false);
}
};
loadSavedRobots();
}, [isSupported, toast]);
const handleFindNewRobots = async () => {
if (!isSupported) {
toast({
title: "Browser Not Supported",
description: "WebSerial API is required for robot connection",
variant: "destructive",
});
return;
}
try {
setIsConnecting(true);
// Interactive mode - show browser dialog
const findPortProcess = await findPort({
onMessage: (msg: string) => {
console.log("Find port message:", msg);
},
});
const newRobots = await findPortProcess.result;
if (newRobots.length > 0) {
setRobots((prev: RobotConnection[]) => {
const existingSerialNumbers = new Set(
prev.map((r: RobotConnection) => r.serialNumber)
);
const uniqueNewRobots = newRobots.filter(
(r: RobotConnection) => !existingSerialNumbers.has(r.serialNumber)
);
// Auto-edit first new robot for configuration
if (uniqueNewRobots.length > 0) {
setEditingRobot(uniqueNewRobots[0]);
}
return [...prev, ...uniqueNewRobots];
});
toast({
title: "Robots Found",
description: `Found ${newRobots.length} robot(s)`,
});
} else {
toast({
title: "No Robots Found",
description: "No compatible devices detected",
});
}
} catch (error) {
console.error("Failed to find robots:", error);
toast({
title: "Connection Error",
description: "Failed to find robots. Please try again.",
variant: "destructive",
});
} finally {
setIsConnecting(false);
}
};
const handleUpdateRobot = (updatedRobot: RobotConnection) => {
// Save device info to unified storage
if (updatedRobot.serialNumber && updatedRobot.robotId) {
const deviceInfo: DeviceInfo = {
serialNumber: updatedRobot.serialNumber,
robotType: updatedRobot.robotType || "so100_follower",
robotId: updatedRobot.robotId,
usbMetadata: updatedRobot.usbMetadata
? {
vendorId: parseInt(updatedRobot.usbMetadata.vendorId || "0", 16),
productId: parseInt(
updatedRobot.usbMetadata.productId || "0",
16
),
serialNumber: updatedRobot.usbMetadata.serialNumber,
manufacturer: updatedRobot.usbMetadata.manufacturerName,
product: updatedRobot.usbMetadata.productName,
}
: undefined,
};
saveDeviceInfo(updatedRobot.serialNumber, deviceInfo);
}
setRobots((prev) =>
prev.map((r) =>
r.serialNumber === updatedRobot.serialNumber ? updatedRobot : r
)
);
setEditingRobot(null);
};
const handleRemoveRobot = (robotId: string) => {
const robot = robots.find((r) => r.robotId === robotId);
if (robot?.serialNumber) {
removeRobotData(robot.serialNumber);
}
setRobots((prev) => prev.filter((r) => r.robotId !== robotId));
toast({
title: "Robot Removed",
description: `${robotId} has been removed from the registry`,
});
};
const handleCalibrate = (robot: RobotConnection) => {
if (!robot.isConnected) {
toast({
title: "Robot Not Connected",
description: "Please connect the robot before calibrating",
variant: "destructive",
});
return;
}
setSelectedRobot(robot);
setView("calibrating");
};
const handleTeleoperate = (robot: RobotConnection) => {
if (!robot.isConnected) {
toast({
title: "Robot Not Connected",
description: "Please connect the robot before teleoperating",
variant: "destructive",
});
return;
}
setSelectedRobot(robot);
setView("teleoperating");
};
const handleCloseSubView = () => {
setSelectedRobot(null);
setView("dashboard");
};
const scrollToHardware = () => {
hardwareSectionRef.current?.scrollIntoView({ behavior: "smooth" });
};
const renderView = () => {
switch (view) {
case "calibrating":
return selectedRobot && <CalibrationView robot={selectedRobot} />;
case "teleoperating":
return selectedRobot && <TeleoperationView robot={selectedRobot} />;
case "dashboard":
default:
return (
<div className="space-y-20">
<DeviceDashboard
robots={robots}
onCalibrate={handleCalibrate}
onTeleoperate={handleTeleoperate}
onRemove={handleRemoveRobot}
onEdit={setEditingRobot}
onFindNew={handleFindNewRobots}
isConnecting={isConnecting}
onScrollToHardware={scrollToHardware}
/>
<div>
<div className="mb-6">
<h2 className="text-3xl font-bold font-mono tracking-wider mb-2 uppercase">
install
</h2>
<p className="text-sm text-muted-foreground font-mono">
Choose your preferred development environment
</p>
</div>
<SetupCards />
</div>
<DocsSection />
<RoadmapSection />
<div ref={hardwareSectionRef}>
<HardwareSupportSection />
</div>
</div>
);
}
};
const PageHeader = () => {
return (
<div className="flex items-center justify-between mb-12">
<div className="flex items-center gap-4">
<div>
{view === "calibrating" && selectedRobot ? (
<h1 className="font-mono text-4xl font-bold tracking-wider">
<span className="text-muted-foreground uppercase">
calibrate:
</span>{" "}
<span
className="text-primary text-glitch uppercase"
data-text={selectedRobot.robotId}
>
{selectedRobot.robotId?.toUpperCase()}
</span>
</h1>
) : view === "teleoperating" && selectedRobot ? (
<h1 className="font-mono text-4xl font-bold tracking-wider">
<span className="text-muted-foreground uppercase">
teleoperate:
</span>{" "}
<span
className="text-primary text-glitch uppercase"
data-text={selectedRobot.robotId}
>
{selectedRobot.robotId?.toUpperCase()}
</span>
</h1>
) : (
<h1
className="font-mono text-4xl font-bold text-primary tracking-wider text-glitch uppercase"
data-text="dashboard"
>
DASHBOARD
</h1>
)}
<div className="h-6 flex items-center">
{view !== "dashboard" ? (
<button
onClick={handleCloseSubView}
className="flex items-center gap-2 text-sm text-muted-foreground font-mono hover:text-primary transition-colors"
>
<ChevronLeft className="w-4 h-4" />
<span className="uppercase">back to dashboard</span>
</button>
) : (
<p className="text-sm text-muted-foreground font-mono">{""} </p>
)}
</div>
</div>
</div>
</div>
);
};
return (
<div className="flex flex-col min-h-screen font-sans bg-gray-200 dark:bg-background">
<Header />
<main className="flex-grow container mx-auto py-12 px-4 md:px-6">
<PageHeader />
{renderView()}
<EditRobotDialog
robot={editingRobot}
isOpen={!!editingRobot}
onOpenChange={(open) => !open && setEditingRobot(null)}
onSave={handleUpdateRobot}
/>
</main>
<Footer />
<Toaster />
</div>
);
}
export default App;
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