59 lines
3.0 KiB
Markdown
59 lines
3.0 KiB
Markdown
# Project Management — AMR ROS2 K4
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> **Project**: Blockly ROS2 Robot Controller (Kiwi Wheel AMR)
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> **ROS2 Distro**: Jazzy
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> **Last Updated**: 2026-03-09
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> **Current Focus**: `kiwi_controller` — Adaptive control for Kiwi Wheel drive
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Dokumentasi lengkap dapat dilihat di [DOCUMENTATION.md](DOCUMENTATION.md).
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# Aturan pengggunaan dokumen
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bab pada dokumen merepresentasikan alur rencana pengembangan.
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Potential Enhancements : Feasibility Study
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Planned Feature : Backlog
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Feature Task : Penjabaran Pekerjaan yang ready untuk dikerjakan. Task harus dijelaskan apa yang akan dikerjakan dan terdapat definition of done nya
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---
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# Potential Enhancements
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this list is short by priority
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- **Launch files**: `blockly_bringup` package with ROS2 launch files to start all nodes with one command
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- **Sensor integration**: Subscriber nodes for sensor data feeding back into Blockly visual feedback
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- **RealHardware implementation**: Fill in ROS2 publishers/service clients for actual Pi hardware nodes (topics TBD)
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- **ROS2 lifecycle nodes**: Migrate executor and controller to lifecycle nodes for managed state transitions
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- **Simulation**: Integrate with Gazebo/Isaac Sim for testing Kiwi Wheel kinematics before deploying to hardware
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- **Block categories**: Future blocks grouped into Robot, Sensors, Navigation categories
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# Planned Feature
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| Package | Purpose | Status |
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|---------|---------|--------|
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| `blockly_app` | Desktop Blockly GUI + Action Client | ✅ Done |
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| `blockly_executor` | Action Server — command handler registry | ✅ Done |
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| `blockly_interfaces` | Custom ROS2 action definitions | ✅ Done |
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| `kiwi_controller` | Adaptive control for Kiwi Wheel drive | 📋 Planned |
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| **Enhance UI** | Tab Code preview, Export/Import, dark toolbox | ✅ Done |
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# Feature Task
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## Enhance UI
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| # | Task | Status |
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|---|------|--------|
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| 1 | Fix toolbox text color (dark theme via `Blockly.Theme.defineTheme`) | ✅ Done |
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| 2 | Add "Code" tab — realtime generated JS preview | ✅ Done |
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| 3 | Export/Import workspace (.json) via toolbar buttons | ✅ Done |
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**Files changed:**
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- `src/blockly_app/blockly_app/ui/blockly/workspace-init.js` — dark theme definition + code panel change listener
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- `src/blockly_app/blockly_app/ui/blockly/core/ui-tabs.js` *(new)* — `switchTab()`, `refreshCodePanel()`
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- `src/blockly_app/blockly_app/ui/blockly/core/workspace-io.js` *(new)* — `exportWorkspace()`, `importWorkspace()` via `await window.pywebview.api`
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- `src/blockly_app/blockly_app/ui/index.html` — CSS, HTML tab bar, code panel, toolbar buttons
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- `src/blockly_app/blockly_app/app.py` — `save_workspace()`, `load_workspace()` via zenity subprocess
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**Note — Export/Import implementation:**
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`pywebview.create_file_dialog` dan `QFileDialog` via `QTimer.singleShot` keduanya gagal dari background thread (deadlock / no event loop).
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Solusi final: `tkinter.filedialog` — interpreter Tcl/Tk terpisah dari Qt, tidak ada konflik thread, sudah tersedia di pixi environment tanpa dependency tambahan.
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