Merge pull request #3949 from JdeRobot/drone-hangar-fix

javizqh · web-flow · commit 09214dcd51e1 · 2026-07-27T16:44:39.000+02:00
Drone hangar fix
diff --git a/database/exercises/db.sql b/database/exercises/db.sql
@@ -140,6 +140,7 @@ COPY public.exercises (id, exercise_id, name, description, tags, status, url) FR
 27	conveyor_exercise	Conveyor Belt Exercise	Control a conveyor belt with ROS2	["ROS2","INDUSTRIAL"]	PROTOTYPE	https://jderobot.github.io/RoboticsAcademy/exercises/IndustrialRobots/conveyor_exercise
 28	drone_cat_mouse	Drone Cat Mouse	Two-drone chase exercise: program the cat drone to catch the mouse drone	["ROS2","Drones","MULTI-AGENT","MULTI-ENTRYPOINT"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/Drones/drone_cat_mouse
 29	package_delivery	Package Delivery	Drone Package Delivery exercise	["ROS2","Drones"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/Drones/package_delivery
+30	drone_hangar	Drone Hangar	Escape a hangar filled with obstacles flying a drone	["ROS2","Drones"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/Drones/drone_hangar
 \.
 
 --
@@ -197,6 +198,11 @@ COPY public.exercises_worlds (id, exercise_id, world_id, is_default) FROM stdin;
 71	27	71	True
 72	28	72	True
 73	29	57	True
+74	30	73	True
+75	30	74	False
+76	30	75	False
+77	30	76	False
+78	30	77	False
 \.
 
 --
@@ -296,6 +302,9 @@ COPY public.exercises_tools (id, exercise_id, tool_id) FROM stdin;
 89	29	console
 90	29	simulator
 91	29	web_gui
+92	30	console
+93	30	simulator
+94	30	web_gui
 \.
 
 --
diff --git a/exercises/drone_hangar/frontend/WebGUI.tsx b/exercises/drone_hangar/frontend/WebGUI.tsx
@@ -0,0 +1,54 @@
+import { useState, useEffect } from "react";
+import { states } from "jderobot-commsmanager";
+import { useExercise } from "Contexts/ExerciseContext";
+import WebGUIImage from "Components/exercise/WebGUIImage";
+import WebGUIContainer, {
+  connectApplication,
+} from "Components/exercise/WebGUIContainer";
+
+const WebGUI = () => {
+  const exerciseContext = useExercise();
+  const [rightImage, setRightImage] = useState<string | undefined>(undefined);
+  const [leftImage, setLeftImage] = useState<string | undefined>(undefined);
+  const [manager, setManager] = useState(exerciseContext.manager);
+
+  useEffect(() => {
+    setManager(exerciseContext.manager);
+  }, [exerciseContext]);
+
+  const updateCallback = (updateData: unknown) => {
+    const data = updateData as any;
+    const update = data.update;
+    let image;
+    if (update.image_right) {
+      image = JSON.parse(update.image_right);
+      if (image.image_right != "" && image.shape_right instanceof Array) {
+        setRightImage(`data:image/png;base64,${image.image_right}`);
+      }
+    }
+    if (update.image_left) {
+      image = JSON.parse(update.image_left);
+      if (image.image_left != "" && image.shape_left instanceof Array) {
+        setLeftImage(`data:image/png;base64,${image.image_left}`);
+      }
+    }
+  };
+
+  const stateCallback = (state: string) => {
+    if (state === states.TOOLS_READY) {
+      setLeftImage(undefined);
+      setRightImage(undefined);
+    }
+  };
+
+  connectApplication(manager, updateCallback, stateCallback);
+
+  return (
+    <WebGUIContainer>
+      <WebGUIImage id="left_img" style={{ left: "0" }} src={leftImage} />
+      <WebGUIImage id="right_img" style={{ left: "50%" }} src={rightImage} />
+    </WebGUIContainer>
+  );
+};
+
+export default WebGUI;
diff --git a/exercises/drone_hangar/frontend/eslint.config.mts b/exercises/drone_hangar/frontend/eslint.config.mts
@@ -0,0 +1,29 @@
+import js from "@eslint/js";
+import globals from "globals";
+import tseslint from "typescript-eslint";
+import pluginReact from "eslint-plugin-react";
+import { defineConfig } from "eslint/config";
+
+export default defineConfig([
+  {
+    files: ["**/*.{js,mjs,cjs,ts,mts,cts,jsx,tsx}"],
+    plugins: { js },
+    extends: ["js/recommended"],
+    languageOptions: {
+      globals: globals.browser,
+      parserOptions: {
+        project: './tsconfig.json',
+        tsconfigRootDir: import.meta.dirname
+      },
+    },
+  },
+  tseslint.configs.recommended,
+  pluginReact.configs.flat.recommended,
+  {
+    settings: {
+      react: {
+        version: "detect",
+      },
+    },
+  },
+]);
diff --git a/exercises/drone_hangar/frontend/tsconfig.json b/exercises/drone_hangar/frontend/tsconfig.json
@@ -0,0 +1,60 @@
+{
+  "compilerOptions": {
+    "target": "es5",
+    "lib": [
+      "dom",
+      "dom.iterable",
+      "esnext"
+    ],
+    "types": [
+      "../../../react_frontend/svg.d.ts",
+      "../../../react_frontend/png.d.ts",
+      "../../../react_frontend/jpg.d.ts",
+      "../../../react_frontend/zip.d.ts"
+    ],
+    "paths": {
+      "Assets/*": [ "../../../react_frontend/src/assets/*"],
+      "Components/*": [ "../../../react_frontend/src/components/*"],
+      "Utils/*": [ "../../../react_frontend/src/utils/*"],
+      "Contexts/*": [ "../../../react_frontend/src/contexts/*"],
+      "Helpers/*": [ "../../../react_frontend/src/helpers/*"],
+      "Icons/*": [ "../../../react_frontend/src/icons/*"],
+      "Styles/*": [ "../../../react_frontend/src/styles/*"],
+      "Types/*": [ "../../../react_frontend/src/types/*"],
+      "Constants/*": [ "../../../react_frontend/src/constants/*"],
+      "Api": [ "../../../react_frontend/src/api/index.ts"],
+      "Routes": [ "../../../react_frontend/src/routes/index.ts"],
+      "*": [ "../../../react_frontend/node_modules/*"],
+    },
+    "baseUrl": "./",
+    "rootDirs": [
+      "./",
+      "../../../react_frontend/src"
+    ],
+    "typeRoots": ["../../../react_frontend/node_modules/@types"],
+    "declaration": true,
+    "allowJs": true,
+    "skipLibCheck": true,
+    "esModuleInterop": true,
+    "allowSyntheticDefaultImports": true,
+    "strict": true,
+    "noImplicitAny": true,
+    "forceConsistentCasingInFileNames": true,
+    "noFallthroughCasesInSwitch": true,
+    "module": "esnext",
+    "moduleResolution": "node",
+    "resolveJsonModule": true,
+    "isolatedModules": true,
+    "noEmit": true,
+    "jsx": "react-jsx"
+  },
+  "include": [
+    "./",
+    "eslint.config.mts",
+    "../../../react_frontend/src",
+    "../../../react_frontend/png.d.ts",
+    "../../../react_frontend/jpg.d.ts",
+    "../../../react_frontend/svg.d.ts",
+    "../../../react_frontend/zip.d.ts"
+  ]
+}
diff --git a/exercises/drone_hangar/python_template/Frequency.py b/exercises/drone_hangar/python_template/Frequency.py
@@ -0,0 +1,22 @@
+import time
+from datetime import datetime
+
+start_time_internal_freq_control = None
+
+
+def tick(ideal_cycle: int = 50):
+    global start_time_internal_freq_control
+    finish_time = datetime.now()
+    ideal_ms = 1000 / ideal_cycle
+
+    if start_time_internal_freq_control is None:
+        start_time_internal_freq_control = finish_time
+        return
+
+    dt = finish_time - start_time_internal_freq_control
+    ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0
+
+    if ms < ideal_ms:
+        time.sleep((ideal_ms - ms) / 1000.0)
+
+    start_time_internal_freq_control = finish_time
diff --git a/exercises/drone_hangar/python_template/HAL.py b/exercises/drone_hangar/python_template/HAL.py
@@ -0,0 +1,133 @@
+import numpy as np
+import rclpy
+import threading
+import time
+import sys
+
+from hal_interfaces.general.camera import CameraNode
+from jderobot_drones.drone_wrapper import DroneWrapper
+
+IMG_WIDTH = 320
+IMG_HEIGHT = 240
+freq = 30.0
+
+
+# Mutes exceptions
+def custom_thread_excepthook(args):
+    if "spin" in args.thread.name:
+        return
+    sys.__excepthook__(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+threading.excepthook = custom_thread_excepthook
+
+### HAL INIT ###
+
+print("HAL initializing", flush=True)
+if not rclpy.ok():
+    rclpy.init()
+
+
+CAM_FRONTAL_TOPIC = "/" + "drone" + "/frontal_cam/image_raw"
+CAM_VENTRAL_TOPIC = "/" + "drone" + "/ventral_cam/image_raw"
+
+drone = DroneWrapper("drone")
+frontal_camera_node = CameraNode(CAM_FRONTAL_TOPIC)
+ventral_camera_node = CameraNode(CAM_VENTRAL_TOPIC)
+
+# Spin nodes so that subscription callbacks load topic data
+executor = rclpy.executors.MultiThreadedExecutor()
+executor.add_node(frontal_camera_node)
+executor.add_node(ventral_camera_node)
+
+
+def __auto_spin() -> None:
+    while rclpy.ok():
+        try:
+            executor.spin_once(timeout_sec=0)
+        except Exception:
+            pass
+        time.sleep(1 / freq)
+
+
+executor_thread = threading.Thread(target=__auto_spin, daemon=True)
+executor_thread.start()
+
+### GETTERS ###
+
+
+def get_frontal_image():
+    image = frontal_camera_node.getImage()
+    while image is None:
+        image = frontal_camera_node.getImage()
+    return image.data
+
+
+def get_ventral_image():
+    image = ventral_camera_node.getImage()
+    while image is None:
+        image = ventral_camera_node.getImage()
+    return image.data
+
+
+def get_position():
+    pos = drone.get_position()
+    return pos
+
+
+def get_velocity():
+    vel = drone.get_velocity()
+    return vel
+
+
+def get_yaw_rate():
+    yaw_rate = drone.get_yaw_rate()
+    return yaw_rate
+
+
+def get_orientation():
+    orientation = drone.get_orientation()
+    return orientation
+
+
+def get_roll():
+    roll = drone.get_roll()
+    return roll
+
+
+def get_pitch():
+    pitch = drone.get_pitch()
+    return pitch
+
+
+def get_yaw():
+    yaw = drone.get_yaw()
+    return yaw
+
+
+def get_landed_state():
+    state = drone.get_landed_state()
+    return state
+
+
+### SETTERS ###
+
+
+def set_cmd_pos(x, y, z, az):
+    drone.set_cmd_pos(x, y, z, az)
+
+
+def set_cmd_vel(vx, vy, vz, az):
+    drone.set_cmd_vel(vx, vy, vz, az)
+
+
+def set_cmd_mix(vx, vy, z, az):
+    drone.set_cmd_mix(vx, vy, z, az)
+
+
+def takeoff(h=3):
+    drone.takeoff(h)
+
+
+def land():
+    drone.land()
diff --git a/exercises/drone_hangar/python_template/WebGUI.py b/exercises/drone_hangar/python_template/WebGUI.py
diff --git a/exercises/drone_hangar/teaser.png b/exercises/drone_hangar/teaser.png
diff --git a/react_frontend/src/constants/hal_gui_snippets.tsx b/react_frontend/src/constants/hal_gui_snippets.tsx
