amr-ros-k4/readme.md

# Project Management — AMR ROS2 K4

> **Project**: Blockly ROS2 Robot Controller (Kiwi Wheel AMR)
> **ROS2 Distro**: Jazzy
> **Last Updated**: 2026-03-09
> **Current Focus**: `kiwi_controller` — Adaptive control for Kiwi Wheel drive

Dokumentasi lengkap dapat dilihat di [DOCUMENTATION.md](DOCUMENTATION.md).

# Aturan pengggunaan dokumen

bab pada dokumen merepresentasikan alur rencana pengembangan. 
Potential Enhancements  :   Feasibility Study
Planned Feature         :   Backlog 
Feature Task            :   Penjabaran Pekerjaan yang ready untuk dikerjakan. Task harus dijelaskan apa yang akan dikerjakan dan terdapat definition of done nya

---

# Potential Enhancements
this list is short by priority
- **Potensial inefective development**: in handlers/hardware use interface.py to all hardware (dummy, ros2, and hardware) class that posibly haavily change.
- **UI bug stop button**: stop button not actualy stop execution. tried with long delay with loop and press stop button, program still continue
- **ROS Feature in generated block blocky**: currently, block blocky only generate action client, and there is sub/pub and other ROS feature need to implement to get/set value to node.
- **Launch files**: `blockly_bringup` package with ROS2 launch files to start all nodes with one command
- **Sensor integration**: Subscriber nodes for sensor data feeding back into Blockly visual feedback
- **RealHardware implementation**: Fill in ROS2 publishers/service clients for actual Pi hardware nodes (topics TBD)
- **ROS2 lifecycle nodes**: Migrate executor and controller to lifecycle nodes for managed state transitions
- **Simulation**: Integrate with Gazebo/Isaac Sim for testing Kiwi Wheel kinematics before deploying to hardware
- **Block categories**: Future blocks grouped into Robot, Sensors, Navigation categories

# Planned Feature

| Package | Purpose | Status |
|---------|---------|--------|
| `blockly_app` | Desktop Blockly GUI + Action Client | ✅ Done |
| `blockly_executor` | Action Server — command handler registry | ✅ Done |
| `blockly_interfaces` | Custom ROS2 action definitions | ✅ Done |
| `kiwi_controller` | Adaptive control for Kiwi Wheel drive | 📋 Planned |
| **Enhance UI** | Tab Code preview, Export/Import, dark toolbox | ✅ Done |


# Feature Task

## Enhance UI

| # | Task | Status |
|---|------|--------|
| 1 | Fix toolbox text color (dark theme via `Blockly.Theme.defineTheme`) | ✅ Done |
| 2 | Add "Code" tab — realtime generated JS preview | ✅ Done |
| 3 | Export/Import workspace (.json) via toolbar buttons | ✅ Done |

**Files changed:**
- `src/blockly_app/blockly_app/ui/blockly/workspace-init.js` — dark theme definition + code panel change listener
- `src/blockly_app/blockly_app/ui/blockly/core/ui-tabs.js` *(new)* — `switchTab()`, `refreshCodePanel()`
- `src/blockly_app/blockly_app/ui/blockly/core/workspace-io.js` *(new)* — `exportWorkspace()`, `importWorkspace()` via `await window.pywebview.api`
- `src/blockly_app/blockly_app/ui/index.html` — CSS, HTML tab bar, code panel, toolbar buttons
- `src/blockly_app/blockly_app/app.py` — `save_workspace()`, `load_workspace()` via zenity subprocess

**Note — Export/Import implementation:**
`pywebview.create_file_dialog` dan `QFileDialog` via `QTimer.singleShot` keduanya gagal dari background thread (deadlock / no event loop).
Solusi final: `tkinter.filedialog` — interpreter Tcl/Tk terpisah dari Qt, tidak ada konflik thread, sudah tersedia di pixi environment tanpa dependency tambahan.
big achivment tapi masih kurang dikit. 2026-03-08 14:14:32 +07:00			`# Project Management — AMR ROS2 K4`

			`> Project: Blockly ROS2 Robot Controller (Kiwi Wheel AMR)`
			`> ROS2 Distro: Jazzy`
feat: implement export/import functionality and UI enhancements for Blockly workspace 2026-03-09 11:43:27 +07:00			`> Last Updated: 2026-03-09`
			> Current Focus: `kiwi_controller` — Adaptive control for Kiwi Wheel drive
big achivment tapi masih kurang dikit. 2026-03-08 14:14:32 +07:00
persiapan 2026-03-09 05:01:13 +07:00			`Dokumentasi lengkap dapat dilihat di [DOCUMENTATION.md](DOCUMENTATION.md).`

			`# Aturan pengggunaan dokumen`

			`bab pada dokumen merepresentasikan alur rencana pengembangan.`
			`Potential Enhancements : Feasibility Study`
			`Planned Feature : Backlog`
feat: implement export/import functionality and UI enhancements for Blockly workspace 2026-03-09 11:43:27 +07:00			`Feature Task : Penjabaran Pekerjaan yang ready untuk dikerjakan. Task harus dijelaskan apa yang akan dikerjakan dan terdapat definition of done nya`
persiapan 2026-03-09 05:01:13 +07:00
big achivment tapi masih kurang dikit. 2026-03-08 14:14:32 +07:00			`---`

persiapan 2026-03-09 05:01:13 +07:00			`# Potential Enhancements`
			`this list is short by priority`
Add digital output block and GPIO handling - Introduced a new Blockly block for setting digital output pins (`digitalOut`). - Implemented the corresponding handler in Python to manage digital output actions. - Updated dummy, GPIO, and real hardware interfaces to support digital output functionality. - Modified the workspace configuration to include the new digital output block in the Blockly environment. - Added potential enhancements to the README for future improvements. 2026-03-09 23:08:46 +07:00			`- Potensial inefective development: in handlers/hardware use interface.py to all hardware (dummy, ros2, and hardware) class that posibly haavily change.`
Add README files for blockly_app and blockly_executor; fix typo in digitalOut block 2026-03-09 23:35:48 +07:00			`- UI bug stop button: stop button not actualy stop execution. tried with long delay with loop and press stop button, program still continue`
			`- ROS Feature in generated block blocky: currently, block blocky only generate action client, and there is sub/pub and other ROS feature need to implement to get/set value to node.`
persiapan 2026-03-09 05:01:13 +07:00			- Launch files: `blockly_bringup` package with ROS2 launch files to start all nodes with one command
			`- Sensor integration: Subscriber nodes for sensor data feeding back into Blockly visual feedback`
			`- RealHardware implementation: Fill in ROS2 publishers/service clients for actual Pi hardware nodes (topics TBD)`
			`- ROS2 lifecycle nodes: Migrate executor and controller to lifecycle nodes for managed state transitions`
			`- Simulation: Integrate with Gazebo/Isaac Sim for testing Kiwi Wheel kinematics before deploying to hardware`
			`- Block categories: Future blocks grouped into Robot, Sensors, Navigation categories`

			`# Planned Feature`
big achivment tapi masih kurang dikit. 2026-03-08 14:14:32 +07:00
			`\| Package \| Purpose \| Status \|`
			`\|---------\|---------\|--------\|`
feat: add support for real hardware in blockly_executor - Introduced RealHardware class for communication with hardware nodes via ROS2. - Updated ExecutorNode to select between RealHardware and DummyHardware based on a parameter. - Refactored command handlers to use a decorator for registration, simplifying the handler registration process. - Removed the base HandlerModule class and integrated handler registration directly in the handler functions. - Updated GPIO and timing command handlers to use the new registration method. - Added new executor command for running with real hardware. 2026-03-08 21:55:50 +07:00			\| `blockly_app` \| Desktop Blockly GUI + Action Client \| ✅ Done \|
			\| `blockly_executor` \| Action Server — command handler registry \| ✅ Done \|
			\| `blockly_interfaces` \| Custom ROS2 action definitions \| ✅ Done \|
big achivment tapi masih kurang dikit. 2026-03-08 14:14:32 +07:00			\| `kiwi_controller` \| Adaptive control for Kiwi Wheel drive \| 📋 Planned \|
feat: implement export/import functionality and UI enhancements for Blockly workspace 2026-03-09 11:43:27 +07:00			`\| Enhance UI \| Tab Code preview, Export/Import, dark toolbox \| ✅ Done \|`
big achivment tapi masih kurang dikit. 2026-03-08 14:14:32 +07:00
feat: add support for real hardware in blockly_executor - Introduced RealHardware class for communication with hardware nodes via ROS2. - Updated ExecutorNode to select between RealHardware and DummyHardware based on a parameter. - Refactored command handlers to use a decorator for registration, simplifying the handler registration process. - Removed the base HandlerModule class and integrated handler registration directly in the handler functions. - Updated GPIO and timing command handlers to use the new registration method. - Added new executor command for running with real hardware. 2026-03-08 21:55:50 +07:00
feat: implement export/import functionality and UI enhancements for Blockly workspace 2026-03-09 11:43:27 +07:00			`# Feature Task`
big achivment tapi masih kurang dikit. 2026-03-08 14:14:32 +07:00
feat: implement export/import functionality and UI enhancements for Blockly workspace 2026-03-09 11:43:27 +07:00			`## Enhance UI`

			`\| # \| Task \| Status \|`
			`\|---\|------\|--------\|`
			\| 1 \| Fix toolbox text color (dark theme via `Blockly.Theme.defineTheme`) \| ✅ Done \|
			`\| 2 \| Add "Code" tab — realtime generated JS preview \| ✅ Done \|`
			`\| 3 \| Export/Import workspace (.json) via toolbar buttons \| ✅ Done \|`

			`Files changed:`
			- `src/blockly_app/blockly_app/ui/blockly/workspace-init.js` — dark theme definition + code panel change listener
			- `src/blockly_app/blockly_app/ui/blockly/core/ui-tabs.js` (new) — `switchTab()`, `refreshCodePanel()`
			- `src/blockly_app/blockly_app/ui/blockly/core/workspace-io.js` (new) — `exportWorkspace()`, `importWorkspace()` via `await window.pywebview.api`
			- `src/blockly_app/blockly_app/ui/index.html` — CSS, HTML tab bar, code panel, toolbar buttons
			- `src/blockly_app/blockly_app/app.py` — `save_workspace()`, `load_workspace()` via zenity subprocess

			`Note — Export/Import implementation:`
			`pywebview.create_file_dialog` dan `QFileDialog` via `QTimer.singleShot` keduanya gagal dari background thread (deadlock / no event loop).
			Solusi final: `tkinter.filedialog` — interpreter Tcl/Tk terpisah dari Qt, tidak ada konflik thread, sudah tersedia di pixi environment tanpa dependency tambahan.