add wpilib controls

.gitignore

@@ -9,3 +9,6 @@ webserver
 client/dist
 camera-daemon/build
 survive-server/build
+frodo-control/build
+frodo-control/build-arm
+frodo-control/build-arm-uclibc

Makefile

@@ -48,6 +48,20 @@ SURVIVE_BUILD_DIR = $(SURVIVE_SERVER_DIR)/build
 SURVIVE_BINARY = $(SURVIVE_BUILD_DIR)/survive-server
 SURVIVE_CTL_SCRIPT = survive-server-ctl.sh
 
+# Frodo control (FRC-based controller)
+CONTROL_DIR = frodo-control
+CONTROL_BUILD_DIR_ARM = $(CONTROL_DIR)/build-arm-uclibc
+CONTROL_BUILD_DIR_X86 = $(CONTROL_DIR)/build
+CONTROL_BINARY_ARM = $(CONTROL_BUILD_DIR_ARM)/frodo-control
+CONTROL_BINARY_X86 = $(CONTROL_BUILD_DIR_X86)/frodo-control
+CONTROL_TOOLCHAIN = $(CONTROL_DIR)/arm-uclibc-toolchain.cmake
+CONTROL_REMOTE_PATH = /data/apps/frodo-control
+CONTROL_LOG_PATH = /data/frodo-control.log
+CONTROL_CTL_SCRIPT = frodo-control-ctl.sh
+CONTROL_CTL_REMOTE = /data/apps/frodo-control-ctl.sh
+ARM_SYSROOT_UCLIBC = $(PWD)/arm-sysroot-uclibc
+UCLIBC_TOOLCHAIN = $(PWD)/toolchains/armv7-eabihf--uclibc--stable-2024.02-1
+
 # Version information
 VERSION := 1.0.0
 BUILD_TIME := $(shell date -u '+%Y-%m-%d_%H:%M:%S_UTC')
@@ -56,7 +70,7 @@ GIT_HASH := $(shell git rev-parse --short HEAD 2>/dev/null || echo "no-git")
 # Build flags
 LDFLAGS := -X 'main.Version=$(VERSION)' -X 'main.BuildTime=$(BUILD_TIME)' -X 'main.GitHash=$(GIT_HASH)'
 
-.PHONY: all build build-client build-camera build-chrony build-survive-server build-libsurvive deploy deploy-camera deploy-go2rtc deploy-tailscale deploy-chrony start-tailscale stop-tailscale status-tailscale up-tailscale down-tailscale logs-tailscale start-chrony stop-chrony restart-chrony status-chrony sources-chrony clients-chrony logs-chrony start-survive-server stop-survive-server restart-survive-server status-survive-server logs-survive-server update-client update-camera restart restart-camera logs logs-camera tail tail-camera status status-camera stop stop-camera clean clean-camera clean-survive-server help start update reset
+.PHONY: all build build-client build-camera build-chrony build-survive-server build-libsurvive build-control deploy deploy-camera deploy-go2rtc deploy-tailscale deploy-chrony deploy-control start-tailscale stop-tailscale status-tailscale up-tailscale down-tailscale logs-tailscale start-chrony stop-chrony restart-chrony status-chrony sources-chrony clients-chrony logs-chrony start-survive-server stop-survive-server restart-survive-server status-survive-server logs-survive-server start-control stop-control restart-control status-control logs-control update-client update-camera restart restart-camera logs logs-camera tail tail-camera status status-camera stop stop-camera clean clean-camera clean-survive-server clean-control help start update reset
 
 # Default target - build both webserver and camera
 all: build build-camera
@@ -435,9 +449,118 @@ clean-survive-server:
 	rm -rf $(SURVIVE_BUILD_DIR)
 	@echo "✓ survive-server clean complete"
 
+# ==================== Frodo Control Targets (FRC Controller - Device) ====================
+
+# Build frodo-control for ARM (cross-compilation with static linking)
+build-control-arm:
+	@echo "Building frodo-control for ARM with uClibc toolchain..."
+	@if [ ! -f "$(CONTROL_TOOLCHAIN)" ]; then \
+		echo "Error: ARM uClibc toolchain file not found: $(CONTROL_TOOLCHAIN)"; \
+		exit 1; \
+	fi
+	@if [ ! -d "$(ARM_SYSROOT_UCLIBC)" ]; then \
+		echo "Error: ARM uClibc sysroot not found: $(ARM_SYSROOT_UCLIBC)"; \
+		echo "Please build ARM dependencies first:"; \
+		echo "  1. Run: ./build-uclibc-deps.sh (protobuf)"; \
+		echo "  2. Run: ./build-wpilib-uclibc.sh (WPILib)"; \
+		exit 1; \
+	fi
+	@if [ ! -d "$(UCLIBC_TOOLCHAIN)" ]; then \
+		echo "Error: uClibc toolchain not found: $(UCLIBC_TOOLCHAIN)"; \
+		echo "Download from: https://toolchains.bootlin.com/downloads/releases/toolchains/armv7-eabihf/tarballs/"; \
+		exit 1; \
+	fi
+	@mkdir -p $(CONTROL_BUILD_DIR_ARM)
+	cd $(CONTROL_BUILD_DIR_ARM) && \
+		cmake .. \
+			-DCMAKE_TOOLCHAIN_FILE=../arm-uclibc-toolchain.cmake \
+			-DCMAKE_BUILD_TYPE=Release && \
+		make -j$$(nproc)
+	@echo "✓ ARM uClibc binary built: $(CONTROL_BINARY_ARM) ($$(du -h $(CONTROL_BINARY_ARM) | cut -f1))"
+	@echo "  Architecture: $$(file $(CONTROL_BINARY_ARM) | cut -d: -f2)"
+	@echo "  Interpreter: $$(readelf -l $(CONTROL_BINARY_ARM) | grep interpreter | sed 's/.*\[\(.*\)\]/\1/')"
+	@echo "  Dynamic deps: $$(readelf -d $(CONTROL_BINARY_ARM) | grep NEEDED | wc -l) (uClibc only)"
+
+# Build frodo-control for x86_64 (local testing)
+build-control-x86:
+	@echo "Building frodo-control for x86_64 (local testing)..."
+	@mkdir -p $(CONTROL_BUILD_DIR_X86)
+	cd $(CONTROL_BUILD_DIR_X86) && \
+		cmake .. -DCMAKE_BUILD_TYPE=Release && \
+		make -j$$(nproc)
+	@echo "✓ x86_64 binary built: $(CONTROL_BINARY_X86)"
+
+# Alias for backward compatibility and quick ARM build
+build-control: build-control-arm
+
+# Deploy frodo-control to device
+deploy-control: build-control-arm
+	@echo "Connecting to device at $(DEVICE_IP)..."
+	adb connect $(DEVICE_IP)
+	@echo "Pushing frodo-control ARM binary to device..."
+	adb push $(CONTROL_BINARY_ARM) $(CONTROL_REMOTE_PATH)
+	adb shell "chmod +x $(CONTROL_REMOTE_PATH)"
+	@echo "Pushing control script..."
+	adb push $(CONTROL_CTL_SCRIPT) $(CONTROL_CTL_REMOTE)
+	adb shell "chmod +x $(CONTROL_CTL_REMOTE)"
+	@echo "✓ Frodo control deployed"
+	@echo ""
+	@echo "Next steps:"
+	@echo "  1. Start webserver:      make start"
+	@echo "  2. Start frodo-control:  make start-control"
+	@echo "  3. Check status:         make status-control"
+
+# Start frodo-control
+start-control:
+	@echo "Starting frodo control on $(DEVICE_IP)..."
+	adb connect $(DEVICE_IP)
+	adb shell "$(CONTROL_CTL_REMOTE) start"
+
+# Stop frodo-control
+stop-control:
+	@echo "Stopping frodo control on $(DEVICE_IP)..."
+	adb connect $(DEVICE_IP)
+	adb shell "$(CONTROL_CTL_REMOTE) stop"
+
+# Restart frodo-control
+restart-control:
+	@echo "Restarting frodo control on $(DEVICE_IP)..."
+	adb connect $(DEVICE_IP)
+	adb shell "$(CONTROL_CTL_REMOTE) restart"
+
+# Show frodo-control status
+status-control:
+	@echo "Checking frodo control status on $(DEVICE_IP)..."
+	adb connect $(DEVICE_IP)
+	adb shell "$(CONTROL_CTL_REMOTE) status"
+
+# Show frodo-control logs
+logs-control:
+	@echo "Following frodo control logs from $(DEVICE_IP) (Ctrl+C to exit)..."
+	adb connect $(DEVICE_IP)
+	adb shell "$(CONTROL_CTL_REMOTE) logs"
+
+# Clean frodo-control build files
+clean-control:
+	@echo "Cleaning frodo-control build files..."
+	rm -rf $(CONTROL_BUILD_DIR_ARM) $(CONTROL_BUILD_DIR_X86)
+	@echo "✓ frodo-control clean complete"
+
+# Clean frodo-control ARM build only
+clean-control-arm:
+	@echo "Cleaning ARM build..."
+	rm -rf $(CONTROL_BUILD_DIR_ARM)
+	@echo "✓ ARM build clean complete"
+
+# Clean frodo-control x86 build only
+clean-control-x86:
+	@echo "Cleaning x86 build..."
+	rm -rf $(CONTROL_BUILD_DIR_X86)
+	@echo "✓ x86 build clean complete"
+
 # Show help
 help:
-	@echo "Frodobot Web Server & Camera Daemon - Makefile Commands"
+	@echo "Frodobot Web Server, Camera Daemon & FRC Control - Makefile Commands"
 	@echo ""
 	@echo "Usage: make [target] [DEVICE_IP=x.x.x.x]"
 	@echo ""
@@ -480,6 +603,20 @@ help:
 	@echo "  tail-survive-server   - Follow survive-server logs"
 	@echo "  clean-survive-server  - Clean survive-server build"
 	@echo ""
+	@echo "=== Frodo Control Targets (FRC Controller - Device) ==="
+	@echo "  build-control-arm     - Build ARM binary with static linking (for device)"
+	@echo "  build-control-x86     - Build x86_64 binary for local testing"
+	@echo "  build-control         - Alias for build-control-arm"
+	@echo "  deploy-control        - Build and deploy ARM binary to device"
+	@echo "  start-control         - Start frodo-control on device"
+	@echo "  stop-control          - Stop frodo-control on device"
+	@echo "  restart-control       - Restart frodo-control on device"
+	@echo "  status-control        - Check frodo-control status"
+	@echo "  logs-control          - Follow frodo-control logs"
+	@echo "  clean-control         - Clean all frodo-control build files"
+	@echo "  clean-control-arm     - Clean ARM build only"
+	@echo "  clean-control-x86     - Clean x86 build only"
+	@echo ""
 	@echo "=== Other Targets ==="
 	@echo "  reset            - Reset ADB connection (useful when ADB gets stuck)"
 	@echo "  test-local       - Run webserver locally on Mac"

client/src/views/PlotView/PlotView.ts

@@ -41,6 +41,7 @@ export class PlotView implements View {
   private velocityDataSeries: Map<string, XyDataSeries> = new Map();
   private positionXYDataSeries?: XyDataSeries;
   private positionXYCurrentDataSeries?: XyDataSeries;
+  private headingArrowSvg?: SVGSVGElement;
   private positionTimeDataSeries: Map<string, XyDataSeries> = new Map();
   private gpsCoordDataSeries: Map<string, XyDataSeries> = new Map();
   private estimatedVelDataSeries: Map<string, XyDataSeries> = new Map();
@@ -374,6 +375,9 @@ export class PlotView implements View {
     });
     sciChartSurface.renderableSeries.add(currentPositionLine);
 
+    // Create SVG overlay for heading indicator
+    this.createHeadingArrowOverlay(chartDiv);
+
     // Add interactivity
     sciChartSurface.chartModifiers.add(
       new ZoomPanModifier(),
@@ -388,6 +392,60 @@ export class PlotView implements View {
     );
   }
 
+  private createHeadingArrowOverlay(chartDiv: HTMLDivElement): void {
+    // Create SVG overlay positioned absolutely over the chart
+    const svg = document.createElementNS('http://www.w3.org/2000/svg', 'svg');
+    svg.style.position = 'absolute';
+    svg.style.top = '0';
+    svg.style.left = '0';
+    svg.style.width = '100%';
+    svg.style.height = '100%';
+    svg.style.pointerEvents = 'none';  // Allow mouse events to pass through to chart
+    svg.style.zIndex = '10';  // Place above chart
+
+    // Create arrow group
+    const arrowGroup = document.createElementNS('http://www.w3.org/2000/svg', 'g');
+    arrowGroup.setAttribute('id', 'headingArrow');
+    arrowGroup.style.display = 'none';  // Hidden until we have data
+
+    // Create arrow shaft (line)
+    const arrowLine = document.createElementNS('http://www.w3.org/2000/svg', 'line');
+    arrowLine.setAttribute('x1', '0');
+    arrowLine.setAttribute('y1', '0');
+    arrowLine.setAttribute('x2', '30');  // 30px length in SVG space
+    arrowLine.setAttribute('y2', '0');
+    arrowLine.setAttribute('stroke', '#f59e0b');
+    arrowLine.setAttribute('stroke-width', '3');
+    arrowLine.setAttribute('stroke-linecap', 'round');
+
+    // Create arrowhead (triangle)
+    const arrowHead = document.createElementNS('http://www.w3.org/2000/svg', 'polygon');
+    arrowHead.setAttribute('points', '30,0 22,-5 22,5');  // Triangle at the tip
+    arrowHead.setAttribute('fill', '#f59e0b');
+    arrowHead.setAttribute('stroke', '#f59e0b');
+    arrowHead.setAttribute('stroke-width', '1');
+
+    // Create arrow tail (circle at base)
+    const arrowTail = document.createElementNS('http://www.w3.org/2000/svg', 'circle');
+    arrowTail.setAttribute('cx', '0');
+    arrowTail.setAttribute('cy', '0');
+    arrowTail.setAttribute('r', '4');
+    arrowTail.setAttribute('fill', '#f59e0b');
+    arrowTail.setAttribute('stroke', '#fff');
+    arrowTail.setAttribute('stroke-width', '1.5');
+
+    arrowGroup.appendChild(arrowLine);
+    arrowGroup.appendChild(arrowHead);
+    arrowGroup.appendChild(arrowTail);
+    svg.appendChild(arrowGroup);
+
+    // Add SVG to chart container
+    chartDiv.style.position = 'relative';  // Ensure container is positioned
+    chartDiv.appendChild(svg);
+
+    this.headingArrowSvg = svg;
+  }
+
   private async createPositionTimeChart(): Promise<void> {
     const chartDiv = document.getElementById('positionTimePlot') as HTMLDivElement;
     if (!chartDiv) return;
@@ -942,6 +1000,35 @@ export class PlotView implements View {
       this.positionXYCurrentDataSeries.clear();
       this.positionXYCurrentDataSeries.append(x, y);
 
+      // Update SVG heading indicator if rotation data is available
+      if (this.headingArrowSvg && data.survive_pose.object.rotation &&
+          Array.isArray(data.survive_pose.object.rotation) &&
+          data.survive_pose.object.rotation.length >= 4) {
+        // Quaternion format is [w, x, y, z] as documented in survive_client.go:74
+        const [qw, qx, qy, qz] = data.survive_pose.object.rotation;
+
+        // Convert quaternion to yaw angle in radians
+        const heading_libsurvive = Math.atan2(2.0 * (qw * qz + qx * qy), 1.0 - 2.0 * (qy * qy + qz * qz));
+
+        // Transform heading from LibSurvive frame to plot frame (+90 degrees)
+        const heading = heading_libsurvive + Math.PI / 2.0;
+
+        // Convert data coordinates to pixel coordinates
+        const xAxis = this.positionXYChart.xAxes.get(0);
+        const yAxis = this.positionXYChart.yAxes.get(0);
+        const pixelX = xAxis.getCurrentCoordinateCalculator().getCoordinate(x);
+        const pixelY = yAxis.getCurrentCoordinateCalculator().getCoordinate(y);
+
+        // Update SVG arrow position and rotation
+        const arrowGroup = this.headingArrowSvg.querySelector('#headingArrow') as SVGElement;
+        if (arrowGroup) {
+          arrowGroup.style.display = 'block';
+          // Convert heading from radians to degrees, and flip Y axis for SVG coordinates
+          const headingDegrees = -(heading * 180 / Math.PI);
+          arrowGroup.setAttribute('transform', `translate(${pixelX}, ${pixelY}) rotate(${headingDegrees})`);
+        }
+      }
+
       // In follow mode, limit data points. In all data mode, keep everything
       if (this.followMode && this.positionXYDataSeries.count() > this.maxDataPoints) {
         const removeCount = this.positionXYDataSeries.count() - this.maxDataPoints;