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GNU GENERAL PUBLIC LICENSE
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jankboard
Copyright (C) 2024 Youwen Wu
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
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Also add information on how to contact you by electronic and paper mail.
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jankboard Copyright (C) 2024 Youwen Wu
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
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For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.
BSD 3-Clause License, Modified
Copyright (c) 2024, Youwen Wu
Redistribution and use in binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
2. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
Redistribution and use of source code without explicit permission granted by the
Owner of this repository (Team 1280, The Ragin' C-Biscuits, San Ramon Valley
High School, and Youwen Wu) is strictly prohibited.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

226
README.md
View file

@ -1,80 +1,34 @@
# Jankboard
# Jankboard 2
![build](https://github.com/youwen5/jankboard/actions/workflows/main.yml/badge.svg)
[![maintainability status](https://api.codeclimate.com/v1/badges/4bedd567dbf60ec87164/maintainability)](https://codeclimate.com/repos/65dfbdc904f9ed00bbf381c8/maintainability)
![build](https://github.com/couscousdude/jankboard-2/actions/workflows/main.yml/badge.svg)
![build all platforms](https://github.com/couscousdude/jankboard-2/actions/workflows/publish-all.yml/badge.svg)
[![https://good-labs.github.io/greater-good-affirmation/assets/images/badge.svg](https://good-labs.github.io/greater-good-affirmation/assets/images/badge.svg)](https://good-labs.github.io/greater-good-affirmation)
This repository hosts the last version of the source code for the Jankboard
worked on by [me](https://github.com/youwen5).
Team 1280's custom, powerful, and opinionated dashboard for controlling FRC
Robots, built with [Svelte](https://svelte.dev/) and
[TypeScript](https://www.typescriptlang.org/), and powered by
[Rust (Tauri)](https://tauri.app/).
Jankboard is the fully custom control interface designed in-house by Team 1280
for the 2024 season of the
[FIRST Robotics Competition](https://en.wikipedia.org/wiki/FIRST_Robotics_Competition).
The FIRST Robotics Competition is an international high-school robotics
competition which runs annually. Teams spend six weeks designing, prototyping,
and building a robot to compete in each year's game. The goals for each game
vary by year.
Unlike Shuffleboard, which attempts to provide an unopinionated "blank slate"
with an easy to configure and modular environment for displaying robot data,
Jankboard 2 is purpose built for Team 1280's Swerve drivebase robots and their
needs. It's tightly integrated with our proprietary robot features, like
collision warning and detection, and displays robot drive modes.
Though this is a Team 1280 project, it's hosted on my GitHub account as I wrote
the vast majority of the code and retain rights to it via the
[license](./LICENSE). A small portion of this codebase was contributed by
[@quantum9innovation](https://github.com/quantum9Innovation/). I've released it
as free and open source software under the GPL v3, as permitted by Team 1280's
policies for post-competition software stewardship.
Shuffleboard, while easy to set up, lacks the fine-grained adjustments and
customization which are afforded by a fully custom solution. The UI looks
outdated and is quite ugly. In stark contrast, Jankboard's UI is reminiscient of
and inspired by dashboards designed by car manufacturers, making it easy for the
driver to get the information they need at a glance, without squinting at
Shuffleboard's tiny and ugly UIs. It even includes a full 3D robot
visualization, synced directly with the robot's movements in real life.
The Jankboard is a fully functional control interface designed to be used with
our 2024 robot. It is intended to work alongside the FRC Game Tools application,
which is required by the rules to handle processing robot control inputs. The
Jankboard is a dashboard which receives the telemetry data from the robot and
displays it for the driver. It also processes it to provide useful features. It
replaces the standard "Shuffleboard" dashboard program provided by FIRST, and
has a much cleaner and purpose-built UI.
Jankboard is built with [Tauri](https://tauri.app/), which is a framework for
building desktop application with Rust and webviews. Unlike Electron, it
leverages the platforms built-in web technologies (Chromium on Windows, WebKit
on Linux and MacOS) to avoid shipping a massive bloated binary with a bundled
browser. Our (my) choice of web framework is [Svelte](https://svelte.dev/), a
modern framework with a compiler. To interface with and collect telemetry from
the robot, a Rust backend implements the low-level networking and communication
details and streams the received data back to the frontend UI. As soon as new
data is received, the frontend is updated immediately. We found that this
provided more than enough speed for our purposes, since the robot sends new
telemetry at a rate of 10 Hz. We chose this tech stack because building
beautiful and functional UIs is easiest with the Web, and it allowed us to
rapidly build the application during our 6-week development period.
<!-- prettier-ignore -->
> [!IMPORTANT]
> If you are interested in forking this project or utilizing portions of it for
> your (personal or on behalf of your organization) use, please see
> [the licensing section](#licensing) for a detailed explanation of what this
> project's status as free software entails.
---
<table>
<tr><td><b>Table of Contents:</b></td></tr>
<tr>
<td>
<!--toc:start-->
- [Jankboard](#jankboard)
- [Installation guide](#installation-guide)
- [A brief note on the name "Jankboard"](#a-brief-note-on-the-name-jankboard)
- [For developers](#for-developers)
- [Prerequisites](#prerequisites)
- [Installation steps](#installation-steps)
- [Some notes:](#some-notes)
- [Troubleshooting common issues](#troubleshooting-common-issues)
- [Licensing](#licensing)
<!--toc:end-->
</tr>
</table>
---
Even though the dashboard's layout and design are highly opinionated and not
meant to be heavily modular, features can still be easily extended via a drop-in
app system which supports easy drop-in app integration. Jankboard 2 ships with a
few apps by default, featuring a camera feed, robot settings configurator, and
even a music player and games.
## Installation guide
@ -86,58 +40,62 @@ release binaries for your system, follow the directions below in the
periodically update the releases with new builds when we come out with stable
versions, and we follow [semantic versioning](https://semver.org/).
## A brief note on the name "Jankboard"
## A brief footnote on the name "Jankboard 2"
The name "Jankboard" comes from Team 1280's original attempt at creating a
custom dashboard. Though it looked and functioned superficially similar to
Jankboard, it was not designed with maintainability in mind and became
Jankboard 2, it was not designed with maintainability in mind and became
exceptionally difficult to extend and develop as the codebase became bloated.
Jankboard is a version redesigned from the ground up with the goal of easy
Jankboard 2 is a version redesigned from the ground up with the goal of easy
maintainability and richer features. It contains both a completely rewritten
frontend and backend, which have been improved in almost every possible way.
frontend and backend, which have been improved in almost every possible way. You
can view the original version at
[its archived repository.](https://github.com/Team-1280/Jankboard-Super-Jank/tree/f42715f5ae1897e95ef15103b16ba6e764d2c0be)
## For developers
If you would like to contribute to Jankboard, there's only a few simple steps to
get the development build up and running. Please keep in mind that the following
is only necessary if you are building from source; the binaries have no external
dependencies.
If you would like to contribute to Jankboard 2, there's only a few simple steps
to get the development build up and running.
### Prerequisites
- Rust and `cargo`. Check the [Rust docs](https://www.rust-lang.org/learn) for
more information.
more information. We recommend you install Rust using `rustup`. Keep in mind
that this is ONLY necessary for development, release binaries do not require
Rust.
- `pnpm`, for installing dependencies and the `vite` development server.
- NodeJS
- Ideally, NodeJS, but it's technically not required as `pnpm` brings its own
node binary.
### Installation steps
1. Clone the repository using your preferred method.
2. Enter the `client` directory. This is where the majority of the app's source
code lives.
3. Run `pnpm install` to download all required NPM dependencies.
4. To create a production build, run `pnpm tauri build`. This will use Cargo to
fetch and build all the Rust dependencies, then compile the app and output an
executable for your platform in `target`.
5. To launch a developer build with hot reloading and convenient debugging
features, run `pnpm tauri dev`.
#### Some notes:
- The `client` directory contains the vast majority of the source code for the
desktop app, while the `splash-screen` directory contains the source code for
the splash screen displayed before the app loads. You don't have to touch
anything in `splash-screen` unless you want to modify it, in which case check
the [README](./splash-screen/README.md) in `splash-screen` for more
1. Clone the repository. The `client` directory contains the vast majority of
the source code for the desktop app, while the `splash-screen` directory
contains the source code for the splash screen displayed before the app
loads. You don't have to touch anything in `splash-screen` unless you want to
modify it, in which case check the README in `splash-screen` for more
information.
- Tauri cross-compilation is still in beta, so you should build targeting the
same OS you're currently running. For example, create Windows builds from
Windows. Check [the Tauri docs](https://tauri.app/v1/guides/building/) for
more information. We also have some Github Actions set up to automatically
compile a production build for all platforms, but this is expensive (uses over
30 minutes of our quota), and should only be used for publishing new major
releases.
2. `cd` into the `client` folder. The configuration files and `package.json`,
This is where stuff like `package.json` and configuration files for our
various tooling are housed. The `client/src-tauri` directory contains the
Rust source code and `cargo` configuration files for the backend that
interfaces with the robot via Network Tables.
3. Run `pnpm install` to install dependencies.
4. To run the desktop app in developer mode (with automatic hot stateful reload
and other useful features like error reporting), make sure you're in the
`client` directory and run `pnpm run tauri dev`. This will install and build
the Rust dependencies via `cargo` and initialize the `vite` development
server for the frontend. Note that since this is basically just running the
`vite` development server and then connecting the Tauri webview to it, there
may be slightly inconsistent behavior in dev mode versus production mode.
5. To create a production binary, run `pnpm run tauri build`. Tauri
6. To create a production binary, run `pnpm run tauri build`. Tauri
cross-compilation is still in beta, so you should generally try to build
targeting the same OS you're currently running. Check
[the Tauri docs](https://tauri.app/v1/guides/building/) for more information.
We also have some Github Actions set up to automatically compile a production
build for all platforms, but this is expensive (uses over 30 minutes of our
quota), and should only be used for publishing new major releases.
## Troubleshooting common issues
@ -145,37 +103,33 @@ dependencies.
resolution, try opening your editor directly in the `client` directory so it
picks up the `tsconfig.json` and uses the project's own TypeScript language
server.
- If you don't have access to a development environment that supports running
standalone executables (eg. Github Codespaces), you can try running
`pnpm run dev` instead of `pnpm run tauri dev`, which will open a development
server at `localhost:5173` with the frontend running in the web. However, app
behavior may be inconsistent and you will not get any features from the Rust
backend.
## Licensing
## Current progress and improvements over (original) Jankboard
This project is released as free software under the terms of the
[GNU General Public License](./LICENSE). What that entails for a developer
seeking to use portions of this codebase, or even the entirety of the codebase,
for their own purposes, is the following:
- Layout, toasts/notifications, music player, and app system ported.
- Toast and audio cue system is much more robust
- Transitions added almost everywhere to make things smoother
- Tauri app created successfully, currently still using Flask backend
- Visualization vastly improved with Threlte (Three.js) powered 3D robot
simulation
- Robot model ported successfully via massive optimization through polygon
decimation
- Added settings app with options to disable certain features and developer
tools for testing
- Created dynamic voice prompt system to support new languages very easily
- Overhaul backend in Rust
- Overhaul visualization (especially camera)
- Added Vlad's voice lines (AT LAST)
You are given the freedom (rights) to copy, modify, and distribute this
software, in its entirety or just a portion of it, with or without modification,
provided you meet the following requirements:
## TODO
- If you do make modifications to the software, you are required to release the
source code of your modifications, also under the terms of the GPL v3, **if
you are planning to distribute the software**. However, this is **not required
if you are not planning to distribute it**. See below.
- You may modify or use it however you'd like personally or internally (within
an organization, like your robotics team), without releasing your changes or
code under the GPL. This means that if you make a custom dashboard based on
this code for your own robotics team, you do not have to release the code as
long as you are not planning to distribute your custom dashboard to other
robotics teams or publish it publicly on the internet. If you do intend to
distribute it, then you must release the modified source under the terms of
the GPL v3.
- We think that this is fair - if you intend to keep an internal private tool,
we should not stop you from doing so. However, if you intend to publish your
tool or share it with others, then you should also publish or share the
source code for the benefit of other developers and robotics teams, as we
have done here.
See the full license text of the [GPL](./LICENSE) if you need further
clarification. The above is simply an explanation of the license, if any
conflicts between the above text and the license text arise, then the original
license text takes precedence.
- Camera cutout overlay
- Overhaul audio player system
- Further integrate telemetry (like GPWS, collision warning, etc)
- Finish re-creating / adding various voice alerts and sequences

2610
client/pnpm-lock.yaml
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4
client/src-tauri/src/main.rs
View file

@ -1,8 +1,6 @@
// Prevents additional console window on Windows in release, DO NOT REMOVE!!
#![cfg_attr(not(debug_assertions), windows_subsystem = "windows")]
use std::net::Ipv4Addr;
use tauri::Manager;
mod telemetry;
use tracing_subscriber::FmtSubscriber;
@ -14,7 +12,7 @@ struct Payload {
message: String,
}
const NTABLE_IP: Ipv4Addr = Ipv4Addr::new(10, 12, 80, 2);
const NTABLE_IP: (u8, u8, u8, u8) = (10, 12, 80, 2);
const NTABLE_PORT: u16 = 5810;
fn main() {

7
client/src-tauri/src/telemetry/create_client.rs
View file

@ -13,12 +13,15 @@ use tokio::time::{sleep, Duration};
/// `telemetry_status` event with the payload `"disconnected"` instead.
pub async fn create_client(
app_handle: &AppHandle,
ntable_ip: &Ipv4Addr,
ntable_ip: &(u8, u8, u8, u8),
ntable_port: &u16,
) -> Client {
loop {
let client_attempt = Client::try_new_w_config(
SocketAddrV4::new(*ntable_ip, *ntable_port),
SocketAddrV4::new(
Ipv4Addr::new(ntable_ip.0, ntable_ip.1, ntable_ip.2, ntable_ip.3),
*ntable_port,
),
Config {
..Default::default()
},

8
client/src-tauri/src/telemetry/mod.rs
View file

@ -1,5 +1,3 @@
use std::net::Ipv4Addr;
use network_tables::v4::{MessageData, Subscription};
use serde_json::to_string;
use tauri::{AppHandle, Manager};
@ -18,7 +16,11 @@ use create_subscription::create_subscription;
/// to all connected frontends using the "telemetry_data" event.
///
/// The function loops forever, retrying connection every 3 seconds, reconnecting if the client disconnects.
pub async fn subscribe_topics(app_handle: AppHandle, ntable_ip: Ipv4Addr, ntable_port: u16) {
pub async fn subscribe_topics(
app_handle: AppHandle,
ntable_ip: (u8, u8, u8, u8),
ntable_port: u16,
) {
let mut previous_gpws: bool = false;
loop {

2
client/src-tauri/tauri.conf.json
View file

@ -8,7 +8,7 @@
},
"package": {
"productName": "Jankboard 2",
"version": "0.3.0"
"version": "0.2.0"
},
"tauri": {
"allowlist": {

9
client/src/App.svelte
View file

@ -12,7 +12,6 @@
import { settingsStore } from './lib/stores/settingsStore'
import getSettings from './lib/utils/getSettings'
import hideSplashscreen from './lib/utils/hideSplashscreen'
import Cutouts from './lib/Dashboard/Cutouts/Cutouts.svelte'
let activeApp: App = 'camera'
// fake loading splash screen to look cool if the model loads too fast
@ -79,9 +78,6 @@
</div>
</main>
<!-- Camera cutouts -->
<Cutouts show={activeApp !== 'camera'} />
<!-- toast service -->
<Toaster />
@ -92,14 +88,11 @@
.infotainment-container {
background-image: url('./assets/wallpaper.jpg');
background-repeat: repeat-y;
background-repeat: no-repeat;
background-size: cover;
/* hide scrollbar */
-ms-overflow-style: none;
scrollbar-width: none;
background-position: top right;
width: 65vw;
height: 100vh;
}
.infotainment-container::-webkit-scrollbar {

2
client/src/lib/Apps/Camera/Camera.svelte
View file

@ -5,7 +5,7 @@
</script>
<AppContainer
class="px-10 py-20 flex gap-8 w-full backdrop-blur-lg justify-center h-full rounded-3xl shadow-md bg-slate-300 bg-opacity-30"
class="px-10 py-20 flex gap-4 w-full backdrop-blur-lg justify-center h-full rounded-3xl shadow-md bg-slate-300 bg-opacity-30"
>
<div class="my-auto">
<CameraContainer cameraUrl={$settingsStore.frontCameraAddr} />

6
client/src/lib/Apps/Settings/Settings.svelte
View file

@ -9,7 +9,7 @@
import { onMount } from 'svelte'
import { fly } from 'svelte/transition'
settingsStore.subscribe(async (value) => {
settingsStore.subscribe(async value => {
window.localStorage.setItem('settings', JSON.stringify(value))
})
@ -31,7 +31,7 @@
</script>
<AppContainer
class="flex flex-col gap-6 bg-blue-200 bg-opacity-25 backdrop-blur-xl media-background rounded-3xl flex-wrap px-10 py-20 transition-all"
class="flex gap-6 bg-blue-200 bg-opacity-25 backdrop-blur-xl media-background rounded-3xl flex-wrap px-10 py-20 transition-all"
>
<h1 class="text-5xl font-medium text-slate-100 basis-full">Settings</h1>
<p class="text-slate-300">Hover over setting names to see helpful tooltips</p>
@ -54,6 +54,7 @@
>
</li>
</ul>
<h2 class="text-2xl font-medium text-slate-200 mt-4 basis-full">
Camera Configuration
</h2>
@ -119,7 +120,6 @@
</footer>
</div>
</AppContainer>
<div class="w-full h-24" />
<style lang="postcss">

32
client/src/lib/Dashboard/Cutouts/ClosableCutout.svelte
View file

@ -1,32 +0,0 @@
<!--
@component
An individual camera cutout that can be closed
@param src - The source URL of the camera feed
@param show - Whether or not to show the cutout
-->
<script lang="ts">
import { fly } from 'svelte/transition'
export let src: string
export let show: boolean = true
const closeCutout = () => {
show = false
}
</script>
{#if show}
<div
class="rounded-lg bg-white bg-opacity-20 backdrop-blur-xl p-4 relative"
out:fly={{ y: -50 }}
>
<button
class="absolute top-2 right-2 bg-white bg-opacity-20 backdrop-blur-md hover:brightness-75 rounded-lg pt-2 px-2 pb-1"
on:click={closeCutout}
><span class="material-symbols-outlined">close</span></button
>
<img {src} alt="Front Camera" class="min-w-[300px] min-h-[300px]" />
</div>
{/if}

20
client/src/lib/Dashboard/Cutouts/Cutouts.svelte
View file

@ -1,20 +0,0 @@
<!--
@component
Camera cutout overlay that displays over the app
-->
<script lang="ts">
import { fly } from 'svelte/transition'
import { settingsStore } from '../../stores/settingsStore'
import ClosableCutout from './ClosableCutout.svelte'
export let show: boolean = false
</script>
{#if show}
<div class="fixed top-4 right-4 flex gap-4" transition:fly={{ y: -50 }}>
<ClosableCutout src={$settingsStore.frontCameraAddr} />
<ClosableCutout src={$settingsStore.rearCameraAddr} />
</div>
{/if}

17
client/src/lib/Dashboard/Visualization/Scene.svelte
View file

@ -1,11 +1,3 @@
<!--
@component
Visualization scene for the robot.
1:28in scale
aka 1:0.71m scale
-->
<script lang="ts">
import { T, useTask } from '@threlte/core'
import { Grid } from '@threlte/extras'
@ -23,7 +15,7 @@
const dispatch = createEventDispatcher()
const SPEED_MULTIPLIER = 3
const SPEED_MULTIPLIER = 4
const axis = new Vector3(0, 1, 0)
const follow = (delta: number) => {
@ -113,7 +105,6 @@
/* TODO: standardize a scale (meters : grid lengths) so we can have
accurate positioning of sensor detected objects */
// update position data for robot model
// Speed is reported in
$mesh.position.x +=
$telemetryReadonlyStore['chassis-y-speed'] * delta * SPEED_MULTIPLIER
$mesh.position.z +=
@ -144,10 +135,8 @@
<T.AmbientLight color={'#f0f0f0'} intensity={0.1} />
<RobotDecimated
scale={[9, 9, 9]}
scale={[10, 10, 10]}
position.y={0}
position.x={-2.8}
position.z={2.8}
on:create={({ ref }) => {
// @ts-expect-error
mesh.set(ref)
@ -159,7 +148,7 @@
sectionColor={'#ff3e00'}
sectionThickness={1}
bind:fadeDistance={gridFadeDistance}
cellSize={3}
cellSize={6}
sectionSize={24}
cellColor={'#cccccc'}
infiniteGrid

2
client/stats.html
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